def connected(self, linkURI):
# IMU & THRUST
lg = LogConfig("Stabilizer", Config().get("ui_update_period"))
lg.add_variable("stabilizer.roll", "float")
lg.add_variable("stabilizer.pitch", "float")
lg.add_variable("stabilizer.yaw", "float")
lg.add_variable("stabilizer.thrust", "uint16_t")
try:
self.helper.cf.log.add_config(lg)
lg.data_received_cb.add_callback(self._imu_data_signal.emit)
lg.error_cb.add_callback(self._log_error_signal.emit)
lg.start()
except KeyError as e:
logger.warning(str(e))
except AttributeError as e:
logger.warning(str(e))
# MOTOR
lg = LogConfig("Motors", Config().get("ui_update_period"))
lg.add_variable("motor.m1")
lg.add_variable("motor.m2")
lg.add_variable("motor.m3")
lg.add_variable("motor.m4")
try:
self.helper.cf.log.add_config(lg)
lg.data_received_cb.add_callback(self._motor_data_signal.emit)
lg.error_cb.add_callback(self._log_error_signal.emit)
lg.start()
except KeyError as e:
logger.warning(str(e))
except AttributeError as e:
logger.warning(str(e))
def toggleVisibility(self, checked):
"""Show or hide the tab."""
if checked:
self.tabWidget.addTab(self, self.getTabName())
s = ""
try:
s = Config().get("open_tabs")
if (len(s) > 0):
s += ","
except Exception:
logger.warning("Exception while adding tab to config and "
"reading tab config")
# Check this since tabs in config are opened when app is started
if (self.tabName not in s):
s += "%s" % self.tabName
Config().set("open_tabs", str(s))
if not checked:
self.tabWidget.removeTab(self.tabWidget.indexOf(self))
try:
parts = Config().get("open_tabs").split(",")
except Exception:
logger.warning("Exception while removing tab from config and "
"reading tab config")
parts = []
s = ""
for p in parts:
if (self.tabName != p):
s += "%s," % p
s = s[0:len(s) - 1] # Remove last comma
Config().set("open_tabs", str(s))
def thrustLoweringSlewRateLimitChanged(self):
self.helper.inputDeviceReader.thrust_slew_rate = (
self.thrustLoweringSlewRateLimit.value())
self.helper.inputDeviceReader.thrust_slew_limit = (
self.slewEnableLimit.value())
if (self.isInCrazyFlightmode is True):
Config().set("slew_limit", self.slewEnableLimit.value())
Config().set("slew_rate", self.thrustLoweringSlewRateLimit.value())
def get_saved_device_mapping(self, device_name):
"""Return the saved mapping for a given device"""
config = None
device_config_mapping = Config().get("device_config_mapping")
if device_name in list(device_config_mapping.keys()):
config = device_config_mapping[device_name]
logging.debug("For [{}] we recommend [{}]".format(device_name, config))
return config
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 uiSetupReady(self):
flightComboIndex = self.flightModeCombo.findText(
Config().get("flightmode"), Qt.MatchFixedString)
if (flightComboIndex < 0):
self.flightModeCombo.setCurrentIndex(0)
self.flightModeCombo.currentIndexChanged.emit(0)
else:
self.flightModeCombo.setCurrentIndex(flightComboIndex)
self.flightModeCombo.currentIndexChanged.emit(flightComboIndex)
def readConfigAction(self):
self.statusChanged.emit("Reading config block...", 0)
data = self._bl.read_cf1_config()
if (data is not None):
if data[0:4] == bytearray("0xBC".encode('ISO-8859-1')):
# Skip 0xBC and version at the beginning
[channel, speed, pitchTrim,
rollTrim] = struct.unpack("<BBff", data[5:15])
self.statusChanged.emit("Reading config block...done!", 100)
else:
channel = Config().get("default_cf_channel")
speed = Config().get("default_cf_speed")
pitchTrim = Config().get("default_cf_trim")
rollTrim = Config().get("default_cf_trim")
self.statusChanged.emit(
"Could not find config block, showing defaults", 100)
self.updateConfigSignal.emit(channel, speed, rollTrim, pitchTrim)
else:
self.statusChanged.emit("Reading config block failed!", 0)
def set_input_map(self, device_name, input_map_name):
"""Load and set an input device map with the given name"""
dev = self._get_device_from_name(device_name)
settings = ConfigManager().get_settings(input_map_name)
if settings:
self.springy_throttle = settings["springythrottle"]
self._rp_dead_band = settings["rp_dead_band"]
self._input_map = ConfigManager().get_config(input_map_name)
dev.input_map = self._input_map
dev.input_map_name = input_map_name
Config().get("device_config_mapping")[device_name] = input_map_name
dev.set_dead_band(self._rp_dead_band)
def foundInterfaces(self, interfaces):
selected_interface = self._selected_interface
self.interfaceCombo.clear()
if interfaces:
for interface in interfaces:
self.interfaceCombo.addItems(interface)
else:
self.interfaceCombo.addItem(INTERFACE_PROMPT_TEXT)
if self._initial_scan:
self._initial_scan = False
try:
if len(Config().get("link_uri")) > 0:
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 = 0
if selected_interface is not None:
try:
newIndex = interfaces.index(selected_interface) + 1
except ValueError:
pass
self.interfaceCombo.setCurrentIndex(newIndex)
self.uiState = UIState.DISCONNECTED
self._update_ui_state()
def _assist_mode_changed(self, item):
mode = None
if (item == 0): # Altitude hold
mode = JoystickReader.ASSISTED_CONTROL_ALTHOLD
if (item == 1): # Position hold
mode = JoystickReader.ASSISTED_CONTROL_POSHOLD
if (item == 2): # Position hold
mode = JoystickReader.ASSISTED_CONTROL_HEIGHTHOLD
if (item == 3): # Position hold
mode = JoystickReader.ASSISTED_CONTROL_HOVER
self.helper.inputDeviceReader.set_assisted_control(mode)
Config().set("assistedControl", mode)
def _connected(self):
self.uiState = UIState.CONNECTED
self._update_ui_state()
Config().set("link_uri", str(self._selected_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 closeEvent(self, event):
self.hide()
self.cf.close_link()
Config().save_file()
def _auto_reconnect_changed(self, checked):
self._auto_reconnect_enabled = checked
Config().set("auto_reconnect", checked)
logger.info("Auto reconnect enabled: {}".format(checked))
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
######################################################
# By lxrocks
# 'Skinny Progress Bar' tweak for Yosemite
# Tweak progress bar - artistic I am not - so pick your own colors !!!
# Only apply to Yosemite
######################################################
import platform
if platform.system() == 'Darwin':
(Version, junk, machine) = platform.mac_ver()
logger.info("This is a MAC - checking if we can apply Progress "
"Bar Stylesheet for Yosemite Skinny Bars ")
yosemite = (10, 10, 0)
tVersion = tuple(map(int, (Version.split("."))))
if tVersion >= yosemite:
logger.info("Found Yosemite - applying stylesheet")
tcss = """
QProgressBar {
border: 1px solid grey;
border-radius: 5px;
text-align: center;
}
QProgressBar::chunk {
background-color: """ + COLOR_BLUE + """;
}
"""
self.setStyleSheet(tcss)
else:
logger.info("Pre-Yosemite - skinny bar stylesheet not applied")
######################################################
self.cf = Espdrone(ro_cache=None,
rw_cache=edclient.config_path + "/cache")
edlib.crtp.init_drivers(enable_debug_driver=Config()
.get("enable_debug_driver"))
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, exclusive=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)
# Hide the 'File' menu on OS X, since its only item, 'Exit', gets
# merged into the application menu.
if sys.platform == 'darwin':
self.menuFile.menuAction().setVisible(False)
# Connect UI signals
self.logConfigAction.triggered.connect(self._show_connect_dialog)
self.interfaceCombo.currentIndexChanged['QString'].connect(
self.interfaceChanged)
self.connectButton.clicked.connect(self._connect)
self.scanButton.clicked.connect(self._scan)
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._auto_reconnect_enabled = Config().get("auto_reconnect")
self.autoReconnectCheckBox.toggled.connect(
self._auto_reconnect_changed)
self.autoReconnectCheckBox.setChecked(Config().get("auto_reconnect"))
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.batteryBar.setStyleSheet(progressbar_stylesheet(COLOR_BLUE))
self.linkQualityBar.setTextVisible(False)
self.linkQualityBar.setStyleSheet(progressbar_stylesheet(COLOR_BLUE))
# Connect link quality feedback
self.cf.link_quality_updated.add_callback(self.linkQualitySignal.emit)
self.linkQualitySignal.connect(
lambda percentage: self.linkQualityBar.setValue(percentage))
self._selected_interface = None
self._initial_scan = True
self._scan()
# 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
edclient.ui.pluginhelper.cf = self.cf
edclient.ui.pluginhelper.inputDeviceReader = self.joystickReader
edclient.ui.pluginhelper.logConfigReader = self.logConfigReader
edclient.ui.pluginhelper.mainUI = self
self.logConfigDialogue = LogConfigDialogue(edclient.ui.pluginhelper)
self._bootloader_dialog = BootloaderDialog(edclient.ui.pluginhelper)
self._cf2config_dialog = Cf2ConfigDialog(edclient.ui.pluginhelper)
self._cf1config_dialog = Cf1ConfigDialog(edclient.ui.pluginhelper)
self.menuItemBootloader.triggered.connect(self._bootloader_dialog.show)
self._about_dialog = AboutDialog(edclient.ui.pluginhelper)
self.menuItemAbout.triggered.connect(self._about_dialog.show)
self._menu_cf2_config.triggered.connect(self._cf2config_dialog.show)
self._menu_cf1_config.triggered.connect(self._cf1config_dialog.show)
# Load and connect tabs
self.tabsMenuItem = QMenu("Tabs", self.menuView, enabled=True)
self.menuView.addMenu(self.tabsMenuItem)
# self.tabsMenuItem.setMenu(QtWidgets.QMenu())
tabItems = {}
self.loadedTabs = []
for tabClass in edclient.ui.tabs.available:
tab = tabClass(self.tabs, edclient.ui.pluginhelper)
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(","):
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 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 edclient.ui.toolboxes.toolboxes:
toolbox = t_class(edclient.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, exclusive=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
def __init__(self, do_device_discovery=True):
self._input_device = None
self._mux = [
NoMux(self),
TakeOverSelectiveMux(self),
TakeOverMux(self)
]
# Set NoMux as default
self._selected_mux = self._mux[0]
self.min_thrust = 0
self.max_thrust = 0
self._thrust_slew_rate = 0
self.thrust_slew_enabled = False
self.thrust_slew_limit = 0
self.has_pressure_sensor = False
self._hover_max_height = MAX_TARGET_HEIGHT
self.max_rp_angle = 0
self.max_yaw_rate = 0
try:
self.set_assisted_control(Config().get("assistedControl"))
except KeyError:
self.set_assisted_control(JoystickReader.ASSISTED_CONTROL_ALTHOLD)
self._old_thrust = 0
self._old_raw_thrust = 0
self.springy_throttle = True
self._target_height = INITAL_TAGET_HEIGHT
self.trim_roll = Config().get("trim_roll")
self.trim_pitch = Config().get("trim_pitch")
self._rp_dead_band = 0.1
self._input_map = None
if Config().get("flightmode") is "Normal":
self.max_yaw_rate = Config().get("normal_max_yaw")
self.max_rp_angle = Config().get("normal_max_rp")
# Values are stored at %, so use the functions to set the values
self.min_thrust = Config().get("normal_min_thrust")
self.max_thrust = Config().get("normal_max_thrust")
self.thrust_slew_limit = Config().get("normal_slew_limit")
self.thrust_slew_rate = Config().get("normal_slew_rate")
else:
self.max_yaw_rate = Config().get("max_yaw")
self.max_rp_angle = Config().get("max_rp")
# Values are stored at %, so use the functions to set the values
self.min_thrust = Config().get("min_thrust")
self.max_thrust = Config().get("max_thrust")
self.thrust_slew_limit = Config().get("slew_limit")
self.thrust_slew_rate = Config().get("slew_rate")
self._dev_blacklist = None
if len(Config().get("input_device_blacklist")) > 0:
self._dev_blacklist = re.compile(
Config().get("input_device_blacklist"))
logger.info("Using device blacklist [{}]".format(
Config().get("input_device_blacklist")))
self._available_devices = {}
# TODO: The polling interval should be set from config file
self._read_timer = PeriodicTimer(INPUT_READ_PERIOD, self.read_input)
if do_device_discovery:
self._discovery_timer = PeriodicTimer(1.0,
self._do_device_discovery)
self._discovery_timer.start()
# Check if user config exists, otherwise copy files
if not os.path.exists(ConfigManager().configs_dir):
logger.info("No user config found, copying dist files")
os.makedirs(ConfigManager().configs_dir)
for f in glob.glob(edclient.module_path +
"/configs/input/[A-Za-z]*.json"):
dest = os.path.join(ConfigManager().configs_dir,
os.path.basename(f))
if not os.path.isfile(dest):
logger.debug("Copying %s", f)
shutil.copy2(f, ConfigManager().configs_dir)
ConfigManager().get_list_of_configs()
self.input_updated = Caller()
self.assisted_input_updated = Caller()
self.heighthold_input_updated = Caller()
self.hover_input_updated = Caller()
self.rp_trim_updated = Caller()
self.emergency_stop_updated = Caller()
self.device_discovery = Caller()
self.device_error = Caller()
self.assisted_control_updated = Caller()
self.alt1_updated = Caller()
self.alt2_updated = Caller()
# Call with 3 bools (rp_limiting, yaw_limiting, thrust_limiting)
self.limiting_updated = Caller()
def _trim_pitch_changed(self, value):
logger.debug("Pitch trim updated to [%f]" % value)
self.helper.inputDeviceReader.trim_pitch = value
Config().set("trim_pitch", value)
def minMaxThrustChanged(self):
self.helper.inputDeviceReader.min_thrust = self.minThrust.value()
self.helper.inputDeviceReader.max_thrust = self.maxThrust.value()
if (self.isInCrazyFlightmode is True):
Config().set("min_thrust", self.minThrust.value())
Config().set("max_thrust", self.maxThrust.value())
def __init__(self, tabWidget, helper, *args):
super(FlightTab, self).__init__(*args)
self.setupUi(self)
self.tabName = "Flight Control"
self.menuName = "Flight Control"
self.tabWidget = tabWidget
self.helper = helper
self.disconnectedSignal.connect(self.disconnected)
self.connectionFinishedSignal.connect(self.connected)
# Incomming signals
self.helper.cf.connected.add_callback(
self.connectionFinishedSignal.emit)
self.helper.cf.disconnected.add_callback(self.disconnectedSignal.emit)
self._input_updated_signal.connect(self.updateInputControl)
self.helper.inputDeviceReader.input_updated.add_callback(
self._input_updated_signal.emit)
self._rp_trim_updated_signal.connect(self.calUpdateFromInput)
self.helper.inputDeviceReader.rp_trim_updated.add_callback(
self._rp_trim_updated_signal.emit)
self._emergency_stop_updated_signal.connect(self.updateEmergencyStop)
self.helper.inputDeviceReader.emergency_stop_updated.add_callback(
self._emergency_stop_updated_signal.emit)
self.helper.inputDeviceReader.heighthold_input_updated.add_callback(
self._heighthold_input_updated_signal.emit)
self._heighthold_input_updated_signal.connect(
self._heighthold_input_updated)
self.helper.inputDeviceReader.hover_input_updated.add_callback(
self._hover_input_updated_signal.emit)
self._hover_input_updated_signal.connect(self._hover_input_updated)
self.helper.inputDeviceReader.assisted_control_updated.add_callback(
self._assisted_control_updated_signal.emit)
self._assisted_control_updated_signal.connect(
self._assisted_control_updated)
self._imu_data_signal.connect(self._imu_data_received)
self._baro_data_signal.connect(self._baro_data_received)
self._motor_data_signal.connect(self._motor_data_received)
self._log_error_signal.connect(self._logging_error)
# Connect UI signals that are in this tab
self.flightModeCombo.currentIndexChanged.connect(self.flightmodeChange)
self.minThrust.valueChanged.connect(self.minMaxThrustChanged)
self.maxThrust.valueChanged.connect(self.minMaxThrustChanged)
self.thrustLoweringSlewRateLimit.valueChanged.connect(
self.thrustLoweringSlewRateLimitChanged)
self.slewEnableLimit.valueChanged.connect(
self.thrustLoweringSlewRateLimitChanged)
self.targetCalRoll.valueChanged.connect(self._trim_roll_changed)
self.targetCalPitch.valueChanged.connect(self._trim_pitch_changed)
self.maxAngle.valueChanged.connect(self.maxAngleChanged)
self.maxYawRate.valueChanged.connect(self.maxYawRateChanged)
self.uiSetupReadySignal.connect(self.uiSetupReady)
self.clientXModeCheckbox.toggled.connect(self.changeXmode)
self.isInCrazyFlightmode = False
self.uiSetupReady()
self.clientXModeCheckbox.setChecked(Config().get("client_side_xmode"))
self.espdroneXModeCheckbox.clicked.connect(
lambda enabled: self.helper.cf.param.set_value(
"flightmode.x", str(enabled)))
self.helper.cf.param.add_update_callback(
group="flightmode",
name="xmode",
cb=(lambda name, checked: self.espdroneXModeCheckbox.setChecked(
eval(checked))))
self.ratePidRadioButton.clicked.connect(
lambda enabled: self.helper.cf.param.set_value(
"flightmode.ratepid", str(enabled)))
self.angularPidRadioButton.clicked.connect(
lambda enabled: self.helper.cf.param.set_value(
"flightmode.ratepid", str(not enabled)))
self._led_ring_headlight.clicked.connect(
lambda enabled: self.helper.cf.param.set_value(
"ring.headlightEnable", str(enabled)))
self.helper.cf.param.add_update_callback(
group="flightmode",
name="ratepid",
cb=(lambda name, checked: self.ratePidRadioButton.setChecked(
eval(checked))))
self.helper.cf.param.add_update_callback(
group="cpu", name="flash", cb=self._set_enable_client_xmode)
self.helper.cf.param.add_update_callback(
group="ring",
name="headlightEnable",
cb=(lambda name, checked: self._led_ring_headlight.setChecked(
eval(checked))))
self._ledring_nbr_effects = 0
self.helper.cf.param.add_update_callback(group="ring",
name="effect",
cb=self._ring_effect_updated)
self.helper.cf.param.add_update_callback(
group="imu_sensors", cb=self._set_available_sensors)
self.helper.cf.param.all_updated.add_callback(self._all_params_updated)
self.logBaro = None
self.logAltHold = None
self.ai = AttitudeIndicator()
self.verticalLayout_4.addWidget(self.ai)
self.splitter.setSizes([1000, 1])
self.targetCalPitch.setValue(Config().get("trim_pitch"))
self.targetCalRoll.setValue(Config().get("trim_roll"))
self.helper.inputDeviceReader.alt1_updated.add_callback(
self.alt1_updated)
self.helper.inputDeviceReader.alt2_updated.add_callback(
self.alt2_updated)
self._tf_state = 0
self._ring_effect = 0
# Connect callbacks for input device limiting of rpöö/pitch/yaw/thust
self.helper.inputDeviceReader.limiting_updated.add_callback(
self._limiting_updated.emit)
self._limiting_updated.connect(self._set_limiting_enabled)
def maxYawRateChanged(self):
logger.debug("MaxYawrate changed to %d", self.maxYawRate.value())
self.helper.inputDeviceReader.max_yaw_rate = self.maxYawRate.value()
if (self.isInCrazyFlightmode is True):
Config().set("max_yaw", self.maxYawRate.value())
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, exclusive=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, exclusive=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 flightmodeChange(self, item):
Config().set("flightmode", str(self.flightModeCombo.itemText(item)))
logger.debug("Changed flightmode to %s",
self.flightModeCombo.itemText(item))
self.isInCrazyFlightmode = False
if (item == 0): # Normal
self.maxAngle.setValue(Config().get("normal_max_rp"))
self.maxThrust.setValue(Config().get("normal_max_thrust"))
self.minThrust.setValue(Config().get("normal_min_thrust"))
self.slewEnableLimit.setValue(Config().get("normal_slew_limit"))
self.thrustLoweringSlewRateLimit.setValue(
Config().get("normal_slew_rate"))
self.maxYawRate.setValue(Config().get("normal_max_yaw"))
if (item == 1): # Advanced
self.maxAngle.setValue(Config().get("max_rp"))
self.maxThrust.setValue(Config().get("max_thrust"))
self.minThrust.setValue(Config().get("min_thrust"))
self.slewEnableLimit.setValue(Config().get("slew_limit"))
self.thrustLoweringSlewRateLimit.setValue(
Config().get("slew_rate"))
self.maxYawRate.setValue(Config().get("max_yaw"))
self.isInCrazyFlightmode = True
if (item == 0):
newState = False
else:
newState = True
self.maxThrust.setEnabled(newState)
self.maxAngle.setEnabled(newState)
self.minThrust.setEnabled(newState)
self.thrustLoweringSlewRateLimit.setEnabled(newState)
self.slewEnableLimit.setEnabled(newState)
self.maxYawRate.setEnabled(newState)
def _trim_roll_changed(self, value):
logger.debug("Roll trim updated to [%f]" % value)
self.helper.inputDeviceReader.trim_roll = value
Config().set("trim_roll", value)
def resizeEvent(self, event):
Config().set("window_size", [event.size().width(),
event.size().height()])
def changeXmode(self, checked):
self.helper.cf.commander.set_client_xmode(checked)
Config().set("client_side_xmode", checked)
logger.info("Clientside X-mode enabled: %s", checked)
def maxAngleChanged(self):
logger.debug("MaxAngle changed to %d", self.maxAngle.value())
self.helper.inputDeviceReader.max_rp_angle = self.maxAngle.value()
if (self.isInCrazyFlightmode is True):
Config().set("max_rp", self.maxAngle.value())
# USA.
"""
Input interface that supports receiving commands via ZMQ.
"""
import logging
from threading import Thread
from edclient.utils.config import Config
try:
import zmq
except Exception as e:
raise Exception("ZMQ library probably not installed ({})".format(e))
if not Config().get("enable_zmq_input"):
raise Exception("ZMQ input disabled in config file")
__author__ = 'Bitcraze AB'
__all__ = ['ZMQReader']
ZMQ_PULL_PORT = 1024 + 188
logger = logging.getLogger(__name__)
MODULE_MAIN = "ZMQReader"
MODULE_NAME = "ZMQ"
class _PullReader(Thread):
def __init__(self, receiver, callback, *args):
def _populate_assisted_mode_dropdown(self):
self._assist_mode_combo.addItem("Altitude hold", 0)
self._assist_mode_combo.addItem("Position hold", 1)
self._assist_mode_combo.addItem("Height hold", 2)
self._assist_mode_combo.addItem("Hover", 3)
heightHoldPossible = False
hoverPossible = False
# if int(self.helper.cf.param.values["deck"]["bcZRanger"]) == 1:
# heightHoldPossible = True
# self.helper.inputDeviceReader.set_hover_max_height(1.0)
if int(self.helper.cf.param.values["deck"]["bcZRanger2"]) == 1:
heightHoldPossible = True
self.helper.inputDeviceReader.set_hover_max_height(2.0)
# if int(self.helper.cf.param.values["deck"]["bcFlow"]) == 1:
# heightHoldPossible = True
# hoverPossible = True
# self.helper.inputDeviceReader.set_hover_max_height(1.0)
# if int(self.helper.cf.param.values["deck"]["bcFlow2"]) == 1:
# heightHoldPossible = True
# hoverPossible = True
# self.helper.inputDeviceReader.set_hover_max_height(2.0)
if not heightHoldPossible:
self._assist_mode_combo.model().item(2).setEnabled(False)
else:
self._assist_mode_combo.model().item(0).setEnabled(False)
if not hoverPossible:
self._assist_mode_combo.model().item(3).setEnabled(False)
else:
self._assist_mode_combo.model().item(0).setEnabled(False)
self._assist_mode_combo.currentIndexChanged.connect(
self._assist_mode_changed)
self._assist_mode_combo.setEnabled(True)
try:
assistmodeComboIndex = Config().get("assistedControl")
if assistmodeComboIndex == 3 and not hoverPossible:
self._assist_mode_combo.setCurrentIndex(0)
self._assist_mode_combo.currentIndexChanged.emit(0)
elif assistmodeComboIndex == 0 and hoverPossible:
self._assist_mode_combo.setCurrentIndex(3)
self._assist_mode_combo.currentIndexChanged.emit(3)
elif assistmodeComboIndex == 2 and not heightHoldPossible:
self._assist_mode_combo.setCurrentIndex(0)
self._assist_mode_combo.currentIndexChanged.emit(0)
elif assistmodeComboIndex == 0 and heightHoldPossible:
self._assist_mode_combo.setCurrentIndex(2)
self._assist_mode_combo.currentIndexChanged.emit(2)
else:
self._assist_mode_combo.setCurrentIndex(assistmodeComboIndex)
self._assist_mode_combo.currentIndexChanged.emit(
assistmodeComboIndex)
except KeyError:
defaultOption = 0
if hoverPossible:
defaultOption = 3
elif heightHoldPossible:
defaultOption = 2
self._assist_mode_combo.setCurrentIndex(defaultOption)
self._assist_mode_combo.currentIndexChanged.emit(defaultOption)