diff --git a/pycrocart/ControlWindow.py b/pycrocart/ControlWindow.py
index 636e47ca7abd1264752555b0fd7b8ff6d3aa3776..f44b76013e0626fee20a1e10555a971e57f9c093 100644
--- a/pycrocart/ControlWindow.py
+++ b/pycrocart/ControlWindow.py
@@ -1,12 +1,5 @@
-import sys
-from PyQt5.QtWidgets import QApplication, QMainWindow, QPushButton, QGridLayout, \
- QWidget, QVBoxLayout, QComboBox
-from PyQt5.QtCore import Qt, QTimer
-from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg as FigureCanvas
-from matplotlib.figure import Figure
-import numpy as np
-from time import time
-import pyqtgraph as pg
+from PyQt5.QtWidgets import QPushButton, QGridLayout, QWidget, QVBoxLayout
+from PyQt5.QtCore import QTimer
from PlottingWindow import PlotCanvas
from LoggingSelectionMenu import LoggingSelectionMenu
from queue import Queue
@@ -34,29 +27,25 @@ class ControlWindow(QWidget):
self.canvas = PlotCanvas()
self.setpoint_menu = SetpointMenu(setpoint_handler, joystick)
- self.logging_menu = LoggingSelectionMenu(self.selectionchange)
+ self.logging_menu = LoggingSelectionMenu()
win2 = QWidget()
win2.setLayout(left_side_vertical_layout)
win2.setMaximumWidth(300)
- # win2.setMinimumWidth(100)
layout.addWidget(win2, 1, 1)
layout.addWidget(self.canvas, 1, 2)
-
- self.print_button = QPushButton("Begin Graphing Logging")
- self.print_button.clicked.connect(self.print_entry_boxes)
-
-
+ self.play_or_pause_logging_button = \
+ QPushButton("Begin Graphing Logging")
+ self.play_or_pause_logging_button.clicked.connect(
+ self.play_pause_button_callback)
left_side_vertical_layout.addWidget(self.setpoint_menu, 1)
- left_side_vertical_layout.addWidget(self.print_button, 2)
+ left_side_vertical_layout.addWidget(
+ self.play_or_pause_logging_button, 2)
left_side_vertical_layout.addWidget(self.logging_menu, 3)
-
-
-
# Set up the timer to update the plot
self.timer = QTimer()
self.timer.timeout.connect(self.update_plot_outer)
@@ -69,45 +58,30 @@ class ControlWindow(QWidget):
self.show()
def update_plot_outer(self):
- not_empty = True
- while not_empty:
- try:
- value = self.logging_queue.get_nowait()
- data = value['data']
- timestamp = value['timestamp']
- axis = self.logging_menu.get_axis_of_signal(value['signal'])
+ not_empty = True
+ while not_empty:
+ try:
+ value = self.logging_queue.get_nowait()
+ data = value['data']
+ timestamp = value['timestamp']
+ axis = self.logging_menu.get_axis_of_signal(value['signal'])
- if axis is not None and self.graph_data:
- self.canvas.update_plot(data, timestamp, axis)
+ if axis is not None and self.graph_data:
+ self.canvas.update_plot(data, timestamp, axis)
- except queue.Empty: # done emptying logging queue
+ except queue.Empty: # done emptying logging queue
- not_empty = False
+ not_empty = False
- def selectionchange(self):
- print("Change")
-
- def print_entry_boxes(self):
+ def play_pause_button_callback(self):
print("Hello world!")
if self.graph_data:
- self.print_button.setText("Continue Graphing Logging")
+ self.play_or_pause_logging_button.setText(
+ "Continue Graphing Logging")
self.graph_data = False
self.cf.stop_logging()
else:
- self.print_button.setText("Pause Logging")
+ self.play_or_pause_logging_button.setText("Pause Logging")
self.graph_data = True
self.cf.start_logging()
-
-
-# Start the application
-if __name__ == '__main__':
- app = QApplication(sys.argv)
-
- cf1 = CrazyflieProtoConnection()
-
- window = ControlWindow(cf1.logging_queue)
- win = QMainWindow()
- win.setCentralWidget(window)
- win.show()
- sys.exit(app.exec_())
diff --git a/pycrocart/CrazyflieProtoConnection.py b/pycrocart/CrazyflieProtoConnection.py
index 1d51acc327c6755cc95c1371ec3c23426ed45733..35898890ac1beea3ecb3d0214a384c67a5afbf48 100644
--- a/pycrocart/CrazyflieProtoConnection.py
+++ b/pycrocart/CrazyflieProtoConnection.py
@@ -1,31 +1,13 @@
-import random
-import sys
-from PyQt5.QtWidgets import QApplication, QMainWindow, QPushButton, QGridLayout, \
- QWidget, QVBoxLayout, QComboBox
-from PyQt5.QtCore import Qt, QTimer
-from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg as FigureCanvas
-from matplotlib.figure import Figure
-import numpy as np
from time import time
-import time as t1
-import pyqtgraph as pg
-from queue import Queue
from typing import List
-
-import logging
import time
import cflib.crtp
from cflib.crazyflie import Crazyflie
from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
from queue import Queue
-from threading import Semaphore
-from PyQt5.QtCore import Qt, QTimer
from cflib.crazyflie.log import LogConfig
-from cflib.crazyflie.syncLogger import SyncLogger
-
-cflib.crtp.init_drivers() # If this file is ever imported this will be run
class CrazyflieProtoConnection:
@@ -40,65 +22,72 @@ class CrazyflieProtoConnection:
self.param_callback_count = 0
self.logging_configs = []
- def logging_callback(self, timestamp, data, logconf):
+ def logging_callback(self, _timestamp, data, _logconf):
timestamp1 = time.time() - self.start_time
- print('[%d][%s]: %s' % (timestamp, logconf.name, data))
-
for key in data.keys():
value_pair = {'timestamp': timestamp1, 'data': data[key],
'signal': key}
self.logging_queue.put(value_pair)
def param_set_value(self, group: str, name: str, value: float):
+ try:
+ if self.scf.is_link_open():
+ full_name = group + "." + name
+ cf = self.scf.cf
+ cf.param.add_update_callback(group=group, name=name,
+ cb=self.done_setting_param_value)
- if self.scf.is_link_open():
- full_name = group + "." + name
- cf = self.scf.cf
- cf.param.add_update_callback(group=group, name=name,
- cb=self.done_setting_param_value)
-
-
- cf.param.set_value(full_name, value)
+ cf.param.set_value(full_name, value)
- # Don't return until the parameter is done getting set
- while self.param_callback_count < 1:
- time.sleep(0.01)
+ # Don't return until the parameter is done getting set
+ while self.param_callback_count < 1:
+ time.sleep(0.01)
- self.param_callback_count = 0
+ self.param_callback_count = 0
+ except AttributeError:
+ print("Nothing connected")
- def done_setting_param_value(self, *args):
+ def done_setting_param_value(self, *_args):
print("Done setting param")
self.param_callback_count += 1
def param_get_value(self, group: str, name: str):
- if self.scf.is_link_open():
- full_name = group + "." + name
-
- return self.scf.cf.param.values[group][name]
+ try:
+ if self.scf.is_link_open():
+ return self.scf.cf.param.values[group][name]
+ except AttributeError:
+ pass
+ return -1.234567890
def get_logging_toc(self):
-
- if self.scf.is_link_open():
- tocFull = self.scf.cf.log.toc.toc
- toc = []
- for key in tocFull.keys():
- for inner_key in tocFull[key].keys():
- full_name = key + "." + inner_key
- toc.append(full_name)
-
- return toc
- else:
- return {}
+ try:
+ if self.scf.is_link_open():
+ tocFull = self.scf.cf.log.toc.toc
+ toc = []
+ for key in tocFull.keys():
+ for inner_key in tocFull[key].keys():
+ full_name = key + "." + inner_key
+ toc.append(full_name)
+
+ return toc
+ else:
+ return {}
+ except AttributeError:
+ pass
+ return {}
def get_param_toc(self):
+ try:
+ if self.scf.is_link_open():
+ toc = self.scf.cf.param.values
- if self.scf.is_link_open():
- toc = self.scf.cf.param.values
-
- return toc
+ return toc
+ except AttributeError:
+ pass
+ return {}
def add_log_config(self, name: str, period: int, variables: List[str]):
print("Name: " + name + ", period: " + str(period) + ", variables: "
@@ -135,9 +124,8 @@ class CrazyflieProtoConnection:
if self.is_connected:
self.scf.close_link()
- def list_available_crazyflies(self):
+ @staticmethod
+ def list_available_crazyflies():
cflib.crtp.init_drivers() # run this again just in case you plug the
# dongle in
return cflib.crtp.scan_interfaces()
-
-
diff --git a/pycrocart/GamepadWizard.py b/pycrocart/GamepadWizard.py
index 6ecb2e2b4005bc6d866c092c1138212076f68f31..3e16ea5987287ce44f213ec5ecb5a073e3dc0efd 100644
--- a/pycrocart/GamepadWizard.py
+++ b/pycrocart/GamepadWizard.py
@@ -37,7 +37,8 @@ from PyQt5.QtWidgets import QMessageBox
from cfclient.utils.config_manager import ConfigManager
from PyQt5 import Qt
from PyQt5 import QtWidgets
-from PyQt5 import uic
+from PyQt5 import uic # pycharm seems to think this doesn't exist,
+# but pycharm is stupid and it does exist, get over it.
from PyQt5.Qt import * # noqa
from cfclient.utils.input import JoystickReader
import sys
@@ -436,7 +437,7 @@ class DeviceReader(QThread):
if __name__ == "__main__":
app = QApplication(sys.argv)
- win2 = InputConfigDialogue(JoystickReader())
+ win2 = InputConfigDialogue(JoystickReader(), print)
win = QMainWindow()
win.setCentralWidget(win2)
win.show()
diff --git a/pycrocart/LoggingConfigWindow.py b/pycrocart/LoggingConfigWindow.py
index 0330b66e2c713008e6e72e1aa0de9fd0724301b6..7ac80a82fd00b9a715e85f7b1f6ab12119ed48ae 100644
--- a/pycrocart/LoggingConfigWindow.py
+++ b/pycrocart/LoggingConfigWindow.py
@@ -1,30 +1,21 @@
-import sys
-from PyQt5.QtWidgets import QApplication, QMainWindow, QPushButton, QGridLayout, \
- QWidget, QVBoxLayout, QComboBox, QLabel, QLineEdit, QProgressBar, \
- QHBoxLayout, QListWidget
-from PyQt5.QtCore import Qt, QTimer
-from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg as FigureCanvas
-from matplotlib.figure import Figure
-import numpy as np
-import time
-import pyqtgraph as pg
-from PyQt5 import QtWidgets
+from PyQt5.QtWidgets import QPushButton, QGridLayout, QWidget, QVBoxLayout, \
+ QLabel, QHBoxLayout, QListWidget
from PyQt5.QtCore import Qt
-from PyLine import QHSeparationLine
import os
import json
-from queue import Queue
-import queue
from CrazyflieProtoConnection import CrazyflieProtoConnection
class LoggingConfigWindow(QWidget):
- def __init__(self, cf: CrazyflieProtoConnection):
+ def __init__(self, cf: CrazyflieProtoConnection,
+ logging_selection_menu_update_function):
super().__init__()
layout = QHBoxLayout()
self.setLayout(layout)
self.cf = cf
+ self.logging_selection_menu_update_function = \
+ logging_selection_menu_update_function
self.items = []
self.items_text = []
@@ -95,7 +86,8 @@ class LoggingConfigWindow(QWidget):
stop_logging_button.setMaximumWidth(200)
horizontal_layout.addWidget(stop_logging_button, 2)
- def open_log_file(self):
+ @staticmethod
+ def open_log_file(_self):
os.startfile('logging_variables.json')
def on_refresh(self):
@@ -212,8 +204,9 @@ class LoggingConfigWindow(QWidget):
if blocks_valid:
self.error_label.setText("")
-
+ variables = []
for block in blocks:
self.cf.add_log_config(block['name'], block['period'],
block['vars'])
-
+ variables.append(block['vars'])
+ self.logging_selection_menu_update_function(variables)
diff --git a/pycrocart/LoggingSelectionMenu.py b/pycrocart/LoggingSelectionMenu.py
index 475b7de4a9ce0d3f52ee2601c9eb8ba84a9d197b..2eff19c92b0350c2c14911b88e311905402249f9 100644
--- a/pycrocart/LoggingSelectionMenu.py
+++ b/pycrocart/LoggingSelectionMenu.py
@@ -1,32 +1,21 @@
-import sys
-from PyQt5.QtWidgets import QApplication, QMainWindow, QPushButton, QGridLayout, \
- QWidget, QVBoxLayout, QComboBox
-from PyQt5.QtCore import Qt, QTimer
-from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg as FigureCanvas
-from matplotlib.figure import Figure
-import numpy as np
-from time import time
-import pyqtgraph as pg
+from PyQt5.QtWidgets import QWidget, QVBoxLayout, QComboBox
class LoggingSelectionMenu(QWidget):
- def __init__(self, callback=None):
+ def __init__(self):
super().__init__()
- self.callback = callback
-
layout = QVBoxLayout()
self.setLayout(layout)
- self.available_logging_variables = \
- ["stateEstimate.pitch", "stateEstimate.roll", "stateEstimate.yaw", "pm.batteryLevel"]
+ self.available_logging_variables = []
self.cbs = [QComboBox(), QComboBox(), QComboBox(), QComboBox(),
QComboBox()]
for i in range(0, len(self.cbs)):
- list = ["Logging Variable " + str(i+1)]
- list.extend(self.available_logging_variables)
+ lst = ["Logging Variable " + str(i+1)]
+ lst.extend(self.available_logging_variables)
self.cbs[i].addItems(list)
layout.addWidget(self.cbs[i], i+1)
self.cbs[i].currentIndexChanged.connect(
@@ -38,8 +27,10 @@ class LoggingSelectionMenu(QWidget):
if signal_name == self.cbs[i].currentText():
return i+1
+ def update_available_logging_variables(self, variables_list: list):
+ self.available_logging_variables = variables_list
+
def selection_change_callback(self):
- self.callback()
selected_signals = [
self.cbs[0].currentText(), self.cbs[1].currentText(),
@@ -73,7 +64,3 @@ class LoggingSelectionMenu(QWidget):
self.cbs[i].currentIndexChanged.connect(
self.selection_change_callback)
-
-
-
-
diff --git a/pycrocart/ParameterWindow.py b/pycrocart/ParameterWindow.py
index 637652d565a056561527d0919e947dee3fa4d2f5..65a3f7230319b68eda7e77ee5318024f85a6a2b8 100644
--- a/pycrocart/ParameterWindow.py
+++ b/pycrocart/ParameterWindow.py
@@ -1,12 +1,6 @@
-import sys
-from PyQt5.QtWidgets import QApplication, QMainWindow, QPushButton, QGridLayout, \
- QWidget, QVBoxLayout, QComboBox, QLabel, QLineEdit, QProgressBar
-from PyQt5.QtCore import Qt, QTimer
-from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg as FigureCanvas
-from matplotlib.figure import Figure
-import numpy as np
-import time
-import pyqtgraph as pg
+from PyQt5.QtWidgets import QPushButton, QGridLayout, QWidget, QComboBox, \
+ QLabel, QLineEdit, QProgressBar
+from PyQt5.QtCore import QTimer
from PyQt5 import QtWidgets
from PyQt5.QtCore import Qt
from PyLine import QHSeparationLine
@@ -33,26 +27,21 @@ class ParameterWindow(QWidget):
self.toc = {}
self.timer = QTimer()
- horizontal_spacer = QtWidgets.QSpacerItem(1, 1,
- QtWidgets.QSizePolicy.Expanding,
- QtWidgets.QSizePolicy.Minimum)
+ horizontal_spacer = QtWidgets.QSpacerItem(
+ 1, 1, QtWidgets.QSizePolicy.Expanding,
+ QtWidgets.QSizePolicy.Minimum)
layout.addItem(horizontal_spacer, 1, 2, Qt.AlignRight)
- horizontal_spacer2 = QtWidgets.QSpacerItem(1, 1,
- QtWidgets.QSizePolicy.Expanding,
- QtWidgets.QSizePolicy.Minimum)
+ horizontal_spacer2 = QtWidgets.QSpacerItem(
+ 1, 1, QtWidgets.QSizePolicy.Expanding,
+ QtWidgets.QSizePolicy.Minimum)
layout.addItem(horizontal_spacer2, 1, 0, Qt.AlignRight)
- horizontal_spacer3 = QtWidgets.QSpacerItem(1, 1,
- QtWidgets.QSizePolicy.Minimum,
- QtWidgets.QSizePolicy.Expanding)
+ horizontal_spacer3 = QtWidgets.QSpacerItem(
+ 1, 1, QtWidgets.QSizePolicy.Minimum,
+ QtWidgets.QSizePolicy.Expanding)
layout.addItem(horizontal_spacer3, 0, 1, Qt.AlignTop)
- horizontal_spacer4 = QtWidgets.QSpacerItem(1, 1,
- QtWidgets.QSizePolicy.Minimum,
- QtWidgets.QSizePolicy.Expanding)
- layout.addItem(horizontal_spacer4, 100, 1, Qt.AlignBottom)
-
# --------------------- Get Param --------------------------------------
get_paraml = QLabel("Get Parameter")
layout.addWidget(get_paraml, 1, 1)
@@ -90,7 +79,7 @@ class ParameterWindow(QWidget):
self.get_param_button = QPushButton("Get Param")
self.get_param_button.clicked.connect(self.get_param)
- layout.addWidget(self.get_param_button, 3, 1, alignment=Qt.AlignCenter)
+ layout.addWidget(self.get_param_button, 3, 1, alignment=Qt.AlignHCenter)
self.get_param_button.setMinimumWidth(150)
self.get_param_button.setMaximumWidth(150)
@@ -139,7 +128,7 @@ class ParameterWindow(QWidget):
self.set_param_button.setMinimumWidth(150)
self.set_param_button.setMaximumWidth(150)
self.set_param_button.clicked.connect(self.set_param)
- layout.addWidget(self.set_param_button, 8, 1, alignment=Qt.AlignCenter)
+ layout.addWidget(self.set_param_button, 8, 1, alignment=Qt.AlignHCenter)
# -------------------- File interaction --------------------------------
@@ -149,8 +138,8 @@ class ParameterWindow(QWidget):
layout.addWidget(file_interaction_widget, 9, 1)
self.set_from_file_button = QPushButton("Set Params from Json file")
- self.set_from_file_button.setMinimumWidth(150)
- self.set_from_file_button.setMaximumWidth(150)
+ self.set_from_file_button.setMinimumWidth(200)
+ self.set_from_file_button.setMaximumWidth(200)
file_interaction_layout.addWidget(self.set_from_file_button, 1, 1)
self.set_from_file_button.clicked.connect(self.on_send)
@@ -161,15 +150,15 @@ class ParameterWindow(QWidget):
self.edit_file_button.clicked.connect(self.on_edit)
file_note = QLabel("Note: This may take a few seconds")
- layout.addWidget(file_note, 10, 1, alignment=Qt.AlignCenter)
+ layout.addWidget(file_note, 10, 1, alignment=Qt.AlignHCenter)
self.complete_label = QLabel("Complete ✓")
- layout.addWidget(self.complete_label, 11, 1, alignment=Qt.AlignCenter)
+ layout.addWidget(self.complete_label, 11, 1, alignment=Qt.AlignHCenter)
self.progress_bar = QProgressBar()
self.progress_bar.setMinimumWidth(100)
self.progress_bar.setMaximumWidth(200)
- layout.addWidget(self.progress_bar, 12, 1, alignment=Qt.AlignCenter)
+ layout.addWidget(self.progress_bar, 12, 1, alignment=Qt.AlignHCenter)
# todo
self.on_connect()
@@ -213,13 +202,14 @@ class ParameterWindow(QWidget):
if self.set_value_label.text() != "Value":
self.set_value_label.setText("Value")
-
+
except ValueError:
error_text = "Unaccepted value"
self.set_value_label.setText(
- "<span style='color: red;'>" + error_text + "</span>")
+ "<span style='color: red;'>" + error_text + "</span>")
- def on_edit(self):
+ @staticmethod
+ def on_edit(_self):
os.startfile('mp4params.json')
def on_send(self):
@@ -250,8 +240,8 @@ class ParameterWindow(QWidget):
value = vals['value']
self.cf.param_set_value(key, sub_key, value)
self.num_sent += 1
- self.progress_bar.setValue(int((self.num_sent / self.num_to_send) *
- 100))
+ self.progress_bar.setValue(
+ int((self.num_sent / self.num_to_send) * 100))
except queue.Empty:
# stop sending once the queue is empty
@@ -262,6 +252,3 @@ class ParameterWindow(QWidget):
self.num_to_send = 0
self.num_sent = 0
self.progress_bar.setValue(int(0))
-
-
-
diff --git a/pycrocart/PlottingWindow.py b/pycrocart/PlottingWindow.py
index f3d4d476b142b9d1820957ac511495ceb6aa7576..34486c145282d1ac0558a6fd9ec8e8c6bd5bee33 100644
--- a/pycrocart/PlottingWindow.py
+++ b/pycrocart/PlottingWindow.py
@@ -1,11 +1,4 @@
-import sys
-from PyQt5.QtWidgets import QApplication, QMainWindow, QPushButton, \
- QGridLayout, QWidget, QVBoxLayout, QComboBox
-from PyQt5.QtCore import Qt, QTimer
-from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg as FigureCanvas
-from matplotlib.figure import Figure
import numpy as np
-from time import time
import pyqtgraph as pg
@@ -56,9 +49,8 @@ class PlotCanvas(pg.PlotWidget):
self.plot_data_ys[:, input_axis])
if max(self.plot_data_xs[-1]) < 10:
- self.setXRange(0, 10, padding=0)
+ self.setXRange(0, 10) # had padding=0 on both these ranges in
+ # case that's needed
else:
self.setXRange(max(self.plot_data_xs[-1])-10,
- max(self.plot_data_xs[-1]),
- padding=0)
-
+ max(self.plot_data_xs[-1]))
diff --git a/pycrocart/PyCroCart.py b/pycrocart/PyCroCart.py
index 8e5356aba8f171a4a30dac6081188608f14da08c..6e3a3d1681f1968cac68f9451bed7f595b2328b0 100644
--- a/pycrocart/PyCroCart.py
+++ b/pycrocart/PyCroCart.py
@@ -1,18 +1,6 @@
import sys
-from PyQt5.QtWidgets import QApplication, QMainWindow, QPushButton, QGridLayout, \
- QWidget, QVBoxLayout, QComboBox, QTabWidget
-from PyQt5.QtCore import Qt, QTimer
-from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg as FigureCanvas
-from matplotlib.figure import Figure
-import numpy as np
-from time import time
-import pyqtgraph as pg
-from PlottingWindow import PlotCanvas
-from LoggingSelectionMenu import LoggingSelectionMenu
-from queue import Queue
-import queue
+from PyQt5.QtWidgets import QApplication, QMainWindow, QTabWidget
from CrazyflieProtoConnection import CrazyflieProtoConnection
-from SetpointMenu import SetpointMenu
from ControlWindow import ControlWindow
from SetpointHandler import SetpointHandler
from GamepadWizard import InputConfigDialogue
@@ -34,9 +22,10 @@ class PyCroCart(QMainWindow):
self.tab2 = InputConfigDialogue(self.joystick_reader,
self.tab1.setpoint_menu.enableGamepad)
self.tab3 = ParameterWindow(cf)
- self.tab4 = LoggingConfigWindow(cf)
+ self.tab4 = LoggingConfigWindow(
+ cf, self.tab1.logging_menu.update_available_logging_variables)
- self.setGeometry(100, 200, 800, 800)
+ self.setGeometry(100, 200, 600, 600)
self.tabs.addTab(self.tab1, "Controls Window")
self.tabs.addTab(self.tab2, "Gamepad Configuration")
@@ -54,7 +43,7 @@ if __name__ == '__main__':
cf1 = CrazyflieProtoConnection()
uri = 'radio://0/75/2M/E7E7E7E7E7'
- cf1.connect(uri)
+ # cf1.connect(uri)
setpoint_handler1 = SetpointHandler()
window = PyCroCart(cf1, setpoint_handler1)
diff --git a/pycrocart/SetpointHandler.py b/pycrocart/SetpointHandler.py
index 6e40058bc009e8a12c32abc9ecab48fc19353fd2..371241c83b145a116513308b833dc1e72084356e 100644
--- a/pycrocart/SetpointHandler.py
+++ b/pycrocart/SetpointHandler.py
@@ -104,4 +104,3 @@ class SetpointHandler:
"""
self.setpoint_semaphore.release()
-
diff --git a/pycrocart/SetpointMenu.py b/pycrocart/SetpointMenu.py
index 18c4d18c7c817c1fc9c51bee7601fbfc7dab9397..cdaa6b323a135d9f6b2b4490033e0e1ed6f3c5c1 100644
--- a/pycrocart/SetpointMenu.py
+++ b/pycrocart/SetpointMenu.py
@@ -1,11 +1,6 @@
-import sys
-import numpy as np
-from PyQt5.QtWidgets import QApplication, QWidget, QGridLayout, QLabel, \
- QLineEdit, QSlider, QPushButton, QButtonGroup, QCheckBox, QVBoxLayout
-from PyQt5.QtGui import QPainter, QPen, QColor
+from PyQt5.QtWidgets import QWidget, QGridLayout, QLabel, QLineEdit, QSlider, \
+ QPushButton, QButtonGroup, QCheckBox, QVBoxLayout
from PyQt5.QtCore import Qt, QTimer
-from time import time
-import pyqtgraph as pg
from SetpointHandler import SetpointHandler, FlightMode, Setpoint
from cfclient.utils.input import JoystickReader
from GamepadWizard import DeviceReader
diff --git a/pycrocart/crazyflieTestScript.py b/pycrocart/crazyflieTestScript.py
index 993c2cb47231ee1a074f36482b00194e6b6fb19d..427d1d848c2007952d3d11c5dd067187d5b4a8ba 100644
--- a/pycrocart/crazyflieTestScript.py
+++ b/pycrocart/crazyflieTestScript.py
@@ -1,18 +1,8 @@
-
import logging
import time
-
import cflib.crtp
from cflib.crazyflie import Crazyflie
from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
-from queue import Queue
-from threading import Semaphore
-from PyQt5.QtCore import Qt, QTimer
-
-from cflib.crazyflie.log import LogConfig
-from cflib.crazyflie.syncLogger import SyncLogger
-
-# URI to the Crazyflie to connect to
# Only output errors from the logging framework
logging.basicConfig(level=logging.ERROR)
@@ -28,39 +18,45 @@ def simple_connect():
def log_stab_callback(timestamp, data, logconf):
print('[%d][%s]: %s' % (timestamp, logconf.name, data))
-def simple_log_async(scf, logconf):
- cf = scf.cf
+
+def simple_log_async(scf1, logconf):
+ cf = scf1.cf
cf.log.add_config(logconf)
logconf.data_received_cb.add_callback(log_stab_callback)
logconf.start()
time.sleep(50)
logconf.stop()
-def get_param_toc(scf):
- toc = scf.cf.param.values
+def get_param_toc(scf1):
+
+ toc = scf1.cf.param.values
print(len(toc))
return toc
-def get_logging_toc(scf):
- toc = scf.cf.log.toc.toc
+def get_logging_toc(scf1):
+
+ toc = scf1.cf.log.toc.toc
print(len(toc))
return toc
-def set_param(scf, group: str, name: str, value: float):
+
+def set_param(scf1, group: str, name: str, value: float):
full_name = group + '.' + name
- scf.cf.param.add_update_callback(group=group, name=name, cb=done_set_param)
+ scf1.cf.param.add_update_callback(group=group, name=name, cb=done_set_param)
time.sleep(1)
- scf.cf.param.set_value(full_name, value)
+ scf1.cf.param.set_value(full_name, value)
time.sleep(1)
-def done_set_param(*args):
+
+def done_set_param(*_args):
print("Done setting param")
+
def find_available_crazyflies():
cflib.crtp.init_drivers()
@@ -80,4 +76,3 @@ if __name__ == '__main__':
scf.wait_for_params()
print("Done")
-
diff --git a/pycrocart/uCartCommander.py b/pycrocart/uCartCommander.py
index 5efa3f010af477b8d00e559d44f734ea1e04ceae..389df4e8ef0d7074bbd2f451cb2146b67342f9cc 100644
--- a/pycrocart/uCartCommander.py
+++ b/pycrocart/uCartCommander.py
@@ -65,7 +65,7 @@ class Commander:
def __init__(self, crazyflie=None):
"""
- Initialize the commander object. By default the commander is in
+ Initialize the commander object. By default, the commander is in
+-mode (not x-mode).
"""
self._cf = crazyflie
@@ -80,12 +80,15 @@ class Commander:
def send_setpoint(self, roll, pitch, yawrate, thrust):
"""
- Send a new control setpoint for roll/pitch/yaw_Rate/thrust to the copter.
- The meaning of these values is depended on the mode of the RPYT commander in the firmware
+ Send a new control setpoint for roll/pitch/yaw_Rate/thrust to the
+ copter.
+ The meaning of these values is depended on the mode of the RPYT
+ commander in the firmware
Default settings are Roll, pitch, yawrate and thrust
roll, pitch are in degrees
yawrate is in degrees/s
- thrust is an integer value ranging from 10001 (next to no power) to 60000 (full power)
+ thrust is an integer value ranging from 10001 (next to no power) to
+ 60000 (full power)
"""
if thrust > 0xFFFF or thrust < 0:
raise ValueError('Thrust must be between 0 and 0xFFFF')
@@ -100,7 +103,8 @@ class Commander:
def send_notify_setpoint_stop(self, remain_valid_milliseconds=0):
"""
- Sends a packet so that the priority of the current setpoint to the lowest non-disabled value,
+ Sends a packet so that the priority of the current setpoint to the
+ lowest non-disabled value,
so any new setpoint regardless of source will overwrite it.
"""
pk = CRTPPacket()
@@ -112,7 +116,7 @@ class Commander:
def send_stop_setpoint(self):
"""
- Send STOP setpoing, stopping the motors and (potentially) falling.
+ Send STOP setpoint, stopping the motors and (potentially) falling.
"""
pk = CRTPPacket()
pk.port = CRTPPort.COMMANDER_GENERIC
@@ -121,7 +125,8 @@ class Commander:
def send_velocity_world_setpoint(self, vx, vy, vz, yawrate):
"""
- Send Velocity in the world frame of reference setpoint with yawrate commands
+ Send Velocity in the world frame of reference setpoint with yawrate
+ commands
vx, vy, vz are in m/s
yawrate is in degrees/s
"""
@@ -134,8 +139,9 @@ class Commander:
def send_zdistance_setpoint(self, roll, pitch, yawrate, zdistance):
"""
- Control mode where the height is send as an absolute setpoint (intended
- to be the distance to the surface under the Crazflie), while giving roll,
+ Control mode where the height is sent as an absolute setpoint (intended
+ to be the distance to the surface under the Crazflie),
+ while giving roll,
pitch and yaw rate commands
roll, pitch are in degrees
yawrate is in degrees/s
@@ -150,8 +156,9 @@ class Commander:
def send_hover_setpoint(self, vx, vy, yawrate, zdistance):
"""
- Control mode where the height is send as an absolute setpoint (intended
- to be the distance to the surface under the Crazflie), while giving x, y velocity
+ Control mode where the height is sent as an absolute setpoint (intended
+ to be the distance to the surface under the Crazflie), while giving x,
+ y velocity
commands in body-fixed coordinates.
vx, vy are in m/s
yawrate is in degrees/s
@@ -166,7 +173,8 @@ class Commander:
def send_position_setpoint(self, x, y, z, yaw):
"""
- Control mode where the position is sent as absolute (world) x,y,z coordinate in
+ Control mode where the position is sent as absolute (world) x,y,z
+ coordinate in
meter and the yaw is the absolute orientation.
x, y, z are in m
yaw is in degrees
@@ -219,4 +227,3 @@ class Commander:
self._cf.send_packet(pk) # todo confirm struct is right , I tried to
# format it using H for the int of thrust and f for
# floats otherwise. Kinda looks like what is above
-