def __init__(self, *args):
super(MainUI, self).__init__(*args)
self.setupUi(self)
self.cf = Crazyflie(ro_cache=sys.path[0] + "/cflib/cache",
rw_cache=sys.path[1] + "/cache")
cflib.crtp.init_drivers(
enable_debug_driver=GuiConfig().get("enable_debug_driver"))
# Create the connection dialogue
self.connectDialogue = ConnectDialogue()
# Create and start the Input Reader
self._statusbar_label = QLabel("Loading device and configuration.")
self.statusBar().addWidget(self._statusbar_label)
self.joystickReader = JoystickReader(cf=self.cf)
self._active_device = ""
self.configGroup = QActionGroup(self._menu_mappings, exclusive=True)
self._load_input_data()
self._update_input
ConfigManager().conf_needs_reload.add_callback(self._reload_configs)
# Connections for the Connect Dialogue
self.connectDialogue.requestConnectionSignal.connect(self.cf.open_link)
self.connectionDoneSignal.connect(self.connectionDone)
self.cf.connection_failed.add_callback(
self.connectionFailedSignal.emit)
self.connectionFailedSignal.connect(self.connectionFailed)
self._input_device_error_signal.connect(self.inputDeviceError)
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.menuItemConnect.triggered.connect(self.connectButtonClicked)
self.logConfigAction.triggered.connect(self.doLogConfigDialogue)
self.connectButton.clicked.connect(self.connectButtonClicked)
self.quickConnectButton.clicked.connect(self.quickConnect)
self.menuItemQuickConnect.triggered.connect(self.quickConnect)
self.menuItemConfInputDevice.triggered.connect(self.configInputDevice)
self.menuItemExit.triggered.connect(self.closeAppRequest)
self.batteryUpdatedSignal.connect(self.updateBatteryVoltage)
self._menuitem_rescandevices.triggered.connect(self._rescan_devices)
self._menuItem_openconfigfolder.triggered.connect(
self._open_config_folder)
self._auto_reconnect_enabled = GuiConfig().get("auto_reconnect")
self.autoReconnectCheckBox.toggled.connect(
self._auto_reconnect_changed)
self.autoReconnectCheckBox.setChecked(
GuiConfig().get("auto_reconnect"))
# Do not queue data from the controller output to the Crazyflie wrapper
# to avoid latency
#self.joystickReader.sendControlSetpointSignal.connect(
# self.cf.commander.send_setpoint,
# Qt.DirectConnection)
self.joystickReader.input_updated.add_callback(
self.cf.commander.send_setpoint)
# Connection callbacks and signal wrappers for UI protection
self.cf.connected.add_callback(self.connectionDoneSignal.emit)
self.connectionDoneSignal.connect(self.connectionDone)
self.cf.disconnected.add_callback(self.disconnectedSignal.emit)
self.disconnectedSignal.connect(
lambda linkURI: self.setUIState(UIState.DISCONNECTED, linkURI))
self.cf.connection_lost.add_callback(self.connectionLostSignal.emit)
self.connectionLostSignal.connect(self.connectionLost)
self.cf.connection_requested.add_callback(
self.connectionInitiatedSignal.emit)
self.connectionInitiatedSignal.connect(
lambda linkURI: self.setUIState(UIState.CONNECTING, linkURI))
self._log_error_signal.connect(self._logging_error)
# Connect link quality feedback
self.cf.link_quality_updated.add_callback(self.linkQualitySignal.emit)
self.linkQualitySignal.connect(
lambda percentage: self.linkQualityBar.setValue(percentage))
# Set UI state in disconnected buy default
self.setUIState(UIState.DISCONNECTED)
# Parse the log configuration files
self.logConfigReader = LogConfigReader(self.cf)
# 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
self.logConfigDialogue = LogConfigDialogue(cfclient.ui.pluginhelper)
self._bootloader_dialog = BootloaderDialog(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)
# Loading toolboxes (A bit of magic for a lot of automatic)
self.toolboxes = []
self.toolboxesMenuItem.setMenu(QtGui.QMenu())
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 = QtGui.QAction(toolbox.getName(), self)
item.setCheckable(True)
item.triggered.connect(self.toggleToolbox)
self.toolboxesMenuItem.menu().addAction(item)
dockToolbox.closed.connect(lambda: self.toggleToolbox(False))
# Setup some introspection
item.dockToolbox = dockToolbox
item.menuItem = item
dockToolbox.dockToolbox = dockToolbox
dockToolbox.menuItem = item
# Load and connect tabs
self.tabsMenuItem.setMenu(QtGui.QMenu())
tabItems = {}
self.loadedTabs = []
for tabClass in cfclient.ui.tabs.available:
tab = tabClass(self.tabs, cfclient.ui.pluginhelper)
item = QtGui.QAction(tab.getMenuName(), self)
item.setCheckable(True)
item.toggled.connect(tab.toggleVisibility)
self.tabsMenuItem.menu().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 GuiConfig().get("open_tabs").split(","):
t = tabItems[tName]
if (t != 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 [%s]", e)
def __init__(self, *args):
super(MainUI, self).__init__(*args)
self.setupUi(self)
######################################################
### 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:")
tcss = """
QProgressBar {
border: 2px solid grey;
border-radius: 5px;
text-align: center;
}
QProgressBar::chunk {
background-color: #05B8CC;
}
"""
self.setStyleSheet(tcss)
else:
logger.info( "Pre-Yosemite")
######################################################
self.cf = Crazyflie(ro_cache=sys.path[0] + "/cflib/cache",
rw_cache=sys.path[1] + "/cache")
cflib.crtp.init_drivers(enable_debug_driver=Config()
.get("enable_debug_driver"))
# Create the connection dialogue
self.connectDialogue = ConnectDialogue()
# Create and start the Input Reader
self._statusbar_label = QLabel("Loading device and configuration.")
self.statusBar().addWidget(self._statusbar_label)
self.joystickReader = JoystickReader()
self._active_device = ""
self.configGroup = QActionGroup(self._menu_mappings, exclusive=True)
self._load_input_data()
ConfigManager().conf_needs_reload.add_callback(self._reload_configs)
# Connections for the Connect Dialogue
self.connectDialogue.requestConnectionSignal.connect(self.cf.open_link)
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.menuItemConnect.triggered.connect(self._connect)
self.logConfigAction.triggered.connect(self._show_connect_dialog)
self.connectButton.clicked.connect(self._connect)
self.quickConnectButton.clicked.connect(self._quick_connect)
self.menuItemQuickConnect.triggered.connect(self._quick_connect)
self.menuItemConfInputDevice.triggered.connect(self._show_input_device_config_dialog)
self.menuItemExit.triggered.connect(self.closeAppRequest)
self.batteryUpdatedSignal.connect(self._update_vbatt)
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.joystickReader.input_updated.add_callback(
self.cf.commander.send_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(
lambda linkURI: self._update_ui_state(UIState.DISCONNECTED,
linkURI))
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(
lambda linkURI: self._update_ui_state(UIState.CONNECTING,
linkURI))
self._log_error_signal.connect(self._logging_error)
# Connect link quality feedback
self.cf.link_quality_updated.add_callback(self.linkQualitySignal.emit)
self.linkQualitySignal.connect(
lambda percentage: self.linkQualityBar.setValue(percentage))
# Set UI state in disconnected buy default
self._update_ui_state(UIState.DISCONNECTED)
# 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
self.logConfigDialogue = LogConfigDialogue(cfclient.ui.pluginhelper)
self._bootloader_dialog = BootloaderDialog(cfclient.ui.pluginhelper)
self._cf2config_dialog = Cf2ConfigDialog(cfclient.ui.pluginhelper)
self._cf1config_dialog = Cf1ConfigDialog(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._menu_cf1_config.triggered.connect(self._cf1config_dialog.show)
# Loading toolboxes (A bit of magic for a lot of automatic)
self.toolboxes = []
self.toolboxesMenuItem.setMenu(QtGui.QMenu())
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 = QtGui.QAction(toolbox.getName(), self)
item.setCheckable(True)
item.triggered.connect(self.toggleToolbox)
self.toolboxesMenuItem.menu().addAction(item)
dockToolbox.closed.connect(lambda: self.toggleToolbox(False))
# Setup some introspection
item.dockToolbox = dockToolbox
item.menuItem = item
dockToolbox.dockToolbox = dockToolbox
dockToolbox.menuItem = item
# Load and connect tabs
self.tabsMenuItem.setMenu(QtGui.QMenu())
tabItems = {}
self.loadedTabs = []
for tabClass in cfclient.ui.tabs.available:
tab = tabClass(self.tabs, cfclient.ui.pluginhelper)
item = QtGui.QAction(tab.getMenuName(), self)
item.setCheckable(True)
item.toggled.connect(tab.toggleVisibility)
self.tabsMenuItem.menu().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 != 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))
# Check which Input muxes are available
self._mux_group = QActionGroup(self._menu_mux, exclusive=True)
for m in self.joystickReader.available_mux():
node = QAction(m,
self._menu_mux,
checkable=True,
enabled=True)
node.toggled.connect(self._mux_selected)
self._mux_group.addAction(node)
self._menu_mux.addAction(node)
# TODO: Temporary
self._input_dev_stack = []
self._menu_mux.actions()[0].setChecked(True)
if Config().get("enable_input_muxing"):
self._menu_mux.setEnabled(True)
else:
logger.info("Input device muxing disabled in config")
self._mapping_support = True
