diff --git a/.gitignore b/.gitignore
index 675824ba0c8a629efc532cc0b68f5af293da1b28..7ed439565d369ace3cc8f64db96e8a422bd6ebf0 100644
--- a/.gitignore
+++ b/.gitignore
@@ -4,3 +4,5 @@ groundStation/gui/build*
.vscode
/crazyflie_hardware/sd_test_stand/sd_test_stand-backups/*
/crazyflie_hardware/sd_test_stand_nano/sd_test_stand_nano-backups/*
+controls/Sim-nonlinear-quad-example/Sim-nonlinear-quad-example/slprj/
+*/.idea/
diff --git a/.idea/.gitignore b/.idea/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..13566b81b018ad684f3a35fee301741b2734c8f4
--- /dev/null
+++ b/.idea/.gitignore
@@ -0,0 +1,8 @@
+# Default ignored files
+/shelf/
+/workspace.xml
+# Editor-based HTTP Client requests
+/httpRequests/
+# Datasource local storage ignored files
+/dataSources/
+/dataSources.local.xml
diff --git a/.idea/MicroCART.iml b/.idea/MicroCART.iml
new file mode 100644
index 0000000000000000000000000000000000000000..caa57a1c754d3b46004608ce57c9fd2e505127df
--- /dev/null
+++ b/.idea/MicroCART.iml
@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module type="PYTHON_MODULE" version="4">
+ <component name="NewModuleRootManager">
+ <content url="file://$MODULE_DIR$" />
+ <orderEntry type="inheritedJdk" />
+ <orderEntry type="sourceFolder" forTests="false" />
+ </component>
+ <component name="TemplatesService">
+ <option name="TEMPLATE_CONFIGURATION" value="Jinja2" />
+ <option name="TEMPLATE_FOLDERS">
+ <list>
+ <option value="$MODULE_DIR$/website/themes/notmyidea/templates" />
+ </list>
+ </option>
+ </component>
+</module>
\ No newline at end of file
diff --git a/.idea/inspectionProfiles/profiles_settings.xml b/.idea/inspectionProfiles/profiles_settings.xml
new file mode 100644
index 0000000000000000000000000000000000000000..105ce2da2d6447d11dfe32bfb846c3d5b199fc99
--- /dev/null
+++ b/.idea/inspectionProfiles/profiles_settings.xml
@@ -0,0 +1,6 @@
+<component name="InspectionProjectProfileManager">
+ <settings>
+ <option name="USE_PROJECT_PROFILE" value="false" />
+ <version value="1.0" />
+ </settings>
+</component>
\ No newline at end of file
diff --git a/.idea/misc.xml b/.idea/misc.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d1e22ecb89619a9c2dcf51a28d891a196d2462a0
--- /dev/null
+++ b/.idea/misc.xml
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+ <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.8" project-jdk-type="Python SDK" />
+</project>
\ No newline at end of file
diff --git a/.idea/modules.xml b/.idea/modules.xml
new file mode 100644
index 0000000000000000000000000000000000000000..04c33fd2a42c4e6f4049c8f5a3e087cf4a0ee91c
--- /dev/null
+++ b/.idea/modules.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+ <component name="ProjectModuleManager">
+ <modules>
+ <module fileurl="file://$PROJECT_DIR$/.idea/MicroCART.iml" filepath="$PROJECT_DIR$/.idea/MicroCART.iml" />
+ </modules>
+ </component>
+</project>
\ No newline at end of file
diff --git a/.idea/vcs.xml b/.idea/vcs.xml
new file mode 100644
index 0000000000000000000000000000000000000000..94a25f7f4cb416c083d265558da75d457237d671
--- /dev/null
+++ b/.idea/vcs.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+ <component name="VcsDirectoryMappings">
+ <mapping directory="$PROJECT_DIR$" vcs="Git" />
+ </component>
+</project>
\ No newline at end of file
diff --git a/.qt_for_python/uic/mainwindow.py b/.qt_for_python/uic/mainwindow.py
deleted file mode 100644
index 9e950c612ef5834e778d01bae1f0f2274d2fd1ed..0000000000000000000000000000000000000000
--- a/.qt_for_python/uic/mainwindow.py
+++ /dev/null
@@ -1,663 +0,0 @@
-# -*- coding: utf-8 -*-
-
-# Form implementation generated from reading ui file '/home/bitcraze/Desktop/groundstation/groundStation/gui/MicroCART/mainwindow.ui'
-#
-# Created by: PyQt5 UI code generator 5.15.4
-#
-# WARNING: Any manual changes made to this file will be lost when pyuic5 is
-# run again. Do not edit this file unless you know what you are doing.
-
-
-from PyQt5 import QtCore, QtGui, QtWidgets
-
-
-class Ui_MainWindow(object):
- def setupUi(self, MainWindow):
- MainWindow.setObjectName("MainWindow")
- MainWindow.setEnabled(True)
- MainWindow.resize(1186, 1034)
- sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.Preferred)
- sizePolicy.setHorizontalStretch(0)
- sizePolicy.setVerticalStretch(0)
- sizePolicy.setHeightForWidth(MainWindow.sizePolicy().hasHeightForWidth())
- MainWindow.setSizePolicy(sizePolicy)
- self.centralWidget = QtWidgets.QWidget(MainWindow)
- self.centralWidget.setObjectName("centralWidget")
- self.verticalLayout_1 = QtWidgets.QVBoxLayout(self.centralWidget)
- self.verticalLayout_1.setContentsMargins(11, 11, 11, 11)
- self.verticalLayout_1.setSpacing(6)
- self.verticalLayout_1.setObjectName("verticalLayout_1")
- self.tabWidget = QtWidgets.QTabWidget(self.centralWidget)
- self.tabWidget.setMaximumSize(QtCore.QSize(16777215, 1677))
- self.tabWidget.setObjectName("tabWidget")
- self.backend = QtWidgets.QWidget()
- self.backend.setObjectName("backend")
- self.verticalLayout_2 = QtWidgets.QVBoxLayout(self.backend)
- self.verticalLayout_2.setContentsMargins(11, 11, 11, 11)
- self.verticalLayout_2.setSpacing(6)
- self.verticalLayout_2.setObjectName("verticalLayout_2")
- self.horizontalLayout_1 = QtWidgets.QHBoxLayout()
- self.horizontalLayout_1.setSpacing(6)
- self.horizontalLayout_1.setObjectName("horizontalLayout_1")
- self.backendPath = QtWidgets.QLineEdit(self.backend)
- self.backendPath.setEnabled(True)
- self.backendPath.setObjectName("backendPath")
- self.horizontalLayout_1.addWidget(self.backendPath)
- self.chooseBackend = QtWidgets.QPushButton(self.backend)
- self.chooseBackend.setEnabled(True)
- self.chooseBackend.setObjectName("chooseBackend")
- self.horizontalLayout_1.addWidget(self.chooseBackend)
- self.verticalLayout_2.addLayout(self.horizontalLayout_1)
- self.horizontalLayout_2 = QtWidgets.QHBoxLayout()
- self.horizontalLayout_2.setSpacing(6)
- self.horizontalLayout_2.setObjectName("horizontalLayout_2")
- self.pbConnect = QtWidgets.QPushButton(self.backend)
- self.pbConnect.setEnabled(True)
- self.pbConnect.setObjectName("pbConnect")
- self.horizontalLayout_2.addWidget(self.pbConnect)
- self.pb_connectTS = QtWidgets.QPushButton(self.backend)
- self.pb_connectTS.setObjectName("pb_connectTS")
- self.horizontalLayout_2.addWidget(self.pb_connectTS)
- self.pb_disconnectTS = QtWidgets.QPushButton(self.backend)
- self.pb_disconnectTS.setObjectName("pb_disconnectTS")
- self.horizontalLayout_2.addWidget(self.pb_disconnectTS)
- spacerItem = QtWidgets.QSpacerItem(40, 20, QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Minimum)
- self.horizontalLayout_2.addItem(spacerItem)
- self.pbStop = QtWidgets.QPushButton(self.backend)
- self.pbStop.setEnabled(False)
- self.pbStop.setObjectName("pbStop")
- self.horizontalLayout_2.addWidget(self.pbStop)
- self.verticalLayout_2.addLayout(self.horizontalLayout_2)
- self.line_7 = QtWidgets.QFrame(self.backend)
- self.line_7.setFrameShape(QtWidgets.QFrame.HLine)
- self.line_7.setFrameShadow(QtWidgets.QFrame.Sunken)
- self.line_7.setObjectName("line_7")
- self.verticalLayout_2.addWidget(self.line_7)
- self.vConsole = QtWidgets.QTextEdit(self.backend)
- self.vConsole.setEnabled(True)
- self.vConsole.setReadOnly(True)
- self.vConsole.setObjectName("vConsole")
- self.verticalLayout_2.addWidget(self.vConsole)
- self.tabWidget.addTab(self.backend, "")
- self.param = QtWidgets.QWidget()
- self.param.setObjectName("param")
- self.paramGroupComboBox = QtWidgets.QComboBox(self.param)
- self.paramGroupComboBox.setGeometry(QtCore.QRect(420, 100, 201, 25))
- self.paramGroupComboBox.setObjectName("paramGroupComboBox")
- self.paramEntriesComboBox = QtWidgets.QComboBox(self.param)
- self.paramEntriesComboBox.setGeometry(QtCore.QRect(420, 150, 201, 25))
- self.paramEntriesComboBox.setObjectName("paramEntriesComboBox")
- self.groupLabel = QtWidgets.QLabel(self.param)
- self.groupLabel.setGeometry(QtCore.QRect(350, 100, 54, 31))
- self.groupLabel.setObjectName("groupLabel")
- self.getParamLabel = QtWidgets.QLabel(self.param)
- self.getParamLabel.setGeometry(QtCore.QRect(480, 40, 71, 17))
- self.getParamLabel.setObjectName("getParamLabel")
- self.label = QtWidgets.QLabel(self.param)
- self.label.setGeometry(QtCore.QRect(350, 150, 54, 17))
- self.label.setObjectName("label")
- self.line = QtWidgets.QFrame(self.param)
- self.line.setGeometry(QtCore.QRect(0, 279, 1111, 31))
- self.line.setFrameShape(QtWidgets.QFrame.HLine)
- self.line.setFrameShadow(QtWidgets.QFrame.Sunken)
- self.line.setObjectName("line")
- self.setParamLabel = QtWidgets.QLabel(self.param)
- self.setParamLabel.setGeometry(QtCore.QRect(480, 310, 71, 17))
- self.setParamLabel.setObjectName("setParamLabel")
- self.valueLabel = QtWidgets.QLabel(self.param)
- self.valueLabel.setGeometry(QtCore.QRect(350, 240, 54, 17))
- self.valueLabel.setObjectName("valueLabel")
- self.valueVallabel = QtWidgets.QLabel(self.param)
- self.valueVallabel.setGeometry(QtCore.QRect(420, 240, 201, 20))
- self.valueVallabel.setText("")
- self.valueVallabel.setObjectName("valueVallabel")
- self.groupLabel_set = QtWidgets.QLabel(self.param)
- self.groupLabel_set.setGeometry(QtCore.QRect(350, 360, 54, 31))
- self.groupLabel_set.setObjectName("groupLabel_set")
- self.label_5 = QtWidgets.QLabel(self.param)
- self.label_5.setGeometry(QtCore.QRect(350, 400, 54, 17))
- self.label_5.setObjectName("label_5")
- self.valueLabel_2 = QtWidgets.QLabel(self.param)
- self.valueLabel_2.setGeometry(QtCore.QRect(350, 450, 54, 17))
- self.valueLabel_2.setObjectName("valueLabel_2")
- self.paramGroupComboBox_2 = QtWidgets.QComboBox(self.param)
- self.paramGroupComboBox_2.setGeometry(QtCore.QRect(420, 360, 201, 25))
- self.paramGroupComboBox_2.setObjectName("paramGroupComboBox_2")
- self.paramEntriesComboBox_2 = QtWidgets.QComboBox(self.param)
- self.paramEntriesComboBox_2.setGeometry(QtCore.QRect(420, 400, 201, 25))
- self.paramEntriesComboBox_2.setObjectName("paramEntriesComboBox_2")
- self.pb_getParam = QtWidgets.QPushButton(self.param)
- self.pb_getParam.setGeometry(QtCore.QRect(480, 200, 80, 25))
- self.pb_getParam.setObjectName("pb_getParam")
- self.pb_setParam = QtWidgets.QPushButton(self.param)
- self.pb_setParam.setGeometry(QtCore.QRect(480, 500, 80, 25))
- self.pb_setParam.setObjectName("pb_setParam")
- self.setValueSpin = QtWidgets.QDoubleSpinBox(self.param)
- self.setValueSpin.setGeometry(QtCore.QRect(470, 450, 111, 26))
- self.setValueSpin.setDecimals(3)
- self.setValueSpin.setObjectName("setValueSpin")
- self.tabWidget.addTab(self.param, "")
- self.Gamepad = QtWidgets.QWidget()
- self.Gamepad.setObjectName("Gamepad")
- self.pb_configRoll = QtWidgets.QPushButton(self.Gamepad)
- self.pb_configRoll.setGeometry(QtCore.QRect(720, 130, 141, 25))
- self.pb_configRoll.setObjectName("pb_configRoll")
- self.rollVizBar = QtWidgets.QSlider(self.Gamepad)
- self.rollVizBar.setEnabled(False)
- self.rollVizBar.setGeometry(QtCore.QRect(710, 160, 160, 16))
- self.rollVizBar.setMinimum(-30)
- self.rollVizBar.setMaximum(30)
- self.rollVizBar.setProperty("value", 0)
- self.rollVizBar.setOrientation(QtCore.Qt.Horizontal)
- self.rollVizBar.setObjectName("rollVizBar")
- self.pb_resetConfig = QtWidgets.QPushButton(self.Gamepad)
- self.pb_resetConfig.setGeometry(QtCore.QRect(440, 90, 191, 25))
- self.pb_resetConfig.setObjectName("pb_resetConfig")
- self.pb_configYaw = QtWidgets.QPushButton(self.Gamepad)
- self.pb_configYaw.setGeometry(QtCore.QRect(160, 140, 141, 25))
- self.pb_configYaw.setObjectName("pb_configYaw")
- self.yawVizBar = QtWidgets.QSlider(self.Gamepad)
- self.yawVizBar.setEnabled(False)
- self.yawVizBar.setGeometry(QtCore.QRect(150, 170, 160, 16))
- self.yawVizBar.setMinimum(-45)
- self.yawVizBar.setMaximum(45)
- self.yawVizBar.setProperty("value", 0)
- self.yawVizBar.setOrientation(QtCore.Qt.Horizontal)
- self.yawVizBar.setTickPosition(QtWidgets.QSlider.NoTicks)
- self.yawVizBar.setObjectName("yawVizBar")
- self.thrustVizBar = QtWidgets.QSlider(self.Gamepad)
- self.thrustVizBar.setEnabled(False)
- self.thrustVizBar.setGeometry(QtCore.QRect(223, 190, 16, 160))
- self.thrustVizBar.setMaximum(60000)
- self.thrustVizBar.setProperty("value", 50)
- self.thrustVizBar.setOrientation(QtCore.Qt.Vertical)
- self.thrustVizBar.setObjectName("thrustVizBar")
- self.pitchVizBar = QtWidgets.QSlider(self.Gamepad)
- self.pitchVizBar.setEnabled(False)
- self.pitchVizBar.setGeometry(QtCore.QRect(783, 180, 16, 160))
- self.pitchVizBar.setMinimum(-30)
- self.pitchVizBar.setMaximum(30)
- self.pitchVizBar.setProperty("value", 0)
- self.pitchVizBar.setOrientation(QtCore.Qt.Vertical)
- self.pitchVizBar.setObjectName("pitchVizBar")
- self.pb_configThrust = QtWidgets.QPushButton(self.Gamepad)
- self.pb_configThrust.setGeometry(QtCore.QRect(246, 280, 141, 25))
- self.pb_configThrust.setObjectName("pb_configThrust")
- self.pb_configPitch = QtWidgets.QPushButton(self.Gamepad)
- self.pb_configPitch.setGeometry(QtCore.QRect(810, 270, 141, 25))
- self.pb_configPitch.setObjectName("pb_configPitch")
- self.noGamepadWarning = QtWidgets.QLabel(self.Gamepad)
- self.noGamepadWarning.setGeometry(QtCore.QRect(381, 10, 311, 61))
- font = QtGui.QFont()
- font.setPointSize(20)
- font.setUnderline(True)
- font.setKerning(True)
- self.noGamepadWarning.setFont(font)
- self.noGamepadWarning.setScaledContents(False)
- self.noGamepadWarning.setAlignment(QtCore.Qt.AlignCenter)
- self.noGamepadWarning.setObjectName("noGamepadWarning")
- self.yawScaleLabel = QtWidgets.QLabel(self.Gamepad)
- self.yawScaleLabel.setGeometry(QtCore.QRect(162, 113, 71, 20))
- sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.Preferred)
- sizePolicy.setHorizontalStretch(0)
- sizePolicy.setVerticalStretch(0)
- sizePolicy.setHeightForWidth(self.yawScaleLabel.sizePolicy().hasHeightForWidth())
- self.yawScaleLabel.setSizePolicy(sizePolicy)
- self.yawScaleLabel.setObjectName("yawScaleLabel")
- self.gamepadYawScale = QtWidgets.QSpinBox(self.Gamepad)
- self.gamepadYawScale.setGeometry(QtCore.QRect(240, 110, 51, 26))
- self.gamepadYawScale.setMinimum(-999)
- self.gamepadYawScale.setMaximum(999)
- self.gamepadYawScale.setProperty("value", 45)
- self.gamepadYawScale.setObjectName("gamepadYawScale")
- self.horizontalLayoutWidget = QtWidgets.QWidget(self.Gamepad)
- self.horizontalLayoutWidget.setGeometry(QtCore.QRect(160, 390, 791, 151))
- self.horizontalLayoutWidget.setObjectName("horizontalLayoutWidget")
- self.horizontalLayout = QtWidgets.QHBoxLayout(self.horizontalLayoutWidget)
- self.horizontalLayout.setContentsMargins(11, 11, 11, 11)
- self.horizontalLayout.setSpacing(6)
- self.horizontalLayout.setObjectName("horizontalLayout")
- self.label_6 = QtWidgets.QLabel(self.horizontalLayoutWidget)
- self.label_6.setAlignment(QtCore.Qt.AlignCenter)
- self.label_6.setWordWrap(True)
- self.label_6.setObjectName("label_6")
- self.horizontalLayout.addWidget(self.label_6)
- self.line_2 = QtWidgets.QFrame(self.horizontalLayoutWidget)
- self.line_2.setFrameShape(QtWidgets.QFrame.VLine)
- self.line_2.setFrameShadow(QtWidgets.QFrame.Sunken)
- self.line_2.setObjectName("line_2")
- self.horizontalLayout.addWidget(self.line_2)
- spacerItem1 = QtWidgets.QSpacerItem(40, 20, QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Minimum)
- self.horizontalLayout.addItem(spacerItem1)
- self.label_7 = QtWidgets.QLabel(self.horizontalLayoutWidget)
- self.label_7.setAlignment(QtCore.Qt.AlignCenter)
- self.label_7.setWordWrap(True)
- self.label_7.setObjectName("label_7")
- self.horizontalLayout.addWidget(self.label_7)
- self.line_3 = QtWidgets.QFrame(self.horizontalLayoutWidget)
- self.line_3.setFrameShape(QtWidgets.QFrame.VLine)
- self.line_3.setFrameShadow(QtWidgets.QFrame.Sunken)
- self.line_3.setObjectName("line_3")
- self.horizontalLayout.addWidget(self.line_3)
- spacerItem2 = QtWidgets.QSpacerItem(40, 20, QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Minimum)
- self.horizontalLayout.addItem(spacerItem2)
- self.label_8 = QtWidgets.QLabel(self.horizontalLayoutWidget)
- self.label_8.setAlignment(QtCore.Qt.AlignCenter)
- self.label_8.setWordWrap(True)
- self.label_8.setObjectName("label_8")
- self.horizontalLayout.addWidget(self.label_8)
- self.gamepadThrustScale = QtWidgets.QSpinBox(self.Gamepad)
- self.gamepadThrustScale.setGeometry(QtCore.QRect(342, 228, 71, 26))
- self.gamepadThrustScale.setMinimum(-60000)
- self.gamepadThrustScale.setMaximum(60000)
- self.gamepadThrustScale.setProperty("value", 60000)
- self.gamepadThrustScale.setObjectName("gamepadThrustScale")
- self.thrustScaleLabel = QtWidgets.QLabel(self.Gamepad)
- self.thrustScaleLabel.setGeometry(QtCore.QRect(247, 230, 191, 20))
- self.thrustScaleLabel.setObjectName("thrustScaleLabel")
- self.thrustScaleNote = QtWidgets.QLabel(self.Gamepad)
- self.thrustScaleNote.setGeometry(QtCore.QRect(248, 256, 221, 17))
- self.thrustScaleNote.setObjectName("thrustScaleNote")
- self.gamepadRollScale = QtWidgets.QSpinBox(self.Gamepad)
- self.gamepadRollScale.setGeometry(QtCore.QRect(798, 100, 51, 26))
- self.gamepadRollScale.setMinimum(-999)
- self.gamepadRollScale.setMaximum(999)
- self.gamepadRollScale.setProperty("value", 30)
- self.gamepadRollScale.setObjectName("gamepadRollScale")
- self.rollScaleLabel = QtWidgets.QLabel(self.Gamepad)
- self.rollScaleLabel.setEnabled(True)
- self.rollScaleLabel.setGeometry(QtCore.QRect(720, 103, 71, 20))
- self.rollScaleLabel.setObjectName("rollScaleLabel")
- self.gamepadPitchScale = QtWidgets.QSpinBox(self.Gamepad)
- self.gamepadPitchScale.setGeometry(QtCore.QRect(895, 239, 51, 26))
- self.gamepadPitchScale.setMinimum(-999)
- self.gamepadPitchScale.setMaximum(999)
- self.gamepadPitchScale.setProperty("value", 30)
- self.gamepadPitchScale.setObjectName("gamepadPitchScale")
- self.pitchScaleLabel = QtWidgets.QLabel(self.Gamepad)
- self.pitchScaleLabel.setGeometry(QtCore.QRect(812, 242, 211, 20))
- self.pitchScaleLabel.setObjectName("pitchScaleLabel")
- self.degPerSecLabel = QtWidgets.QLabel(self.Gamepad)
- self.degPerSecLabel.setGeometry(QtCore.QRect(294, 114, 54, 17))
- self.degPerSecLabel.setObjectName("degPerSecLabel")
- self.degLabel = QtWidgets.QLabel(self.Gamepad)
- self.degLabel.setGeometry(QtCore.QRect(852, 104, 54, 17))
- self.degLabel.setObjectName("degLabel")
- self.pitchScaleLabel.raise_()
- self.rollScaleLabel.raise_()
- self.thrustScaleLabel.raise_()
- self.yawScaleLabel.raise_()
- self.pb_configRoll.raise_()
- self.rollVizBar.raise_()
- self.pb_resetConfig.raise_()
- self.pb_configYaw.raise_()
- self.yawVizBar.raise_()
- self.thrustVizBar.raise_()
- self.pitchVizBar.raise_()
- self.pb_configThrust.raise_()
- self.pb_configPitch.raise_()
- self.noGamepadWarning.raise_()
- self.gamepadYawScale.raise_()
- self.horizontalLayoutWidget.raise_()
- self.gamepadThrustScale.raise_()
- self.thrustScaleNote.raise_()
- self.gamepadRollScale.raise_()
- self.gamepadPitchScale.raise_()
- self.degPerSecLabel.raise_()
- self.degLabel.raise_()
- self.tabWidget.addTab(self.Gamepad, "")
- self.plots = QtWidgets.QWidget()
- self.plots.setObjectName("plots")
- self.comboBox_logBlocks = QtWidgets.QComboBox(self.plots)
- self.comboBox_logBlocks.setGeometry(QtCore.QRect(740, 370, 201, 25))
- self.comboBox_logBlocks.setObjectName("comboBox_logBlocks")
- self.comboBox_logBlocks.addItem("")
- self.pb_logBlockResume = QtWidgets.QPushButton(self.plots)
- self.pb_logBlockResume.setGeometry(QtCore.QRect(740, 470, 80, 25))
- self.pb_logBlockResume.setObjectName("pb_logBlockResume")
- self.pb_logBlockPause = QtWidgets.QPushButton(self.plots)
- self.pb_logBlockPause.setGeometry(QtCore.QRect(860, 470, 80, 25))
- self.pb_logBlockPause.setObjectName("pb_logBlockPause")
- self.pb_logBlockFile = QtWidgets.QPushButton(self.plots)
- self.pb_logBlockFile.setGeometry(QtCore.QRect(650, 110, 401, 25))
- self.pb_logBlockFile.setObjectName("pb_logBlockFile")
- self.pb_logBlockRefresh = QtWidgets.QPushButton(self.plots)
- self.pb_logBlockRefresh.setGeometry(QtCore.QRect(650, 250, 141, 25))
- self.pb_logBlockRefresh.setObjectName("pb_logBlockRefresh")
- self.pb_logBlockStop = QtWidgets.QPushButton(self.plots)
- self.pb_logBlockStop.setGeometry(QtCore.QRect(910, 250, 141, 25))
- self.pb_logBlockStop.setObjectName("pb_logBlockStop")
- self.label_2 = QtWidgets.QLabel(self.plots)
- self.label_2.setGeometry(QtCore.QRect(780, 60, 141, 20))
- self.label_2.setObjectName("label_2")
- self.logVariableList = QtWidgets.QListWidget(self.plots)
- self.logVariableList.setGeometry(QtCore.QRect(0, 40, 511, 721))
- sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Expanding)
- sizePolicy.setHorizontalStretch(0)
- sizePolicy.setVerticalStretch(0)
- sizePolicy.setHeightForWidth(self.logVariableList.sizePolicy().hasHeightForWidth())
- self.logVariableList.setSizePolicy(sizePolicy)
- self.logVariableList.setObjectName("logVariableList")
- self.label_3 = QtWidgets.QLabel(self.plots)
- self.label_3.setGeometry(QtCore.QRect(180, 10, 131, 17))
- self.label_3.setObjectName("label_3")
- self.tabWidget.addTab(self.plots, "")
- self.navigation = QtWidgets.QWidget()
- self.navigation.setObjectName("navigation")
- self.verticalLayout_3 = QtWidgets.QVBoxLayout(self.navigation)
- self.verticalLayout_3.setContentsMargins(11, 11, 11, 11)
- self.verticalLayout_3.setSpacing(6)
- self.verticalLayout_3.setObjectName("verticalLayout_3")
- self.horizontalLayout_3 = QtWidgets.QHBoxLayout()
- self.horizontalLayout_3.setSpacing(6)
- self.horizontalLayout_3.setObjectName("horizontalLayout_3")
- self.verticalLayout_4 = QtWidgets.QVBoxLayout()
- self.verticalLayout_4.setSpacing(6)
- self.verticalLayout_4.setObjectName("verticalLayout_4")
- self.label_1 = QtWidgets.QLabel(self.navigation)
- sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.Preferred)
- sizePolicy.setHorizontalStretch(0)
- sizePolicy.setVerticalStretch(0)
- sizePolicy.setHeightForWidth(self.label_1.sizePolicy().hasHeightForWidth())
- self.label_1.setSizePolicy(sizePolicy)
- font = QtGui.QFont()
- font.setBold(True)
- font.setWeight(75)
- self.label_1.setFont(font)
- self.label_1.setAlignment(QtCore.Qt.AlignCenter)
- self.label_1.setObjectName("label_1")
- self.verticalLayout_4.addWidget(self.label_1)
- self.rbManualSetpoint = QtWidgets.QRadioButton(self.navigation)
- self.rbManualSetpoint.setCheckable(True)
- self.rbManualSetpoint.setChecked(True)
- self.rbManualSetpoint.setObjectName("rbManualSetpoint")
- self.buttonGroup_2 = QtWidgets.QButtonGroup(MainWindow)
- self.buttonGroup_2.setObjectName("buttonGroup_2")
- self.buttonGroup_2.addButton(self.rbManualSetpoint)
- self.verticalLayout_4.addWidget(self.rbManualSetpoint)
- self.rbGamepadControl = QtWidgets.QRadioButton(self.navigation)
- self.rbGamepadControl.setEnabled(True)
- self.rbGamepadControl.setObjectName("rbGamepadControl")
- self.buttonGroup_2.addButton(self.rbGamepadControl)
- self.verticalLayout_4.addWidget(self.rbGamepadControl)
- self.formLayout = QtWidgets.QFormLayout()
- self.formLayout.setFieldGrowthPolicy(QtWidgets.QFormLayout.ExpandingFieldsGrow)
- self.formLayout.setSpacing(6)
- self.formLayout.setObjectName("formLayout")
- self.pitchLabel = QtWidgets.QLabel(self.navigation)
- self.pitchLabel.setObjectName("pitchLabel")
- self.formLayout.setWidget(0, QtWidgets.QFormLayout.LabelRole, self.pitchLabel)
- self.pitchSetpointBox = QtWidgets.QLineEdit(self.navigation)
- self.pitchSetpointBox.setEnabled(True)
- sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.Fixed)
- sizePolicy.setHorizontalStretch(0)
- sizePolicy.setVerticalStretch(0)
- sizePolicy.setHeightForWidth(self.pitchSetpointBox.sizePolicy().hasHeightForWidth())
- self.pitchSetpointBox.setSizePolicy(sizePolicy)
- self.pitchSetpointBox.setObjectName("pitchSetpointBox")
- self.formLayout.setWidget(0, QtWidgets.QFormLayout.FieldRole, self.pitchSetpointBox)
- self.rollLabel = QtWidgets.QLabel(self.navigation)
- self.rollLabel.setObjectName("rollLabel")
- self.formLayout.setWidget(1, QtWidgets.QFormLayout.LabelRole, self.rollLabel)
- self.rollSetpointBox = QtWidgets.QLineEdit(self.navigation)
- self.rollSetpointBox.setEnabled(True)
- sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.Fixed)
- sizePolicy.setHorizontalStretch(0)
- sizePolicy.setVerticalStretch(0)
- sizePolicy.setHeightForWidth(self.rollSetpointBox.sizePolicy().hasHeightForWidth())
- self.rollSetpointBox.setSizePolicy(sizePolicy)
- self.rollSetpointBox.setObjectName("rollSetpointBox")
- self.formLayout.setWidget(1, QtWidgets.QFormLayout.FieldRole, self.rollSetpointBox)
- self.yawLabel = QtWidgets.QLabel(self.navigation)
- self.yawLabel.setObjectName("yawLabel")
- self.formLayout.setWidget(2, QtWidgets.QFormLayout.LabelRole, self.yawLabel)
- self.yawSetpointBox = QtWidgets.QLineEdit(self.navigation)
- self.yawSetpointBox.setEnabled(True)
- sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.Fixed)
- sizePolicy.setHorizontalStretch(0)
- sizePolicy.setVerticalStretch(0)
- sizePolicy.setHeightForWidth(self.yawSetpointBox.sizePolicy().hasHeightForWidth())
- self.yawSetpointBox.setSizePolicy(sizePolicy)
- self.yawSetpointBox.setObjectName("yawSetpointBox")
- self.formLayout.setWidget(2, QtWidgets.QFormLayout.FieldRole, self.yawSetpointBox)
- self.tLabel = QtWidgets.QLabel(self.navigation)
- self.tLabel.setObjectName("tLabel")
- self.formLayout.setWidget(3, QtWidgets.QFormLayout.LabelRole, self.tLabel)
- self.tActual = QtWidgets.QSlider(self.navigation)
- self.tActual.setEnabled(True)
- sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.Preferred)
- sizePolicy.setHorizontalStretch(0)
- sizePolicy.setVerticalStretch(0)
- sizePolicy.setHeightForWidth(self.tActual.sizePolicy().hasHeightForWidth())
- self.tActual.setSizePolicy(sizePolicy)
- self.tActual.setMinimumSize(QtCore.QSize(140, 0))
- self.tActual.setToolTipDuration(-1)
- self.tActual.setMaximum(60000)
- self.tActual.setOrientation(QtCore.Qt.Horizontal)
- self.tActual.setTickPosition(QtWidgets.QSlider.TicksBelow)
- self.tActual.setTickInterval(30000)
- self.tActual.setObjectName("tActual")
- self.formLayout.setWidget(3, QtWidgets.QFormLayout.FieldRole, self.tActual)
- self.angleRadioButton = QtWidgets.QRadioButton(self.navigation)
- self.angleRadioButton.setChecked(True)
- self.angleRadioButton.setObjectName("angleRadioButton")
- self.AngleRateButtonGroup = QtWidgets.QButtonGroup(MainWindow)
- self.AngleRateButtonGroup.setObjectName("AngleRateButtonGroup")
- self.AngleRateButtonGroup.addButton(self.angleRadioButton)
- self.formLayout.setWidget(4, QtWidgets.QFormLayout.LabelRole, self.angleRadioButton)
- self.rateRadioButton = QtWidgets.QRadioButton(self.navigation)
- self.rateRadioButton.setObjectName("rateRadioButton")
- self.AngleRateButtonGroup.addButton(self.rateRadioButton)
- self.formLayout.setWidget(4, QtWidgets.QFormLayout.FieldRole, self.rateRadioButton)
- self.verticalLayout_4.addLayout(self.formLayout)
- self.applySetpointButton = QtWidgets.QPushButton(self.navigation)
- self.applySetpointButton.setObjectName("applySetpointButton")
- self.verticalLayout_4.addWidget(self.applySetpointButton)
- self.stopSetpointButton = QtWidgets.QPushButton(self.navigation)
- self.stopSetpointButton.setObjectName("stopSetpointButton")
- self.verticalLayout_4.addWidget(self.stopSetpointButton)
- spacerItem3 = QtWidgets.QSpacerItem(20, 40, QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.MinimumExpanding)
- self.verticalLayout_4.addItem(spacerItem3)
- self.logging_label = QtWidgets.QLabel(self.navigation)
- font = QtGui.QFont()
- font.setBold(True)
- font.setWeight(75)
- self.logging_label.setFont(font)
- self.logging_label.setAlignment(QtCore.Qt.AlignCenter)
- self.logging_label.setObjectName("logging_label")
- self.verticalLayout_4.addWidget(self.logging_label)
- self.logEntriesComboBox1 = QtWidgets.QComboBox(self.navigation)
- self.logEntriesComboBox1.setObjectName("logEntriesComboBox1")
- self.logEntriesComboBox1.addItem("")
- self.verticalLayout_4.addWidget(self.logEntriesComboBox1)
- self.logEntriesComboBox2 = QtWidgets.QComboBox(self.navigation)
- self.logEntriesComboBox2.setObjectName("logEntriesComboBox2")
- self.logEntriesComboBox2.addItem("")
- self.verticalLayout_4.addWidget(self.logEntriesComboBox2)
- self.logEntriesComboBox3 = QtWidgets.QComboBox(self.navigation)
- self.logEntriesComboBox3.setObjectName("logEntriesComboBox3")
- self.logEntriesComboBox3.addItem("")
- self.verticalLayout_4.addWidget(self.logEntriesComboBox3)
- self.logEntriesComboBox4 = QtWidgets.QComboBox(self.navigation)
- self.logEntriesComboBox4.setObjectName("logEntriesComboBox4")
- self.logEntriesComboBox4.addItem("")
- self.verticalLayout_4.addWidget(self.logEntriesComboBox4)
- self.logEntriesComboBox5 = QtWidgets.QComboBox(self.navigation)
- self.logEntriesComboBox5.setObjectName("logEntriesComboBox5")
- self.logEntriesComboBox5.addItem("")
- self.verticalLayout_4.addWidget(self.logEntriesComboBox5)
- self.pb_startLog = QtWidgets.QPushButton(self.navigation)
- self.pb_startLog.setObjectName("pb_startLog")
- self.verticalLayout_4.addWidget(self.pb_startLog)
- self.pb_stopLog = QtWidgets.QPushButton(self.navigation)
- self.pb_stopLog.setObjectName("pb_stopLog")
- self.verticalLayout_4.addWidget(self.pb_stopLog)
- self.formLayout1 = QtWidgets.QFormLayout()
- self.formLayout1.setFieldGrowthPolicy(QtWidgets.QFormLayout.ExpandingFieldsGrow)
- self.formLayout1.setSpacing(6)
- self.formLayout1.setObjectName("formLayout1")
- self.tsLabel = QtWidgets.QLabel(self.navigation)
- self.tsLabel.setObjectName("tsLabel")
- self.formLayout1.setWidget(0, QtWidgets.QFormLayout.LabelRole, self.tsLabel)
- self.currThrustActual = QtWidgets.QLabel(self.navigation)
- self.currThrustActual.setObjectName("currThrustActual")
- self.formLayout1.setWidget(0, QtWidgets.QFormLayout.FieldRole, self.currThrustActual)
- self.currRollLabel = QtWidgets.QLabel(self.navigation)
- self.currRollLabel.setObjectName("currRollLabel")
- self.formLayout1.setWidget(1, QtWidgets.QFormLayout.LabelRole, self.currRollLabel)
- self.currRollActual = QtWidgets.QLabel(self.navigation)
- self.currRollActual.setObjectName("currRollActual")
- self.formLayout1.setWidget(1, QtWidgets.QFormLayout.FieldRole, self.currRollActual)
- self.currPitchLabel = QtWidgets.QLabel(self.navigation)
- self.currPitchLabel.setObjectName("currPitchLabel")
- self.formLayout1.setWidget(2, QtWidgets.QFormLayout.LabelRole, self.currPitchLabel)
- self.currPitchActual = QtWidgets.QLabel(self.navigation)
- self.currPitchActual.setObjectName("currPitchActual")
- self.formLayout1.setWidget(2, QtWidgets.QFormLayout.FieldRole, self.currPitchActual)
- self.currYawLabel = QtWidgets.QLabel(self.navigation)
- self.currYawLabel.setObjectName("currYawLabel")
- self.formLayout1.setWidget(3, QtWidgets.QFormLayout.LabelRole, self.currYawLabel)
- self.currYawActual = QtWidgets.QLabel(self.navigation)
- self.currYawActual.setObjectName("currYawActual")
- self.formLayout1.setWidget(3, QtWidgets.QFormLayout.FieldRole, self.currYawActual)
- self.currRoleRateLabel = QtWidgets.QLabel(self.navigation)
- self.currRoleRateLabel.setObjectName("currRoleRateLabel")
- self.formLayout1.setWidget(4, QtWidgets.QFormLayout.LabelRole, self.currRoleRateLabel)
- self.currRollRateActual = QtWidgets.QLabel(self.navigation)
- self.currRollRateActual.setObjectName("currRollRateActual")
- self.formLayout1.setWidget(4, QtWidgets.QFormLayout.FieldRole, self.currRollRateActual)
- self.currPitchRateLabel = QtWidgets.QLabel(self.navigation)
- self.currPitchRateLabel.setObjectName("currPitchRateLabel")
- self.formLayout1.setWidget(5, QtWidgets.QFormLayout.LabelRole, self.currPitchRateLabel)
- self.currPitchRateActual = QtWidgets.QLabel(self.navigation)
- self.currPitchRateActual.setObjectName("currPitchRateActual")
- self.formLayout1.setWidget(5, QtWidgets.QFormLayout.FieldRole, self.currPitchRateActual)
- self.currYawRateLabel = QtWidgets.QLabel(self.navigation)
- self.currYawRateLabel.setObjectName("currYawRateLabel")
- self.formLayout1.setWidget(6, QtWidgets.QFormLayout.LabelRole, self.currYawRateLabel)
- self.currYawRateActual = QtWidgets.QLabel(self.navigation)
- self.currYawRateActual.setObjectName("currYawRateActual")
- self.formLayout1.setWidget(6, QtWidgets.QFormLayout.FieldRole, self.currYawRateActual)
- self.verticalLayout_4.addLayout(self.formLayout1)
- self.horizontalLayout_3.addLayout(self.verticalLayout_4)
- self.verticalLayout_5 = QtWidgets.QVBoxLayout()
- self.verticalLayout_5.setSpacing(6)
- self.verticalLayout_5.setObjectName("verticalLayout_5")
- self.dataPlot = QCustomPlot(self.navigation)
- sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Expanding)
- sizePolicy.setHorizontalStretch(0)
- sizePolicy.setVerticalStretch(0)
- sizePolicy.setHeightForWidth(self.dataPlot.sizePolicy().hasHeightForWidth())
- self.dataPlot.setSizePolicy(sizePolicy)
- self.dataPlot.setObjectName("dataPlot")
- self.verticalLayout_5.addWidget(self.dataPlot)
- self.horizontalLayout_3.addLayout(self.verticalLayout_5)
- self.verticalLayout_3.addLayout(self.horizontalLayout_3)
- self.tabWidget.addTab(self.navigation, "")
- self.verticalLayout_1.addWidget(self.tabWidget)
- MainWindow.setCentralWidget(self.centralWidget)
- self.menuBar = QtWidgets.QMenuBar(MainWindow)
- self.menuBar.setGeometry(QtCore.QRect(0, 0, 1186, 22))
- self.menuBar.setObjectName("menuBar")
- self.menuScripts = QtWidgets.QMenu(self.menuBar)
- self.menuScripts.setObjectName("menuScripts")
- MainWindow.setMenuBar(self.menuBar)
- self.mainToolBar = QtWidgets.QToolBar(MainWindow)
- self.mainToolBar.setObjectName("mainToolBar")
- MainWindow.addToolBar(QtCore.Qt.TopToolBarArea, self.mainToolBar)
- self.statusBar = QtWidgets.QStatusBar(MainWindow)
- self.statusBar.setObjectName("statusBar")
- MainWindow.setStatusBar(self.statusBar)
- self.menuBar.addAction(self.menuScripts.menuAction())
-
- self.retranslateUi(MainWindow)
- self.tabWidget.setCurrentIndex(4)
- QtCore.QMetaObject.connectSlotsByName(MainWindow)
-
- def retranslateUi(self, MainWindow):
- _translate = QtCore.QCoreApplication.translate
- MainWindow.setWindowTitle(_translate("MainWindow", "MainWindow"))
- self.backendPath.setText(_translate("MainWindow", "./BackEnd"))
- self.chooseBackend.setText(_translate("MainWindow", "Choose..."))
- self.pbConnect.setText(_translate("MainWindow", "Connect"))
- self.pb_connectTS.setText(_translate("MainWindow", "Connect Test Stand"))
- self.pb_disconnectTS.setText(_translate("MainWindow", "Disconnect Test Stand"))
- self.pbStop.setText(_translate("MainWindow", "Stop/Disconnect"))
- self.tabWidget.setTabText(self.tabWidget.indexOf(self.backend), _translate("MainWindow", "Backend"))
- self.groupLabel.setText(_translate("MainWindow", "Group:"))
- self.getParamLabel.setText(_translate("MainWindow", "Get Param"))
- self.label.setText(_translate("MainWindow", "Entry:"))
- self.setParamLabel.setText(_translate("MainWindow", "Set Param"))
- self.valueLabel.setText(_translate("MainWindow", "Value:"))
- self.groupLabel_set.setText(_translate("MainWindow", "Group:"))
- self.label_5.setText(_translate("MainWindow", "Entry:"))
- self.valueLabel_2.setText(_translate("MainWindow", "Value:"))
- self.pb_getParam.setText(_translate("MainWindow", "Get Param"))
- self.pb_setParam.setText(_translate("MainWindow", "Set Param"))
- self.tabWidget.setTabText(self.tabWidget.indexOf(self.param), _translate("MainWindow", "Parameters"))
- self.pb_configRoll.setText(_translate("MainWindow", "Bind Roll"))
- self.pb_resetConfig.setText(_translate("MainWindow", "Reset Configuration"))
- self.pb_configYaw.setText(_translate("MainWindow", "Bind Yaw"))
- self.pb_configThrust.setText(_translate("MainWindow", "Bind Thrust"))
- self.pb_configPitch.setText(_translate("MainWindow", "Bind Pitch"))
- self.noGamepadWarning.setText(_translate("MainWindow", "No Gamepad Detected"))
- self.yawScaleLabel.setText(_translate("MainWindow", "Yaw Scale:"))
- self.label_6.setText(_translate("MainWindow", "Select the input to bind then move the joystick that will control that input to its maximum values."))
- self.label_7.setText(_translate("MainWindow", "The scale of each input controls the maximum values sent to the Crazyflie with max joystick deflection. "))
- self.label_8.setText(_translate("MainWindow", "Negative scale values can be used to invert a joystick if needed."))
- self.thrustScaleLabel.setText(_translate("MainWindow", "Thrust Scale: "))
- self.thrustScaleNote.setText(_translate("MainWindow", "Note: max thrust is 60,000"))
- self.rollScaleLabel.setText(_translate("MainWindow", "Roll Scale:"))
- self.pitchScaleLabel.setText(_translate("MainWindow", "Pitch Scale: Deg"))
- self.degPerSecLabel.setText(_translate("MainWindow", "deg/s"))
- self.degLabel.setText(_translate("MainWindow", "deg"))
- self.tabWidget.setTabText(self.tabWidget.indexOf(self.Gamepad), _translate("MainWindow", "Gamepad"))
- self.comboBox_logBlocks.setItemText(0, _translate("MainWindow", "Logging Block"))
- self.pb_logBlockResume.setText(_translate("MainWindow", "Resume"))
- self.pb_logBlockPause.setText(_translate("MainWindow", "Pause"))
- self.pb_logBlockFile.setText(_translate("MainWindow", "Open Logging Block Setup File"))
- self.pb_logBlockRefresh.setText(_translate("MainWindow", "Refresh Log Blocks"))
- self.pb_logBlockStop.setText(_translate("MainWindow", "Stop All Log Blocks"))
- self.label_2.setText(_translate("MainWindow", "Log Block Commands"))
- self.label_3.setText(_translate("MainWindow", "Logging Variables"))
- self.tabWidget.setTabText(self.tabWidget.indexOf(self.plots), _translate("MainWindow", "Log Blocks"))
- self.label_1.setText(_translate("MainWindow", "Send Setpoint"))
- self.rbManualSetpoint.setText(_translate("MainWindow", "Manual Setpoint"))
- self.rbGamepadControl.setText(_translate("MainWindow", "Gamepad Control"))
- self.pitchLabel.setText(_translate("MainWindow", "Pitch"))
- self.pitchSetpointBox.setText(_translate("MainWindow", "0"))
- self.rollLabel.setText(_translate("MainWindow", "Roll"))
- self.rollSetpointBox.setText(_translate("MainWindow", "0"))
- self.yawLabel.setText(_translate("MainWindow", "Yaw"))
- self.yawSetpointBox.setText(_translate("MainWindow", "0"))
- self.tLabel.setText(_translate("MainWindow", "Thrust"))
- self.angleRadioButton.setText(_translate("MainWindow", "Angle"))
- self.rateRadioButton.setText(_translate("MainWindow", "Rate"))
- self.applySetpointButton.setText(_translate("MainWindow", "Apply"))
- self.stopSetpointButton.setText(_translate("MainWindow", "Stop"))
- self.logging_label.setText(_translate("MainWindow", "Logging Variables"))
- self.logEntriesComboBox1.setCurrentText(_translate("MainWindow", "Logging Variable 1"))
- self.logEntriesComboBox1.setItemText(0, _translate("MainWindow", "Logging Variable 1"))
- self.logEntriesComboBox2.setItemText(0, _translate("MainWindow", "Logging Variable 2"))
- self.logEntriesComboBox3.setItemText(0, _translate("MainWindow", "Logging Variable 3"))
- self.logEntriesComboBox4.setItemText(0, _translate("MainWindow", "Logging Variable 4"))
- self.logEntriesComboBox5.setItemText(0, _translate("MainWindow", "Logging Variable 5"))
- self.pb_startLog.setText(_translate("MainWindow", "Start Logging"))
- self.pb_stopLog.setText(_translate("MainWindow", "Stop Logging"))
- self.tsLabel.setText(_translate("MainWindow", "Curent Thrust:"))
- self.currThrustActual.setText(_translate("MainWindow", "N/A"))
- self.currRollLabel.setText(_translate("MainWindow", "Current Roll: "))
- self.currRollActual.setText(_translate("MainWindow", "N/A"))
- self.currPitchLabel.setText(_translate("MainWindow", "Current Pitch: "))
- self.currPitchActual.setText(_translate("MainWindow", "N/A"))
- self.currYawLabel.setText(_translate("MainWindow", "Current Yaw: "))
- self.currYawActual.setText(_translate("MainWindow", "N/A"))
- self.currRoleRateLabel.setText(_translate("MainWindow", "Current Roll Rate:"))
- self.currRollRateActual.setText(_translate("MainWindow", "N/A"))
- self.currPitchRateLabel.setText(_translate("MainWindow", "Current Pitch Rate:"))
- self.currPitchRateActual.setText(_translate("MainWindow", "N/A"))
- self.currYawRateLabel.setText(_translate("MainWindow", "Current Yaw Rate:"))
- self.currYawRateActual.setText(_translate("MainWindow", "N/A"))
- self.tabWidget.setTabText(self.tabWidget.indexOf(self.navigation), _translate("MainWindow", "Control"))
- self.menuScripts.setTitle(_translate("MainWindow", "Scripts"))
-from qcustomplot import QCustomPlot
diff --git a/groundStation/src/backend/backend.c b/groundStation/src/backend/backend.c
index a1588fdd73b8b3a6546b3f69e35925d202532a0b..965f026909d5331a4963cbdf19da29abdda478e6 100644
--- a/groundStation/src/backend/backend.c
+++ b/groundStation/src/backend/backend.c
@@ -128,15 +128,21 @@ static void sig_exit_handler(int s) {
keepRunning = 0;
}
-// Callback to be ran whenever the tracker receives data.
-// Currently doing much more than it should. It will be slimmed down
-// in the future.
+// Callback to be ran whenever the optitrack camera system tracker receives data.
static void cb(struct ucart_vrpn_TrackerData * td) {
static int count = 0;
sendVrpnPacket(td);
count++;
}
+/**
+ * @brief Main function of backend. After connecting stuff, runs a loop
+ * that never returns until the program is killed.
+ *
+ * @param argc
+ * @param argv
+ * @return int
+ */
int main(int argc, char **argv)
{
int activity;
@@ -378,6 +384,12 @@ int main(int argc, char **argv)
return 0;
}
+/**
+ * @brief This function takes in the information given by the optitrack VRPN system
+ * and sends it to the quadcopter.
+ *
+ * @param info Gives tracker data of full pose, xyz, roll, pitch, yaw.
+ */
void sendVrpnPacket(struct ucart_vrpn_TrackerData *info) {
uint8_t packet[64];
struct metadata m;
@@ -415,6 +427,11 @@ void sendVrpnPacket(struct ucart_vrpn_TrackerData *info) {
}
}
+/**
+ * @brief Retrieve tracker data from optitrack VRPN camera system.
+ *
+ * @param td
+ */
void getVRPNPacket(struct ucart_vrpn_TrackerData *td) {
int status;
#if VRPN_DEBUG_PRINT == 1
@@ -424,27 +441,33 @@ void getVRPNPacket(struct ucart_vrpn_TrackerData *td) {
}
}
#endif
- //if ((status = ucart_vrpn_tracker_getData(trackables[i].tracker, td)) < 0) {
- // TODO - remove tracker instance
if((status = ucart_vrpn_tracker_getData(tracker, td)) < 0) {
perror("Error receiving VRPN data from tracker...");
keepRunning = 0;
}
}
-/* void getVRPNPacket(struct ucart_vrpn_TrackerData *td, int index) {
- int status;
- if ((status = ucart_vrpn_tracker_getData(trackables[i].tracker, td)) < 0) {
- perror("Error receiving VRPN data from tracker...");
- keepRunning = 0;
- }
-} */
-
+/**
+ * @brief Print full pose infromation from optitrack VRPN camera system.
+ *
+ * @param td
+ */
void printVrpnData(struct ucart_vrpn_TrackerData * td) {
printf("FPS: %lf Pos (xyz): (%lf %lf %lf) Att (pry): (%lf %lf %lf)\n",
td->fps, td->x, td->y, td->z, td->pitch, td->roll, td->yaw);
}
+/**
+ * @brief This function handles connecting to the custom quadcopter which
+ * is zybo fpga based. Connection is either an emulated quadcopter to help
+ * development, or a wifi based connection. I believe the zybo used to have
+ * bluetooth based communication but I think this was refactored by sdmay17
+ * in order to vastly cut latency. I'm not sure when it was completely commented
+ * out.
+ *
+ * @param index Qaducopter index.
+ * @return int
+ */
int connectToZybo(int index) {
int sock;
int status = -1;
@@ -557,6 +580,15 @@ int safe_fd_clr(int fd, fd_set* fds, int* max_fd) {
return 0;
}
+/**
+ * @brief This function is what actually handles communication with the quad
+ * or adapter over tcp socket. Setup to be able to work with multiple drones
+ * so it calls a lower level function writeQuadIndex.
+ *
+ * @param buf Data to sent to drone
+ * @param count Size of the buffer
+ * @return ssize_t Success or no
+ */
static ssize_t writeQuad(const uint8_t * buf, size_t count) {
ssize_t retval;
int index = 0;
@@ -578,6 +610,15 @@ static ssize_t writeQuad(const uint8_t * buf, size_t count) {
return -1;
}
+/**
+ * @brief Safely write to quadcopter. This is where we choose either to
+ * talk to a custom quad or an adapter, however both are TCP sockets.
+ *
+ * @param buf Contains data that will be written to quad
+ * @param count Size of data
+ * @param index Index of quadcopter, which one are we talking to.
+ * @return ssize_t
+ */
static ssize_t writeQuadIndex(const uint8_t * buf, size_t count, int index) {
ssize_t retval;
@@ -596,8 +637,10 @@ static ssize_t writeQuadIndex(const uint8_t * buf, size_t count, int index) {
if (pthread_mutex_lock(&trackables[index].socket_mutex)) {
err(-2, "pthrtead_mutex_lock (%s:%d):", __FILE__, __LINE__);
}
-
- //if (trackables[index].isLocal == 1) {
+
+ // It appears that local comm channel is used in the case of either an
+ // emulated zybo, or other local connections such as an adapter, however
+ // it is not being used in order to write to an actual adapter.
if (trackables[index].isAdapter == 0 && local_comm_channel) {
retval = write(trackables[index].fifo_tx, buf, count);
} else {
@@ -615,6 +658,14 @@ static ssize_t writeQuadIndex(const uint8_t * buf, size_t count, int index) {
return retval;
}
+/**
+ * @brief Read data from quadcopter or adapter safely.
+ *
+ * @param buf Buffer that data will be written to.
+ * @param count Size of data to grab from socket.
+ * @param index Quadcopter index, which one are we talking to
+ * @return ssize_t
+ */
static ssize_t readQuad(char * buf, size_t count, int index) {
ssize_t retval;
if (trackables[index].isAdapter == 0 && getenv(NOQUAD_ENV)) {
@@ -632,6 +683,12 @@ static ssize_t readQuad(char * buf, size_t count, int index) {
return retval;
}
+/**
+ * @brief Open a frontend client connection
+ *
+ * @param fd Frontend index
+ * @return int Success or failure
+ */
static int new_client(int fd) {
ssize_t new_slot = -1;
for (ssize_t i = 0; i < MAX_CLIENTS; i++) {
@@ -701,6 +758,12 @@ static int clientRemovePendResponses(int fd, uint16_t packet_id) {
return -1;
}
+/**
+ * @brief Eliminates client from being able to be received from.
+ *
+ * @param fd Frontend client index
+ * @return int Success or failure
+ */
static int remove_client(int fd) {
ssize_t slot = get_client_index(fd);
if(slot == -1)
@@ -719,6 +782,12 @@ static int remove_client(int fd) {
return 0;
}
+/**
+ * @brief Thread safely close the frontend client
+ *
+ * @param fd Frontend client id
+ * @param mutexLock Frontend lock
+ */
static void safe_close_fd(int fd, pthread_mutex_t *mutexLock) {
if (pthread_mutex_lock(mutexLock)) {
err(-2, "pthrtead_mutex_lock (%s:%d):", __FILE__, __LINE__);
@@ -729,6 +798,18 @@ static void safe_close_fd(int fd, pthread_mutex_t *mutexLock) {
}
}
+/**
+ * @brief Receive data from the client. This function sucks and NEEDS to be
+ * broken up into smaller chunks.
+ *
+ * This is a BIG function, but essentially it receives a command from the frontend
+ * socket, and then encodes the appropriate information into a command that is then
+ * written to the quadcopter, be that actual custom quadcopter or adapter. This is
+ * a function that appears to never return until a command is received or there is an
+ * error.
+ *
+ * @param fd Frontend client index
+ */
static void client_recv(int fd) {
char * buffer;
ssize_t len_pre;
@@ -866,14 +947,6 @@ static void client_recv(int fd) {
ssize_t psize;
result = EncodeLogBlockCommand(&m, data, 128, buffer);
- /*
- result = 1;
- int8_t command, id;
-
- sscanf(buffer, "logblockcommand %hhd %hhd", &command, &id);
- data[0] = command;
- data[1] = id;
- */
if (result < 0) {
warnx("Big problems. client_recv. EncodeMetaData");
@@ -920,14 +993,6 @@ static void client_recv(int fd) {
ssize_t psize;
result = EncodeGetLogfile(&m, data, 128, buffer);
- /*
- result = 1;
- int8_t command, id;
-
- sscanf(buffer, "logblockcommand %d %d", &command, &id);
- data[0] = command;
- data[1] = id;
- */
if (result < 0) {
warnx("Big problems. client_recv. EncodeMetaData");
@@ -940,10 +1005,6 @@ static void client_recv(int fd) {
}
m.msg_id = currMessageID++;
- /*
- m.msg_type = MAX_TYPE_ID+2;
- m.data_len = 2;
- */
if ((psize = EncodePacket(packet, 150, &m, data)) < 0) {
warnx("Big problems. client_recv. EncodePacket");
@@ -1043,6 +1104,14 @@ static void client_recv(int fd) {
}
}
+/**
+ * @brief This function is where data is actually received from the quadcopter.
+ * This is basically exclusively through the use of log files as most actual data
+ * received back from the quad is in the form of log files, be it actual log data,
+ * or parameter data or so on.
+ *
+ * @param index Which quad trackable are we talking to
+ */
static void quad_recv(int index) {
static unsigned char respBuf[CMD_MAX_LENGTH];
static size_t respBufLen;
@@ -1074,6 +1143,7 @@ static void quad_recv(int index) {
while(respBufLen) {
datalen = DecodePacket(&m, data, CMD_MAX_LENGTH, respBuf, respBufLen);
+ // handle bad data
if (datalen == -1) {
warnx("No start Byte");
for (size_t i = 0; i < respBufLen; ++i) {
@@ -1109,6 +1179,8 @@ static void quad_recv(int index) {
respBufLen -= packetlen;
char * debug_string;
+ // Depending on the message type, handle differently. A bunch of message types are
+ // unimplemented though
switch (m.msg_type) {
case DEBUG_ID:
/* in case of debug. Quad send null terminated string in data */
@@ -1135,7 +1207,7 @@ static void quad_recv(int index) {
break;
case SEND_RT_ID:
quadlog_file = fopen("quad_log_data.txt", "w");
-
+ // TODO why is this commented out??? It looks like this is where the file is actually written as well?
//fwrite((char *) formatted_data, sizeof(char), m.data_len, quadlog_file);
fclose(quadlog_file);
//free(formatted_data);
@@ -1163,6 +1235,13 @@ static void quad_recv(int index) {
}
}
+/**
+ * @brief Called by quad_recv. Decodes data from message and routes
+ * data back to frontend client.
+ *
+ * @param m
+ * @param data
+ */
static void handleResponse(struct metadata *m, uint8_t * data)
{
ssize_t result = 0;
@@ -1205,8 +1284,6 @@ static void handleResponse(struct metadata *m, uint8_t * data)
return;
}
- // printf("msg to client = '%s'\n", buffer);
-
for(int fd = 0; fd <= max_fd; ++fd) {
if (get_client_index(fd) > -1) {
clientRemovePendResponses(fd, m->msg_id);
diff --git a/pycrocart/.gitignore b/pycrocart/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..fa092e1157f8a74972c225495d8a0d9f1680ba57
--- /dev/null
+++ b/pycrocart/.gitignore
@@ -0,0 +1,5 @@
+venv/
+cache/
+.idea/
+__cache__/
+.qt_for_python/
\ No newline at end of file
diff --git a/pycrocart/ControlTab.py b/pycrocart/ControlTab.py
new file mode 100644
index 0000000000000000000000000000000000000000..0c6bb3e6b68659eef0676bda97adfbd2e132b63a
--- /dev/null
+++ b/pycrocart/ControlTab.py
@@ -0,0 +1,111 @@
+from PyQt5.QtWidgets import QPushButton, QGridLayout, QWidget, QVBoxLayout
+from PyQt5.QtCore import QTimer
+from PlottingWindow import PlottingWindow
+from LoggingSelectionMenu import LoggingSelectionMenu
+from queue import Queue
+import queue
+from CrazyflieProtoConnection import CrazyflieProtoConnection
+from SetpointMenu import SetpointMenu
+from SetpointHandler import SetpointHandler
+from cfclient.utils.input import JoystickReader
+
+
+class ControlTab(QWidget):
+ def __init__(self, logging_queue: Queue,
+ setpoint_handler: SetpointHandler, joystick: JoystickReader,
+ cf: CrazyflieProtoConnection):
+ """
+ Initialize the control tab.
+
+ :param logging_queue: Holds data coming from crazyflieProtoConnection
+ that has been logged. This data is handled more by the PlottingWindow
+ and LoggingSelectionMenu but those are both child widgets of the
+ Control tab.
+ :param setpoint_handler: When a setpoint is sent from the control tab,
+ it is not sent to the crazyflieProtoConnection directly, instead it is
+ sent to the setpoint_handler which is able to work with timing a bit
+ more accurately than the GUI should need to.
+ :param joystick: Connection to any gamepad that is connected.
+ :param cf: Reference to the crazyflieProtoConnection, used to send
+ setpoints.
+ """
+ super().__init__()
+
+ self.logging_queue = logging_queue
+ self.graph_data = False
+
+ self.cf = cf
+
+ layout = QGridLayout()
+ left_side_vertical_layout = QVBoxLayout()
+
+ self.plotting_window = PlottingWindow()
+ self.setpoint_menu = SetpointMenu(setpoint_handler, joystick)
+ self.logging_menu = LoggingSelectionMenu(self.external_press_pause)
+
+ win2 = QWidget()
+ win2.setLayout(left_side_vertical_layout)
+ win2.setMaximumWidth(300)
+
+ layout.addWidget(win2, 1, 1)
+ layout.addWidget(self.plotting_window, 1, 2)
+
+ 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.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)
+ self.timer.start(50)
+
+ # Set the window properties
+ self.setLayout(layout)
+ self.setWindowTitle("Sine Wave Plot")
+ # self.setGeometry(100, 100, 800, 600)
+ self.show()
+
+ def update_plot_outer(self):
+ """ Empty out logging queue, and update Plotting Window. """
+
+ not_empty = True
+ while not_empty:
+ try:
+ value = self.logging_queue.get_nowait()
+ data = value['data']
+ timestamp = value['timestamp']
+
+ # Uses the logging menu to check if the signal has been
+ # selected to be graphed or not. If no, axis = None.
+ axis = self.logging_menu.get_axis_of_signal(value['signal'])
+
+ if axis is not None and self.graph_data:
+ self.plotting_window.update_plot(data, timestamp, axis)
+
+ except queue.Empty: # done emptying logging queue
+ not_empty = False
+
+ def external_press_pause(self):
+ """ Made so the logging selection menu can press the pause button
+ programatically whenever configurations change. """
+ self.play_or_pause_logging_button.click()
+
+ def play_pause_button_callback(self):
+ """ This function handles getting the logging to stop or to continue
+ graphing. Called when button is clicked. """
+
+ if self.graph_data:
+ self.play_or_pause_logging_button.setText(
+ "Continue Graphing Logging")
+ self.graph_data = False
+ self.cf.stop_logging()
+ else:
+ self.play_or_pause_logging_button.setText("Pause Logging")
+ self.graph_data = True
+ self.cf.start_logging()
diff --git a/pycrocart/CrazyflieProtoConnection.py b/pycrocart/CrazyflieProtoConnection.py
new file mode 100644
index 0000000000000000000000000000000000000000..b2a0ed79e8ec13e37bcb832206f0b8122dbba8ab
--- /dev/null
+++ b/pycrocart/CrazyflieProtoConnection.py
@@ -0,0 +1,221 @@
+"""
+Crazyflie Proto Connection handles the actual interaction with the crazyflie.
+The only reason it exists is to serve as an intermediary between the frontend
+and the crazyflie itself so that it can handle all interactions with the
+cflib library and that the GUI doesn't have to.
+
+If one wanted to slot this GUI into the existing microcart infrastructure,
+CrazyflieProtoConnection could be rewritten to interface to frontend
+commands, and to connect to the backend, and the crazyflie adapter,
+and crazyflie groundstation.
+
+"""
+
+
+from time import time
+from typing import List
+import time
+
+import cflib.crtp
+from cflib.crazyflie import Crazyflie
+from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
+from queue import Queue
+
+from cflib.crazyflie.log import LogConfig
+
+
+class CrazyflieProtoConnection:
+ """
+ Handles all interactions with cflib.
+ """
+
+ def __init__(self):
+ """
+ Initialize the start time, the logging queue which is given to the
+ plotting window, and set the synchronous crazyflie connection by
+ default to None. This should be set to the crazyflie when connecting
+ to one.
+ """
+
+ # Get the start time, so that the timestamp returned to the user will
+ # be in seconds since startup.
+ self.start_time = time.time()
+
+ self.logging_queue = Queue()
+
+ self.scf = None
+ self.is_connected = False
+ self.param_callback_count = 0
+ self.logging_configs = []
+
+ # self.timer = QTimer()
+ # self.timer.timeout.connect(self.update_plot)
+ # self.timer.start(50)
+
+ def check_link_is_alive_callback(self):
+ """ Periodically investigate if the link is alive """
+ if self.scf:
+ if not self.scf.is_link_open():
+ self.is_connected = False
+
+ def logging_callback(self, _timestamp, data, _logconf):
+ """ Whenever data comes in from the logging, it is sent here,
+ which routes it into our specific format for the logging queue. """
+
+ timestamp1 = time.time() - self.start_time
+
+ 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):
+ """ Set a crazyflie parameter value. """
+
+ 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)
+
+ 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)
+
+ self.param_callback_count = 0
+ except AttributeError:
+ print("Nothing connected")
+
+ def done_setting_param_value(self, *_args):
+ """ Callback when done setting a parameter value. """
+ print("Done setting param")
+ self.param_callback_count += 1
+
+ def param_get_value(self, group: str, name: str):
+ """ Retrieve parameter value from crazyflie toc. """
+ try:
+ if self.scf.is_link_open():
+ return self.scf.cf.param.values[group][name]
+
+ except AttributeError:
+ pass
+ return -1.234567890 # 1234567890 should be pretty obvious that
+ # something has gone wrong.
+
+ def get_logging_toc(self):
+ """ Retrieve entire logging table of contents. Used in order to
+ display list in logging tab. """
+
+ 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():
+ # concatenate group name with parameter name.
+ full_name = key + "." + inner_key
+ toc.append(full_name)
+
+ return toc
+ else:
+ return []
+ except AttributeError:
+ pass
+ return []
+
+ def get_param_toc(self):
+ """ Get the names of all groups available for parameters on the
+ crazyflie. Used to populate parameter group list on parameter tab. """
+
+ try:
+ if self.scf.is_link_open():
+ toc = self.scf.cf.param.values
+
+ return toc
+ except AttributeError:
+ pass
+ return {}
+
+ def add_log_config(self, name: str, period: int, variables: List[str]):
+ """ Add a logging config. Used from logging tab when refreshing
+ logging variables. Add callback to route logged data to logging
+ queue. """
+
+ print("Name: " + name + ", period: " + str(period) + ", variables: "
+ + str(variables))
+ logging_group = LogConfig(name=name, period_in_ms=period)
+
+ for variable in variables:
+ logging_group.add_variable(variable, 'float')
+
+ self.logging_configs.append(logging_group)
+ self.logging_configs[-1].data_received_cb.add_callback(
+ self.logging_callback)
+ self.scf.cf.log.add_config(self.logging_configs[-1])
+
+ def clear_logging_configs(self):
+ """ Stop logging and clear configuration. Used when refreshing
+ logging to stop anything that has configured to be logged from
+ logging. """
+
+ self.stop_logging()
+ self.logging_configs = []
+ # done refreshing toc is a callback function that is triggered when
+ # refresh toc is done executing.
+ self.scf.cf.log.refresh_toc(
+ self.done_refreshing_toc, self.scf.cf.log._toc_cache)
+ # Blocks until toc is done refreshing.
+ while self.param_callback_count < 1:
+ time.sleep(0.01)
+ self.param_callback_count = 0
+
+ # grabs new toc values
+ self.scf.wait_for_params()
+
+ def done_refreshing_toc(self, *_args):
+ """ Callback for flow control, increments param callback count to
+ allow exit of while loop. """
+ self.param_callback_count = 1
+
+ def start_logging(self):
+ """ Begins logging all configured logging blocks. This is used from
+ the controls tab when hitting begin logging. """
+ for i in range(0, len(self.logging_configs)):
+ self.logging_configs[i].start()
+
+ def stop_logging(self):
+ """ Stops logging all configured logging blocks. This is used from
+ the controls tab when hitting pause logging. """
+ for i in range(0, len(self.logging_configs)):
+ self.logging_configs[i].stop()
+
+ def connect(self, uri: str):
+ """
+ Handles connecting to a crazyflie. Bitcraze has excellent
+ documentation on how to use the synchronous crazyflie object in order
+ to send setpoints, set parameters or retrieve logging.
+ :param uri: Radio channel
+ """
+ cflib.crtp.init_drivers()
+ self.scf = SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache'))
+ self.scf.open_link()
+ self.scf.wait_for_params()
+ self.is_connected = True
+
+ def disconnect(self):
+ """ Disconnect from crazyflie. """
+ print("Disconnect quad")
+ if self.is_connected:
+ self.scf.close_link()
+ self.scf = None
+ self.is_connected = False
+
+ @staticmethod
+ def list_available_crazyflies():
+ """ Lists crazyflies that are on and within range. """
+ cflib.crtp.init_drivers() # run this again just in case you plug the
+ # dongle in
+ return cflib.crtp.scan_interfaces()
diff --git a/pycrocart/Examples/Connection.py b/pycrocart/Examples/Connection.py
new file mode 100644
index 0000000000000000000000000000000000000000..047d8996ac5a15205e6284728e799907bfc26212
--- /dev/null
+++ b/pycrocart/Examples/Connection.py
@@ -0,0 +1,28 @@
+from PyQt5.QtWidgets import QPushButton, QGridLayout, QWidget, QHBoxLayout, QComboBox
+
+
+class Connection(QWidget):
+
+ def __init__(self):
+
+ super().__init__()
+
+ self.dropdown = QComboBox(self)
+ self.dropdown.addItem("radio://45/")
+ self.dropdown.addItem("radio://100/")
+ self.dropdown.setFixedWidth(150)
+
+ self.connect = QPushButton("Connect", self)
+ self.connect.setFixedWidth(100)
+
+ self.scan = QPushButton("Scan", self)
+ self.scan.setFixedWidth(100)
+
+ button_layout = QHBoxLayout()
+ button_layout.addWidget(self.dropdown)
+ button_layout.addWidget(self.connect)
+ button_layout.addWidget(self.scan)
+ button_layout.addStretch(1)
+
+ self.show()
+
diff --git a/pycrocart/Examples/Readme.md b/pycrocart/Examples/Readme.md
new file mode 100644
index 0000000000000000000000000000000000000000..bbda5da7df6cdebc97e35494c1c396f0e8c716ca
--- /dev/null
+++ b/pycrocart/Examples/Readme.md
@@ -0,0 +1,2 @@
+This folder contains several scripts were made in an attempt to learn cflib,
+PyQT, or tkinter better along the way in developing pycrocart.
diff --git a/pycrocart/Examples/animated_graph_example.py b/pycrocart/Examples/animated_graph_example.py
new file mode 100644
index 0000000000000000000000000000000000000000..81aa709c61b98ad00c6fcfeaf3306cc1686a7864
--- /dev/null
+++ b/pycrocart/Examples/animated_graph_example.py
@@ -0,0 +1,44 @@
+import math
+import time
+import matplotlib
+from matplotlib import pyplot as plt
+# matplotlib.use('module://backend_interagg')
+
+if __name__ == '__main__':
+
+
+ print("Hello world!")
+
+ xs = []
+ for i in range(0, 100):
+ xs.append(i)
+ ys = [0.0] * 100
+ y2s = [0.0] * 100
+
+ plt.ion()
+ figure, ax = plt.subplots(figsize=(10, 8))
+ line1, = ax.plot(xs, ys, '-o')
+ line2, = ax.plot(xs, y2s, '-o')
+ # plt.show()
+ #plt.title("Distance vs. time", fontsize=20)
+ #plt.xlabel("time")
+ #plt.ylabel("distance (inches)")
+
+ for i in range(0, 1000):
+ ys[0:len(ys) - 1] = ys[1:len(ys)]
+ ys[int(len(ys) - 1)] = i*i*math.sin(i/8)
+
+ y2s[0:len(y2s)-1] = y2s[1:len(y2s)]
+ y2s[int(len(y2s)-1)] = 0.5*i*i*math.sin(i/4)
+
+ line1.set_xdata(xs)
+ line1.set_ydata(ys)
+ line2.set_ydata(y2s)
+ figure.plotting_window.draw()
+ figure.plotting_window.flush_events()
+ if min(ys) != max(ys):
+ plt.ylim(1.5*min(ys), 1.5*max(ys))
+ # time.sleep(0.1)
+
+
+
diff --git a/pycrocart/Examples/cflib_tests.py b/pycrocart/Examples/cflib_tests.py
new file mode 100644
index 0000000000000000000000000000000000000000..c8bb72815f8beaaceb7407944765469caeb04c94
--- /dev/null
+++ b/pycrocart/Examples/cflib_tests.py
@@ -0,0 +1,4 @@
+import cflib
+
+
+
diff --git a/pycrocart/Examples/control_window_example.py b/pycrocart/Examples/control_window_example.py
new file mode 100644
index 0000000000000000000000000000000000000000..b07511353a2343f1d9ec1538440b23d18c4e6a05
--- /dev/null
+++ b/pycrocart/Examples/control_window_example.py
@@ -0,0 +1,120 @@
+import sys
+import numpy as np
+from PyQt5.QtWidgets import QApplication, QWidget, QGridLayout, QLabel, \
+ QLineEdit, QSlider, QPushButton
+from PyQt5.QtGui import QPainter, QPen, QColor
+from PyQt5.QtCore import Qt, QTimer
+from time import time
+import pyqtgraph as pg
+
+
+class MainWindow(QWidget):
+ def __init__(self):
+ super().__init__()
+
+ # Set up the layout
+ layout = QGridLayout()
+
+ # Add the entry boxes
+ yaw_label = QLabel("Yaw:")
+ pitch_label = QLabel("Pitch:")
+ roll_label = QLabel("Roll:")
+ self.yaw_box = QLineEdit()
+ self.pitch_box = QLineEdit()
+ self.roll_box = QLineEdit()
+
+ layout.addWidget(yaw_label, 0, 0)
+ layout.addWidget(self.yaw_box, 0, 1)
+ layout.addWidget(pitch_label, 1, 0)
+ layout.addWidget(self.pitch_box, 1, 1)
+ layout.addWidget(roll_label, 2, 0)
+ layout.addWidget(self.roll_box, 2, 1)
+
+ # Add the sliders and thrust label
+ thrust_label = QLabel("Thrust:")
+ self.thrust_slider = QSlider(Qt.Horizontal)
+ self.thrust_slider.setMinimum(0)
+ self.thrust_slider.setMaximum(100)
+
+ layout.addWidget(thrust_label, 3, 0)
+ layout.addWidget(self.thrust_slider, 3, 1)
+
+ # Add the print button
+ self.print_button = QPushButton("Print")
+ self.print_button.clicked.connect(self.print_entry_boxes)
+
+ layout.addWidget(self.print_button, 4, 0)
+
+ # Add the plot window
+ self.plot_widget = pg.PlotWidget()
+ layout.addWidget(self.plot_widget, 0, 2, 5, 1)
+
+ # Set the background color of the plot widget to white
+ self.plot_widget.setBackground('w')
+
+ # Set up the sine wave data and plot
+ self.plot_data = np.zeros((100, 5))
+ self.plot_curves = [self.plot_widget.plot(self.plot_data[:, i],
+ pen=pg.mkPen(pg.intColor(i),
+ width=2)) for i
+ in range(5)]
+
+ # Set up the timer to update the plot
+ self.timer = QTimer()
+ self.timer.timeout.connect(self.update_plot)
+ self.timer.start(50)
+
+ # Set the layout
+ self.setLayout(layout)
+
+ def update_plot(self):
+ # Shift the data and add a new point
+ self.plot_data[:-1] = self.plot_data[1:]
+ self.plot_data[-1] = np.sin(
+ 2 * np.pi * np.array([1, 2, 3, 4, 5]) * time() / 10)
+
+ # Update the plot
+ for i in range(5):
+ self.plot_curves[i].setData(self.plot_data[:, i])
+
+ def print_entry_boxes(self):
+ # Get the contents of the entry boxes
+ yaw_text = self.yaw_box.text()
+ pitch_text = self.pitch_box.text()
+ roll_text = self.roll_box.text()
+
+ # Attempt to parse the contents as floats
+ try:
+ yaw = float(yaw_text)
+ pitch = float(pitch_text)
+ roll = float(roll_text)
+
+ # If parsing was successful, print the values to the terminal
+ print("Yaw:", yaw)
+ print("Pitch:", pitch)
+ print("Roll:", roll)
+ except ValueError:
+ # If parsing failed, highlight the boxes in red
+ if not yaw_text.isnumeric():
+ self.yaw_box.setStyleSheet("background-color: red;")
+ if not pitch_text.isnumeric():
+ self.pitch_box.setStyleSheet("background-color: red;")
+ if not roll_text.isnumeric():
+ self.roll_box.setStyleSheet("background-color: red;")
+ else:
+ # If parsing was successful, reset the box styles and print the
+ # values
+ self.yaw_box.setStyleSheet("")
+ self.pitch_box.setStyleSheet("")
+ self.roll_box.setStyleSheet("")
+ print("Yaw:", yaw)
+ print("Pitch:", pitch)
+ print("Roll:", roll)
+
+
+# Start the application
+if __name__ == '__main__':
+ app = QApplication(sys.argv)
+ window = MainWindow()
+ window.show()
+ sys.exit(app.exec_())
diff --git a/pycrocart/Examples/crazyflieTestScript.py b/pycrocart/Examples/crazyflieTestScript.py
new file mode 100644
index 0000000000000000000000000000000000000000..427d1d848c2007952d3d11c5dd067187d5b4a8ba
--- /dev/null
+++ b/pycrocart/Examples/crazyflieTestScript.py
@@ -0,0 +1,78 @@
+import logging
+import time
+import cflib.crtp
+from cflib.crazyflie import Crazyflie
+from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
+
+# Only output errors from the logging framework
+logging.basicConfig(level=logging.ERROR)
+
+
+def simple_connect():
+
+ print("Yeah, I'm connected! :D")
+ time.sleep(3)
+ print("Now I will disconnect :'(")
+
+
+def log_stab_callback(timestamp, data, logconf):
+ print('[%d][%s]: %s' % (timestamp, logconf.name, data))
+
+
+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(scf1):
+
+ toc = scf1.cf.param.values
+ print(len(toc))
+
+ return toc
+
+
+def get_logging_toc(scf1):
+
+ toc = scf1.cf.log.toc.toc
+ print(len(toc))
+
+ return toc
+
+
+def set_param(scf1, group: str, name: str, value: float):
+
+ full_name = group + '.' + name
+ scf1.cf.param.add_update_callback(group=group, name=name, cb=done_set_param)
+ time.sleep(1)
+ scf1.cf.param.set_value(full_name, value)
+ time.sleep(1)
+
+
+def done_set_param(*_args):
+ print("Done setting param")
+
+
+def find_available_crazyflies():
+ cflib.crtp.init_drivers()
+
+ print("Scanning interfaces for Crazyflies...")
+ available = cflib.crtp.scan_interfaces()
+ print("Crazyflies found:")
+ for i in available:
+ print(i[0])
+
+
+if __name__ == '__main__':
+ # Initialize the low-level drivers
+ cflib.crtp.init_drivers()
+ uri = 'radio://0/75/2M/E7E7E7E7E7'
+ scf = SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache'))
+ scf.open_link()
+ scf.wait_for_params()
+
+ print("Done")
diff --git a/pycrocart/Examples/defaultCommanderTestScript.py b/pycrocart/Examples/defaultCommanderTestScript.py
new file mode 100644
index 0000000000000000000000000000000000000000..81b7d04d9d0a03fae2946427115cca29d62decce
--- /dev/null
+++ b/pycrocart/Examples/defaultCommanderTestScript.py
@@ -0,0 +1,59 @@
+# -*- coding: utf-8 -*-
+#
+# || ____ _ __
+# +------+ / __ )(_) /_______________ _____ ___
+# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
+# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
+# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
+#
+# Copyright (C) 2017 Bitcraze AB
+#
+# Crazyflie Nano Quadcopter Client
+#
+# This program is free software; you can redistribute it and/or
+# modify it under the terms of the GNU General Public License
+# as published by the Free Software Foundation; either version 2
+# of the License, or (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <https://www.gnu.org/licenses/>.
+import logging
+import sys
+import time
+from threading import Event
+
+import cflib.crtp
+from cflib.crazyflie import Crazyflie
+from cflib.crazyflie.log import LogConfig
+from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
+from cflib.positioning.motion_commander import MotionCommander
+from cflib.crazyflie.commander import Commander
+from cflib.utils import uri_helper
+
+import uCartCommander
+
+URI = uri_helper.uri_from_env(default='radio://0/75/2M/E7E7E7E7E7')
+
+DEFAULT_HEIGHT = 0.5
+BOX_LIMIT = 0.5
+
+
+if __name__ == '__main__':
+ cflib.crtp.init_drivers()
+
+ with SyncCrazyflie(URI, cf=Crazyflie(rw_cache='./cache')) as scf:
+
+ scf.cf.commander = uCartCommander.Commander(scf.cf)
+ print("start")
+ scf.cf.commander.send_setpoint(0, 0, 0, 0)
+ time.sleep(0.1)
+ print("setpoint")
+ scf.cf.commander.send_attitude_rate_setpoint(0, 0, 0, 12000)
+ print("sleep")
+ time.sleep(5)
+ print("stop")
+ scf.cf.commander.send_stop_setpoint()
diff --git a/pycrocart/Examples/gridExample.py b/pycrocart/Examples/gridExample.py
new file mode 100644
index 0000000000000000000000000000000000000000..2be0afdd7fc35511ec3c093a235435b1af8fb42e
--- /dev/null
+++ b/pycrocart/Examples/gridExample.py
@@ -0,0 +1,24 @@
+import sys
+from PyQt5.QtWidgets import QApplication, QMainWindow, QPushButton, \
+ QGridLayout, QWidget
+from PyQt5.QtCore import Qt, QTimer
+
+
+def window():
+ app = QApplication(sys.argv)
+ win = QWidget()
+ grid = QGridLayout()
+
+ for i in range(1, 5):
+ for j in range(1, 5):
+ grid.addWidget(QPushButton("B" + str(i) + str(j)), i, j)
+
+ win.setLayout(grid)
+ win.setGeometry(100, 100, 200, 100)
+ win.setWindowTitle("PyQt")
+ win.show()
+ sys.exit(app.exec_())
+
+
+if __name__ == '__main__':
+ window()
\ No newline at end of file
diff --git a/pycrocart/Examples/plottingExample.py b/pycrocart/Examples/plottingExample.py
new file mode 100644
index 0000000000000000000000000000000000000000..a7e722052dfd5b115cca9673d512a6136970f1c7
--- /dev/null
+++ b/pycrocart/Examples/plottingExample.py
@@ -0,0 +1,172 @@
+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
+
+
+class MainWindow(QMainWindow):
+ def __init__(self):
+ super().__init__()
+
+ # Create the plot widget
+ self.canvas = PlotCanvas()
+ win = QWidget()
+ win2 = QWidget()
+ self.setCentralWidget(win)
+
+ layout = QGridLayout()
+ left_side_vertical_layout = QVBoxLayout()
+
+ self.graph_data = True
+
+ self.print_button = QPushButton("Start")
+ self.print_button.clicked.connect(self.print_entry_boxes)
+ left_side_vertical_layout.addWidget(self.print_button, 1)
+ win2.setLayout(left_side_vertical_layout)
+ layout.addWidget(win2, 1, 1)
+ layout.addWidget(self.canvas, 1, 2)
+
+ self.cb1 = QComboBox()
+ self.line1 = "Sine"
+ self.cb1.addItems(["Sine", "2Sine", "Ramp", "2Ramp", "Square"])
+ left_side_vertical_layout.addWidget(self.cb1, 2)
+ self.cb1.currentIndexChanged.connect(self.selectionchange)
+
+ self.cb2 = QComboBox()
+ self.line2 = "Sine"
+ self.cb2.addItems(["Sine", "2Sine", "Ramp", "2Ramp", "Square"])
+ left_side_vertical_layout.addWidget(self.cb2, 3)
+
+ self.cb3 = QComboBox()
+ self.line3 = "Sine"
+ self.cb3.addItems(["Sine", "2Sine", "Ramp", "2Ramp", "Square"])
+ left_side_vertical_layout.addWidget(self.cb3, 4)
+
+ self.cb4 = QComboBox()
+ self.line4 = "Sine"
+ self.cb4.addItems(["Sine", "2Sine", "Ramp", "2Ramp", "Square"])
+ left_side_vertical_layout.addWidget(self.cb4, 5)
+
+ self.cb5 = QComboBox()
+ self.line5 = "Sine"
+ self.cb5.addItems(["Sine", "2Sine", "Ramp", "2Ramp", "Square"])
+ left_side_vertical_layout.addWidget(self.cb5, 6)
+
+ # Set up the timer to update the plot
+ self.timer = QTimer()
+ self.timer.timeout.connect(self.update_plot_outer)
+ self.timer.start(50)
+
+ # Set the window properties
+ win.setLayout(layout)
+ self.setWindowTitle("Sine Wave Plot")
+ self.setGeometry(100, 100, 800, 600)
+ self.show()
+
+ def update_plot_outer(self):
+ if self.graph_data:
+
+ if self.cb1.currentText() == "Sine":
+ data1 = np.sin(2 * np.pi * time() / 10)
+ elif self.cb1.currentText() == "2Sine":
+ data1 = 2 * np.sin(2 * np.pi * time() / 10)
+ elif self.cb1.currentText() == "Ramp":
+ data1 = (time()) % 10
+ elif self.cb1.currentText() == "2Ramp":
+ data1 = 2 * (time()) % 10
+ elif self.cb1.currentText() == "Square":
+ data1 = (time()) % 2
+
+ if data1 > 1:
+ data1 = 1
+ else:
+ data1 = 0
+
+
+
+ data2 = np.sin(3 * np.pi * time() / 10)
+ data3 = np.sin(4 * np.pi * time() / 10)
+ data4 = np.sin(5 * np.pi * time() / 10)
+ data5 = np.sin(6 * np.pi * time() / 10)
+
+ data = [data1, data2, data3, data4, data5]
+
+ self.canvas.update_plot(data)
+
+ def selectionchange(self):
+ print("Change")
+
+
+ def print_entry_boxes(self):
+ print("Hello world!")
+
+ if self.graph_data:
+ self.print_button.setText("Play")
+ self.graph_data = False
+ else:
+ self.print_button.setText("Pause")
+ self.graph_data = True
+
+
+class PlotCanvas(pg.PlotWidget):
+ def __init__(self, parent=None, num_axes=5, width=5, height=4, dpi=100):
+ super().__init__(parent=parent, width=width, height=height, dpi=dpi)
+ self.setLabel('bottom', 'Time (s)')
+ self.setLabel('left', 'Amplitude')
+ self.setLabel('top', 'Sine Wave Plot')
+ self._num_axes = num_axes
+
+ self.current_iter = 0
+
+ # Set the background color of the plot widget to white
+ self.setBackground('w')
+
+ if num_axes > 0:
+ # Set up the sine wave data and plot
+ self.plot_data = np.zeros((0, num_axes))
+ self.plot_curves = \
+ [self.plot(self.plot_data[:, i],
+ pen=pg.mkPen(pg.intColor(i), width=2), symbol='o',
+ symbolSize=5)
+ for i
+ in range(num_axes)]
+
+ def update_num_axes(self):
+ num_axes = 0
+ if num_axes < 0:
+ raise ValueError("num_axes must be greater than 0!")
+
+ if num_axes != self._num_axes:
+ if num_axes == 0: # turn it all off
+ self.clear()
+ else:
+ pass
+
+ def update_plot(self, input_data: list):
+ # Shift the data and add a new point
+ # self.plot_data[:-1] = self.plot_data[1:]
+ self.plot_data = np.append(self.plot_data, [input_data], axis=0)
+
+ # Update the plot
+ for i in range(5):
+ self.plot_curves[i].setData(self.plot_data[:, i])
+
+ self.current_iter += 1
+
+ if self.current_iter < 100:
+ self.setXRange(0, 100, padding=0)
+ else:
+ self.setXRange(self.current_iter-100, self.current_iter, padding=0)
+
+
+
+# Start the application
+if __name__ == '__main__':
+ app = QApplication(sys.argv)
+ window = MainWindow()
+ sys.exit(app.exec_())
diff --git a/pycrocart/Examples/pyQtExample.py b/pycrocart/Examples/pyQtExample.py
new file mode 100644
index 0000000000000000000000000000000000000000..37320d6926025e758893fa5bebacb219c4182dc9
--- /dev/null
+++ b/pycrocart/Examples/pyQtExample.py
@@ -0,0 +1,54 @@
+# importing libraries
+from PyQt5.QtWidgets import *
+from PyQt5.QtGui import *
+from PyQt5.QtCore import *
+import sys
+
+
+class Window(QMainWindow):
+ def __init__(self, parent):
+ super().__init__()
+
+ # setting title
+ self.setWindowTitle("Python ")
+
+ # setting geometry
+ self.setGeometry(100, 100, 600, 400)
+
+ # calling method
+ self.UiComponents()
+
+ # showing all the widgets
+ self.show()
+
+ # method for widgets
+ def UiComponents(self):
+
+ # creating a push button
+ button = QPushButton("CLICK", self)
+
+ textLabel = QLabel(self)
+ textLabel.setText("Hello World!")
+ textLabel.move(200, 85)
+
+ # setting geometry of button
+ button.setGeometry(200, 50, 100, 40)
+
+ # adding action to a button
+ button.clicked.connect(self.clickme)
+
+ # action method
+ def clickme(self):
+
+ # printing pressed
+ print("pressed")
+
+
+# create pyqt5 app
+App = QApplication(sys.argv)
+
+# create the instance of our Window
+window = Window(App)
+
+# start the app
+sys.exit(App.exec())
diff --git a/pycrocart/Examples/tabexample.py b/pycrocart/Examples/tabexample.py
new file mode 100644
index 0000000000000000000000000000000000000000..4b0a5c95ed5c45dd9f1a0a2d06d72c88952f899e
--- /dev/null
+++ b/pycrocart/Examples/tabexample.py
@@ -0,0 +1,66 @@
+import sys
+from PyQt5.QtWidgets import QMainWindow, QApplication, QPushButton, QWidget, \
+ QAction, QTabWidget, QVBoxLayout
+from PyQt5.QtGui import QIcon
+from PyQt5.QtCore import pyqtSlot
+
+
+class App(QMainWindow):
+
+ def __init__(self):
+ super().__init__()
+ self.title = 'PyQt5 tabs - pythonspot.com'
+ self.left = 0
+ self.top = 0
+ self.width = 300
+ self.height = 200
+ self.setWindowTitle(self.title)
+ self.setGeometry(self.left, self.top, self.width, self.height)
+
+ self.table_widget = MyTableWidget(self)
+ self.setCentralWidget(self.table_widget)
+
+ self.show()
+
+
+class MyTableWidget(QWidget):
+
+ def __init__(self, parent):
+ super(QWidget, self).__init__(parent)
+ self.layout = QVBoxLayout(self)
+
+ # Initialize tab screen
+ self.tabs = QTabWidget()
+ self.tab1 = QWidget()
+ self.tab2 = QWidget()
+ self.tab3 = QWidget()
+ self.tabs.resize(300, 200)
+
+ # Add tabs
+ self.tabs.addTab(self.tab1, "Tab 1")
+ self.tabs.addTab(self.tab2, "Tab 2")
+ self.tabs.addTab(self.tab3, "Tab 3")
+
+ # Create first tab
+ self.tab1.layout = QVBoxLayout(self)
+ self.pushButton1 = QPushButton("PyQt5 button")
+ self.tab1.layout.addWidget(self.pushButton1)
+ self.tab1.setLayout(self.tab1.layout)
+
+ # Add tabs to widget
+ self.layout.addWidget(self.tabs)
+ self.setLayout(self.layout)
+
+ @pyqtSlot()
+ def on_click(self):
+ print("\n")
+ for currentQTableWidgetItem in self.tableWidget.selectedItems():
+ print(currentQTableWidgetItem.row(),
+ currentQTableWidgetItem.column(),
+ currentQTableWidgetItem.text())
+
+
+if __name__ == '__main__':
+ app = QApplication(sys.argv)
+ ex = App()
+ sys.exit(app.exec_())
diff --git a/pycrocart/GamepadWizardTab.py b/pycrocart/GamepadWizardTab.py
new file mode 100644
index 0000000000000000000000000000000000000000..c4e981052c29a94552a5d56554f9319839117f36
--- /dev/null
+++ b/pycrocart/GamepadWizardTab.py
@@ -0,0 +1,445 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+#
+# || ____ _ __
+# +------+ / __ )(_) /_______________ _____ ___
+# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
+# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
+# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
+#
+# Copyright (C) 2011-2017 Bitcraze AB
+#
+# Crazyflie Nano Quadcopter Client
+#
+# This program is free software; you can redistribute it and/or
+# modify it under the terms of the GNU General Public License
+# as published by the Free Software Foundation; either version 2
+# of the License, or (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+"""
+Dialogue used to select and configure an inputdevice. This includes mapping
+buttons and axis to match controls for the Crazyflie.
+"""
+import logging
+
+import cfclient
+from PyQt5.QtCore import QThread
+from PyQt5.QtCore import QTimer
+from PyQt5.QtCore import pyqtSignal
+from PyQt5.QtWidgets import QMessageBox
+from cfclient.utils.config_manager import ConfigManager
+from PyQt5 import Qt
+from PyQt5 import QtWidgets
+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
+
+__author__ = 'Bitcraze AB'
+__all__ = ['InputConfigDialogue']
+
+logger = logging.getLogger(__name__)
+
+(inputconfig_widget_class, connect_widget_base_class) = (
+ uic.loadUiType(cfclient.module_path + '/ui/dialogs/inputconfigdialogue.ui')
+)
+
+
+class InputConfigDialogue(QtWidgets.QWidget, inputconfig_widget_class):
+
+ def __init__(self, joystickReader, enable_external_gamepad_func, *args):
+ super(InputConfigDialogue, self).__init__(*args)
+ self.setupUi(self)
+ self._input = joystickReader
+ self.enable_external_gamepad_func = enable_external_gamepad_func
+
+ self._input_device_reader = DeviceReader(self._input)
+ self._input_device_reader.start()
+
+ self._input_device_reader.raw_axis_data_signal.connect(
+ self._detect_axis)
+ self._input_device_reader.raw_button_data_signal.connect(
+ self._detect_button)
+ self._input_device_reader.mapped_values_signal.connect(
+ self._update_mapped_values)
+
+ self.cancelButton.clicked.connect(self.close)
+ self.saveButton.clicked.connect(self._save_config)
+
+ self.detectPitch.clicked.connect(
+ lambda: self._axis_detect(
+ "pitch", "Pitch axis",
+ "Center the pitch axis then do max %s pitch",
+ ["forward", "backward"]))
+ self.detectRoll.clicked.connect(
+ lambda: self._axis_detect(
+ "roll", "Roll axis",
+ "Center the roll axis and then do max %s roll",
+ ["right", "left"]))
+ self.detectYaw.clicked.connect(
+ lambda: self._axis_detect(
+ "yaw", "Yaw axis",
+ "Center the yaw axis and then do max %s yaw",
+ ["right", "left"]))
+ self.detectThrust.clicked.connect(
+ lambda: self._axis_detect(
+ "thrust", "Thrust axis",
+ "Center the thrust axis, and then do max thrust"))
+ self.detectPitchPos.clicked.connect(
+ lambda: self._button_detect(
+ "pitchPos", "Pitch Cal Positive",
+ "Press the button for Pitch postive calibration"))
+ self.detectPitchNeg.clicked.connect(
+ lambda: self._button_detect(
+ "pitchNeg", "Pitch Cal Negative",
+ "Press the button for Pitch negative calibration"))
+ self.detectRollPos.clicked.connect(
+ lambda: self._button_detect(
+ "rollPos", "Roll Cal Positive",
+ "Press the button for Roll positive calibration"))
+ self.detectRollNeg.clicked.connect(
+ lambda: self._button_detect(
+ "rollNeg", "Roll Cal Negative",
+ "Press the button for Roll negative calibration"))
+ self.detectKillswitch.clicked.connect(
+ lambda: self._button_detect(
+ "killswitch", "Killswitch",
+ "Press the button for the killswitch (will disable motors)"))
+ self.detectAlt1.clicked.connect(
+ lambda: self._button_detect(
+ "alt1", "Alternative function 1",
+ "The alternative function 1 that will do a callback"))
+ self.detectAlt2.clicked.connect(
+ lambda: self._button_detect(
+ "alt2", "Alternative function 2",
+ "The alternative function 2 that will do a callback"))
+ self.detectExitapp.clicked.connect(
+ lambda: self._button_detect(
+ "exitapp", "Exit application",
+ "Press the button for exiting the application"))
+ self._detect_assisted_control.clicked.connect(
+ lambda: self._button_detect(
+ "assistedControl", "Assisted control",
+ "Press the button for assisted control mode activation "
+ "(releasing returns to manual mode)"))
+ self.detectMuxswitch.clicked.connect(
+ lambda: self._button_detect(
+ "muxswitch", "Mux Switch",
+ "Press the button for mux switching"))
+
+ self.configButton.clicked.connect(self._start_configuration)
+ self.loadButton.clicked.connect(self._load_config_from_file)
+ self.deleteButton.clicked.connect(self._delete_configuration)
+
+ self._popup = None
+ self._combined_button = None
+ self._detection_buttons = [
+ self.detectPitch, self.detectRoll,
+ self.detectYaw, self.detectThrust,
+ self.detectPitchPos, self.detectPitchNeg,
+ self.detectRollPos, self.detectRollNeg,
+ self.detectKillswitch, self.detectExitapp,
+ self._detect_assisted_control, self.detectAlt1,
+ self.detectAlt2, self.detectMuxswitch]
+
+ self._button_to_detect = ""
+ self._axis_to_detect = ""
+ self.combinedDetection = 0
+ self._prev_combined_id = None
+
+ self._maxed_axis = []
+ self._mined_axis = []
+
+ self._buttonindicators = {}
+ self._axisindicators = {}
+ self._reset_mapping()
+
+ for d in self._input.available_devices():
+ if d.supports_mapping:
+ self.inputDeviceSelector.addItem(d.name, d.id)
+
+ if len(self._input.available_devices()) > 0:
+ self.configButton.setEnabled(True)
+
+ self._map = {}
+ self._saved_open_device = None
+
+ @staticmethod
+ def _scale(max_value, value):
+ return (value / max_value) * 100
+
+ def _reset_mapping(self):
+ self._buttonindicators = {
+ "pitchPos": self.pitchPos,
+ "pitchNeg": self.pitchNeg,
+ "rollPos": self.rollPos,
+ "rollNeg": self.rollNeg,
+ "killswitch": self.killswitch,
+ "alt1": self.alt1,
+ "alt2": self.alt2,
+ "exitapp": self.exitapp,
+ "assistedControl": self._assisted_control,
+ "muxswitch": self.muxswitch,
+ }
+
+ self._axisindicators = {
+ "pitch": self.pitchAxisValue,
+ "roll": self.rollAxisValue,
+ "yaw": self.yawAxisValue,
+ "thrust": self.thrustAxisValue,
+ }
+
+ def _cancel_config_popup(self, button):
+ self._axis_to_detect = ""
+ self._button_to_detect = ""
+
+ def _show_config_popup(self, caption, message, directions=[]):
+ self._maxed_axis = []
+ self._mined_axis = []
+ self._popup = QMessageBox()
+ self._popup.directions = directions
+ self._combined_button = QtWidgets.QPushButton('Combined Axis ' +
+ 'Detection')
+ self.cancelButton = QtWidgets.QPushButton('Cancel')
+ self._popup.addButton(self.cancelButton, QMessageBox.DestructiveRole)
+ self._popup.setWindowTitle(caption)
+ self._popup.setWindowFlags(Qt.Dialog | Qt.MSWindowsFixedSizeDialogHint)
+ if len(directions) > 1:
+ self._popup.originalMessage = message
+ message = self._popup.originalMessage % directions[0]
+ self._combined_button.setCheckable(True)
+ self._combined_button.blockSignals(True)
+ self._popup.addButton(self._combined_button,
+ QMessageBox.ActionRole)
+ self._popup.setText(message)
+ self._popup.show()
+
+ def _start_configuration(self):
+ self._input.enableRawReading(
+ str(self.inputDeviceSelector.currentText()))
+ self._input_device_reader.start_reading()
+ self._populate_config_dropdown()
+ self.profileCombo.setEnabled(True)
+ for b in self._detection_buttons:
+ b.setEnabled(True)
+
+ self.enable_external_gamepad_func(
+ str(self.profileCombo.currentText()))
+
+ def _detect_axis(self, data):
+ if (len(self._axis_to_detect) > 0):
+ if (self._combined_button and self._combined_button.isChecked() and
+ self.combinedDetection == 0):
+ self._combined_button.setDisabled(True)
+ self.combinedDetection = 1
+ for a in data:
+ # Axis must go low and high before it's accepted as selected
+ # otherwise maxed out axis (like gyro/acc) in some controllers
+ # will always be selected. Not enforcing negative values makes
+ # it possible to detect split axis (like bumpers on PS3
+ # controller)
+ if a not in self._maxed_axis and abs(data[a]) > 0.8:
+ self._maxed_axis.append(a)
+ if a not in self._mined_axis and abs(data[a]) < 0.1:
+ self._mined_axis.append(a)
+ if a in self._maxed_axis and a in self._mined_axis and len(
+ self._axis_to_detect) > 0:
+ if self.combinedDetection == 0:
+ if data[a] >= 0:
+ self._map_axis(self._axis_to_detect, a, 1.0)
+ else:
+ self._map_axis(self._axis_to_detect, a, -1.0)
+ self._axis_to_detect = ""
+ self._check_and_enable_saving()
+ if self._popup is not None:
+ self.cancelButton.click()
+ elif self.combinedDetection == 2: # finished detection
+ # not the same axis again ...
+ if self._prev_combined_id != a:
+ self._map_axis(self._axis_to_detect, a, -1.0)
+ self._axis_to_detect = ""
+ self._check_and_enable_saving()
+ if (self._popup is not None):
+ self.cancelButton.click()
+ self.combinedDetection = 0
+ elif self.combinedDetection == 1:
+ self._map_axis(self._axis_to_detect, a, 1.0)
+ self._prev_combined_id = a
+ self.combinedDetection = 2
+ message = (self._popup.originalMessage %
+ self._popup.directions[1])
+ self._popup.setText(message)
+
+ def _update_mapped_values(self, mapped_data):
+ for v in mapped_data.get_all_indicators():
+ if v in self._buttonindicators:
+ if mapped_data.get(v):
+ self._buttonindicators[v].setChecked(True)
+ else:
+ self._buttonindicators[v].setChecked(False)
+ if v in self._axisindicators:
+ # The sliders used are set to 0-100 and the values from the
+ # input-layer is scaled according to the max settings in
+ # the input-layer. So scale the value and place 0 in the middle
+ scaled_value = mapped_data.get(v)
+ if v == "thrust":
+ scaled_value = InputConfigDialogue._scale(
+ self._input.max_thrust, scaled_value
+ )
+ if v == "roll" or v == "pitch":
+ scaled_value = InputConfigDialogue._scale(
+ self._input.max_rp_angle, scaled_value
+ )
+ if v == "yaw":
+ scaled_value = InputConfigDialogue._scale(
+ self._input.max_yaw_rate, scaled_value
+ )
+ self._axisindicators[v].setValue(int(scaled_value))
+
+ def _map_axis(self, function, key_id, scale):
+ self._map["Input.AXIS-{}".format(key_id)] = {}
+ self._map["Input.AXIS-{}".format(key_id)]["id"] = key_id
+ self._map["Input.AXIS-{}".format(key_id)]["key"] = function
+ self._map["Input.AXIS-{}".format(key_id)]["scale"] = scale
+ self._map["Input.AXIS-{}".format(key_id)]["offset"] = 0.0
+ self._map["Input.AXIS-{}".format(key_id)]["type"] = "Input.AXIS"
+ self._input.set_raw_input_map(self._map)
+
+ def _map_button(self, function, key_id):
+ # Duplicate buttons are not allowed, remove if there's already one
+ # mapped
+ prev_button = None
+ for m in self._map:
+ if "key" in self._map[m] and self._map[m]["key"] == function:
+ prev_button = m
+ if prev_button:
+ del self._map[prev_button]
+
+ self._map["Input.BUTTON-{}".format(key_id)] = {}
+ self._map["Input.BUTTON-{}".format(key_id)]["id"] = key_id
+ self._map["Input.BUTTON-{}".format(key_id)]["key"] = function
+ self._map["Input.BUTTON-{}".format(key_id)]["scale"] = 1.0
+ self._map["Input.BUTTON-{}".format(key_id)]["type"] = "Input.BUTTON"
+ self._input.set_raw_input_map(self._map)
+
+ def _detect_button(self, data):
+ if len(self._button_to_detect) > 0:
+ for b in data:
+ if data[b] > 0:
+ self._map_button(self._button_to_detect, b)
+ self._button_to_detect = ""
+ self._check_and_enable_saving()
+ if self._popup is not None:
+ self._popup.close()
+
+ def _check_and_enable_saving(self):
+ needed_funcs = ["thrust", "yaw", "roll", "pitch"]
+
+ for m in self._map:
+ if self._map[m]["key"] in needed_funcs:
+ needed_funcs.remove(self._map[m]["key"])
+
+ if len(needed_funcs) == 0:
+ self.saveButton.setEnabled(True)
+
+ def _populate_config_dropdown(self):
+ configs = ConfigManager().get_list_of_configs()
+ if len(configs):
+ self.loadButton.setEnabled(True)
+ for c in configs:
+ self.profileCombo.addItem(c)
+
+ def _axis_detect(self, varname, caption, message, directions=[]):
+ self._axis_to_detect = varname
+ self._show_config_popup(caption, message, directions)
+
+ def _button_detect(self, varname, caption, message):
+ self._button_to_detect = varname
+ self._show_config_popup(caption, message)
+
+ def _show_error(self, caption, message):
+ QMessageBox.critical(self, caption, message)
+
+ def _load_config_from_file(self):
+ print("Loading config")
+ loaded_map = ConfigManager().get_config(
+ self.profileCombo.currentText())
+ if loaded_map:
+ self._input.set_raw_input_map(loaded_map)
+ self._map = loaded_map
+ else:
+ logger.warning("Could not load configfile [%s]",
+ self.profileCombo.currentText())
+ self._show_error("Could not load config",
+ "Could not load config [%s]" %
+ self.profileCombo.currentText())
+ self._check_and_enable_saving()
+
+ def _delete_configuration(self):
+ logger.warning("deleteConfig not implemented")
+
+ def _save_config(self):
+ config_name = str(self.profileCombo.currentText())
+ ConfigManager().save_config(self._map, config_name)
+ # self.close()
+
+ def showEvent(self, event):
+ """Called when dialog is opened"""
+ # self._saved_open_device = self._input.get_device_name()
+ # self._input.stop_input()
+ self._input.pause_input()
+
+ def closeEvent(self, event):
+ """Called when dialog is closed"""
+ self._input.stop_raw_reading()
+ self._input_device_reader.stop_reading()
+ # self._input.start_input(self._saved_open_device)
+ self._input.resume_input()
+
+
+class DeviceReader(QThread):
+ """Used for polling data from the Input layer during configuration"""
+ raw_axis_data_signal = pyqtSignal(object)
+ raw_button_data_signal = pyqtSignal(object)
+ mapped_values_signal = pyqtSignal(object)
+
+ def __init__(self, input):
+ QThread.__init__(self)
+
+ self._input = input
+ self._read_timer = QTimer()
+ self._read_timer.setInterval(25)
+
+ self._read_timer.timeout.connect(self._read_input)
+
+ def stop_reading(self):
+ """Stop polling data"""
+ self._read_timer.stop()
+
+ def start_reading(self):
+ """Start polling data"""
+ self._read_timer.start()
+
+ def _read_input(self):
+ [rawaxis, rawbuttons, mapped_values] = self._input.read_raw_values()
+ self.raw_axis_data_signal.emit(rawaxis)
+ self.raw_button_data_signal.emit(rawbuttons)
+ self.mapped_values_signal.emit(mapped_values)
+
+
+if __name__ == "__main__":
+ app = QApplication(sys.argv)
+
+ win2 = InputConfigDialogue(JoystickReader(), print)
+ win = QMainWindow()
+ win.setCentralWidget(win2)
+ win.show()
+ sys.exit(app.exec_())
diff --git a/pycrocart/Images/gamepad_tab.png b/pycrocart/Images/gamepad_tab.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c8fa2550e0abb3ac9abb45f2f18c6e89f4f18e8
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diff --git a/pycrocart/Images/gui_main_window.png b/pycrocart/Images/gui_main_window.png
new file mode 100644
index 0000000000000000000000000000000000000000..445aae7874a582caf2248a145ce4dea78b497978
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diff --git a/pycrocart/Images/logging_file.png b/pycrocart/Images/logging_file.png
new file mode 100644
index 0000000000000000000000000000000000000000..b2abc79e3537c39cf1e77130f1471cb77efc0b2e
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diff --git a/pycrocart/Images/logging_tab.png b/pycrocart/Images/logging_tab.png
new file mode 100644
index 0000000000000000000000000000000000000000..d6c362d9e956e36790d2c64c64badafc983cf62e
Binary files /dev/null and b/pycrocart/Images/logging_tab.png differ
diff --git a/pycrocart/Images/parameter_tab.png b/pycrocart/Images/parameter_tab.png
new file mode 100644
index 0000000000000000000000000000000000000000..45ae63bb3bfa2ceabf5289c7277d805c4493d208
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diff --git a/pycrocart/Images/pycrocartArchitecture.png b/pycrocart/Images/pycrocartArchitecture.png
new file mode 100644
index 0000000000000000000000000000000000000000..c555ba83b239f087019f6505f7cba9d77a68abce
Binary files /dev/null and b/pycrocart/Images/pycrocartArchitecture.png differ
diff --git a/pycrocart/LoggingConfigTab.py b/pycrocart/LoggingConfigTab.py
new file mode 100644
index 0000000000000000000000000000000000000000..09bb9d5b303ab1a252b66e899658b4923ee839a2
--- /dev/null
+++ b/pycrocart/LoggingConfigTab.py
@@ -0,0 +1,254 @@
+from PyQt5.QtWidgets import QPushButton, QGridLayout, QWidget, QVBoxLayout, \
+ QLabel, QHBoxLayout, QListWidget
+from PyQt5.QtCore import Qt
+import os
+import json
+from CrazyflieProtoConnection import CrazyflieProtoConnection
+
+
+class LoggingConfigTab(QWidget):
+ """
+ LoggingConfigTab is the class that configures the logging config tab
+ inside the gui. Holds the logging table of contents, and a couple buttons to
+ configure the logging blocks, refresh the logging, and stop it completely.
+ """
+
+ def __init__(self, cf: CrazyflieProtoConnection,
+ logging_selection_menu_update_function):
+ """
+ Initialize all widgets in the logging config tab window.
+
+ :param cf: CrazyflieProtoConnection in order to interface with
+ drone.
+ :param logging_selection_menu_update_function: This function is
+ called whenever the logging blocks are refreshed. The purpose is to
+ allow the logging selection menu to know that the logging config has
+ been refreshed and to look for new signals.
+ """
+ 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 = []
+
+ left_widget = QWidget()
+ right_widget = QWidget()
+
+ left_layout = QVBoxLayout()
+ right_layout = QGridLayout()
+
+ left_widget.setLayout(left_layout)
+ right_widget.setLayout(right_layout)
+ layout.addWidget(left_widget, 1)
+ layout.addWidget(right_widget, 2)
+
+ # ------------ Left ----------------------------------------------------
+
+ logging_vars = QLabel("Logging Variables")
+ logging_vars.setMaximumHeight(20)
+ left_layout.addWidget(logging_vars, 1)
+
+ self.list_widget = QListWidget()
+ left_layout.addWidget(self.list_widget, 2)
+
+ # ------------ Right ---------------------------------------------------
+
+ log_block_commands = QLabel("Log Block Commands")
+ log_block_commands.setMaximumHeight(50)
+ right_layout.addWidget(log_block_commands, 1, 1,
+ alignment=Qt.AlignHCenter)
+
+ self.error_label = QLabel()
+ self.error_label.setMaximumHeight(50)
+ right_layout.addWidget(self.error_label, 2, 1,
+ alignment=Qt.AlignHCenter)
+
+ explanation = """
+ The logging blocks file is configured to work in logging groups. The
+ name of the groups does not matter, but what does matter is the
+ "update_frequency_ms" value as well as the values inside the "vars"
+ array. Each vars array can be at most 5 values long, otherwise an
+ error will be thrown. They also must contain a logging variable found in
+ the valid logging variables, which can be seen in the menu to the left.
+ The update_frequency_ms can be at most 500ms and at minimum 20 ms.
+ """
+
+ log_block_comments = QLabel(explanation)
+ right_layout.addWidget(log_block_comments, 3, 1,
+ alignment=Qt.AlignCenter)
+
+ open_log_file_button = QPushButton("Open Logging Block Setup File")
+ open_log_file_button.clicked.connect(self.open_log_file)
+ open_log_file_button.setMaximumWidth(500)
+ right_layout.addWidget(open_log_file_button, 4, 1,
+ alignment=Qt.AlignCenter)
+
+ horizontal_widget = QWidget()
+ horizontal_layout = QHBoxLayout()
+ horizontal_widget.setLayout(horizontal_layout)
+ right_layout.addWidget(horizontal_widget, 5, 1)
+
+ refresh_logs_button = QPushButton("Refresh Logging Blocks")
+ refresh_logs_button.clicked.connect(self.on_refresh)
+ refresh_logs_button.setMaximumWidth(200)
+ horizontal_layout.addWidget(refresh_logs_button, 1)
+
+ stop_logging_button = QPushButton("Stop Logging")
+ stop_logging_button.clicked.connect(self.on_stop)
+ stop_logging_button.setMaximumWidth(200)
+ horizontal_layout.addWidget(stop_logging_button, 2)
+
+ @staticmethod
+ def open_log_file(_self):
+ """ Open logging file using default json file editor, probably
+ notepad. """
+ os.startfile('logging_variables.json')
+
+ def on_refresh(self):
+ """ Whenever the refresh button is clicked, call this function. """
+
+ self.cf.clear_logging_configs()
+ self.set_logging_block_from_file()
+
+ def on_connect(self):
+ self.update_logging_values()
+ self.on_refresh()
+
+ def on_disconnect(self):
+ self.update_logging_values()
+
+ def on_stop(self):
+ """ Whenever the stop logging button is clicked, call this function.
+ Arguably unneccesary given the pause button on the controls page. """
+
+ self.cf.stop_logging()
+
+ def update_logging_values(self):
+ """ Update the logging parameter values available in the left-hand
+ menu. """
+
+ # Clear away the current values
+ for item in self.items:
+ self.list_widget.takeItem(self.list_widget.row(item))
+
+ # Get table of contents.
+ logging_vars_toc = self.cf.get_logging_toc()
+ self.list_widget.addItems(logging_vars_toc)
+
+ # Update items list so, we can remove items next time we try.
+ self.items = []
+ self.items_text = []
+ for x in range(self.list_widget.count()):
+ self.items.append(self.list_widget.item(x))
+ self.items_text.append(self.list_widget.item(x).text())
+
+ def set_logging_block_from_file(self):
+ """ Read logging variables json. Offer feedback to the user if
+ formatting is incorrect. """
+
+ with open('./logging_variables.json', 'r') as f:
+ contents = json.load(f)
+ # todo offer feedback if file is missing
+
+ blocks_valid = True
+ blocks = []
+ all_vars_logged = []
+
+ if not contents:
+ print("No logging blocks")
+ blocks_valid = False
+
+ for key in contents:
+ name = key
+
+ try:
+ period = int(contents[key]['update_frequency_ms'])
+
+ if period <= 20:
+ error_text = "update_frequency_ms must be greater than 20"
+ self.error_label.setText(
+ "<span style='color: red;'>" + error_text + "</span>")
+ blocks_valid = False
+ break
+ elif period >= 500:
+ error_text = "update_frequency_ms must be less than 500"
+ self.error_label.setText(
+ "<span style='color: red;'>" + error_text + "</span>")
+ blocks_valid = False
+ break
+ except ValueError:
+ error_text = "update_frequency_ms must be an int"
+ self.error_label.setText("<span style='color: red;'>" +
+ error_text + "</span>")
+ blocks_valid = False
+ break
+ except KeyError:
+ error_text = "need an update_frequency_ms key"
+ self.error_label.setText(
+ "<span style='color: red;'>" + error_text + "</span>")
+ blocks_valid = False
+ break
+
+ bad_var = ""
+ try:
+ variables = contents[key]['vars']
+
+ if len(variables) > 5:
+ error_text = "logging block " + key + " longer than 5 " \
+ "variables"
+ self.error_label.setText(
+ "<span style='color: red;'>" + error_text + "</span>")
+
+ blocks_valid = False
+ break
+
+ # This is where good variables are actually handled, but will
+ # raise errors if they are bad.
+ for var in variables:
+ if var not in self.items_text:
+ bad_var = var
+ raise ValueError
+ if var not in all_vars_logged:
+ all_vars_logged.append(var)
+ else:
+ bad_var = var
+ raise AssertionError
+ except KeyError:
+ error_text = "need a vars key"
+ self.error_label.setText(
+ "<span style='color: red;'>" + error_text + "</span>")
+
+ blocks_valid = False
+ break
+ except ValueError:
+ error_text = "logging variable " + str(bad_var) + " not found"
+ self.error_label.setText(
+ "<span style='color: red;'>" + error_text + "</span>")
+ blocks_valid = False
+ break
+ except AssertionError:
+ error_text = "logging variable " + str(bad_var) + \
+ " found repeated"
+ self.error_label.setText(
+ "<span style='color: red;'>" + error_text + "</span>")
+ blocks_valid = False
+ break
+ # todo add error for if there are over 4 logging groups
+
+ # current logging blocks
+ blocks.append({'name': name, 'period': period, 'vars': variables})
+
+ if blocks_valid:
+ self.error_label.setText("")
+ variables = []
+ for block in blocks:
+ # add logging block to crazyflie proto connection
+ self.cf.add_log_config(block['name'], block['period'],
+ block['vars'])
+ variables.append(block['vars'])
+ # call function for menu update on controls page
+ self.logging_selection_menu_update_function(variables)
diff --git a/pycrocart/LoggingSelectionMenu.py b/pycrocart/LoggingSelectionMenu.py
new file mode 100644
index 0000000000000000000000000000000000000000..01e05eb13db1c51d1af016724c153d839623b3f9
--- /dev/null
+++ b/pycrocart/LoggingSelectionMenu.py
@@ -0,0 +1,102 @@
+from PyQt5.QtWidgets import QWidget, QVBoxLayout, QComboBox, QLabel
+from PyQt5.QtCore import Qt
+
+
+class LoggingSelectionMenu(QWidget):
+ """
+ Logging selection menu sits within the controls tab, handles selecting
+ valid logging signals through a series of combo boxes.
+ """
+
+ def __init__(self, config_changed_callback):
+ super().__init__()
+
+ layout = QVBoxLayout()
+ self.setLayout(layout)
+ self.config_changed_callback = config_changed_callback # whenever
+ # the config changes, send a signal to the controls tab to press the
+ # pause button
+
+ self.available_logging_variables = []
+
+ self.cbs = [QComboBox(), QComboBox(), QComboBox(), QComboBox(),
+ QComboBox()]
+
+ # Default logging variables to Logging Variable 1,2,3,4,5
+ colors = ['red', 'orange', 'purple', 'green', 'blue']
+
+ for i in range(0, len(self.cbs)):
+ lst = ["Logging Variable " + str(i+1)]
+ lst.extend(self.available_logging_variables)
+ self.cbs[i].addItems(lst)
+ layout.addWidget(self.cbs[i], 1+2*i)
+
+ color_label = QLabel("Color Label")
+ color_label.setStyleSheet("QLabel {color: " + colors[i] +
+ ";background : " + colors[i] + "}")
+ color_label.setMaximumHeight(5)
+ layout.addWidget(color_label, 1+2*i+1, alignment=Qt.AlignHCenter)
+
+ # add callback for when new selection happens
+ self.cbs[i].currentIndexChanged.connect(
+ self.selection_change_callback)
+ # todo add coloring to each combo box text that matches the plotting
+ # window line color associated with that logging variable
+
+ def get_axis_of_signal(self, signal_name: str):
+ """ Used for determining which signal is which in plotting window. """
+ for i in range(0, len(self.cbs)):
+ if signal_name == self.cbs[i].currentText():
+ return i
+
+ def update_available_logging_variables(self, variables_list: list):
+ """ This function is called by the logging config tab upon refreshing
+ the logging variables. If anything changes, the variables list will
+ be updated. """
+ self.available_logging_variables = []
+ for variable in variables_list:
+ for sub_variable in variable:
+ self.available_logging_variables.append(sub_variable)
+ self.config_changed_callback()
+ self.selection_change_callback()
+
+ # todo handle variables that used to be in the list and no longer are
+ # todo always pause or set back to Logging Variable # whenever the
+ # old variable selected is no longer valid
+
+ def selection_change_callback(self):
+ """ Called whenever a signal selection is changed. """
+
+ selected_signals = [
+ self.cbs[0].currentText(), self.cbs[1].currentText(),
+ self.cbs[2].currentText(), self.cbs[3].currentText(),
+ self.cbs[4].currentText()
+ ]
+ modified_selection_signals = []
+
+ # find any signals that are different from before.
+ for i in range(0, len(self.available_logging_variables)):
+ if not (self.available_logging_variables[i] in selected_signals):
+ modified_selection_signals.append(
+ self.available_logging_variables[i])
+
+ # update logging variable options in each menu, don't show options
+ # that are selected elsewhere.
+ for i in range(0, len(self.cbs)):
+
+ self.cbs[i].currentIndexChanged.disconnect(
+ self.selection_change_callback)
+
+ signal = self.cbs[i].currentText()
+
+ items = ["Logging Variable " + str(i+1)]
+ items.extend(modified_selection_signals)
+ if signal != ("Logging Variable " + str(i+1)):
+ items.append(signal)
+
+ self.cbs[i].clear()
+ self.cbs[i].addItems(items)
+ self.cbs[i].setCurrentText(signal)
+
+ self.cbs[i].currentIndexChanged.connect(
+ self.selection_change_callback)
diff --git a/pycrocart/ParameterTab.py b/pycrocart/ParameterTab.py
new file mode 100644
index 0000000000000000000000000000000000000000..a76f365829e95cd99d77f1ed4096dca416bf9984
--- /dev/null
+++ b/pycrocart/ParameterTab.py
@@ -0,0 +1,305 @@
+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
+import os
+import json
+from queue import Queue
+import queue
+from CrazyflieProtoConnection import CrazyflieProtoConnection
+
+
+class ParameterTab(QWidget):
+ """
+ The parameter tab is a page that handles sending or getting parameters
+ from the drone.
+ """
+
+ def __init__(self, cf: CrazyflieProtoConnection):
+ super().__init__()
+
+ layout = QGridLayout()
+ self.setLayout(layout)
+ self.cf = cf # Crazyflie proto connection
+
+ self.sending = False
+ self.sending_queue = Queue()
+ self.num_to_send = 0
+ self.num_sent = 0
+
+ self.toc = {} # Parameter table of contents
+ self.timer = QTimer()
+
+ # Add white space around the parameter menus.
+ 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)
+ layout.addItem(horizontal_spacer2, 1, 0, Qt.AlignRight)
+
+ horizontal_spacer3 = QtWidgets.QSpacerItem(
+ 1, 1, QtWidgets.QSizePolicy.Minimum,
+ QtWidgets.QSizePolicy.Expanding)
+ layout.addItem(horizontal_spacer3, 0, 1, Qt.AlignTop)
+
+ # --------------------- Get Param --------------------------------------
+ get_paraml = QLabel("Get Parameter")
+ layout.addWidget(get_paraml, 1, 1)
+
+ get_param_widget = QWidget()
+ get_param_widget.setMinimumHeight(100)
+ get_param_widget.setMinimumHeight(100)
+ layout.addWidget(get_param_widget, 2, 1)
+
+ get_param_layout = QGridLayout()
+ get_param_widget.setLayout(get_param_layout)
+
+ get_param_group = QLabel("Group")
+ get_param_layout.addWidget(get_param_group, 1, 1)
+
+ self.get_param_group_cbox = QComboBox()
+ self.get_param_group_cbox.currentTextChanged.connect(
+ self.on_get_param_group_changed)
+ get_param_layout.addWidget(self.get_param_group_cbox, 1, 2)
+
+ get_param = QLabel("Entry")
+ get_param_layout.addWidget(get_param, 2, 1)
+
+ self.get_param_cbox = QComboBox()
+ self.get_param_cbox.setMinimumWidth(150)
+ self.get_param_cbox.setMaximumWidth(150)
+ get_param_layout.addWidget(self.get_param_cbox, 2, 2)
+
+ value_label = QLabel("Value")
+ get_param_layout.addWidget(value_label, 3, 1)
+
+ self.value_value_label = QLabel()
+ self.value_value_label.setMaximumWidth(150)
+ get_param_layout.addWidget(self.value_value_label, 3, 2)
+
+ 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.AlignHCenter)
+ self.get_param_button.setMinimumWidth(150)
+ self.get_param_button.setMaximumWidth(150)
+
+ # ---------------- Line ------------------------------------------------
+ line1 = QHSeparationLine()
+ line2 = QHSeparationLine()
+ line3 = QHSeparationLine()
+ layout.addWidget(line1, 4, 1)
+ layout.addWidget(line2, 4, 2)
+ layout.addWidget(line3, 4, 0)
+
+ # --------------------- Set Param --------------------------------------
+ set_paraml = QLabel("Set Parameter")
+ layout.addWidget(set_paraml, 6, 1)
+
+ set_param_widget = QWidget()
+ set_param_widget.setMinimumHeight(100)
+ set_param_widget.setMinimumHeight(100)
+ layout.addWidget(set_param_widget, 7, 1)
+
+ set_param_layout = QGridLayout()
+ set_param_widget.setLayout(set_param_layout)
+
+ set_param_group = QLabel("Group")
+ set_param_layout.addWidget(set_param_group, 1, 1)
+
+ self.set_param_group_cbox = QComboBox()
+ self.set_param_group_cbox.currentTextChanged.connect(
+ self.on_set_param_group_changed)
+ set_param_layout.addWidget(self.set_param_group_cbox, 1, 2)
+
+ set_param = QLabel("Entry")
+ set_param_layout.addWidget(set_param, 2, 1)
+
+ self.set_param_cbox = QComboBox()
+ set_param_layout.addWidget(self.set_param_cbox, 2, 2)
+
+ self.set_value_label = QLabel("Value")
+ set_param_layout.addWidget(self.set_value_label, 3, 1)
+
+ self.set_param_value = QLineEdit()
+ self.set_param_value.setMaximumWidth(150)
+ set_param_layout.addWidget(self.set_param_value, 3, 2)
+
+ self.set_param_button = QPushButton("Set Param")
+ 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.AlignHCenter)
+
+ # -------------------- File interaction --------------------------------
+
+ file_interaction_widget = QWidget()
+ file_interaction_layout = QGridLayout()
+ file_interaction_widget.setLayout(file_interaction_layout)
+ layout.addWidget(file_interaction_widget, 9, 1)
+
+ self.set_from_file_button = QPushButton("Set Params from Json file")
+ 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)
+
+ self.edit_file_button = QPushButton("Edit")
+ self.edit_file_button.setMinimumWidth(20)
+ self.edit_file_button.setMaximumWidth(40)
+ file_interaction_layout.addWidget(self.edit_file_button, 1, 2)
+ 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.AlignHCenter)
+
+ self.complete_label = QLabel("Complete ✓")
+ 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.AlignHCenter)
+
+ def on_connect(self):
+ """ Whenever connecting to the crazyflie, grab the parameter table of
+ contents. This is how we actually get what parameters and groups are
+ available. """
+ self.toc = self.cf.get_param_toc()
+ self.populate_group_menu_options()
+
+ def on_disconnect(self):
+ self.toc = {}
+ self.populate_group_menu_options()
+
+ def populate_group_menu_options(self):
+ """ Remove any current entries from parameter boxes and add the
+ options for the parameter groups. """
+
+ self.set_param_group_cbox.clear()
+ self.get_param_group_cbox.clear()
+
+ self.set_param_group_cbox.addItems(self.toc.keys())
+ self.get_param_group_cbox.addItems(self.toc.keys())
+
+ def on_get_param_group_changed(self):
+ """ Whenever a parameter group is selected, populate the options for
+ the specific entries available in each group. """
+
+ self.get_param_cbox.clear()
+ group = self.get_param_group_cbox.currentText()
+ if group != "": # nothing there when cf is disconnected
+ self.get_param_cbox.addItems(self.toc[group])
+
+ def on_set_param_group_changed(self):
+ """ Whenever a parameter group is selected, populate the options for
+ the specific entries available in each group. """
+
+ self.set_param_cbox.clear()
+ group = self.set_param_group_cbox.currentText()
+ if group != "": # nothing there when cf is disconnected
+ self.set_param_cbox.addItems(self.toc[group])
+
+ def get_param(self):
+ """ Retrieve parameter value from crazyflie proto connection. All
+ parameter values are always available from it, so this is actually
+ just retrieving data from the object not from the physical crazyflie
+ itself. """
+
+ group = self.get_param_group_cbox.currentText()
+ entry = self.get_param_cbox.currentText()
+ value = self.cf.param_get_value(group, entry)
+ self.value_value_label.setText(value)
+
+ def set_param(self):
+ """ Set parameter value. If the value isn't a number offer the user
+ feedback that it is an unacceptable value. Otherwise, set the
+ parameter utilizing the crazyflie proto connection. """
+
+ group = self.set_param_group_cbox.currentText()
+ entry = self.set_param_cbox.currentText()
+ value = self.set_param_value.text()
+
+ try:
+ value = float(value)
+ self.cf.param_set_value(group, entry, value)
+
+ 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>")
+
+ @staticmethod
+ def on_edit(_self):
+ """ When editing the mp4params file, launch it in notepad or default
+ text editor. """
+ os.startfile('mp4params.json')
+
+ def on_send(self):
+ """ Send mp4params file to CrazyflieProtoConnection. """
+
+ # Don't send if you are already sending
+ if not self.sending:
+
+ try:
+ with open('./mp4params.json', 'r') as f:
+ contents = json.load(f)
+
+ self.sending = True
+ self.complete_label.setEnabled(False)
+ self.complete_label.setText("Complete ✓")
+
+ # add all the parameters in the file to a sending queue
+ for key in contents:
+ for sub_key in contents[key]:
+ self.num_to_send += 1
+
+ self.sending_queue.put(
+ {'key': key, 'sub_key': sub_key,
+ 'value': contents[key][sub_key]})
+
+ # every 300 ms, send the next parameter. Uses a timer to
+ # retain reactivity of UI. Uses 300ms because it was more
+ # stable than 100ms. Relatively often at 100ms parameters
+ # would not get set correctly
+ self.timer.timeout.connect(self.send_callback)
+ self.timer.start(300)
+ except json.decoder.JSONDecodeError:
+ error_text = "Malformed Json"
+ # If your json loading fails for some reason this is the
+ # error to be provided to the user.
+ self.complete_label.setText(
+ "<span style='color: red;'>" + error_text + "</span>")
+ # todo add error for if file isn't present
+
+ def send_callback(self):
+ """ This function get called whenever a parameter is ready to be
+ sent from the file, and once all parameters are set it will
+ disconnect itself from being called. Also updates the progress bar. """
+ try:
+ vals = self.sending_queue.get(block=False)
+ key = vals['key']
+ sub_key = vals['sub_key']
+ 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))
+
+ except queue.Empty:
+ # stop sending once the queue is empty
+ self.sending = False
+ self.timer.timeout.disconnect(self.send_callback)
+ self.timer.stop()
+ self.complete_label.setEnabled(True)
+ 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
new file mode 100644
index 0000000000000000000000000000000000000000..1ec44beb7a7c26e862acd3027792dea345bb379c
--- /dev/null
+++ b/pycrocart/PlottingWindow.py
@@ -0,0 +1,68 @@
+import numpy as np
+import pyqtgraph as pg
+
+
+class PlottingWindow(pg.PlotWidget):
+ """
+ Plotting window utilized a pyqtgraph plot widget in order to graph the
+ logging variables that have been selected by the logging selection menu
+ from the available logging config.
+ """
+
+ def __init__(self, parent=None, num_axes=5, width=5, height=4, dpi=100):
+ """
+ Initialize plotting window, axes, labels, and geometry.
+
+ :param parent: Parent widget
+ :param num_axes: Number of data axes
+ :param width: Default width in pixels
+ :param height: Default height in pixels
+ :param dpi:
+ """
+
+ super().__init__(parent=parent, width=width, height=height, dpi=dpi)
+ self.setLabel('bottom', 'Time (s)')
+ self.setLabel('left', 'Amplitude')
+ self.setLabel('top', 'Logging Variables Plot')
+ self._num_axes = num_axes
+
+ self.current_iter = 0
+
+ # Set the background color of the plot widget to white
+ self.setBackground('w')
+
+ if num_axes > 0:
+ # Set up the sine wave data and plot
+ # store 1000 data points for each axis
+ self.plot_data_ys = np.zeros((1000, num_axes))
+ self.plot_data_xs = np.zeros((1000, num_axes))
+
+ colors = ['red', 'orange', 'purple', 'green', 'blue']
+ self.plot_curves = \
+ [self.plot(self.plot_data_xs[:, i], self.plot_data_ys[:, i],
+ pen=pg.mkPen(colors[i], width=2))
+ for i in range(num_axes)]
+
+ def update_plot(self, input_data: float, input_timestamp: float,
+ input_axis: int):
+ """ Add new data to the plot from the right side. Utilizes a shift
+ buffer to display data. Constrains the X range to the current time
+ window. """
+
+ # Shift the data and add a new point
+ self.plot_data_ys[:-1, input_axis] = self.plot_data_ys[1:, input_axis]
+ self.plot_data_ys[-1, input_axis] = input_data
+
+ self.plot_data_xs[:-1, input_axis] = self.plot_data_xs[1:, input_axis]
+ self.plot_data_xs[-1, input_axis] = input_timestamp
+
+ self.plot_curves[input_axis].setData(self.plot_data_xs[:, input_axis],
+ self.plot_data_ys[:, input_axis])
+
+ # don't scroll at first. Display 10 seconds of data.
+ if max(self.plot_data_xs[-1]) < 10:
+ 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]))
diff --git a/pycrocart/PyCroCart.py b/pycrocart/PyCroCart.py
new file mode 100644
index 0000000000000000000000000000000000000000..70fadb3b241efc413ba571dee681a929579dbb15
--- /dev/null
+++ b/pycrocart/PyCroCart.py
@@ -0,0 +1,208 @@
+"""
+PyCroCart is the main script of the pycrocart gui. This includes a master class
+PyCroCart that holds the connections from the gui to the crazyflie proto
+connection, the setpoint handler, and the joystick reader.
+
+The __main__ function of this script initializes all components of this
+groundstation and launches the gui.
+"""
+
+import sys
+from PyQt5.QtWidgets import QApplication, QMainWindow, QTabWidget, \
+ QHBoxLayout, QVBoxLayout, QComboBox, QPushButton, QWidget, QLabel, \
+ QCheckBox, QButtonGroup
+import uCartCommander
+from CrazyflieProtoConnection import CrazyflieProtoConnection
+from ControlTab import ControlTab
+from SetpointHandler import SetpointHandler
+from GamepadWizardTab import InputConfigDialogue
+from cfclient.utils.input import JoystickReader
+from ParameterTab import ParameterTab
+from LoggingConfigTab import LoggingConfigTab
+import time
+import os
+
+
+class PyCroCart(QMainWindow):
+ """
+ PyCroCart holds the connections from the gui to the crazyflie proto
+ connection, the setpoint handler, and the joystick reader. It also holds
+ all of the tabs to display in the GUI. PyCroCart IS the gui, but as the
+ top level of the gui it also is responsible for handling the external
+ connections like the joystick reader, and the crazyflie.
+ """
+
+ def __init__(self, cf: CrazyflieProtoConnection,
+ setpoint_handler: SetpointHandler):
+ super().__init__()
+
+ self.cf = cf
+ self.crazyflie_selection_box = QComboBox(self)
+ self.crazyflie_selection_box.setFixedWidth(150)
+
+ self.connect = QPushButton("Connect", self)
+ self.connect.clicked.connect(self.on_connect)
+ self.connect.setFixedWidth(100)
+
+ self.scan = QPushButton("Scan", self)
+ self.scan.clicked.connect(self.on_scan)
+ self.scan.setFixedWidth(100)
+
+ # Some of the gamepad logic needs to different between crazyflie and
+ # flypi drones because otherwise it's very hard to control the flypi,
+ # plus whenever we use a TCP connection for the flypi,
+ # that connection logic will need to be different as well
+ self.crazyflie_checkbutton = QCheckBox("Crazyflie")
+ self.flypi_checkbutton = QCheckBox("FlyPi")
+ self.crazyflie_checkbutton.setChecked(True) # Default to crazyflie
+ self.drone_selection_group = QButtonGroup()
+ self.drone_selection_group.addButton(self.crazyflie_checkbutton, 1)
+ self.drone_selection_group.addButton(self.flypi_checkbutton, 2)
+ self.drone_selection_group.setExclusive(True)
+
+ self.error_label = QLabel("")
+
+ button_layout = QHBoxLayout()
+ button_layout.addWidget(self.crazyflie_selection_box)
+ button_layout.addWidget(self.connect)
+ button_layout.addWidget(self.scan)
+ button_layout.addWidget(self.crazyflie_checkbutton)
+ button_layout.addWidget(self.flypi_checkbutton)
+ button_layout.addWidget(self.error_label)
+ button_layout.addStretch(1)
+
+ self.joystick_reader = JoystickReader()
+ self.setpoint_handler = setpoint_handler
+
+ self.tabs = QTabWidget()
+ self.control_tab = ControlTab(cf.logging_queue, self.setpoint_handler,
+ self.joystick_reader, cf)
+ self.gamepad_tab = InputConfigDialogue(
+ self.joystick_reader, self.control_tab.setpoint_menu.enableGamepad)
+ self.parameter_tab = ParameterTab(cf)
+ self.logging_config_tab = LoggingConfigTab(
+ cf, self.control_tab.logging_menu.update_available_logging_variables)
+
+ self.setGeometry(100, 200, 600, 600)
+
+ self.tabs.addTab(self.control_tab, "Controls Window")
+ self.tabs.addTab(self.gamepad_tab, "Gamepad Configuration")
+ self.tabs.addTab(self.parameter_tab, "Parameter Window")
+ self.tabs.addTab(self.logging_config_tab, "Logging Window")
+
+ main_layout = QVBoxLayout()
+ main_layout.addLayout(button_layout)
+ main_layout.addWidget(self.tabs)
+
+ widget = QWidget()
+ widget.setLayout(main_layout)
+
+ self.setCentralWidget(widget)
+
+ def on_scan(self):
+ """ When pressing the scan button, connect to the crazyradio,
+ and scan for crazyflies. Populate the crazyflie selection box. """
+
+ cfs = self.cf.list_available_crazyflies()
+ if cfs:
+ error_text = ""
+ self.error_label.setText(
+ "<span style='color: red;'>" + error_text + "</span>")
+
+ # add crazyflie connections to selection box
+ self.crazyflie_selection_box.clear()
+ self.crazyflie_selection_box.addItems(cfs[0][:len(cfs[0])-1])
+ else:
+ error_text = "Either no crazyradio plugged in, or no crazyflies " \
+ "detected."
+ self.error_label.setText(
+ "<span style='color: red;'>" + error_text + "</span>")
+
+ # clear out selection box
+ self.crazyflie_selection_box.clear()
+
+ def on_connect(self):
+
+ # check that a crazyflie is selected
+ self.crazyflie_checkbutton.setEnabled(False)
+ self.flypi_checkbutton.setEnabled(False)
+
+ uri = self.crazyflie_selection_box.currentText() + "/E7E7E7E7E7"
+
+ # return an error to the user if otherwise
+ if uri == "/E7E7E7E7E7":
+ error_text = "No crazyflie selected."
+ self.error_label.setText(
+ "<span style='color: red;'>" + error_text + "</span>")
+
+ # attempt to connect to the crazyflie
+ self.cf.connect(uri)
+ self.cf.scf.cf.commander = uCartCommander.Commander(cf1.scf.cf)
+ self.cf.scf.wait_for_params()
+
+ # offer the user a green error label saying connected when connected
+ error_text = "Connected to drone"
+ self.error_label.setText(
+ "<span style='color: green;'>" + error_text + "</span>")
+
+ # change the connect button to a disconnect button, and disconnect this
+ # function from it and connect to the on_disconnect function
+ self.connect.clicked.disconnect(self.on_connect)
+ self.connect.clicked.connect(self.on_disconnect)
+ self.connect.setText("Disconnect")
+
+ # connect the crazyflie commander to the setpoint handler
+ # refresh the logging page so that it displays the toc
+ # refresh the parameter page so that it displays the correct information
+ self.setpoint_handler.setCommander(self.cf.scf.cf.commander)
+
+ # enable restricting the gamepad input for the flypi to be more
+ # stable or not
+ # TODO enable more granular gamepad configuration in gamepad config menu
+ if self.flypi_checkbutton.isChecked():
+ self.control_tab.setpoint_menu.enable_flypi_mode()
+ else:
+ self.control_tab.setpoint_menu.disable_flypi_mode()
+
+ self.logging_config_tab.on_connect()
+ self.parameter_tab.on_connect()
+
+ def on_disconnect(self):
+
+ # terminate the link in crazyflieprotoconnection
+ self.cf.disconnect()
+
+ self.crazyflie_checkbutton.setEnabled(True)
+ self.flypi_checkbutton.setEnabled(True)
+
+ error_text = ""
+ self.error_label.setText(
+ "<span style='color: green;'>" + error_text + "</span>")
+
+ # change the disconnect button to a connect button, and disconnect this
+ # function from it and connect the on_connect function
+ self.connect.clicked.disconnect(self.on_disconnect)
+ self.connect.clicked.connect(self.on_connect)
+ self.connect.setText("Connect")
+
+ # disconnect the commander from setpointhandler
+ self.setpoint_handler.disconnectCommander()
+ self.logging_config_tab.on_disconnect()
+ self.parameter_tab.on_disconnect()
+
+
+
+
+# Start the application
+if __name__ == '__main__':
+
+ app = QApplication(sys.argv)
+
+ cf1 = CrazyflieProtoConnection()
+ setpoint_handler1 = SetpointHandler()
+
+ window = PyCroCart(cf1, setpoint_handler1)
+ window.show()
+
+ # Janky but it does work
+ os._exit(app.exec_())
diff --git a/pycrocart/PyLine.py b/pycrocart/PyLine.py
new file mode 100644
index 0000000000000000000000000000000000000000..75508e5d426a417aef3875022b9bf303b80fc974
--- /dev/null
+++ b/pycrocart/PyLine.py
@@ -0,0 +1,32 @@
+"""
+This implements either a horizontal line, or a vertical line. Useful for
+adding visible separation in windows.
+"""
+
+from PyQt5 import QtWidgets
+
+
+class QHSeparationLine(QtWidgets.QFrame):
+
+ def __init__(self):
+ super().__init__()
+ self.setMinimumWidth(1)
+ self.setFixedHeight(20)
+ self.setFrameShape(QtWidgets.QFrame.HLine)
+ self.setFrameShadow(QtWidgets.QFrame.Sunken)
+ self.setSizePolicy(
+ QtWidgets.QSizePolicy.Preferred, QtWidgets.QSizePolicy.Minimum)
+ return
+
+
+class QVSeparationLine(QtWidgets.QFrame):
+
+ def __init__(self):
+ super().__init__()
+ self.setFixedWidth(20)
+ self.setMinimumHeight(1)
+ self.setFrameShape(QtWidgets.QFrame.VLine)
+ self.setFrameShadow(QtWidgets.QFrame.Sunken)
+ self.setSizePolicy(QtWidgets.QSizePolicy.Minimum,
+ QtWidgets.QSizePolicy.Preferred)
+ return
diff --git a/pycrocart/ReadMe.md b/pycrocart/ReadMe.md
new file mode 100644
index 0000000000000000000000000000000000000000..96b6d14adcb7a59e64c9695a2f795d6293125998
--- /dev/null
+++ b/pycrocart/ReadMe.md
@@ -0,0 +1,196 @@
+PyCroCart
+=========
+
+Pycrocart is a python implemented GUI that rather than interfacing with
+the rich Microcart infrastructure of the backend and the rest of the
+quads, is connected only to cflib which can be used to connect to
+crazyflie based quadcopters. While it is intended to eventually be
+slotted into the Microcart infrastructure, it is also able to function
+without it. This allows it to be used both as a debugging tool to define
+whether a bug exists in the backend, or the GUI. It also eliminates
+a many year buildup of technical debt and poor documentation in the GUI.
+Furthermore, in case the backend still has lots of issues like it does for
+our team (sdmay23), but you still need to run MP4 with crazyflies, you
+can use this GUI to act as a more stable version which will hopefully
+allow students to complain less about random crashes and more about how
+they can't get their PID to work the way they think it should.
+
+Pycrocart is implemented using PyQT, and it uses cflib in order to
+integrate with a crazyflie. The intention is that we will be able to use
+the TCP connection example that bitcraze offers in order to connect to
+the FlyPi as well. This will be easier to implement than connecting to
+the MicroCART backend, which should be the ultimate end goal.
+
+Furthermore, while the bitcraze vm is nice, this GUI runs 100 million times
+faster and silky smooth when not on a VM. Whether this is a linux issue or a VM
+issue I'm not sure yet, but I'd highly recommend not running it on the VM.
+
+Requirements
+------------
+Developed with Python 3.10 64-bit on Windows 10 in Pycharm 2022.
+
+Library requirements can be installed in a venv via requirements.txt.
+
+pip install -r requirements.txt
+
+Or you can use Pycharm to install the requirements by browsing into any .py
+file. This is what is probably easiest.
+
+How to run
+----------
+Pycrocart was developed in Pycharm and will work best when used in pycharm.
+As of right now, in order to use it you must have a crazyradio plugged into
+your computer, and a drone turned on and on the same uri as said in the __ main__
+function. The default right now is 120. Hopefully we will have a connect button
+soon so that you can start the gui up and connect to a crazyradio dongle and
+drone during runtime.
+
+In order to run the program from the command line enter:
+
+python ./Pycrocart.py
+
+This will execute the program and if all went well you should see the GUI
+appear.
+
+
+
+You can also run it from Pycharm by clicking the run button near the
+__ main__ function inside the Pycrocart.py script.
+
+______________________
+
+How to use
+----------
+The pycrocart GUI has several windows: the controls window, the gamepad
+configuration window, the logging configuration window, and the parameter
+window.
+
+### Controls Tab
+Seen above, the controls tab is the first page shown when entering the GUI.
+The controls tab features a setpoint menu which allows the user to send
+setpoints of thrust, yaw, pitch, and roll. It can do this in rate mode
+(yaw rate, pitch rate, roll rate) or attitude mode which controls the raw
+angles themselves. When gamepad mode is enabled the setpoints
+enter a "mixed" control mode. This lets the pitch and roll angles to be set
+directly but the yaw is not. Instead, the user controls the yaw rate, and the
+controller will hold the yaw angle it accumulates to.
+
+Also in the controls tab is a logging selection menu. This allows the user
+to select up to 5 logging signals to plot in the plotting window which covers
+the entire right-hand portion of the controls tab.
+
+### Gamepad Configuration Tab
+
+Seen below, the gamepad tab is used in order to configure the gamepad to detect
+each axis of control correctly. The detect button is used in order to detect
+when a joystick or button is pressed. This is a copy and paste of the gamepad
+configuration tab in cfclient. If you would like more documentation of how to
+use it please see the bitcraze wiki. As of right now, in order to use a gamepad,
+it must be connected to the computer at launch of pycrocart. The logitech
+controller has been saved, at least on my computer as logitech. Theoretically,
+other controllers can be connected as well but this has not been tested by me.
+
+To connect a controller once the program is running, click configure, select
+logitech from the combo box at the bottom of the page and click load to load the
+logitech controller configuration. You can also save a configuration. If you
+do not click load, a different mapping of inputs will be used. If you do not
+click configure, no input from the gamepad will be used.
+
+
+
+### Parameter Tab
+
+Seen below, the parameter tab is able to be used in order to either set
+individual parameter values, or whole groups of parameters. There is also a
+parameter json file which can be opened by clicking edit from the UI. These
+parameters will be sent to the crazyflie whenever the set params from json
+file is pressed. Due to the amount of data being sent, a slight delay has been
+added to ensure that parameter is set successfully. While there are default
+groups within the file for attitude rate and attitude PID's, the file is also
+capable of setting other parameters and groups. Anything that is able to be set
+from the set parameter interaction is able to be set from the file.
+
+
+
+### Logging Tab
+
+Seen below, the logging tab is used in order to configure logging on
+the crazyflie. The signals that are logged are configured within the
+logging block setup file. These will then be in use whenever the refresh logging
+blocks button is pressed. The signals available to be logged are read directly
+from the drones' table of contents and change based on what is available from the
+firmware of the quad itself. These signals are all listed on the left-hand side
+of the tab, which can be useful for knowing what to write in the logging block
+setup file.
+
+
+
+The file itself is a json file which contains several logging groups. Each of
+these groups has an independent update frequency. Due to the way the crazyflie
+firmware works, no more than 5 signals are able to be used in a single group,
+and no more than 4 groups are able to be used period. If you attempt to, the
+GUI will throw an error in the window at you telling you to do something else.
+The signals of a group are configured within the vars array. Each group also has
+an independent update frequency in milliseconds. The maximum update frequency in
+ms is just over 20 ms, which is also the update rate of the controller in the
+crazyflie itself.
+
+
+
+The logging blocks in the file are what controls what signals are available
+in the controls window.
+
+_______________________
+Architecture
+------------
+
+
+I cannot verify that the architecture of pycrocart is highly optimal, but I can
+tell you how it works, because I threw this thing together in a week and a half.
+So first things first, take some time to learn PyQT. It IS NOT hard. You just
+need to get a little used to how it works. One of the most useful things to know
+is timers and callbacks, which are pretty common in other languages but rarely
+seen in python.
+
+Now that you understand PyQT, lets abstract away from PyQT. The GUI handles its
+connection to a gamepad. The way the gamepad is connected was 100% stolen from
+the cfclient source code, and is utilized as a Joystick reader. This is passed
+into the SetpointHandler whenever the gamepad is enabled, and the raw manual
+setpoint is passed in whenever the gamepad is not enabled.
+
+The GUI is connected to a CrazyflieProtoConnection. This class began as a way to
+mock a crazyflie connection, and evolved into a way to manage the crazyflie
+connection. This is what handles the Synchronous Crazyflie Connection that is
+commonly used in cflib example code. Any information the GUI requires, or tries
+to manipulate passes through the CrazyflieProtoConnection.
+
+Cflib is the open source crazyflie control library. It has a ton of already
+implemented methods that handle connecting to a crazyradio, and sending commands.
+There are more commands cflib is capable of that we do not utilize. We have
+implemented code using the low level commander controls, but there exist types of
+setpoints in the low level commander that the GUI does not use. There is also a
+HighLevelCommander that can do things such as "take off" or "land". This is
+commonly used on full positional controllers. One of the guiding reasons for why
+this GUI works well is leveraging cflib. My understanding of what the current
+CrazyflieGroundStation does is that it acts as an in house total rewrite of
+cflib. This makes little sense for why it exists other than being able to say
+we did it ourselves. CrazyflieGroundStation should be rewritten so that it
+works with the crazyflie adapter to adapt Microcart commands into something
+that can be used with cflib. Cflib is open source, supported by a large community,
+and continuing development.
+
+The only thing that was changed with cflib in order to get pycrocart to function
+was the implementation of a custom uCartCommander. This simply adds commands
+possible to be sent to a crazyflie, while leaving the rest of the cflib
+source code unaltered. This is how the set attitude, and set attitude rates are
+accomplished. Similarly, these custom setpoints are also added to the firmware
+on the crazyflie. These were added to the source code by I believe the sdmay22
+team, and are a great way to allow MP4 to have access to tune a full attitude
+controller.
+
+One important thing to note is that while the GUI is responsive, there is zero
+multithreading/processing happening in order to make this the case. Instead,
+a system of timers and callback functions have been used in order to accomplish
+things in a timely manner. This does not mean that there are not issues when
+using shared resources though. For this reason, I've tried to use semaphores
+and locks whenever working with something that is accessed via timers.
diff --git a/pycrocart/SetpointHandler.py b/pycrocart/SetpointHandler.py
new file mode 100644
index 0000000000000000000000000000000000000000..d8f7e56de9b0267d5d64964ae7c54f6448c6a070
--- /dev/null
+++ b/pycrocart/SetpointHandler.py
@@ -0,0 +1,215 @@
+"""
+Setpoint handler holds classes used to send setpoints to the crazyflie proto
+connection in an organized fashion. It is used by the setpoint menu found on
+the controls tab.
+
+"""
+
+from enum import Enum
+from PyQt5.QtCore import QTimer
+from uCartCommander import Commander
+from threading import Semaphore
+
+
+class FlightMode(Enum):
+ """ Available flight modes found in crazyflie firmware. """
+ TYPE_STOP: int = 0
+ TYPE_VELOCITY_WORLD: int = 1
+ TYPE_ZDISTANCE: int = 2
+ altHoldType: int = 4
+ TYPE_HOVER: int = 5
+ FULL_STATE_TYPE: int = 6
+ TYPE_POSITION: int = 7
+ # ------ Custom modes added to firmware by uCart -----------
+ ATTITUDE_RATE_TYPE: int = 8
+ ATTITUDE_TYPE: int = 9
+ MIXED_ATTITUDE_TYPE: int = 10
+
+
+class Setpoint:
+ """ Used in order to hold setpoint easily. """
+ def __init__(self):
+ self.yaw: float = 0
+ self.pitch: float = 0
+ self.roll: float = 0
+ self.thrust: int = 0
+
+
+class SetpointHandler:
+ """
+ Setpoint handler is used to send setpoints to the crazyflie proto
+ connection in an organized manner. It holds direct access to the
+ crazyflie's commander, which means that whenever connecting to a
+ crazyflie, that commander must be configured in the setpoint handler.
+ This commander is intended to by the custom uCartCommander which is a
+ modified low level setpoint commander. Currently, no modified version of
+ the high level commander exists.
+
+ """
+
+ def __init__(self):
+ """
+ Initialize timer,
+
+ :param commander: uCartCommander taken directly from the synchronous
+ crazyflie.
+ """
+
+ self.setpoint = Setpoint()
+ self.commander = None
+
+ self.setpoint_semaphore = Semaphore(1)
+ self._flight_mode = FlightMode.TYPE_STOP
+
+ # Send setpoints to crazyflie every 20 ms.
+ self.timer = QTimer()
+ self.timer.timeout.connect(self.update)
+ self.timer.start(20)
+
+ def setCommander(self, commander: Commander):
+ """ When the crazyflie is not connected, there will be no valid
+ commander. Set it during runtime. Enables the use of if commander:
+ on other functions to check if it is valid. """
+ self.commander = commander
+
+ def disconnectCommander(self):
+ """ Set the commander equal to none so that it won't be called when
+ we are not actually connected to the crazyflie. """
+ self.commander = None
+
+ def update(self):
+ """ If the flight mode is not stopped, send the current setpoint. """
+ if self._flight_mode != FlightMode.TYPE_STOP:
+ self.sendSetpoint()
+
+ def getFlightMode(self):
+ """ Returns current flight mode. """
+ return self._flight_mode
+
+ def setAttitudeMode(self):
+ """ Safely set to attitude mode. Uses semaphore in case a callback
+ happens in the middle of the function. """
+ self.setpoint_semaphore.acquire()
+ self._flight_mode = FlightMode.ATTITUDE_TYPE
+ self.setpoint_semaphore.release()
+
+ def setMixedAttitudeMode(self):
+ """ Safely set to mixed attitude mode. Uses semaphore in case a
+ callback happens in the middle of the function. """
+ self.setpoint_semaphore.acquire()
+ self._flight_mode = FlightMode.MIXED_ATTITUDE_TYPE
+ self.setpoint_semaphore.release()
+
+ def setRateMode(self):
+ """ Safely set to rate mode. Uses semaphore in case a callback
+ happens in the middle of the function. """
+ self.setpoint_semaphore.acquire()
+ self._flight_mode = FlightMode.ATTITUDE_RATE_TYPE
+ self.setpoint_semaphore.release()
+
+ def startFlying(self):
+ """ Sends an all 0's setpoint which is the convention to tell the
+ crazyflie to listen for setpoints. """
+ if self.commander:
+ self.commander.start_flying()
+
+ def stopFlying(self):
+ """ Tells the crazyflie to stop flying. """
+ if self.commander:
+ self.setpoint_semaphore.acquire()
+ self._flight_mode = FlightMode.TYPE_STOP
+
+ self.commander.send_notify_setpoint_stop(0)
+ self.setpoint_semaphore.release()
+
+ def setSetpoint(self, yaw: float, pitch: float, roll: float, thrust: float):
+ """ Safely sets the crazyflie setpoint. Utilizes semaphore to avoid
+ reading and writing at the same time due to callbacks. """
+ self.setpoint_semaphore.acquire()
+
+ self.setpoint.yaw = yaw
+ self.setpoint.pitch = pitch
+ self.setpoint.roll = roll
+ self.setpoint.thrust = thrust
+ self.sendSetpointUnsafe()
+
+ self.setpoint_semaphore.release()
+
+ def sendSetpoint(self):
+ """ Uses commander to send setpoints to crazyflie depending upon the
+ current flight mode. """
+ if self.commander:
+ self.setpoint_semaphore.acquire()
+
+ if self._flight_mode == FlightMode.ATTITUDE_TYPE:
+
+ # scales thrust from 100 for slider control.
+ thrust = self.setpoint.thrust * 60000 / 100
+ print(f"Set attitude: {self.setpoint.yaw}, {self.setpoint.pitch}, "
+ f"{self.setpoint.roll}, {thrust}")
+
+ self.commander.send_attitude_setpoint(
+ self.setpoint.yaw, self.setpoint.pitch, self.setpoint.roll,
+ thrust)
+
+ elif self._flight_mode == FlightMode.ATTITUDE_RATE_TYPE:
+
+ thrust = self.setpoint.thrust * 60000 / 100
+ print(f"Set attitude rate: {self.setpoint.yaw},"
+ f" {self.setpoint.pitch}, "
+ f"{self.setpoint.roll}, {thrust}")
+
+ self.commander.send_attitude_rate_setpoint(
+ self.setpoint.yaw, self.setpoint.pitch, self.setpoint.roll,
+ thrust)
+
+ elif self._flight_mode == FlightMode.MIXED_ATTITUDE_TYPE:
+
+ # scales thrust from 1000 for more fine-grained gamepad control.
+ thrust = self.setpoint.thrust * 60000 / 1000
+ print(f"Set mixed attitude: {self.setpoint.yaw},"
+ f" {self.setpoint.pitch}, "
+ f"{self.setpoint.roll}, {thrust}")
+
+ self.commander.send_mixed_attitude_setpoint(
+ self.setpoint.yaw, self.setpoint.pitch, self.setpoint.roll,
+ thrust)
+
+ self.setpoint_semaphore.release()
+
+ def sendSetpointUnsafe(self):
+ """ Exactly the same as send setpoint but no semaphore is used. """
+
+ print("Unsafe mode activate :)")
+ if self.commander:
+ if self._flight_mode == FlightMode.ATTITUDE_TYPE:
+ # scales thrust from 100 for slider control.
+ thrust = self.setpoint.thrust * 60000 / 100
+ print(f"Set attitude: {self.setpoint.yaw}, {self.setpoint.pitch}, "
+ f"{self.setpoint.roll}, {self.setpoint.thrust}")
+
+ self.commander.send_attitude_setpoint(
+ self.setpoint.yaw, self.setpoint.pitch, self.setpoint.roll,
+ int(thrust))
+
+ elif self._flight_mode == FlightMode.ATTITUDE_RATE_TYPE:
+
+ thrust = self.setpoint.thrust * 60000 / 100
+ print(f"Set attitude rate: {self.setpoint.yaw},"
+ f" {self.setpoint.pitch}, "
+ f"{self.setpoint.roll}, {thrust}")
+
+ self.commander.send_attitude_rate_setpoint(
+ self.setpoint.yaw, self.setpoint.pitch, self.setpoint.roll,
+ thrust)
+
+ elif self._flight_mode == FlightMode.MIXED_ATTITUDE_TYPE:
+ # scales thrust from 1000 for more fine-grained gamepad control.
+ thrust = self.setpoint.thrust * 60000 / 1000
+ print(f"Set mixed attitude: {self.setpoint.yaw},"
+ f" {self.setpoint.pitch}, "
+ f"{self.setpoint.roll}, {thrust}")
+
+ self.commander.send_mixed_attitude_setpoint(
+ self.setpoint.yaw, self.setpoint.pitch, self.setpoint.roll,
+ thrust)
diff --git a/pycrocart/SetpointMenu.py b/pycrocart/SetpointMenu.py
new file mode 100644
index 0000000000000000000000000000000000000000..775709d5a8fc1ece0218279b398219a8e47a2e2b
--- /dev/null
+++ b/pycrocart/SetpointMenu.py
@@ -0,0 +1,309 @@
+from PyQt5.QtWidgets import QWidget, QGridLayout, QLabel, QLineEdit, QSlider, \
+ QPushButton, QButtonGroup, QCheckBox, QVBoxLayout
+from PyQt5.QtCore import Qt, QTimer
+from SetpointHandler import SetpointHandler, FlightMode, Setpoint
+from cfclient.utils.input import JoystickReader
+from GamepadWizardTab import DeviceReader
+from cfclient.utils.config_manager import ConfigManager
+from threading import Semaphore
+
+
+class SetpointMenu(QWidget):
+ """ Menu in control tab where setpoints are entered. """
+
+ def __init__(self, setpoint_handler: SetpointHandler,
+ joystick: JoystickReader, ):
+ """
+ Initialize menu.
+
+ :param setpoint_handler: When a setpoint is sent, it is sent to the
+ setpoint handler which handles the interaction with the
+ crazyflieProtoConnection.
+ :param joystick: When the setpoint is from the gamepad, it needs to
+ be read from somewhere. This is where it comes from.
+ """
+ super().__init__()
+
+ self.setpoint_handler = setpoint_handler
+ self.joystick = joystick
+ self.joystick_reader = DeviceReader(self.joystick)
+
+ self.flypi_mode = False
+
+ layout = QVBoxLayout()
+
+ grid_widget = QWidget()
+ grid_layout = QGridLayout()
+ grid_widget.setLayout(grid_layout)
+
+ layout.addWidget(grid_widget, 1)
+
+ self.setLayout(layout)
+ self.timer = QTimer()
+ self.setpoint = Setpoint()
+ self.setpoint_semaphore = Semaphore(1) # Helps for synchronization with
+ # setpoint handler
+
+ # ------------------- Gamepad Selection --------------------------------
+
+ self.gamepad_button = QCheckBox("Gamepad Mode")
+ self.setpoint_button = QCheckBox("Setpoint Mode")
+ self.setpoint_button.setChecked(True)
+ self.gamepad_button.toggled.connect(self.toggleSetpointMode)
+ self.setpoint_button.toggled.connect(self.toggleSetpointMode)
+
+ self.gamepad_or_setpoint = QButtonGroup() # Grouping buttons can allow
+ # you to only be able to select one or the other.
+ self.gamepad_or_setpoint.addButton(self.gamepad_button, 1)
+ self.gamepad_or_setpoint.addButton(self.setpoint_button, 2)
+ grid_layout.addWidget(self.gamepad_button, 0, 0)
+ grid_layout.addWidget(self.setpoint_button, 0, 1)
+
+ # ------------------ Setpoints -----------------------------------------
+ yaw_label = QLabel("Yaw Setpoint:")
+ pitch_label = QLabel("Pitch Setpoint:")
+ roll_label = QLabel("Roll Setpoint:")
+ self.yaw_box = QLineEdit()
+ self.yaw_box.setText('0') # Default to 0.
+ self.pitch_box = QLineEdit()
+ self.pitch_box.setText('0')
+ self.roll_box = QLineEdit()
+ self.roll_box.setText('0')
+
+ grid_layout.addWidget(yaw_label, 1, 0)
+ grid_layout.addWidget(self.yaw_box, 1, 1)
+ grid_layout.addWidget(pitch_label, 2, 0)
+ grid_layout.addWidget(self.pitch_box, 2, 1)
+ grid_layout.addWidget(roll_label, 3, 0)
+ grid_layout.addWidget(self.roll_box, 3, 1)
+
+ # ------------------ Thrust --------------------------------------------
+ # Add the sliders and thrust label
+ thrust_label = QLabel("Thrust:")
+ self.thrust_slider = QSlider(Qt.Horizontal)
+
+ # Thrust is normally between 0 and 100. Scaled correctly to crazyflie
+ # in the setpoint handler. For flypi, you only want it between 24% and
+ # 34%, and so instead everything is on a 1000 scale, and you are adding
+ # the gamepad input to 240 up to 340.
+ self.thrust_slider.setMinimum(0)
+ self.thrust_slider.setMaximum(100)
+
+ grid_layout.addWidget(thrust_label, 4, 0)
+ grid_layout.addWidget(self.thrust_slider, 4, 1)
+
+ # ----------------- Attitude or Rate mode ------------------------------
+
+ self.b1 = QCheckBox("Attitude Mode")
+ self.b2 = QCheckBox("Rate Mode")
+ self.b2.setChecked(True) # Default to rate mode.
+ self.b1.toggled.connect(self.toggle_flight_mode_while_running)
+ self.b2.toggled.connect(self.toggle_flight_mode_while_running)
+
+ self.attitude_or_rate = QButtonGroup()
+ self.attitude_or_rate.addButton(self.b1, 1)
+ self.attitude_or_rate.addButton(self.b2, 2)
+ grid_layout.addWidget(self.b1, 5, 0)
+ grid_layout.addWidget(self.b2, 5, 1)
+
+ # ----------------- Send Setpoint / Stop Flying ------------------------
+
+ self.valid_label = QLabel("Setpoint Valid")
+
+ self.send_setpoint_button = QPushButton("Send Setpoint")
+ self.send_setpoint_button.clicked.connect(self.send_setpoint)
+
+ self.stop_flying_button = QPushButton("Stop Flying")
+ self.stop_flying_button.clicked.connect(self.stop_flying)
+
+ layout.addWidget(self.valid_label, 2)
+ layout.addWidget(self.send_setpoint_button, 3)
+ layout.addWidget(self.stop_flying_button, 4)
+
+ def enable_flypi_mode(self):
+ self.flypi_mode = True
+
+ def disable_flypi_mode(self):
+ self.flypi_mode = False
+
+ @staticmethod
+ def cap_max_value(input_value: float, max_value: float,
+ min_value: float):
+ """ Saturate an input value """
+ if input_value > max_value:
+ value = max_value
+ elif input_value < min_value:
+ value = min_value
+ else:
+ value = input_value
+
+ return value
+
+ def send_setpoint(self):
+ """
+ This is a function on a timer whenever we are attempting to send
+ setpoints. Grabs the setpoints from the setpoint boxes and thrust
+ slider. It also checks whether we are in gamepad mixed
+ attitude control mode, rate mode, or attitude mode.
+
+ """
+
+ yaw = self.yaw_box.text()
+ pitch = self.pitch_box.text()
+ roll = self.roll_box.text()
+ thrust = self.thrust_slider.value()
+
+ # Have the UI give the user feedback on if the setpoints are invalid.
+ all_valid = True
+ try:
+ yaw = float(yaw)
+ pitch = float(pitch)
+ roll = float(roll)
+ thrust = int(thrust)
+ self.valid_label.setText("Setpoint Valid")
+ except ValueError:
+ all_valid = False
+ self.valid_label.setText("Setpoint Invalid")
+
+ if all_valid:
+ # if we are only just starting, we need to set the setpoint handler
+ # into the right control mode, and also tell the crazyflie we are
+ # about to start flying.
+ if self.setpoint_handler.getFlightMode() == FlightMode.TYPE_STOP:
+ if self.setpoint_handler.commander: # check if connected
+ self.setpoint_handler.commander.start_flying()
+
+ if self.gamepad_button.isChecked():
+ self.setpoint_handler.setMixedAttitudeMode()
+ else:
+ if self.b1.isChecked():
+ self.setpoint_handler.setAttitudeMode()
+ else:
+ self.setpoint_handler.setRateMode()
+
+ if self.gamepad_button.isChecked() and self.flypi_mode:
+ yaw = self.cap_max_value(-yaw, 90, -90)
+ pitch = self.cap_max_value(-pitch, 5, -5)
+ roll = self.cap_max_value(-roll, 5, -5)
+
+ # If you are a flypi do this
+ # todo enable more granular gamepad configuration in gamepad
+ # menu
+ thrust = thrust + 270
+ thrust = self.cap_max_value(thrust, 370, 270)
+ elif self.gamepad_button.isChecked():
+ # crazyflie shouldn't be so restricted
+ thrust = thrust*10
+
+ self.setpoint_handler.setSetpoint(yaw, pitch, roll, thrust)
+
+ def stop_flying(self):
+ """ Set the setpoints to all 0, which should stop the drone from
+ flying. """
+ self.setpoint_handler.stopFlying()
+
+ def toggle_flight_mode_while_running(self):
+ """ If the user tries to change the flight mode, let them. This isn't
+ available in gamepad mode because the buttons are not enabled and
+ thus cannot be pressed. """
+
+ if self.setpoint_handler.getFlightMode() != FlightMode.TYPE_STOP:
+ if self.b1.isChecked():
+ self.setpoint_handler.setAttitudeMode()
+ else:
+ self.setpoint_handler.setRateMode()
+
+ def getGamepadSetpoint(self, data):
+ """ This function is called whenever new data from the gamepad comes
+ in. """
+
+ # Using a semaphore in case the setpoint is attempted to be read
+ # before being completely set.
+ self.setpoint_semaphore.acquire()
+
+ self.setpoint.yaw = data.yaw
+ self.setpoint.pitch = data.pitch
+ self.setpoint.roll = data.roll
+ self.setpoint.thrust = data.thrust*1.25 # max thrust comes in at 80
+
+ self.setpoint_semaphore.release()
+
+ def enableGamepad(self, current_selection_name: str):
+ """ Called when the gamepad checkbox is checked. """
+
+ # Get gamepad configuration from gamepad wizard, and maps it using
+ # the loaded gamepad map.
+ loaded_map = ConfigManager().get_config(current_selection_name)
+ if loaded_map:
+ self.joystick.set_raw_input_map(loaded_map)
+ print("Joystick set")
+ else:
+ print("error loading config")
+
+ self.joystick_reader.start_reading()
+ # callback to setting setpoints whenever the gamepad has changing
+ # inputs. Notice that setpoints are SET whenever new data comes in,
+ # but are not neccesarilly SENT.
+ self.joystick_reader.mapped_values_signal.connect(
+ self.getGamepadSetpoint)
+
+ def toggleSetpointMode(self):
+ if self.gamepad_button.isChecked():
+ # Gray out the setpoint boxes, so you can't change stuff when in
+ # gamepad mode.
+ self.yaw_box.setEnabled(False)
+ self.pitch_box.setEnabled(False)
+ self.roll_box.setEnabled(False)
+ self.thrust_slider.setEnabled(False)
+ self.b1.setEnabled(False)
+ self.b2.setEnabled(False)
+ self.send_setpoint_button.setEnabled(False)
+ self.stop_flying_button.setEnabled(False)
+
+ # Send new gamepad setpoint every 100 ms
+ self.timer.timeout.connect(self.sendGamepadSetpoint)
+ self.timer.start(100)
+
+ else:
+ self.yaw_box.setEnabled(True)
+ self.pitch_box.setEnabled(True)
+ self.roll_box.setEnabled(True)
+ self.thrust_slider.setEnabled(True)
+ self.b1.setEnabled(True)
+ self.b2.setEnabled(True)
+ self.send_setpoint_button.setEnabled(True)
+ self.stop_flying_button.setEnabled(True)
+
+ self.timer.timeout.disconnect(self.sendGamepadSetpoint)
+ self.timer.stop()
+
+ self.setpoint_semaphore.acquire()
+
+ self.setpoint.yaw = 0
+ self.setpoint.roll = 0
+ self.setpoint.pitch = 0
+ self.setpoint.thrust = 0
+
+ self.yaw_box.setText(str(round(self.setpoint.yaw, 2)))
+ self.roll_box.setText(str(round(self.setpoint.roll, 2)))
+ self.pitch_box.setText(str(round(self.setpoint.pitch, 2)))
+ self.thrust_slider.setValue(int(round(self.setpoint.thrust, 2)))
+
+ self.setpoint_semaphore.release()
+
+ self.stop_flying()
+
+ def sendGamepadSetpoint(self):
+ # Send the gamepad setpoint, but because that is based on the text
+ # boxes, set them to correct setpoint.
+
+ self.setpoint_semaphore.acquire()
+
+ self.yaw_box.setText(str(round(self.setpoint.yaw, 2)))
+ self.roll_box.setText(str(round(self.setpoint.roll, 2)))
+ self.pitch_box.setText(str(round(self.setpoint.pitch, 2)))
+ self.thrust_slider.setValue(int(round(self.setpoint.thrust, 2)))
+
+ self.setpoint_semaphore.release()
+
+ self.send_setpoint()
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diff --git a/pycrocart/__pycache__/uCartCommander.cpython-310.pyc b/pycrocart/__pycache__/uCartCommander.cpython-310.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..a7583baa4d9af54bdeb6bf364ac3e2d217072328
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diff --git a/pycrocart/__pycache__/uCartCommander.cpython-38.pyc b/pycrocart/__pycache__/uCartCommander.cpython-38.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..c02a45944831533fcf0cd01bac697baadc30a149
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diff --git a/pycrocart/logging_variables.json b/pycrocart/logging_variables.json
new file mode 100644
index 0000000000000000000000000000000000000000..67b220d72ce664a07482685e1acc87efe8116b87
--- /dev/null
+++ b/pycrocart/logging_variables.json
@@ -0,0 +1,12 @@
+{
+ "group1":
+ {
+ "update_frequency_ms": 50,
+ "vars": ["stateEstimate.roll", "stateEstimate.yaw", "stateEstimate.pitch"]
+ },
+ "group3":
+ {
+ "update_frequency_ms": 50,
+ "vars": ["motor.m1", "motor.m2", "motor.m3", "motor.m4"]
+ }
+}
\ No newline at end of file
diff --git a/pycrocart/mp4params.json b/pycrocart/mp4params.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9b6e2e3585a6daa320abf0fb8fff76969085b7b
--- /dev/null
+++ b/pycrocart/mp4params.json
@@ -0,0 +1,30 @@
+{
+ "sys":
+ {
+ "e_stop":0
+ },
+ "s_pid_rate":
+ {
+ "roll_kp" : 1,
+ "roll_ki" : 0,
+ "roll_kd" : 0,
+ "pitch_kp": 1,
+ "pitch_ki": 0,
+ "pitch_kd": 0,
+ "yaw_kp" : 40,
+ "yaw_ki" : 0,
+ "yaw_kd" : 0
+ },
+ "s_pid_attitude":
+ {
+ "roll_kp" : 250,
+ "roll_ki" : 10,
+ "roll_kd" : 30,
+ "pitch_kp": 250,
+ "pitch_ki": 10,
+ "pitch_kd": 40,
+ "yaw_kp" : 10,
+ "yaw_ki" : 0,
+ "yaw_kd" : 0.1
+ }
+}
\ No newline at end of file
diff --git a/pycrocart/requirements.txt b/pycrocart/requirements.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2f1d7924ea797dd0e123163c732ed632301443bb
--- /dev/null
+++ b/pycrocart/requirements.txt
@@ -0,0 +1,4 @@
+cfclient~=2023.2
+matplotlib~=3.7.1
+pyqtgraph~=0.13.2
+
diff --git a/pycrocart/uCartCommander.py b/pycrocart/uCartCommander.py
new file mode 100644
index 0000000000000000000000000000000000000000..f74bc7751bddf477c6c75537cc6d6f84a5abb152
--- /dev/null
+++ b/pycrocart/uCartCommander.py
@@ -0,0 +1,258 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+#
+# || ____ _ __
+# +------+ / __ )(_) /_______________ _____ ___
+# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
+# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
+# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
+#
+# Copyright (C) 2011-2013 Bitcraze AB
+#
+# Crazyflie Nano Quadcopter Client
+#
+# This program is free software; you can redistribute it and/or
+# modify it under the terms of the GNU General Public License
+# as published by the Free Software Foundation; either version 2
+# of the License, or (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <https://www.gnu.org/licenses/>.
+"""
+Used for sending control setpoints to the Crazyflie
+
+- 4/7/2023 - Austin Beinder uCart 23:
+ modified to support uCart 22's custom packet types
+
+"""
+import struct
+import time
+
+from cflib.crtp.crtpstack import CRTPPacket
+from cflib.crtp.crtpstack import CRTPPort
+from cflib.crazyflie.commander import Commander
+
+__author__ = 'Bitcraze AB'
+__all__ = ['Commander']
+
+SET_SETPOINT_CHANNEL = 0
+META_COMMAND_CHANNEL = 1
+
+TYPE_STOP = 0
+TYPE_VELOCITY_WORLD = 1
+TYPE_ZDISTANCE = 2
+altHoldType = 4
+TYPE_HOVER = 5
+FULL_STATE_TYPE = 6
+TYPE_POSITION = 7
+# Custom modes -----------
+ATTITUDE_RATE_TYPE = 8
+ATTITUDE_TYPE = 9
+MIXED_ATTITUDE_TYPE = 10 # Considering the default commander has a mixed
+# attitude setpoint sender, it is unclear to me why this exists, unless it
+# didn't exist in the version of the firmware this is based upon.
+# ------------------------
+
+TYPE_META_COMMAND_NOTIFY_SETPOINT_STOP = 0
+
+
+class Commander:
+ """
+ Used for sending control setpoints to the Crazyflie
+ """
+
+ def __init__(self, crazyflie=None):
+ """
+ Initialize the commander object. By default, the commander is in
+ +-mode (not x-mode).
+ """
+ self._cf = crazyflie
+ self._x_mode = False
+
+ def set_client_xmode(self, enabled):
+ """
+ Enable/disable the client side X-mode. When enabled this recalculates
+ the setpoints before sending them to the Crazyflie.
+ """
+ self._x_mode = enabled
+
+ 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
+ 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)
+ """
+ if thrust > 0xFFFF or thrust < 0:
+ raise ValueError('Thrust must be between 0 and 0xFFFF')
+
+ if self._x_mode:
+ roll, pitch = 0.707 * (roll - pitch), 0.707 * (roll + pitch)
+
+ pk = CRTPPacket()
+ pk.port = CRTPPort.COMMANDER
+ pk.data = struct.pack('<fffH', roll, pitch, yawrate, thrust)
+ self._cf.send_packet(pk)
+ print()
+
+ def start_flying(self):
+ self.send_setpoint(0, 0, 0, 0)
+
+ 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,
+ so any new setpoint regardless of source will overwrite it.
+ """
+ pk = CRTPPacket()
+ pk.port = CRTPPort.COMMANDER_GENERIC
+ pk.channel = META_COMMAND_CHANNEL
+ pk.data = struct.pack('<BI', TYPE_META_COMMAND_NOTIFY_SETPOINT_STOP,
+ remain_valid_milliseconds)
+ self._cf.send_packet(pk)
+
+ def send_stop_setpoint(self):
+ """
+ Send STOP setpoint, stopping the motors and (potentially) falling.
+ """
+ pk = CRTPPacket()
+ pk.port = CRTPPort.COMMANDER_GENERIC
+ pk.data = struct.pack('<B', TYPE_STOP)
+ self._cf.send_packet(pk)
+
+ def send_velocity_world_setpoint(self, vx, vy, vz, yawrate):
+ """
+ Send Velocity in the world frame of reference setpoint with yawrate
+ commands
+ vx, vy, vz are in m/s
+ yawrate is in degrees/s
+ """
+ pk = CRTPPacket()
+ pk.port = CRTPPort.COMMANDER_GENERIC
+ pk.channel = SET_SETPOINT_CHANNEL
+ pk.data = struct.pack('<Bffff', TYPE_VELOCITY_WORLD,
+ vx, vy, vz, yawrate)
+ self._cf.send_packet(pk)
+
+ def send_zdistance_setpoint(self, roll, pitch, yawrate, zdistance):
+ """
+ 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
+ zdistance is in meters
+ """
+ pk = CRTPPacket()
+ pk.port = CRTPPort.COMMANDER_GENERIC
+ pk.channel = SET_SETPOINT_CHANNEL
+ pk.data = struct.pack('<Bffff', TYPE_ZDISTANCE,
+ roll, pitch, yawrate, zdistance)
+ self._cf.send_packet(pk)
+
+ def send_hover_setpoint(self, vx, vy, yawrate, zdistance):
+ """
+ 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
+ zdistance is in meters
+ """
+ pk = CRTPPacket()
+ pk.port = CRTPPort.COMMANDER_GENERIC
+ pk.channel = SET_SETPOINT_CHANNEL
+ pk.data = struct.pack('<Bffff', TYPE_HOVER,
+ vx, vy, yawrate, zdistance)
+ self._cf.send_packet(pk)
+
+ def send_position_setpoint(self, x, y, z, yaw):
+ """
+ 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
+ """
+ pk = CRTPPacket()
+ pk.port = CRTPPort.COMMANDER_GENERIC
+ pk.channel = SET_SETPOINT_CHANNEL
+ pk.data = struct.pack('<Bffff', TYPE_POSITION,
+ x, y, z, yaw)
+ self._cf.send_packet(pk)
+
+ # ---------------- Custom changes ----------------------------
+ def send_attitude_rate_setpoint(self, yawRate: float, pitchRate: float,
+ rollRate: float, thrust: float) -> None:
+ """
+ Control mode where the attitude rates are set directly. Rates are in
+ deg/s.
+
+ :param yawRate: Yaw rotational velocity setpoint
+ :param pitchRate: Pitch rotational velocity setpoint
+ :param rollRate: Roll rotational velocity setpoint
+ :param thrust: Directly set thrust, no PID required
+ :return: None
+ """
+ pk = CRTPPacket()
+ pk.port = CRTPPort.COMMANDER_GENERIC
+ pk.channel = SET_SETPOINT_CHANNEL
+ pk.data = struct.pack('<Bffff', ATTITUDE_RATE_TYPE, rollRate,
+ pitchRate,
+ yawRate, thrust) # 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
+ self._cf.send_packet(pk)
+
+ def send_attitude_setpoint(self, yaw: float, pitch: float, roll: float,
+ thrust: float) -> None:
+ """
+ Control mode where the attitude angles are set directly. Values are
+ in deg.
+
+ :param yaw: Yaw rotation angle setpoint
+ :param pitch: Pitch rotation angle setpoint
+ :param roll: Roll rotation angle setpoint
+ :param thrust: Directly set thrust, no PID required
+ :return: None
+ """
+ pk = CRTPPacket()
+ pk.port = CRTPPort.COMMANDER_GENERIC
+ pk.channel = SET_SETPOINT_CHANNEL
+ pk.data = struct.pack('<Bffff', ATTITUDE_TYPE, roll, pitch, yaw,
+ thrust)
+ 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
+
+ def send_mixed_attitude_setpoint(self, yaw: float, pitch: float,
+ roll: float, thrust: float) -> None:
+ """
+ Control mode where the attitude angles are set directly, but yaw is
+ controlled via rate. Values are in deg and deg/s.
+
+ :param yaw: Yaw rotation angular velocity setpoint
+ :param pitch: Pitch rotation angle setpoint
+ :param roll: Roll rotation angle setpoint
+ :param thrust: Directly set thrust, no PID required
+ :return: None
+ """
+ pk = CRTPPacket()
+ pk.port = CRTPPort.COMMANDER_GENERIC
+ pk.channel = SET_SETPOINT_CHANNEL
+ pk.data = struct.pack('<Bffff', MIXED_ATTITUDE_TYPE, roll, pitch, yaw,
+ thrust)
+ 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