def log_all_params():
for index in range(10000):
r = request(uavcan.protocol.param.GetSet.Request(index=index))
if not r.name:
break
logger.info('Param %-30r %r' % (r.name.decode(),
getattr(r.value, uavcan.get_active_union_field(r.value))))
def handle_param_write(self, req):
request = uavcan.protocol.param.GetSet.Request(
name=req.name,
value=uavcan.protocol.param.Value(
integer_value=req.value
),
)
_uav_outgoing.put(request)
try:
response = _uav_incoming_param.get(
block=True,
timeout=PARAMETER_REQ_TIMEOUT,
)
if (
uavcan.get_active_union_field(
response.value
)
!= "empty"
):
return (
SUCCESS
if response.value.integer_value
== req.value
else FAILURE
)
except queue.Empty:
pass
return FAILURE
def __init__(self, parent, node, target_node_id):
super(ConfigParams, self).__init__(parent)
self.setTitle('Configuration parameters (double click to change)')
self._node = node
self._target_node_id = target_node_id
self._read_all_button = make_icon_button(
'refresh',
'Fetch all config parameters from the node',
self,
text='Fetch All',
on_clicked=self._do_reload)
opcodes = uavcan.protocol.param.ExecuteOpcode.Request()
self._save_button = \
make_icon_button('database', 'Commit configuration to the non-volatile storage [OPCODE_SAVE]', self,
text='Store All', on_clicked=partial(self._do_execute_opcode, opcodes.OPCODE_SAVE))
self._erase_button = \
make_icon_button('eraser', 'Clear the non-volatile configuration storage [OPCODE_ERASE]', self,
text='Erase All', on_clicked=partial(self._do_execute_opcode, opcodes.OPCODE_ERASE))
columns = [
BasicTable.Column('Idx', lambda m: m[0]),
BasicTable.Column('Name',
lambda m: m[1].name,
resize_mode=QHeaderView.Stretch),
BasicTable.Column(
'Type',
lambda m: uavcan.get_active_union_field(m[1].value).replace(
'_value', '')),
BasicTable.Column('Value',
lambda m: render_union(m[1].value),
resize_mode=QHeaderView.Stretch),
BasicTable.Column('Default',
lambda m: render_union(m[1].default_value)),
BasicTable.Column('Min', lambda m: render_union(m[1].min_value)),
BasicTable.Column('Max', lambda m: render_union(m[1].max_value)),
]
self._table = BasicTable(self,
columns,
multi_line_rows=True,
font=get_monospace_font())
self._table.cellDoubleClicked.connect(
lambda row, col: self._do_edit_param(row))
self._table.on_enter_pressed = self._on_cell_enter_pressed
self._params = []
layout = QVBoxLayout(self)
controls_layout = QHBoxLayout(self)
controls_layout.addWidget(self._read_all_button, 1)
controls_layout.addWidget(self._save_button, 1)
controls_layout.addWidget(self._erase_button, 1)
layout.addLayout(controls_layout)
layout.addWidget(self._table)
self.setLayout(layout)
def _extract_struct_fields(m):
if isinstance(m, uavcan.transport.CompoundValue):
out = CompactMessage(uavcan.get_uavcan_data_type(m).full_name)
for field_name, field in uavcan.get_fields(m).items():
if uavcan.is_union(
m) and uavcan.get_active_union_field(m) != field_name:
continue
val = _extract_struct_fields(field)
if val is not None:
out._add_field(field_name, val)
return out
elif isinstance(m, uavcan.transport.ArrayValue):
# cannot say I'm breaking the rules
container = bytes if uavcan.get_uavcan_data_type(
m).is_string_like else list
# if I can glue them back together
return container(
filter(lambda x: x is not None,
(_extract_struct_fields(item) for item in m)))
elif isinstance(m, uavcan.transport.PrimitiveValue):
return m.value
elif isinstance(m, (int, float, bool)):
return m
elif isinstance(m, uavcan.transport.VoidValue):
pass
else:
raise ValueError(':(')
def _do_send(self):
value_type = uavcan.get_active_union_field(self._param_struct.value)
try:
if value_type == "integer_value":
if hasattr(self._value_widget, "value"):
value = int(self._value_widget.value())
else:
value = int(self._value_widget.text())
self._param_struct.value.integer_value = value
elif value_type == "real_value":
value = float(self._value_widget.text())
self._param_struct.value.real_value = value
elif value_type == "boolean_value":
value = bool(self._value_widget.isChecked())
self._param_struct.value.boolean_value = value
elif value_type == "string_value":
value = self._value_widget.text()
self._param_struct.value.string_value = value
else:
raise RuntimeError("This is not happening!")
except Exception as ex:
show_error("Format error", "Could not parse value", ex, self)
return
try:
request = uavcan.protocol.param.GetSet.Request(name=self._param_struct.name, value=self._param_struct.value)
logger.info("Sending param set request: %s", request)
self._node.request(request, self._target_node_id, self._on_response, priority=REQUEST_PRIORITY)
except Exception as ex:
show_error("Node error", "Could not send param set request", ex, self)
else:
self.show_message("Set request sent")
def _do_send(self):
value_type = uavcan.get_active_union_field(self._param_struct.value)
try:
if value_type == 'integer_value':
if hasattr(self._value_widget, 'value'):
value = int(self._value_widget.value())
else:
value = int(self._value_widget.text())
self._param_struct.value.integer_value = value
elif value_type == 'real_value':
value = float(self._value_widget.text())
self._param_struct.value.real_value = value
elif value_type == 'boolean_value':
value = bool(self._value_widget.isChecked())
self._param_struct.value.boolean_value = value
elif value_type == 'string_value':
value = self._value_widget.text()
self._param_struct.value.string_value = value
else:
raise RuntimeError('This is not happening!')
except Exception as ex:
show_error('Format error', 'Could not parse value', ex, self)
return
try:
request = uavcan.protocol.param.GetSet.Request(name=self._param_struct.name,
value=self._param_struct.value)
logger.info('Sending param set request: %s', request)
self._node.request(request, self._target_node_id, self._on_response, priority=REQUEST_PRIORITY)
except Exception as ex:
show_error('Node error', 'Could not send param set request', ex, self)
else:
self.show_message('Set request sent')
def handle_param_list(self, req):
params = []
index = 0
ClearQueue(_uav_incoming_param)
while True:
request = uavcan.protocol.param.GetSet.Request(
index=index
)
_uav_outgoing.put(request)
try:
response = _uav_incoming_param.get(
block=True,
timeout=PARAMETER_REQ_TIMEOUT,
)
if (
uavcan.get_active_union_field(
response.value
)
!= "empty"
):
params.append(
ascii_list_to_str(response.name)
)
index += 1
rospy.loginfo(index)
else:
return [SUCCESS, params]
except queue.Empty:
return [FAILURE, params]
def _to_json_compatible_object_impl(obj):
# Decomposing PrimitiveValue to value and type. This is ugly but it's by design...
if isinstance(obj, PrimitiveValue):
obj = obj.value
# CompoundValue
if isinstance(obj, CompoundValue):
output = dict()
for field_name, field in uavcan.get_fields(obj).items():
if uavcan.is_union(
obj) and uavcan.get_active_union_field(obj) != field_name:
continue
if isinstance(field, VoidValue):
continue
output[field_name] = to_json_compatible_object(field)
return output
# ArrayValue
elif isinstance(obj, ArrayValue):
t = uavcan.get_uavcan_data_type(obj)
if t.value_type.category == t.value_type.CATEGORY_PRIMITIVE:
def is_nice_character(ch):
if ch.is_printable() or ch.isspace():
return True
if ch in b'\n\r\t':
return True
return False
# Catch a string masquerading as an array
if t.is_string_like and all(map(is_nice_character, obj)):
return obj.decode()
# Return the array!
output = []
for x in obj:
output.append(to_json_compatible_object(x))
return output
# Primitive types
elif isinstance(obj, float):
return obj
elif isinstance(obj, bool):
return obj
elif isinstance(obj, int):
return obj
# Non-printable types
elif isinstance(obj, VoidValue):
pass
# Unknown types
else:
raise ValueError(
'Cannot generate JSON-compatible object representation for %r' %
type(obj))
def render_union(u):
value = get_union_value(u)
if 'boolean' in uavcan.get_active_union_field(u):
return bool(value)
if isinstance(value, int):
return value
if isinstance(value, float):
return round_float(value)
if 'uavcan.protocol.param.Empty' in str(value):
return ''
return value
def log_all_params():
for index in range(10000):
r = request(
uavcan.protocol.param.GetSet.Request(index=index))
if not r.name:
break
logger.info(
'Param %-30r %r' %
(r.name.decode(),
getattr(r.value, uavcan.get_active_union_field(
r.value))))
def render_union(u):
value = get_union_value(u)
if "boolean" in uavcan.get_active_union_field(u):
return bool(value)
if isinstance(value, int):
return value
if isinstance(value, float):
return round_float(value)
if "uavcan.protocol.param.Empty" in str(value):
return ""
return value
def __init__(self, parent, node, target_node_id):
super(ConfigParams, self).__init__(parent)
self.setTitle("Configuration parameters (double click to change)")
self._node = node
self._target_node_id = target_node_id
self._read_all_button = make_icon_button(
"refresh", "Fetch all config parameters from the node", self, text="Fetch All", on_clicked=self._do_reload
)
opcodes = uavcan.protocol.param.ExecuteOpcode.Request()
self._save_button = make_icon_button(
"database",
"Commit configuration to the non-volatile storage [OPCODE_SAVE]",
self,
text="Store All",
on_clicked=partial(self._do_execute_opcode, opcodes.OPCODE_SAVE),
)
self._erase_button = make_icon_button(
"eraser",
"Clear the non-volatile configuration storage [OPCODE_ERASE]",
self,
text="Erase All",
on_clicked=partial(self._do_execute_opcode, opcodes.OPCODE_ERASE),
)
columns = [
BasicTable.Column("Idx", lambda m: m[0]),
BasicTable.Column("Name", lambda m: m[1].name, resize_mode=QHeaderView.Stretch),
BasicTable.Column("Type", lambda m: uavcan.get_active_union_field(m[1].value).replace("_value", "")),
BasicTable.Column("Value", lambda m: render_union(m[1].value), resize_mode=QHeaderView.Stretch),
BasicTable.Column("Default", lambda m: render_union(m[1].default_value)),
BasicTable.Column("Min", lambda m: render_union(m[1].min_value)),
BasicTable.Column("Max", lambda m: render_union(m[1].max_value)),
]
self._table = BasicTable(self, columns, multi_line_rows=True, font=get_monospace_font())
self._table.cellDoubleClicked.connect(lambda row, col: self._do_edit_param(row))
self._table.on_enter_pressed = self._on_cell_enter_pressed
self._params = []
layout = QVBoxLayout(self)
controls_layout = QHBoxLayout(self)
controls_layout.addWidget(self._read_all_button, 1)
controls_layout.addWidget(self._save_button, 1)
controls_layout.addWidget(self._erase_button, 1)
layout.addLayout(controls_layout)
layout.addWidget(self._table)
self.setLayout(layout)
def _assign(self, value_union):
value = get_union_value(value_union)
if uavcan.get_active_union_field(value_union) == "real_value":
value = round_float(value)
if hasattr(self._value_widget, "setValue"):
self._value_widget.setValue(value)
self._update_callback(value)
elif hasattr(self._value_widget, "setChecked"):
self._value_widget.setChecked(bool(value))
self._update_callback(bool(value))
else:
self._value_widget.setText(str(value))
self._update_callback(value)
def _assign(self, value_union):
value = get_union_value(value_union)
if uavcan.get_active_union_field(value_union) == 'real_value':
value = round_float(value)
if hasattr(self._value_widget, 'setValue'):
self._value_widget.setValue(value)
self._update_callback(value)
elif hasattr(self._value_widget, 'setChecked'):
self._value_widget.setChecked(bool(value))
self._update_callback(bool(value))
else:
self._value_widget.setText(str(value))
self._update_callback(value)
def set_param(name, value, union_field=None):
union_field = union_field or {
int: 'integer_value',
float: 'real_value',
bool: 'boolean_value',
str: 'string_value'
}[type(value)]
logger.info('Setting parameter %r field %r value %r', name, union_field, value)
req = uavcan.protocol.param.GetSet.Request()
req.name.encode(name)
setattr(req.value, union_field, value)
r = request(req)
enforce(uavcan.get_active_union_field(r.value) == union_field,
'Union field mismatch in param set response for %r', name)
enforce(getattr(r.value, union_field) == value,
'The node refused to set parameter %r', name)
def set_param(name, value, union_field=None):
union_field = union_field or {
int: 'integer_value',
float: 'real_value',
bool: 'boolean_value',
str: 'string_value'
}[type(value)]
logger.info('Setting parameter %r field %r value %r', name,
union_field, value)
req = uavcan.protocol.param.GetSet.Request()
req.name.encode(name)
setattr(req.value, union_field, value)
r = request(req)
enforce(
uavcan.get_active_union_field(r.value) == union_field,
'Union field mismatch in param set response for %r', name)
enforce(
getattr(r.value, union_field) == value,
'The node refused to set parameter %r', name)
def _extract_struct_fields(m):
if isinstance(m, uavcan.transport.CompoundValue):
out = CompactMessage(uavcan.get_uavcan_data_type(m).full_name)
for field_name, field in uavcan.get_fields(m).items():
if uavcan.is_union(m) and uavcan.get_active_union_field(m) != field_name:
continue
val = _extract_struct_fields(field)
if val is not None:
out._add_field(field_name, val)
return out
elif isinstance(m, uavcan.transport.ArrayValue):
# cannot say I'm breaking the rules
container = bytes if uavcan.get_uavcan_data_type(m).is_string_like else list
# if I can glue them back together
return container(filter(lambda x: x is not None, (_extract_struct_fields(item) for item in m)))
elif isinstance(m, uavcan.transport.PrimitiveValue):
return m.value
elif isinstance(m, (int, float, bool)):
return m
elif isinstance(m, uavcan.transport.VoidValue):
pass
else:
raise ValueError(':(')
def _to_yaml_impl(obj,
indent_level=0,
parent=None,
name=None,
uavcan_type=None):
buf = StringIO()
def write(fmt, *args):
buf.write((fmt % args) if len(args) else fmt)
def indent_newline():
buf.write(os.linesep + ' ' * 2 * indent_level)
# Decomposing PrimitiveValue to value and type. This is ugly but it's by design...
if isinstance(obj, PrimitiveValue):
uavcan_type = uavcan.get_uavcan_data_type(obj)
obj = obj.value
# CompoundValue
if isinstance(obj, CompoundValue):
first_field = True
# Rendering all fields than can be rendered
for field_name, field in uavcan.get_fields(obj).items():
if uavcan.is_union(
obj) and uavcan.get_active_union_field(obj) != field_name:
continue
if isinstance(field, VoidValue):
continue
if (first_field and indent_level > 0) or not first_field:
indent_newline()
first_field = False
rendered_field = _to_yaml_impl(field,
indent_level=indent_level + 1,
parent=obj,
name=field_name)
write('%s: %s', field_name, rendered_field)
# Special case - empty non-union struct is rendered as empty map
if first_field and not uavcan.is_union(obj):
if indent_level > 0:
indent_newline()
write('{}')
# ArrayValue
elif isinstance(obj, ArrayValue):
t = uavcan.get_uavcan_data_type(obj)
if t.value_type.category == t.value_type.CATEGORY_PRIMITIVE:
def is_nice_character(ch):
if 32 <= ch <= 126:
return True
if ch in b'\n\r\t':
return True
return False
as_bytes = '[%s]' % ', '.join([
_to_yaml_impl(
x, indent_level=indent_level + 1, uavcan_type=t.value_type)
for x in obj
])
if t.is_string_like and all(map(is_nice_character, obj)):
write('%r # ', obj.decode())
write(as_bytes)
else:
if len(obj) == 0:
write('[]')
else:
for x in obj:
indent_newline()
write(
'- %s',
_to_yaml_impl(x,
indent_level=indent_level + 1,
uavcan_type=t.value_type))
# Primitive types
elif isinstance(obj, float):
assert uavcan_type is not None
float_fmt = {
16: '%.4f',
32: '%.6f',
64: '%.9f',
}[uavcan_type.bitlen]
write(float_fmt, obj)
elif isinstance(obj, bool):
write('%s', 'true' if obj else 'false')
elif isinstance(obj, int):
write('%s', obj)
if parent is not None and name is not None:
resolved_name = value_to_constant_name(parent, name)
if isinstance(resolved_name, str):
write(' # %s', resolved_name)
# Non-printable types
elif isinstance(obj, VoidValue):
pass
# Unknown types
else:
raise ValueError('Cannot generate YAML representation for %r' %
type(obj))
return buf.getvalue()
def _to_yaml_impl(obj, indent_level=0, parent=None, name=None, uavcan_type=None):
buf = StringIO()
def write(fmt, *args):
buf.write((fmt % args) if len(args) else fmt)
def indent_newline():
buf.write(os.linesep + ' ' * 2 * indent_level)
# Decomposing PrimitiveValue to value and type. This is ugly but it's by design...
if isinstance(obj, PrimitiveValue):
uavcan_type = uavcan.get_uavcan_data_type(obj)
obj = obj.value
# CompoundValue
if isinstance(obj, CompoundValue):
first_field = True
# Rendering all fields than can be rendered
for field_name, field in uavcan.get_fields(obj).items():
if uavcan.is_union(obj) and uavcan.get_active_union_field(obj) != field_name:
continue
if isinstance(field, VoidValue):
continue
if (first_field and indent_level > 0) or not first_field:
indent_newline()
first_field = False
rendered_field = _to_yaml_impl(field, indent_level=indent_level + 1, parent=obj, name=field_name)
write('%s: %s', field_name, rendered_field)
# Special case - empty non-union struct is rendered as empty map
if first_field and not uavcan.is_union(obj):
if indent_level > 0:
indent_newline()
write('{}')
# ArrayValue
elif isinstance(obj, ArrayValue):
t = uavcan.get_uavcan_data_type(obj)
if t.value_type.category == t.value_type.CATEGORY_PRIMITIVE:
def is_nice_character(ch):
if 32 <= ch <= 126:
return True
if ch in b'\n\r\t':
return True
return False
as_bytes = '[%s]' % ', '.join([_to_yaml_impl(x, indent_level=indent_level + 1, uavcan_type=t.value_type)
for x in obj])
if t.is_string_like and all(map(is_nice_character, obj)):
write('%r # ', obj.decode())
write(as_bytes)
else:
if len(obj) == 0:
write('[]')
else:
for x in obj:
indent_newline()
write('- %s', _to_yaml_impl(x, indent_level=indent_level + 1, uavcan_type=t.value_type))
# Primitive types
elif isinstance(obj, float):
assert uavcan_type is not None
float_fmt = {
16: '%.4f',
32: '%.6f',
64: '%.9f',
}[uavcan_type.bitlen]
write(float_fmt, obj)
elif isinstance(obj, bool):
write('%s', 'true' if obj else 'false')
elif isinstance(obj, int):
write('%s', obj)
if parent is not None and name is not None:
resolved_name = value_to_constant_name(parent, name)
if isinstance(resolved_name, str):
write(' # %s', resolved_name)
# Non-printable types
elif isinstance(obj, VoidValue):
pass
# Unknown types
else:
raise ValueError('Cannot generate YAML representation for %r' % type(obj))
return buf.getvalue()
def get_union_value(u):
return getattr(u, uavcan.get_active_union_field(u))
def __init__(self, parent, node, target_node_id, param_struct,
update_callback):
super(ConfigParamEditWindow, self).__init__(parent)
self.setWindowTitle('Edit configuration parameter')
self.setModal(True)
self._node = node
self._target_node_id = target_node_id
self._param_struct = param_struct
self._update_callback = update_callback
min_val = get_union_value(param_struct.min_value)
if 'uavcan.protocol.param.Empty' in str(min_val):
min_val = None
max_val = get_union_value(param_struct.max_value)
if 'uavcan.protocol.param.Empty' in str(max_val):
max_val = None
value = get_union_value(param_struct.value)
self._value_widget = None
value_type = uavcan.get_active_union_field(param_struct.value)
if value_type == 'integer_value':
min_val = min_val if min_val is not None else -0x8000000000000000
max_val = max_val if max_val is not None else 0x7FFFFFFFFFFFFFFF
if min_val >= -0x80000000 and \
max_val <= +0x7FFFFFFF:
self._value_widget = QSpinBox(self)
self._value_widget.setMaximum(max_val)
self._value_widget.setMinimum(min_val)
self._value_widget.setValue(value)
if value_type == 'real_value':
min_val = round_float(
min_val) if min_val is not None else -3.4028235e+38
max_val = round_float(
max_val) if max_val is not None else 3.4028235e+38
value = round_float(value)
if value_type == 'boolean_value':
self._value_widget = QCheckBox(self)
self._value_widget.setChecked(bool(value))
if self._value_widget is None:
self._value_widget = QLineEdit(self)
self._value_widget.setText(str(value))
self._value_widget.setFont(get_monospace_font())
layout = QGridLayout(self)
def add_const_field(label, *values):
row = layout.rowCount()
layout.addWidget(QLabel(label, self), row, 0)
if len(values) == 1:
layout.addWidget(FieldValueWidget(self, values[0]), row, 1)
else:
sub_layout = QHBoxLayout(self)
for idx, v in enumerate(values):
sub_layout.addWidget(FieldValueWidget(self, v))
layout.addLayout(sub_layout, row, 1)
add_const_field('Name', param_struct.name)
add_const_field(
'Type',
uavcan.get_active_union_field(param_struct.value).replace(
'_value', ''))
add_const_field('Min/Max', min_val, max_val)
add_const_field('Default', render_union(param_struct.default_value))
layout.addWidget(QLabel('Value', self), layout.rowCount(), 0)
layout.addWidget(self._value_widget, layout.rowCount() - 1, 1)
fetch_button = make_icon_button('refresh',
'Read parameter from the node',
self,
text='Fetch',
on_clicked=self._do_fetch)
set_default_button = make_icon_button('fire-extinguisher',
'Restore default value',
self,
text='Restore',
on_clicked=self._restore_default)
send_button = make_icon_button('flash',
'Send parameter to the node',
self,
text='Send',
on_clicked=self._do_send)
cancel_button = make_icon_button(
'remove',
'Close this window; unsent changes will be lost',
self,
text='Cancel',
on_clicked=self.close)
controls_layout = QGridLayout(self)
controls_layout.addWidget(fetch_button, 0, 0)
controls_layout.addWidget(send_button, 0, 1)
controls_layout.addWidget(set_default_button, 1, 0)
controls_layout.addWidget(cancel_button, 1, 1)
layout.addLayout(controls_layout, layout.rowCount(), 0, 1, 2)
self._status_bar = QStatusBar(self)
self._status_bar.setSizeGripEnabled(False)
layout.addWidget(self._status_bar, layout.rowCount(), 0, 1, 2)
left, top, right, bottom = layout.getContentsMargins()
bottom = 0
layout.setContentsMargins(left, top, right, bottom)
self.setLayout(layout)
def get_union_value(u):
return getattr(u, uavcan.get_active_union_field(u))
def __init__(self, parent, node, target_node_id, param_struct, update_callback):
super(ConfigParamEditWindow, self).__init__(parent)
self.setWindowTitle("Edit configuration parameter")
self.setModal(True)
self._node = node
self._target_node_id = target_node_id
self._param_struct = param_struct
self._update_callback = update_callback
min_val = get_union_value(param_struct.min_value)
if "uavcan.protocol.param.Empty" in str(min_val):
min_val = None
max_val = get_union_value(param_struct.max_value)
if "uavcan.protocol.param.Empty" in str(max_val):
max_val = None
value = get_union_value(param_struct.value)
self._value_widget = None
value_type = uavcan.get_active_union_field(param_struct.value)
if value_type == "integer_value":
min_val = min_val if min_val is not None else -0x8000000000000000
max_val = max_val if max_val is not None else 0x7FFFFFFFFFFFFFFF
if min_val >= -0x80000000 and max_val <= +0x7FFFFFFF:
self._value_widget = QSpinBox(self)
self._value_widget.setMaximum(max_val)
self._value_widget.setMinimum(min_val)
self._value_widget.setValue(value)
if value_type == "real_value":
min_val = round_float(min_val) if min_val is not None else -3.4028235e38
max_val = round_float(max_val) if max_val is not None else 3.4028235e38
value = round_float(value)
if value_type == "boolean_value":
self._value_widget = QCheckBox(self)
self._value_widget.setChecked(bool(value))
if self._value_widget is None:
self._value_widget = QLineEdit(self)
self._value_widget.setText(str(value))
self._value_widget.setFont(get_monospace_font())
layout = QGridLayout(self)
def add_const_field(label, *values):
row = layout.rowCount()
layout.addWidget(QLabel(label, self), row, 0)
if len(values) == 1:
layout.addWidget(FieldValueWidget(self, values[0]), row, 1)
else:
sub_layout = QHBoxLayout(self)
for idx, v in enumerate(values):
sub_layout.addWidget(FieldValueWidget(self, v))
layout.addLayout(sub_layout, row, 1)
add_const_field("Name", param_struct.name)
add_const_field("Type", uavcan.get_active_union_field(param_struct.value).replace("_value", ""))
add_const_field("Min/Max", min_val, max_val)
add_const_field("Default", render_union(param_struct.default_value))
layout.addWidget(QLabel("Value", self), layout.rowCount(), 0)
layout.addWidget(self._value_widget, layout.rowCount() - 1, 1)
fetch_button = make_icon_button(
"refresh", "Read parameter from the node", self, text="Fetch", on_clicked=self._do_fetch
)
set_default_button = make_icon_button(
"fire-extinguisher", "Restore default value", self, text="Restore", on_clicked=self._restore_default
)
send_button = make_icon_button(
"flash", "Send parameter to the node", self, text="Send", on_clicked=self._do_send
)
cancel_button = make_icon_button(
"remove", "Close this window; unsent changes will be lost", self, text="Cancel", on_clicked=self.close
)
controls_layout = QGridLayout(self)
controls_layout.addWidget(fetch_button, 0, 0)
controls_layout.addWidget(send_button, 0, 1)
controls_layout.addWidget(set_default_button, 1, 0)
controls_layout.addWidget(cancel_button, 1, 1)
layout.addLayout(controls_layout, layout.rowCount(), 0, 1, 2)
self._status_bar = QStatusBar(self)
self._status_bar.setSizeGripEnabled(False)
layout.addWidget(self._status_bar, layout.rowCount(), 0, 1, 2)
left, top, right, bottom = layout.getContentsMargins()
bottom = 0
layout.setContentsMargins(left, top, right, bottom)
self.setLayout(layout)
