def __init__(self, helper, *args):
super(BootloaderDialog, self).__init__(*args)
self.setupUi(self)
self.tabName = "Service"
self.menuName = "Service"
# self.tabWidget = tabWidget
self._helper = helper
# self.cf = crazyflie
self.clt = CrazyloadThread(self._helper.cf)
# Connecting GUI signals (a pity to do that manually...)
self.imagePathBrowseButton.clicked.connect(self.pathBrowse)
self.programButton.clicked.connect(self.programAction)
self.coldBootButton.clicked.connect(self.initiateColdboot)
self.resetButton.clicked.connect(self.resetCopter)
self._helper.connectivity_manager.register_ui_elements(
ConnectivityManager.UiElementsContainer(
interface_combo=self.comboBox,
address_spinner=self.address,
connect_button=self.connectButton,
scan_button=self.scanButton))
self._helper.connectivity_manager.connection_state_changed.connect(
self._fw_connection_state_changed)
# connecting other signals
self.clt.programmed.connect(self.programDone)
self.clt.statusChanged.connect(self.statusUpdate)
# self.clt.updateBootloaderStatusSignal.connect(
# self.updateBootloaderStatus)
self.clt.connectingSignal.connect(
lambda: self.setUiState(self.UIState.COLD_CONNECTING))
self.clt.connectedSignal.connect(
lambda: self._load_thread_connection_event(self.UIState.
COLD_CONNECTED))
self.clt.disconnectedSignal.connect(
lambda: self._load_thread_connection_event(self.UIState.
DISCONNECTED))
self.clt.failed_signal.connect(lambda m: self._ui_connection_fail(m))
self._cold_boot_error_message = None
self._state = self.UIState.DISCONNECTED
self._releases = {}
self._release_firmwares_found.connect(self._populate_firmware_dropdown)
self._release_downloaded.connect(self.release_zip_downloaded)
self.firmware_downloader = FirmwareDownloader(
self._release_firmwares_found, self._release_downloaded)
self.firmware_downloader.get_firmware_releases()
self.firmware_downloader.start()
self.clt.start()
class MainUI(QtWidgets.QMainWindow, main_window_class):
connectionLostSignal = pyqtSignal(str, str)
connectionInitiatedSignal = pyqtSignal(str)
batteryUpdatedSignal = pyqtSignal(int, object, object)
connectionDoneSignal = pyqtSignal(str)
connectionFailedSignal = pyqtSignal(str, str)
disconnectedSignal = pyqtSignal(str)
linkQualitySignal = pyqtSignal(int)
_input_device_error_signal = pyqtSignal(str)
_input_discovery_signal = pyqtSignal(object)
_log_error_signal = pyqtSignal(object, str)
def __init__(self, *args):
super(MainUI, self).__init__(*args)
self.setupUi(self)
# Restore window size if present in the config file
try:
size = Config().get("window_size")
self.resize(size[0], size[1])
except KeyError:
pass
self.cf = Crazyflie(ro_cache=None,
rw_cache=cfclient.config_path + "/cache")
cflib.crtp.init_drivers()
zmq_params = ZMQParamAccess(self.cf)
zmq_params.start()
zmq_leds = ZMQLEDDriver(self.cf)
zmq_leds.start()
self.scanner = ScannerThread()
self.scanner.interfaceFoundSignal.connect(self.foundInterfaces)
self.scanner.start()
# Create and start the Input Reader
self._statusbar_label = QLabel("No input-device found, insert one to"
" fly.")
self.statusBar().addWidget(self._statusbar_label)
self.joystickReader = JoystickReader()
self._active_device = ""
# self.configGroup = QActionGroup(self._menu_mappings, exclusive=True)
self._mux_group = QActionGroup(self._menu_inputdevice)
self._mux_group.setExclusive(True)
# TODO: Need to reload configs
# ConfigManager().conf_needs_reload.add_callback(self._reload_configs)
self.connect_input = QShortcut("Ctrl+I", self.connectButton,
self._connect)
self.cf.connection_failed.add_callback(
self.connectionFailedSignal.emit)
self.connectionFailedSignal.connect(self._connection_failed)
self._input_device_error_signal.connect(
self._display_input_device_error)
self.joystickReader.device_error.add_callback(
self._input_device_error_signal.emit)
self._input_discovery_signal.connect(self.device_discovery)
self.joystickReader.device_discovery.add_callback(
self._input_discovery_signal.emit)
# Connect UI signals
self.logConfigAction.triggered.connect(self._show_connect_dialog)
self.menuItemConnect.triggered.connect(self._connect)
self.menuItemConfInputDevice.triggered.connect(
self._show_input_device_config_dialog)
self.menuItemExit.triggered.connect(self.closeAppRequest)
self.batteryUpdatedSignal.connect(self._update_battery)
self._menuitem_rescandevices.triggered.connect(self._rescan_devices)
self._menuItem_openconfigfolder.triggered.connect(
self._open_config_folder)
self._set_address(0xA0A0A0A0A3)
self._connectivity_manager = ConnectivityManager()
self._connectivity_manager.register_ui_elements(
ConnectivityManager.UiElementsContainer(
interface_combo=self.interfaceCombo,
address_spinner=self.address,
connect_button=self.connectButton,
scan_button=self.scanButton))
self.comboBox.activated[str].connect(self.onChanged)
self._connectivity_manager.connect_button_clicked.connect(
self._connect)
self._connectivity_manager.scan_button_clicked.connect(self._scan)
self._disable_input = False
self.joystickReader.input_updated.add_callback(
lambda *args: self._disable_input or self.cf.commander.
send_setpoint(*args))
self.joystickReader.assisted_input_updated.add_callback(
lambda *args: self._disable_input or self.cf.commander.
send_velocity_world_setpoint(*args))
self.joystickReader.heighthold_input_updated.add_callback(
lambda *args: self._disable_input or self.cf.commander.
send_zdistance_setpoint(*args))
self.joystickReader.hover_input_updated.add_callback(
self.cf.commander.send_hover_setpoint)
# Connection callbacks and signal wrappers for UI protection
self.cf.connected.add_callback(self.connectionDoneSignal.emit)
self.connectionDoneSignal.connect(self._connected)
self.cf.disconnected.add_callback(self.disconnectedSignal.emit)
self.disconnectedSignal.connect(self._disconnected)
self.cf.connection_lost.add_callback(self.connectionLostSignal.emit)
self.connectionLostSignal.connect(self._connection_lost)
self.cf.connection_requested.add_callback(
self.connectionInitiatedSignal.emit)
self.connectionInitiatedSignal.connect(self._connection_initiated)
self._log_error_signal.connect(self._logging_error)
self.batteryBar.setTextVisible(False)
self.linkQualityBar.setTextVisible(False)
# Connect link quality feedback
self.cf.link_quality_updated.add_callback(self.linkQualitySignal.emit)
self.linkQualitySignal.connect(
lambda percentage: self.linkQualityBar.setValue(percentage))
# Parse the log configuration files
self.logConfigReader = LogConfigReader(self.cf)
self._current_input_config = None
self._active_config = None
self._active_config = None
self.inputConfig = None
# Add things to helper so tabs can access it
cfclient.ui.pluginhelper.cf = self.cf
cfclient.ui.pluginhelper.inputDeviceReader = self.joystickReader
cfclient.ui.pluginhelper.logConfigReader = self.logConfigReader
cfclient.ui.pluginhelper.pose_logger = PoseLogger(self.cf)
cfclient.ui.pluginhelper.connectivity_manager = self._connectivity_manager
cfclient.ui.pluginhelper.mainUI = self
self.logConfigDialogue = LogConfigDialogue(cfclient.ui.pluginhelper)
self._bootloader_dialog = BootloaderDialog(cfclient.ui.pluginhelper)
self._cf2config_dialog = Cf2ConfigDialog(cfclient.ui.pluginhelper)
self.menuItemBootloader.triggered.connect(self._bootloader_dialog.show)
self._about_dialog = AboutDialog(cfclient.ui.pluginhelper)
self.menuItemAbout.triggered.connect(self._about_dialog.show)
self._menu_cf2_config.triggered.connect(self._cf2config_dialog.show)
self._connectivity_manager.set_address(self.address.value())
self._initial_scan = True
self._scan(self._connectivity_manager.get_address())
# Load and connect tabs
self.tabsMenuItem = QMenu("Tabs", self.menuView, enabled=True)
self.menuView.addMenu(self.tabsMenuItem)
tabItems = {}
self.loadedTabs = []
for tabClass in cfclient.ui.tabs.available:
tab = tabClass(self.tabs, cfclient.ui.pluginhelper)
# Set reference for plot-tab.
if isinstance(tab, cfclient.ui.tabs.PlotTab):
cfclient.ui.pluginhelper.plotTab = tab
item = QtWidgets.QAction(tab.getMenuName(), self, checkable=True)
item.toggled.connect(tab.toggleVisibility)
self.tabsMenuItem.addAction(item)
tabItems[tab.getTabName()] = item
self.loadedTabs.append(tab)
if not tab.enabled:
item.setEnabled(False)
# First instantiate all tabs and then open them in the correct order
try:
for tName in Config().get("open_tabs").split(","):
try:
t = tabItems[tName]
if (t is not None and t.isEnabled()):
# Toggle though menu so it's also marked as open there
t.toggle()
except Exception as e:
logger.warning(
"Exception while opening tab [{}]".format(e))
except KeyError as e:
logger.warning("Failed to get open_tabs: {}".format(e))
# Loading toolboxes (A bit of magic for a lot of automatic)
self.toolboxesMenuItem = QMenu("Toolboxes",
self.menuView,
enabled=True)
self.menuView.addMenu(self.toolboxesMenuItem)
self.toolboxes = []
for t_class in cfclient.ui.toolboxes.toolboxes:
toolbox = t_class(cfclient.ui.pluginhelper)
dockToolbox = MyDockWidget(toolbox.getName())
dockToolbox.setWidget(toolbox)
self.toolboxes += [
dockToolbox,
]
# Add menu item for the toolbox
item = QtWidgets.QAction(toolbox.getName(), self)
item.setCheckable(True)
item.triggered.connect(self.toggleToolbox)
self.toolboxesMenuItem.addAction(item)
dockToolbox.closed.connect(lambda: self.toggleToolbox(False))
# Setup some introspection
item.dockToolbox = dockToolbox
item.menuItem = item
dockToolbox.dockToolbox = dockToolbox
dockToolbox.menuItem = item
# References to all the device sub-menus in the "Input device" menu
self._all_role_menus = ()
# Used to filter what new devices to add default mapping to
self._available_devices = ()
# Keep track of mux nodes so we can enable according to how many
# devices we have
self._all_mux_nodes = ()
# Check which Input muxes are available
self._mux_group = QActionGroup(self._menu_inputdevice)
self._mux_group.setExclusive(True)
for m in self.joystickReader.available_mux():
node = QAction(m.name,
self._menu_inputdevice,
checkable=True,
enabled=False)
node.toggled.connect(self._mux_selected)
self._mux_group.addAction(node)
self._menu_inputdevice.addAction(node)
self._all_mux_nodes += (node, )
mux_subnodes = ()
for name in m.supported_roles():
sub_node = QMenu(" {}".format(name),
self._menu_inputdevice,
enabled=False)
self._menu_inputdevice.addMenu(sub_node)
mux_subnodes += (sub_node, )
self._all_role_menus += ({
"muxmenu": node,
"rolemenu": sub_node
}, )
node.setData((m, mux_subnodes))
self._mapping_support = True
# Add checkbuttons for theme-selection.
self._theme_group = QActionGroup(self.menuThemes)
self._theme_group.setExclusive(True)
self._theme_checkboxes = []
for theme in UiUtils.THEMES:
node = QAction(theme, self.menuThemes, checkable=True)
node.setObjectName(theme)
node.toggled.connect(self._theme_selected)
self._theme_checkboxes.append(node)
self._theme_group.addAction(node)
self.menuThemes.addAction(node)
def onChanged(self, text):
if text == 'What is your name?':
self.address.setEnabled(True)
self._set_address(0xA0A0A0A0A3)
if text == 'Julian Szlawski':
self.address.setEnabled(False)
self._set_address(0xA0A0A0A0A3)
if text == 'Margot Delafolouze':
self.address.setEnabled(False)
self._set_address(0xA0A0A0A0A4)
if text == 'Nina De La Cruz':
self.address.setEnabled(False)
self._set_address(0xA0A0A0A0A5)
if text == 'Tim Fist':
self.address.setEnabled(False)
self._set_address(0xA0A0A0A0A6)
if text == 'Tim Goodson':
self.address.setEnabled(False)
self._set_address(0xA0A0A0A0A7)
if text == '-----':
self.address.setEnabled(False)
self._set_address(0)
if text == 'Hand Pad L':
self.address.setEnabled(False)
self._set_address(0xA0A0A0A0A0)
if text == 'Hand Pad R':
self.address.setEnabled(False)
self._set_address(0xA0A0A0A0A1)
def _set_address(self, address):
# try:
# link_uri = Config().get("link_uri")
# if link_uri.startswith("radio://"):
# if len(link_uri) > 0:
# address = int(link_uri.split('/')[-1], 16)
# except Exception as err:
# logger.warn('failed to parse address from config: %s' % str(err))
# finally:
self.address.setValue(address)
def _theme_selected(self, *args):
""" Callback when a theme is selected. """
for checkbox in self._theme_checkboxes:
if checkbox.isChecked():
theme = checkbox.objectName()
app = QtWidgets.QApplication.instance()
app.setStyleSheet(UiUtils.select_theme(theme))
Config().set('theme', theme)
def _check_theme(self, theme_name):
# Check the default theme.
for theme in self._theme_checkboxes:
if theme.objectName() == theme_name:
theme.setChecked(True)
self._theme_selected(True)
def set_default_theme(self):
try:
theme = Config().get('theme')
except KeyError:
theme = 'Default'
self._check_theme(theme)
def disable_input(self, disable):
"""
Disable the gamepad input to be able to send setpoint from a tab
"""
self._disable_input = disable
def foundInterfaces(self, interfaces):
selected_interface = self._connectivity_manager.get_interface()
formatted_interfaces = []
for i in interfaces:
if len(i[1]) > 0:
interface = "%s - %s" % (i[0], i[1])
else:
interface = i[0]
formatted_interfaces.append(interface)
if self._initial_scan:
self._initial_scan = False
try:
if len(Config().get("link_uri")) > 0:
formatted_interfaces.index(Config().get("link_uri"))
selected_interface = Config().get("link_uri")
except KeyError:
# The configuration for link_uri was not found
pass
except ValueError:
# The saved URI was not found while scanning
pass
if len(interfaces) == 1 and selected_interface is None:
selected_interface = interfaces[0][0]
newIndex = None
if selected_interface is not None:
try:
newIndex = formatted_interfaces.index(selected_interface)
except ValueError:
pass
self._connectivity_manager.set_interfaces(formatted_interfaces,
newIndex)
self.uiState = UIState.DISCONNECTED
self._update_ui_state()
def _update_ui_state(self):
if self.uiState == UIState.DISCONNECTED:
self.setWindowTitle("Not connected")
canConnect = self._connectivity_manager.get_interface() is not None
self.menuItemConnect.setText("Connect to Crazyflie")
self.menuItemConnect.setEnabled(canConnect)
self._connectivity_manager.set_state(
ConnectivityManager.UIState.DISCONNECTED)
self.batteryBar.setValue(3000)
self._menu_cf2_config.setEnabled(False)
self.linkQualityBar.setValue(0)
self.logConfigAction.setEnabled(False)
self.address.setEnabled(False)
self.interfaceCombo.setEnabled(False)
elif self.uiState == UIState.CONNECTED:
s = "Connected on %s" % self._connectivity_manager.get_interface()
self.setWindowTitle(s)
self.menuItemConnect.setText("Disconnect")
self.menuItemConnect.setEnabled(True)
self._connectivity_manager.set_state(
ConnectivityManager.UIState.CONNECTED)
self.logConfigAction.setEnabled(True)
self.address.setEnabled(False)
self.interfaceCombo.setEnabled(False)
# Find out if there's an I2C EEPROM, otherwise don't show the
# dialog.
if len(self.cf.mem.get_mems(MemoryElement.TYPE_I2C)) > 0:
self._menu_cf2_config.setEnabled(True)
elif self.uiState == UIState.CONNECTING:
s = "Connecting to {} ...".format(
self._connectivity_manager.get_interface())
self.setWindowTitle(s)
self.menuItemConnect.setText("Cancel")
self.menuItemConnect.setEnabled(True)
self._connectivity_manager.set_state(
ConnectivityManager.UIState.CONNECTING)
self.address.setEnabled(False)
elif self.uiState == UIState.SCANNING:
self.setWindowTitle("Scanning ...")
self.menuItemConnect.setEnabled(False)
self._connectivity_manager.set_state(
ConnectivityManager.UIState.SCANNING)
self.address.setEnabled(False)
self.interfaceCombo.setEnabled(False)
@pyqtSlot(bool)
def toggleToolbox(self, display):
menuItem = self.sender().menuItem
dockToolbox = self.sender().dockToolbox
if display and not dockToolbox.isVisible():
dockToolbox.widget().enable()
self.addDockWidget(dockToolbox.widget().preferedDockArea(),
dockToolbox)
dockToolbox.show()
elif not display:
dockToolbox.widget().disable()
self.removeDockWidget(dockToolbox)
dockToolbox.hide()
menuItem.setChecked(False)
def _rescan_devices(self):
self._statusbar_label.setText("No inputdevice connected!")
self._menu_devices.clear()
self._active_device = ""
self.joystickReader.stop_input()
# for c in self._menu_mappings.actions():
# c.setEnabled(False)
# devs = self.joystickReader.available_devices()
# if (len(devs) > 0):
# self.device_discovery(devs)
def _show_input_device_config_dialog(self):
self.inputConfig = InputConfigDialogue(self.joystickReader)
self.inputConfig.show()
def _show_connect_dialog(self):
self.logConfigDialogue.show()
def _update_battery(self, timestamp, data, logconf):
self.batteryBar.setValue(int(data["pm.vbat"] * 1000))
color = UiUtils.COLOR_BLUE
# TODO firmware reports fully-charged state as 'Battery',
# rather than 'Charged'
if data["pm.state"] in [BatteryStates.CHARGING, BatteryStates.CHARGED]:
color = UiUtils.COLOR_GREEN
elif data["pm.state"] == BatteryStates.LOW_POWER:
color = UiUtils.COLOR_RED
self.batteryBar.setStyleSheet(UiUtils.progressbar_stylesheet(color))
self._aff_volts.setText(("%.3f" % data["pm.vbat"]))
def _connected(self):
self.uiState = UIState.CONNECTED
self._update_ui_state()
Config().set("link_uri",
str(self._connectivity_manager.get_interface()))
lg = LogConfig("Battery", 1000)
lg.add_variable("pm.vbat", "float")
lg.add_variable("pm.state", "int8_t")
try:
self.cf.log.add_config(lg)
lg.data_received_cb.add_callback(self.batteryUpdatedSignal.emit)
lg.error_cb.add_callback(self._log_error_signal.emit)
lg.start()
except KeyError as e:
logger.warning(str(e))
mems = self.cf.mem.get_mems(MemoryElement.TYPE_DRIVER_LED)
if len(mems) > 0:
mems[0].write_data(self._led_write_done)
def _disconnected(self):
self.uiState = UIState.DISCONNECTED
self._update_ui_state()
def _connection_initiated(self):
self.uiState = UIState.CONNECTING
self._update_ui_state()
def _led_write_done(self, mem, addr):
logger.info("LED write done callback")
def _logging_error(self, log_conf, msg):
QMessageBox.about(
self, "Log error", "Error when starting log config"
" [{}]: {}".format(log_conf.name, msg))
def _connection_lost(self, linkURI, msg):
if self.isActiveWindow():
warningCaption = "Communication failure"
error = "Connection lost to {}: {}".format(linkURI, msg)
QMessageBox.critical(self, warningCaption, error)
self.uiState = UIState.DISCONNECTED
self._update_ui_state()
def _connection_failed(self, linkURI, error):
msg = "Failed to connect on {}: {}".format(linkURI, error)
warningCaption = "Communication failure"
QMessageBox.critical(self, warningCaption, msg)
self.uiState = UIState.DISCONNECTED
self._update_ui_state()
def closeEvent(self, event):
self.hide()
self.cf.close_link()
Config().save_file()
def resizeEvent(self, event):
Config().set(
"window_size",
[event.size().width(), event.size().height()])
def _connect(self):
if self.uiState == UIState.CONNECTED:
self.cf.close_link()
elif self.uiState == UIState.CONNECTING:
self.cf.close_link()
self.uiState = UIState.DISCONNECTED
self._update_ui_state()
else:
self.cf.open_link(self._connectivity_manager.get_interface())
def _scan(self, address):
self.uiState = UIState.SCANNING
self._update_ui_state()
self.scanner.scanSignal.emit(address)
def _display_input_device_error(self, error):
self.cf.close_link()
QMessageBox.critical(self, "Input device error", error)
def _mux_selected(self, checked):
"""Called when a new mux is selected. The menu item contains a
reference to the raw mux object as well as to the associated device
sub-nodes"""
if not checked:
(mux, sub_nodes) = self.sender().data()
for s in sub_nodes:
s.setEnabled(False)
else:
(mux, sub_nodes) = self.sender().data()
for s in sub_nodes:
s.setEnabled(True)
self.joystickReader.set_mux(mux=mux)
# Go though the tree and select devices/mapping that was
# selected before it was disabled.
for role_node in sub_nodes:
for dev_node in role_node.children():
if type(dev_node) is QAction and dev_node.isChecked():
dev_node.toggled.emit(True)
self._update_input_device_footer()
def _get_dev_status(self, device):
msg = "{}".format(device.name)
if device.supports_mapping:
map_name = "No input mapping"
if device.input_map:
map_name = device.input_map_name
msg += " ({})".format(map_name)
return msg
def _update_input_device_footer(self):
"""Update the footer in the bottom of the UI with status for the
input device and its mapping"""
msg = ""
if len(self.joystickReader.available_devices()) > 0:
mux = self.joystickReader._selected_mux
msg = "Using {} mux with ".format(mux.name)
for key in list(mux._devs.keys())[:-1]:
if mux._devs[key]:
msg += "{}, ".format(self._get_dev_status(mux._devs[key]))
else:
msg += "N/A, "
# Last item
key = list(mux._devs.keys())[-1]
if mux._devs[key]:
msg += "{}".format(self._get_dev_status(mux._devs[key]))
else:
msg += "N/A"
else:
msg = "No input device found"
self._statusbar_label.setText(msg)
def _inputdevice_selected(self, checked):
"""Called when a new input device has been selected from the menu. The
data in the menu object is the associated map menu (directly under the
item in the menu) and the raw device"""
(map_menu, device, mux_menu) = self.sender().data()
if not checked:
if map_menu:
map_menu.setEnabled(False)
# Do not close the device, since we don't know exactly
# how many devices the mux can have open. When selecting a
# new mux the old one will take care of this.
else:
if map_menu:
map_menu.setEnabled(True)
(mux, sub_nodes) = mux_menu.data()
for role_node in sub_nodes:
for dev_node in role_node.children():
if type(dev_node) is QAction and dev_node.isChecked():
if device.id == dev_node.data()[1].id \
and dev_node is not self.sender():
dev_node.setChecked(False)
role_in_mux = str(self.sender().parent().title()).strip()
logger.info("Role of {} is {}".format(device.name, role_in_mux))
Config().set("input_device", str(device.name))
self._mapping_support = self.joystickReader.start_input(
device.name, role_in_mux)
self._update_input_device_footer()
def _inputconfig_selected(self, checked):
"""Called when a new configuration has been selected from the menu. The
data in the menu object is a referance to the device QAction in parent
menu. This contains a referance to the raw device."""
if not checked:
return
selected_mapping = str(self.sender().text())
device = self.sender().data().data()[1]
self.joystickReader.set_input_map(device.name, selected_mapping)
self._update_input_device_footer()
def device_discovery(self, devs):
"""Called when new devices have been added"""
for menu in self._all_role_menus:
role_menu = menu["rolemenu"]
mux_menu = menu["muxmenu"]
dev_group = QActionGroup(role_menu)
dev_group.setExclusive(True)
for d in devs:
dev_node = QAction(d.name,
role_menu,
checkable=True,
enabled=True)
role_menu.addAction(dev_node)
dev_group.addAction(dev_node)
dev_node.toggled.connect(self._inputdevice_selected)
map_node = None
if d.supports_mapping:
map_node = QMenu(" Input map", role_menu, enabled=False)
map_group = QActionGroup(role_menu)
map_group.setExclusive(True)
# Connect device node to map node for easy
# enabling/disabling when selection changes and device
# to easily enable it
dev_node.setData((map_node, d))
for c in ConfigManager().get_list_of_configs():
node = QAction(c,
map_node,
checkable=True,
enabled=True)
node.toggled.connect(self._inputconfig_selected)
map_node.addAction(node)
# Connect all the map nodes back to the device
# action node where we can access the raw device
node.setData(dev_node)
map_group.addAction(node)
# If this device hasn't been found before, then
# select the default mapping for it.
if d not in self._available_devices:
last_map = Config().get("device_config_mapping")
if d.name in last_map and last_map[d.name] == c:
node.setChecked(True)
role_menu.addMenu(map_node)
dev_node.setData((map_node, d, mux_menu))
# Update the list of what devices we found
# to avoid selecting default mapping for all devices when
# a new one is inserted
self._available_devices = ()
for d in devs:
self._available_devices += (d, )
# Only enable MUX nodes if we have enough devies to cover
# the roles
for mux_node in self._all_mux_nodes:
(mux, sub_nodes) = mux_node.data()
if len(mux.supported_roles()) <= len(self._available_devices):
mux_node.setEnabled(True)
# TODO: Currently only supports selecting default mux
if self._all_mux_nodes[0].isEnabled():
self._all_mux_nodes[0].setChecked(True)
# If the previous length of the available devies was 0, then select
# the default on. If that's not available then select the first
# on in the list.
# TODO: This will only work for the "Normal" mux so this will be
# selected by default
if Config().get("input_device") in [d.name for d in devs]:
for dev_menu in self._all_role_menus[0]["rolemenu"].actions():
if dev_menu.text() == Config().get("input_device"):
dev_menu.setChecked(True)
else:
# Select the first device in the first mux (will always be "Normal"
# mux)
self._all_role_menus[0]["rolemenu"].actions()[0].setChecked(True)
logger.info("Select first device")
self._update_input_device_footer()
def _open_config_folder(self):
QDesktopServices.openUrl(
QUrl("file:///" + QDir.toNativeSeparators(cfclient.config_path)))
def closeAppRequest(self):
self.close()
sys.exit(0)
def __init__(self, *args):
super(MainUI, self).__init__(*args)
self.setupUi(self)
# Restore window size if present in the config file
try:
size = Config().get("window_size")
self.resize(size[0], size[1])
except KeyError:
pass
self.cf = Crazyflie(ro_cache=None,
rw_cache=cfclient.config_path + "/cache")
cflib.crtp.init_drivers()
zmq_params = ZMQParamAccess(self.cf)
zmq_params.start()
zmq_leds = ZMQLEDDriver(self.cf)
zmq_leds.start()
self.scanner = ScannerThread()
self.scanner.interfaceFoundSignal.connect(self.foundInterfaces)
self.scanner.start()
# Create and start the Input Reader
self._statusbar_label = QLabel("No input-device found, insert one to"
" fly.")
self.statusBar().addWidget(self._statusbar_label)
self.joystickReader = JoystickReader()
self._active_device = ""
# self.configGroup = QActionGroup(self._menu_mappings, exclusive=True)
self._mux_group = QActionGroup(self._menu_inputdevice)
self._mux_group.setExclusive(True)
# TODO: Need to reload configs
# ConfigManager().conf_needs_reload.add_callback(self._reload_configs)
self.connect_input = QShortcut("Ctrl+I", self.connectButton,
self._connect)
self.cf.connection_failed.add_callback(
self.connectionFailedSignal.emit)
self.connectionFailedSignal.connect(self._connection_failed)
self._input_device_error_signal.connect(
self._display_input_device_error)
self.joystickReader.device_error.add_callback(
self._input_device_error_signal.emit)
self._input_discovery_signal.connect(self.device_discovery)
self.joystickReader.device_discovery.add_callback(
self._input_discovery_signal.emit)
# Connect UI signals
self.logConfigAction.triggered.connect(self._show_connect_dialog)
self.menuItemConnect.triggered.connect(self._connect)
self.menuItemConfInputDevice.triggered.connect(
self._show_input_device_config_dialog)
self.menuItemExit.triggered.connect(self.closeAppRequest)
self.batteryUpdatedSignal.connect(self._update_battery)
self._menuitem_rescandevices.triggered.connect(self._rescan_devices)
self._menuItem_openconfigfolder.triggered.connect(
self._open_config_folder)
self._set_address(0xA0A0A0A0A3)
self._connectivity_manager = ConnectivityManager()
self._connectivity_manager.register_ui_elements(
ConnectivityManager.UiElementsContainer(
interface_combo=self.interfaceCombo,
address_spinner=self.address,
connect_button=self.connectButton,
scan_button=self.scanButton))
self.comboBox.activated[str].connect(self.onChanged)
self._connectivity_manager.connect_button_clicked.connect(
self._connect)
self._connectivity_manager.scan_button_clicked.connect(self._scan)
self._disable_input = False
self.joystickReader.input_updated.add_callback(
lambda *args: self._disable_input or self.cf.commander.
send_setpoint(*args))
self.joystickReader.assisted_input_updated.add_callback(
lambda *args: self._disable_input or self.cf.commander.
send_velocity_world_setpoint(*args))
self.joystickReader.heighthold_input_updated.add_callback(
lambda *args: self._disable_input or self.cf.commander.
send_zdistance_setpoint(*args))
self.joystickReader.hover_input_updated.add_callback(
self.cf.commander.send_hover_setpoint)
# Connection callbacks and signal wrappers for UI protection
self.cf.connected.add_callback(self.connectionDoneSignal.emit)
self.connectionDoneSignal.connect(self._connected)
self.cf.disconnected.add_callback(self.disconnectedSignal.emit)
self.disconnectedSignal.connect(self._disconnected)
self.cf.connection_lost.add_callback(self.connectionLostSignal.emit)
self.connectionLostSignal.connect(self._connection_lost)
self.cf.connection_requested.add_callback(
self.connectionInitiatedSignal.emit)
self.connectionInitiatedSignal.connect(self._connection_initiated)
self._log_error_signal.connect(self._logging_error)
self.batteryBar.setTextVisible(False)
self.linkQualityBar.setTextVisible(False)
# Connect link quality feedback
self.cf.link_quality_updated.add_callback(self.linkQualitySignal.emit)
self.linkQualitySignal.connect(
lambda percentage: self.linkQualityBar.setValue(percentage))
# Parse the log configuration files
self.logConfigReader = LogConfigReader(self.cf)
self._current_input_config = None
self._active_config = None
self._active_config = None
self.inputConfig = None
# Add things to helper so tabs can access it
cfclient.ui.pluginhelper.cf = self.cf
cfclient.ui.pluginhelper.inputDeviceReader = self.joystickReader
cfclient.ui.pluginhelper.logConfigReader = self.logConfigReader
cfclient.ui.pluginhelper.pose_logger = PoseLogger(self.cf)
cfclient.ui.pluginhelper.connectivity_manager = self._connectivity_manager
cfclient.ui.pluginhelper.mainUI = self
self.logConfigDialogue = LogConfigDialogue(cfclient.ui.pluginhelper)
self._bootloader_dialog = BootloaderDialog(cfclient.ui.pluginhelper)
self._cf2config_dialog = Cf2ConfigDialog(cfclient.ui.pluginhelper)
self.menuItemBootloader.triggered.connect(self._bootloader_dialog.show)
self._about_dialog = AboutDialog(cfclient.ui.pluginhelper)
self.menuItemAbout.triggered.connect(self._about_dialog.show)
self._menu_cf2_config.triggered.connect(self._cf2config_dialog.show)
self._connectivity_manager.set_address(self.address.value())
self._initial_scan = True
self._scan(self._connectivity_manager.get_address())
# Load and connect tabs
self.tabsMenuItem = QMenu("Tabs", self.menuView, enabled=True)
self.menuView.addMenu(self.tabsMenuItem)
tabItems = {}
self.loadedTabs = []
for tabClass in cfclient.ui.tabs.available:
tab = tabClass(self.tabs, cfclient.ui.pluginhelper)
# Set reference for plot-tab.
if isinstance(tab, cfclient.ui.tabs.PlotTab):
cfclient.ui.pluginhelper.plotTab = tab
item = QtWidgets.QAction(tab.getMenuName(), self, checkable=True)
item.toggled.connect(tab.toggleVisibility)
self.tabsMenuItem.addAction(item)
tabItems[tab.getTabName()] = item
self.loadedTabs.append(tab)
if not tab.enabled:
item.setEnabled(False)
# First instantiate all tabs and then open them in the correct order
try:
for tName in Config().get("open_tabs").split(","):
try:
t = tabItems[tName]
if (t is not None and t.isEnabled()):
# Toggle though menu so it's also marked as open there
t.toggle()
except Exception as e:
logger.warning(
"Exception while opening tab [{}]".format(e))
except KeyError as e:
logger.warning("Failed to get open_tabs: {}".format(e))
# Loading toolboxes (A bit of magic for a lot of automatic)
self.toolboxesMenuItem = QMenu("Toolboxes",
self.menuView,
enabled=True)
self.menuView.addMenu(self.toolboxesMenuItem)
self.toolboxes = []
for t_class in cfclient.ui.toolboxes.toolboxes:
toolbox = t_class(cfclient.ui.pluginhelper)
dockToolbox = MyDockWidget(toolbox.getName())
dockToolbox.setWidget(toolbox)
self.toolboxes += [
dockToolbox,
]
# Add menu item for the toolbox
item = QtWidgets.QAction(toolbox.getName(), self)
item.setCheckable(True)
item.triggered.connect(self.toggleToolbox)
self.toolboxesMenuItem.addAction(item)
dockToolbox.closed.connect(lambda: self.toggleToolbox(False))
# Setup some introspection
item.dockToolbox = dockToolbox
item.menuItem = item
dockToolbox.dockToolbox = dockToolbox
dockToolbox.menuItem = item
# References to all the device sub-menus in the "Input device" menu
self._all_role_menus = ()
# Used to filter what new devices to add default mapping to
self._available_devices = ()
# Keep track of mux nodes so we can enable according to how many
# devices we have
self._all_mux_nodes = ()
# Check which Input muxes are available
self._mux_group = QActionGroup(self._menu_inputdevice)
self._mux_group.setExclusive(True)
for m in self.joystickReader.available_mux():
node = QAction(m.name,
self._menu_inputdevice,
checkable=True,
enabled=False)
node.toggled.connect(self._mux_selected)
self._mux_group.addAction(node)
self._menu_inputdevice.addAction(node)
self._all_mux_nodes += (node, )
mux_subnodes = ()
for name in m.supported_roles():
sub_node = QMenu(" {}".format(name),
self._menu_inputdevice,
enabled=False)
self._menu_inputdevice.addMenu(sub_node)
mux_subnodes += (sub_node, )
self._all_role_menus += ({
"muxmenu": node,
"rolemenu": sub_node
}, )
node.setData((m, mux_subnodes))
self._mapping_support = True
# Add checkbuttons for theme-selection.
self._theme_group = QActionGroup(self.menuThemes)
self._theme_group.setExclusive(True)
self._theme_checkboxes = []
for theme in UiUtils.THEMES:
node = QAction(theme, self.menuThemes, checkable=True)
node.setObjectName(theme)
node.toggled.connect(self._theme_selected)
self._theme_checkboxes.append(node)
self._theme_group.addAction(node)
self.menuThemes.addAction(node)