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#!/usr/bin/env python3
import tkinter
from tkinter import *
import tkinter.ttk as ttk
import zmq
import threading
import time
class Crazyflie(ttk.Frame):
def __init__(self, parent, ident):
ttk.Frame.__init__(self, parent)
self['padding'] = 10
self._name = Label(self, text="Crazyflie #{}".format(ident+1))
self._name.grid(row=0, column=0)
self._status = Label(self, text="IDLE", fg='grey', font=("ubuntu", 33), width=10)
self._status.grid(row=1, column=0)
self._battery_label = Label(self, text="Battery:")
self._battery_label.grid(row=2, column=0)
self._battery_frame = ttk.Frame(self)
self._battery_frame.grid(row=3, column=0, sticky="ew")
self._battery_frame.columnconfigure(1, weight=2)
self._battery_voltage = ttk.Label(self._battery_frame, text="3.0V", padding=(0,0,10,0))
self._battery_voltage.grid(row=0, column=0)
self._battery_bar = ttk.Progressbar(self._battery_frame, orient=HORIZONTAL)
self._battery_bar['value'] = 50
self._battery_bar.grid(row=0, column=1, sticky="ew")
self._time_frame = ttk.Frame(self)
self._time_frame.grid(row=4, column=0)
up_time = Label(self._time_frame, text="Up time: ", fg="grey", font=("ubuntu", 20))
up_time.grid(row=0, column=0)
self._up_time_label = Label(self._time_frame, text="0:00:00", font=("ubuntu", 20))
self._up_time_label.grid(row=0, column=1)
flight_time = Label(self._time_frame, text="Flight time: ", fg="grey", font=("ubuntu", 20))
flight_time.grid(row=1, column=0)
self._flight_time_label = Label(self._time_frame, text="0:00:00", font=("ubuntu", 20))
self._flight_time_label.grid(row=1, column=1)
def set_state(self, state):
if state == "idle":
self._status.config(text="IDLE", fg="grey")
elif state == "disconnected":
self._status.config(text="Offline", fg="grey")
elif state == "crashed":
self._status.config(text="Crashed", fg="purple")
elif state == "charging":
self._status.config(text="Charging", fg="red")
elif state == "ready":
self._status.config(text="Ready", fg="orange")
elif state == "flying":
self._status.config(text="Flying", fg="green")
elif state == "hovering":
self._status.config(text="Take off", fg="green")
elif state == "landing":
self._status.config(text="Landing", fg="green")
else:
self._status.config(text="ERROR", fg="purple")
print("Error, state", state, "not handled")
def set_battery(self, voltage):
self._battery_voltage['text'] = "{:.2f}V".format(voltage)
percent = (voltage - 3.0)*100.0/1.1
self._battery_bar['value'] = percent
def set_uptime(self, ms):
seconds = int(ms/1000) % 60
minutes = int((ms/1000)/60) % 60
hours = int((ms/1000)/3600)
self._up_time_label['text'] = "{}:{:02}:{:02}".format(hours, minutes, seconds)
if ms == 0:
self._up_time_label['fg'] = "grey"
else:
self._up_time_label['fg'] = "black"
def set_flighttime(self, ms):
seconds = int(ms/1000) % 60
minutes = int((ms/1000)/60) % 60
hours = int((ms/1000)/3600)
self._flight_time_label['text'] = "{}:{:02}:{:02}".format(hours, minutes, seconds)
if ms == 0:
self._flight_time_label['fg'] = "grey"
else:
self._flight_time_label['fg'] = "black"
root = tkinter.Tk()
root.title("ICRA2019 Bitcraze Control Tower")
content = ttk.Frame(root)
content.grid(column=0, row=0)
root.columnconfigure(0, weight=1)
root.rowconfigure(0, weight=1)
cfs = []
for i in range(9):
r = int(i/3)
c = int(i%3)
cf = Crazyflie(content, i)
cf.grid(column=c, row=r)
cfs.append(cf)
cf.set_state("error")
cf.set_battery(3.0+(i/10.0))
context = zmq.Context()
socket = context.socket(zmq.PULL)
# socket.connect("tcp://bitcrazeDemo:5555")
socket.connect("tcp://127.0.0.1:5555")
socket.setsockopt(zmq.RCVTIMEO, 1000)
def receive_thread():
last_updated = [0]*len(cfs)
while True:
try:
report = socket.recv_json()
print(report)
cfs[report['id']].set_battery(report['battery'])
cfs[report['id']].set_state(report['state'])
cfs[report['id']].set_uptime(report['uptime'])
cfs[report['id']].set_flighttime(report['flighttime'])
last_updated[report['id']] = time.time()
except zmq.error.Again:
pass
for i in range(len(cfs)):
if last_updated[i] < (time.time()-1):
cfs[i].set_state("idle")
cfs[i].set_battery(0)
cfs[i].set_uptime(0)
cfs[i].set_flighttime(0)
cfs[0].set_uptime(300000)
cfs[0].set_flighttime(140000)
threading.Thread(target=receive_thread, daemon=True).start()
root.mainloop()