def __init__(self, tabWidget, helper, *args):
super(PlotTab, self).__init__(*args)
self.setupUi(self)
self.tabName = "Plotter"
self.menuName = "Plotter"
self._log_error_signal.connect(self._logging_error)
self._plot = PlotWidget(fps=30)
# Check if we could find the PyQtImport. If not, then
# set this tab as disabled
self.enabled = self._plot.can_enable
self._model = LogConfigModel()
self.dataSelector.setModel(self._model)
self._log_data_signal.connect(self._log_data_received)
self.tabWidget = tabWidget
self.helper = helper
self.plotLayout.addWidget(self._plot)
# Connect external signals if we can use the tab
if self.enabled:
self._disconnected_signal.connect(self._disconnected)
self.helper.cf.disconnected.add_callback(
self._disconnected_signal.emit)
self.helper.cf.log.block_added_cb.add_callback(self._config_added)
self.dataSelector.currentIndexChanged.connect(
self._selection_changed)
self._previous_config = None
self._started_previous = False
def __init__(self, tabWidget, helper, *args):
super(PlotTab, self).__init__(*args)
self.setupUi(self)
self.tabName = "Plotter"
self.menuName = "Plotter"
self.previousLog = None
self.dsList = helper.logConfigReader.getLogConfigs()
self.plot = PlotWidget(fps=50)
self.dataSelector.currentIndexChanged.connect(self.newLogSetupSelected)
self.logDataSignal.connect(self.logDataReceived)
self.tabWidget = tabWidget
self.helper = helper
# self.layout().addWidget(self.dataSelector)
self.plotLayout.addWidget(self.plot)
# Connect external signals
self.helper.cf.connectSetupFinished.add_callback(
self.connectedSignal.emit)
self.connectedSignal.connect(self.connected)
self.datasets = []
self.logEntrys = []
self.plot.saveToFileSignal.connect(self.saveToFile)
self.plot.stopSavingSignal.connect(self.savingStopped)
self.saveFile = None
def initUI(self):
#QtGui.QToolTip.setFont(QtGui.QFont('SansSerif', 10))
self.fp = PlotWidget(title="A nice test plot")
self.cosDataSet = PlotDataSet("Graph showing cos",
QtCore.Qt.black,
[180, -180])
self.sinDataSet = PlotDataSet("One showing sin",
QtCore.Qt.blue,
[180, -180])
self.negcosDataSet = PlotDataSet("Another one showing -cos",
QtCore.Qt.green,
[180, -180])
self.negsinDataSet = PlotDataSet("And the last one showing -sin",
QtCore.Qt.magenta,
[180, -180])
self.fp.addDataset(self.cosDataSet)
self.fp.addDataset(self.sinDataSet)
self.fp.addDataset(self.negcosDataSet)
self.fp.addDataset(self.negsinDataSet)
self.setGeometry(100, 100, 800, 500)
self.setWindowTitle('FastPlotTest')
layout = QtGui.QGridLayout(self)
layout.addWidget(self.fp)
self.setLayout(layout)
self.show()
self.timer.start()
self.mod = 0.0
def __init__(self, tabWidget, helper, *args):
super(SwarmTab, self).__init__(*args)
self.setupUi(self)
self.tabName = "Swarm"
self.menuName = "Swarm"
self.tabWidget = tabWidget
self.helper = helper
self.disconnectedSignal.connect(self.disconnected)
self.connectionFinishedSignal.connect(self.connected)
# Incoming 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)
# PlotWidget Stuff
self._plot = PlotWidget(fps=30)
# Check if we could find the PyQtImport. If not, then
# set this tab as disabled
self.enabled = self._plot.can_enable
self._model = LogConfigModel()
self.dataSelector.setModel(self._model)
self.plotLayout.addWidget(self._plot)
self._log_data_signal.connect(self._log_data_received)
self._plotter_log_error_signal.connect(self._plotter_logging_error)
if self.enabled:
self._disconnected_signal.connect(self._disconnected)
self.helper.cf.disconnected.add_callback(
self._disconnected_signal.emit)
self._connected_signal.connect(self._connected)
self.helper.cf.connected.add_callback(
self._connected_signal.emit)
self.helper.cf.log.block_added_cb.add_callback(self._config_added)
self.dataSelector.currentIndexChanged.connect(
self._selection_changed)
self._previous_config = None
self._started_previous = False
# 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.inputTypeComboBox.currentIndexChanged.connect(self.inputtypeChange)
self.stepHeightCombo.valueChanged.connect(self._step_height_changed)
self.frequencyCombo.valueChanged.connect(self._sine_frequency_changed)
self.referenceHeightCheckbox.toggled.connect(lambda: self._use_ref_input(self.referenceHeightCheckbox.isChecked()))
self.targetCalPitch.valueChanged.connect(self._trim_pitch_changed)
self.updateGainsBtn.clicked.connect(self._controller_gain_changed)
self.k1Combo.valueChanged.connect(self._k123_gain_changed)
self.k2Combo.valueChanged.connect(self._k123_gain_changed)
self.k3Combo.valueChanged.connect(self._k123_gain_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.crazyflieXModeCheckbox.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.crazyflieXModeCheckbox.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._ring_populate_dropdown)
self.logBaro = None
self.logAltHold = None
self.ai = AttitudeIndicator()
self.verticalLayout_2.addWidget(self.ai)
# self.logo = QLabel(self)
# pixmap = QPixmap('C:\dev\crazyflie-clients-python\src\cfclient/SUTDLogo.png')
# self.logo.setPixmap(pixmap.scaled(150, 150, Qt.KeepAspectRatio))
# self.verticalLayout.addWidget(self.logo)
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
def __init__(self, tabWidget, helper, *args):
super(SwarmTab, self).__init__(*args)
self.setupUi(self)
self.tabName = "Swarm"
self.menuName = "Swarm"
self.tabWidget = tabWidget
self.helper = helper
print("helper:", helper)
self.disconnectedSignal.connect(self.disconnected)
self.connectionFinishedSignal.connect(self.connected)
# Incoming 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)
# PlotWidget Stuff
self._plot = PlotWidget(fps=30)
# Check if we could find the PyQtImport. If not, then
# set this tab as disabled
self.enabled = self._plot.can_enable
self._model = LogConfigModel()
self.dataSelector.setModel(self._model)
self.plotLayout.addWidget(self._plot)
self._log_data_signal.connect(self._log_data_received)
self._plotter_log_error_signal.connect(self._plotter_logging_error)
if self.enabled:
self._disconnected_signal.connect(self._disconnected)
self.helper.cf.disconnected.add_callback(
self._disconnected_signal.emit)
self._connected_signal.connect(self._connected)
self.helper.cf.connected.add_callback(self._connected_signal.emit)
self.helper.cf.log.block_added_cb.add_callback(self._config_added)
self.dataSelector.currentIndexChanged.connect(
self._selection_changed)
self._previous_config = None
self._started_previous = False
self.targetCalRoll.valueChanged.connect(self._trim_roll_changed)
self.inputTypeComboBox.currentIndexChanged.connect(
self.inputtypeChange)
self.stepHeightCombo.valueChanged.connect(self._step_height_changed)
self.frequencyCombo.valueChanged.connect(self._sine_frequency_changed)
self.referenceHeightCheckbox.toggled.connect(
lambda: self._use_ref_input(self.referenceHeightCheckbox.isChecked(
)))
self.targetCalPitch.valueChanged.connect(self._trim_pitch_changed)
self.updateGainsBtn.clicked.connect(self._controller_gain_changed)
self.k1Combo.valueChanged.connect(self._k123_gain_changed)
self.k2Combo.valueChanged.connect(self._k123_gain_changed)
self.k3Combo.valueChanged.connect(self._k123_gain_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._ledring_nbr_effects = 0
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_2.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
