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

cfclient/gui.py

@@ -6,7 +6,7 @@
 #  +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
 #   ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
 #
-#  Copyright (C) 2011-2013 Bitcraze AB
+#  Copyright (C) 2011-2023 Bitcraze AB
 #
 #  Crazyflie Nano Quadcopter Client
 #
@@ -26,10 +26,12 @@
 
 """Initialization of the PC Client GUI."""
 
+import platform
 import sys
 import os
 import argparse
 import datetime
+import signal
 
 import logging
 
@@ -39,6 +41,14 @@ __author__ = 'Bitcraze AB'
 __all__ = []
 
 
+def handle_sigint(app):
+    logging.info('SIGINT received, exiting ...')
+    if app:
+        app.closeAllWindows()
+    else:
+        sys.exit(0)
+
+
 def main():
     """
     Check starting conditions and start GUI.
@@ -47,9 +57,18 @@ def main():
     all imports and exit verbosely if a library is not found. Disable outputs
     to stdout and start the GUI.
     """
+    app = None
+
+    # Connect ctrl-c (SIGINT) signal
+    signal.signal(signal.SIGINT, lambda sig, frame: handle_sigint(app))
+
+    # Allows frozen mac build to load libraries from app bundle
+    if getattr(sys, 'frozen', False) and platform.system() == 'Darwin':
+        os.environ['DYLD_FALLBACK_LIBRARY_PATH'] = os.path.dirname(
+            sys.executable)
 
-    # Set ERROR level for PyQt5 logger
-    qtlogger = logging.getLogger('PyQt5')
+    # Set ERROR level for PyQt logger
+    qtlogger = logging.getLogger('PyQt6')
     qtlogger.setLevel(logging.ERROR)
 
     parser = argparse.ArgumentParser(
@@ -57,6 +76,10 @@ def main():
     parser.add_argument('--debug', '-d', nargs=1, default='info', type=str,
                         help="set debug level "
                              "[minimal, info, debug, debugfile]")
+    parser.add_argument('--check-imports', type=bool, default=False,
+                        const=True, nargs="?",
+                        help="Check python imports and exit successfully" +
+                        " (intended for CI)")
     args = parser.parse_args()
     debug = args.debug
 
@@ -100,9 +123,9 @@ def main():
             sys.exit(1)
 
     try:
-        import PyQt5  # noqa
+        import PyQt6  # noqa
     except ImportError:
-        logger.critical("No PyQT5 installation found, exiting!")
+        logger.critical("No PyQT6 installation found, exiting!")
         sys.exit(1)
 
     # Disable printouts from STL
@@ -131,14 +154,24 @@ def main():
             logger.info("Foundation not found. Menu will show python as "
                         "application name")
 
+    if args.check_imports:
+        logger.info("All imports successful!")
+        sys.exit(0)
+
     # Start up the main user-interface
     from .ui.main import MainUI
-    from PyQt5.QtWidgets import QApplication
-    from PyQt5.QtGui import QIcon
+    from PyQt6.QtWidgets import QApplication
+    from PyQt6.QtGui import QIcon
+
+    if os.name == 'posix':
+        logger.info('If startup fails because of "xcb", install dependency with `sudo apt install libxcb-xinerama0`.')
 
     app = QApplication(sys.argv)
+    app.setStyle("Fusion")
+    from cfclient.utils.ui import UiUtils
 
-    app.setWindowIcon(QIcon(cfclient.module_path + "/icon-256.png"))
+    app.setWindowIcon(QIcon(cfclient.module_path + "/ui/icons/icon-256.png"))
+    app.setApplicationName("Crazyflie client")
     # Make sure the right icon is set in Windows 7+ taskbar
     if os.name == 'nt':
         import ctypes
@@ -151,8 +184,10 @@ def main():
             pass
 
     main_window = MainUI()
+    app.setFont(UiUtils.FONT)
     main_window.show()
-    sys.exit(app.exec_())
+    main_window.set_default_theme()
+    sys.exit(app.exec())
 
 
 if __name__ == "__main__":

cfclient/headless.py

@@ -66,14 +66,9 @@ class HeadlessClient():
         for d in self._jr.available_devices():
             self._devs.append(d.name)
 
-    def setup_controller(self, input_config, input_device=0, xmode=False):
+    def setup_controller(self, input_config, input_device=0):
         """Set up the device reader"""
         # Set up the joystick reader
-        self._jr.device_error.add_callback(self._input_dev_error)
-        print("Client side X-mode: %s" % xmode)
-        if (xmode):
-            self._cf.commander.set_client_xmode(xmode)
-
         devs = self._jr.available_devices()  # noqa, is this a bug?
         print("Will use [%s] for input" % self._devs[input_device])
         self._jr.start_input(self._devs[input_device])
@@ -98,7 +93,7 @@ class HeadlessClient():
         # 2014-11-25 chad: Add a callback for when we have a good connection.
         self._cf.connected.add_callback(self._connected)
         self._cf.param.add_update_callback(
-            group="imu_sensors", name="HMC5883L", cb=(
+            group="imu_sensors", name="AK8963", cb=(
                 lambda name, found: self._jr.set_alt_hold_available(
                     eval(found))))
         self._jr.assisted_control_updated.add_callback(
@@ -145,9 +140,6 @@ def main():
     parser.add_argument("--controllers", action="store_true",
                         dest="list_controllers",
                         help="Only display available controllers and exit")
-    parser.add_argument("-x", "--x-mode", action="store_true",
-                        dest="xmode",
-                        help="Enable client-side X-mode")
     (args, unused) = parser.parse_known_args()
 
     if args.debug:
@@ -162,8 +154,7 @@ def main():
     else:
         if headless.controller_connected():
             headless.setup_controller(input_config=args.input,
-                                      input_device=args.controller,
-                                      xmode=args.xmode)
+                                      input_device=args.controller)
             headless.connect_crazyflie(link_uri=args.uri)
         else:
             print("No input-device connected, exiting!")