cfclient 2017.4__py3-none-any.whl → 2025.12.1__py3-none-any.whl

cfclient/ui/main.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>872</width>
-    <height>671</height>
+    <width>1354</width>
+    <height>592</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -22,26 +22,10 @@
      <layout class="QVBoxLayout" name="verticalLayout_2">
       <item>
        <layout class="QGridLayout" name="gridLayout_2">
-        <item row="0" column="0">
-         <widget class="QComboBox" name="interfaceCombo">
-          <property name="minimumSize">
-           <size>
-            <width>160</width>
-            <height>0</height>
-           </size>
-          </property>
-          <property name="editable">
-           <bool>false</bool>
-          </property>
-         </widget>
-        </item>
-        <item row="0" column="1">
-         <widget class="QPushButton" name="connectButton">
-          <property name="minimumSize">
-           <size>
-            <width>60</width>
-            <height>0</height>
-           </size>
+        <item row="0" column="6">
+         <widget class="QLabel" name="batteryLabel">
+          <property name="text">
+           <string>Battery:</string>
           </property>
          </widget>
         </item>
@@ -53,29 +37,12 @@
             <height>0</height>
            </size>
           </property>
-         </widget>
-        </item>
-        <item row="0" column="3">
-         <spacer name="horizontalSpacer">
-          <property name="orientation">
-           <enum>Qt::Horizontal</enum>
-          </property>
-          <property name="sizeHint" stdset="0">
-           <size>
-            <width>40</width>
-            <height>20</height>
-           </size>
-          </property>
-         </spacer>
-        </item>
-        <item row="0" column="6">
-         <widget class="QLabel" name="linkQualityLabel">
           <property name="text">
-           <string>Link Quality:</string>
+           <string>Scan</string>
           </property>
          </widget>
         </item>
-        <item row="0" column="7">
+        <item row="0" column="11">
          <widget class="QProgressBar" name="linkQualityBar">
           <property name="minimumSize">
            <size>
@@ -104,13 +71,48 @@
          </widget>
         </item>
         <item row="0" column="4">
-         <widget class="QLabel" name="batteryLabel">
+         <widget class="QPushButton" name="esButton">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="minimumSize">
+           <size>
+            <width>130</width>
+            <height>0</height>
+           </size>
+          </property>
           <property name="text">
-           <string>Battery:</string>
+           <string>Emergency stop</string>
           </property>
          </widget>
         </item>
-        <item row="0" column="5">
+        <item row="0" column="9">
+         <widget class="QLabel" name="label">
+          <property name="text">
+           <string> volts </string>
+          </property>
+         </widget>
+        </item>
+        <item row="0" column="1">
+         <widget class="QPushButton" name="connectButton">
+          <property name="minimumSize">
+           <size>
+            <width>80</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="toolTip">
+           <string/>
+          </property>
+          <property name="text">
+           <string>Connect</string>
+          </property>
+         </widget>
+        </item>
+        <item row="0" column="7">
          <widget class="QProgressBar" name="batteryBar">
           <property name="minimumSize">
            <size>
@@ -125,13 +127,13 @@
            </size>
           </property>
           <property name="minimum">
-           <number>3000</number>
+           <number>3400</number>
           </property>
           <property name="maximum">
-           <number>4200</number>
+           <number>4180</number>
           </property>
           <property name="value">
-           <number>3000</number>
+           <number>3800</number>
           </property>
           <property name="textVisible">
            <bool>true</bool>
@@ -147,11 +149,100 @@
           </property>
          </widget>
         </item>
+        <item row="0" column="0">
+         <widget class="QComboBox" name="interfaceCombo">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Maximum" vsizetype="Fixed">
+            <horstretch>2</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="minimumSize">
+           <size>
+            <width>160</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="maximumSize">
+           <size>
+            <width>250</width>
+            <height>16777215</height>
+           </size>
+          </property>
+          <property name="editable">
+           <bool>false</bool>
+          </property>
+         </widget>
+        </item>
+        <item row="0" column="8">
+         <widget class="QLineEdit" name="_aff_volts">
+          <property name="enabled">
+           <bool>true</bool>
+          </property>
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="minimumSize">
+           <size>
+            <width>60</width>
+            <height>30</height>
+           </size>
+          </property>
+          <property name="maximumSize">
+           <size>
+            <width>60</width>
+            <height>40</height>
+           </size>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+          </property>
+          <property name="readOnly">
+           <bool>true</bool>
+          </property>
+         </widget>
+        </item>
+        <item row="0" column="10">
+         <widget class="QLabel" name="linkQualityLabel">
+          <property name="text">
+           <string>Link Quality:</string>
+          </property>
+         </widget>
+        </item>
+        <item row="0" column="3">
+         <spacer name="horizontalSpacer">
+          <property name="orientation">
+           <enum>Qt::Horizontal</enum>
+          </property>
+          <property name="sizeHint" stdset="0">
+           <size>
+            <width>40</width>
+            <height>20</height>
+           </size>
+          </property>
+         </spacer>
+        </item>
+        <item row="0" column="5">
+         <spacer name="horizontalSpacer_3">
+          <property name="orientation">
+           <enum>Qt::Horizontal</enum>
+          </property>
+          <property name="sizeHint" stdset="0">
+           <size>
+            <width>40</width>
+            <height>20</height>
+           </size>
+          </property>
+         </spacer>
+        </item>
        </layout>
       </item>
       <item>
        <widget class="QGroupBox" name="groupBox">
-        <layout class="QHBoxLayout" stretch="0,0,1">
+        <layout class="QHBoxLayout" stretch="0,0,0">
          <item>
           <widget class="QLabel" name="addressLabel">
            <property name="text">
@@ -161,26 +252,32 @@
          </item>
          <item>
           <widget class="HexSpinBox" name="address">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
            <property name="minimumSize">
             <size>
-             <width>140</width>
+             <width>158</width>
              <height>0</height>
             </size>
            </property>
           </widget>
          </item>
          <item>
-          <widget class="QCheckBox" name="autoReconnectCheckBox">
-           <property name="mouseTracking">
-            <bool>false</bool>
+          <spacer name="horizontalSpacer_2">
+           <property name="orientation">
+            <enum>Qt::Horizontal</enum>
            </property>
-           <property name="text">
-            <string>Auto Reconnect</string>
-           </property>
-           <property name="checked">
-            <bool>false</bool>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>40</width>
+             <height>20</height>
+            </size>
            </property>
-          </widget>
+          </spacer>
          </item>
         </layout>
        </widget>
@@ -210,8 +307,8 @@
           <rect>
            <x>0</x>
            <y>0</y>
-           <width>852</width>
-           <height>500</height>
+           <width>1334</width>
+           <height>414</height>
           </rect>
          </property>
          <property name="sizePolicy">
@@ -224,11 +321,20 @@
           <property name="sizeConstraint">
            <enum>QLayout::SetNoConstraint</enum>
           </property>
-          <property name="margin">
+          <property name="leftMargin">
+           <number>0</number>
+          </property>
+          <property name="topMargin">
+           <number>0</number>
+          </property>
+          <property name="rightMargin">
+           <number>0</number>
+          </property>
+          <property name="bottomMargin">
            <number>0</number>
           </property>
           <item row="0" column="0">
-           <widget class="QTabWidget" name="tabs">
+           <widget class="QTabWidget" name="tab_widget">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
               <horstretch>0</horstretch>
@@ -253,8 +359,8 @@
     <rect>
      <x>0</x>
      <y>0</y>
-     <width>872</width>
-     <height>25</height>
+     <width>1354</width>
+     <height>22</height>
     </rect>
    </property>
    <widget class="QMenu" name="menuFile">
@@ -290,7 +396,6 @@
     <addaction name="menuItemConnect"/>
     <addaction name="menuItemBootloader"/>
     <addaction name="_menu_cf2_config"/>
-    <addaction name="_menu_cf1_config"/>
    </widget>
    <widget class="QMenu" name="_menu_inputdevice">
     <property name="title">
@@ -300,23 +405,35 @@
     <addaction name="_menuitem_rescandevices"/>
     <addaction name="separator"/>
    </widget>
+   <widget class="QMenu" name="menuThemes">
+    <property name="title">
+     <string>Themes</string>
+    </property>
+   </widget>
    <addaction name="menuFile"/>
    <addaction name="menuConnect"/>
    <addaction name="_menu_inputdevice"/>
    <addaction name="menuSettings"/>
    <addaction name="menuView"/>
    <addaction name="menuHelp"/>
+   <addaction name="menuThemes"/>
   </widget>
   <widget class="QStatusBar" name="statusbar"/>
   <action name="menuItemConnect">
    <property name="text">
-    <string>Connect</string>
+    <string>Connect Ctrl+C</string>
+   </property>
+   <property name="shortcut">
+    <string/>
    </property>
   </action>
   <action name="menuItemExit">
    <property name="text">
     <string>Exit</string>
    </property>
+   <property name="shortcut">
+    <string>Ctrl+Q</string>
+   </property>
   </action>
   <action name="menuItemRegulation">
    <property name="checkable">
@@ -428,20 +545,7 @@
     <bool>false</bool>
    </property>
    <property name="text">
-    <string>Configure 2.0</string>
-   </property>
-   <property name="menuRole">
-    <enum>QAction::NoRole</enum>
-   </property>
-  </action>
-  <action name="_menu_cf_config_2">
-   <property name="text">
-    <string>Configure 1.0</string>
-   </property>
-  </action>
-  <action name="_menu_cf1_config">
-   <property name="text">
-    <string>Configure 1.0</string>
+    <string>Configure 2.x</string>
    </property>
    <property name="menuRole">
     <enum>QAction::NoRole</enum>

cfclient/ui/pluginhelper.py

@@ -7,7 +7,7 @@
 #  +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
 #   ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
 #
-#  Copyright (C) 2011-2013 Bitcraze AB
+#  Copyright (C) 2011-2021 Bitcraze AB
 #
 #  Crazyflie Nano Quadcopter Client
 #
@@ -28,6 +28,7 @@
 """
 Used for passing objects to tabs and toolboxes.
 """
+import os
 
 __author__ = 'Bitcraze AB'
 __all__ = ['PluginHelper']
@@ -40,3 +41,8 @@ class PluginHelper():
         self.cf = None
         self.menu = None
         self.logConfigReader = None
+        self.mainUI = None
+        self.plotTab = None
+        self.pose_logger = None
+        self.connectivity_manager = None
+        self.current_folder = os.path.expanduser('~')

cfclient/ui/pose_logger.py

@@ -0,0 +1,116 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+#
+#     ||          ____  _ __
+#  +------+      / __ )(_) /_______________ _____  ___
+#  | 0xBC |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+#  +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+#   ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
+#
+#  Copyright (C) 2021 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.
+"""
+Sets up logging for the the full pose of the Crazyflie
+"""
+import logging
+import math
+
+from cflib.crazyflie import Crazyflie
+from cflib.crazyflie.log import LogConfig
+from cflib.utils.callbacks import Caller
+
+__author__ = 'Bitcraze AB'
+__all__ = ['PoseLogger']
+
+logger = logging.getLogger(__name__)
+
+
+class PoseLogger:
+    LOG_NAME_ESTIMATE_X = 'stateEstimate.x'
+    LOG_NAME_ESTIMATE_Y = 'stateEstimate.y'
+    LOG_NAME_ESTIMATE_Z = 'stateEstimate.z'
+    LOG_NAME_ESTIMATE_ROLL = 'stateEstimate.roll'
+    LOG_NAME_ESTIMATE_PITCH = 'stateEstimate.pitch'
+    LOG_NAME_ESTIMATE_YAW = 'stateEstimate.yaw'
+    NO_POSE = (0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+
+    def __init__(self, cf: Crazyflie) -> None:
+        self._cf = cf
+        self._cf.connected.add_callback(self._connected)
+        self._cf.disconnected.add_callback(self._disconnected)
+
+        self.data_received_cb = Caller()
+        self.error_cb = Caller()
+
+        # The pose is an array containing
+        # X, Y, Z, roll, pitch, yaw
+        # roll, pitch and yaw in degrees
+        self.pose = self.NO_POSE
+
+    @property
+    def position(self):
+        """Get the position part of the full pose"""
+        return self.pose[0:3]
+
+    @property
+    def rpy(self):
+        """Get the roll, pitch and yaw of the full pose in degrees"""
+        return self.pose[3:6]
+
+    @property
+    def rpy_rad(self):
+        """Get the roll, pitch and yaw of the full pose in radians"""
+        return [math.radians(self.pose[3]), math.radians(self.pose[4]), math.radians(self.pose[5])]
+
+    def _connected(self, link_uri) -> None:
+        logConf = LogConfig("Pose", 40)
+        logConf.add_variable(self.LOG_NAME_ESTIMATE_X, "float")
+        logConf.add_variable(self.LOG_NAME_ESTIMATE_Y, "float")
+        logConf.add_variable(self.LOG_NAME_ESTIMATE_Z, "float")
+        logConf.add_variable(self.LOG_NAME_ESTIMATE_ROLL, "float")
+        logConf.add_variable(self.LOG_NAME_ESTIMATE_PITCH, "float")
+        logConf.add_variable(self.LOG_NAME_ESTIMATE_YAW, "float")
+
+        try:
+            self._cf.log.add_config(logConf)
+            logConf.data_received_cb.add_callback(self._data_received)
+            logConf.error_cb.add_callback(self._error)
+            logConf.start()
+        except KeyError as e:
+            logger.warning(str(e))
+        except AttributeError as e:
+            logger.warning(str(e))
+
+    def _disconnected(self, link_uri) -> None:
+        self.pose = self.NO_POSE
+
+    def _data_received(self, timestamp, data, logconf) -> None:
+        self.pose = (
+            data[self.LOG_NAME_ESTIMATE_X],
+            data[self.LOG_NAME_ESTIMATE_Y],
+            data[self.LOG_NAME_ESTIMATE_Z],
+            data[self.LOG_NAME_ESTIMATE_ROLL],
+            data[self.LOG_NAME_ESTIMATE_PITCH],
+            data[self.LOG_NAME_ESTIMATE_YAW],
+        )
+
+        self.data_received_cb.call(self, self.pose)
+
+    def _error(self, log_conf, msg) -> None:
+        self.error_cb.call(self, msg)