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

cfclient/ui/connectivity_manager.py

@@ -0,0 +1,198 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+#
+#     ||          ____  _ __
+#  +------+      / __ )(_) /_______________ _____  ___
+#  | 0xBC |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+#  +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+#   ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
+#
+#  Copyright (C) 2021-2023 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.
+from collections import namedtuple
+from PyQt6.QtCore import pyqtSignal, QObject
+
+__author__ = 'Bitcraze AB'
+__all__ = ['ConnectivityManager']
+
+
+class ConnectivityManager(QObject):
+    UiElementsContainer = namedtuple('UiElementContainer', [
+        'interface_combo',
+        'address_spinner',
+        'connect_button',
+        'scan_button'])
+
+    class UIState:
+        DISCONNECTED = 0
+        CONNECTING = 1
+        CONNECTED = 2
+        SCANNING = 3
+
+    INTERFACE_PROMPT_TEXT = 'Select an interface'
+
+    connect_button_clicked = pyqtSignal()
+    scan_button_clicked = pyqtSignal(object)
+    connection_state_changed = pyqtSignal(object)
+
+    def __init__(self):
+        QObject.__init__(self)
+        self._ui_elements = []
+        self._state = self.UIState.DISCONNECTED
+        self._is_enabled = True
+
+    def register_ui_elements(self, ui_elements):
+        self._ui_elements.append(ui_elements)
+
+        ui_elements.connect_button.clicked.connect(self._connect_button_click_handler)
+        ui_elements.scan_button.clicked.connect(self._scan_button_click_handler)
+
+        ui_elements.address_spinner.valueChanged.connect(self._address_changed_handler)
+        ui_elements.address_spinner.editingFinished.connect(self._address_edited_handler)
+
+        ui_elements.interface_combo.currentIndexChanged.connect(self._interface_combo_current_index_changed_handler)
+
+    def set_state(self, state):
+        if self._state != state:
+            self._state = state
+            self._update_ui()
+
+            if self._state == self.UIState.DISCONNECTED:
+                self.connection_state_changed.emit(self.UIState.DISCONNECTED)
+            elif self._state == self.UIState.CONNECTED:
+                self.connection_state_changed.emit(self.UIState.CONNECTED)
+            elif self._state == self.UIState.CONNECTING:
+                self.connection_state_changed.emit(self.UIState.CONNECTING)
+            elif self._state == self.UIState.SCANNING:
+                self.connection_state_changed.emit(self.UIState.SCANNING)
+
+    def set_enable(self, enable):
+        if self._is_enabled != enable:
+            self._is_enabled = enable
+            self._update_ui()
+
+    def set_address(self, address):
+        for ui_elements in self._ui_elements:
+            ui_elements.address_spinner.setValue(address)
+
+    def get_address(self):
+        if len(self._ui_elements) > 0:
+            return self._ui_elements[0].address_spinner.value()
+        else:
+            return 0
+
+    def set_interfaces(self, interface_items, index):
+        new_index = 0
+        if index is not None:
+            new_index = index + 1
+
+        for ui_elements in self._ui_elements:
+            combo = ui_elements.interface_combo
+
+            combo.clear()
+            combo.addItem(self.INTERFACE_PROMPT_TEXT)
+            combo.addItems(interface_items)
+            combo.setCurrentIndex(new_index)
+
+    def get_interface(self):
+        if len(self._ui_elements) > 0:
+            interface = self._ui_elements[0].interface_combo.currentText()
+            if interface == self.INTERFACE_PROMPT_TEXT:
+                self._selected_interface = None
+            else:
+                return interface
+        else:
+            return None
+
+    def _connect_button_click_handler(self):
+        self.connect_button_clicked.emit()
+
+    def _scan_button_click_handler(self):
+        self.scan_button_clicked.emit(self.get_address())
+
+    def _address_changed_handler(self, value):
+        for ui_elements in self._ui_elements:
+            if value != ui_elements.address_spinner.value():
+                ui_elements.address_spinner.setValue(value)
+
+    def _address_edited_handler(self):
+        # Find out if one of the addresses has changed and what the new value is
+        value = 0
+        is_changed = False
+        for ui_elements in self._ui_elements:
+            if ui_elements.address_spinner.is_text_different_from_value():
+                value = ui_elements.address_spinner.value()
+                is_changed = True
+                break
+
+        # Set the new value
+        if is_changed:
+            for ui_elements in self._ui_elements:
+                if value != ui_elements.address_spinner.value():
+                    ui_elements.address_spinner.setValue(value)
+
+    def _interface_combo_current_index_changed_handler(self, interface):
+        interface_s = str(interface)
+        can_connect = interface != self.INTERFACE_PROMPT_TEXT
+        for ui_elements in self._ui_elements:
+            combo = ui_elements.interface_combo
+            if combo.currentText != interface_s:
+                combo.setCurrentText(interface_s)
+            ui_elements.connect_button.setEnabled(can_connect)
+
+    def _update_ui(self):
+        if self._is_enabled:
+            if self._state == self.UIState.DISCONNECTED:
+                can_connect = self.get_interface() is not None
+                for ui_elements in self._ui_elements:
+                    ui_elements.connect_button.setText("Connect")
+                    ui_elements.connect_button.setToolTip("Connect to the Crazyflie on the selected interface (Ctrl+I)")
+                    ui_elements.connect_button.setEnabled(can_connect)
+                    ui_elements.scan_button.setText("Scan")
+                    ui_elements.scan_button.setEnabled(True)
+                    ui_elements.address_spinner.setEnabled(True)
+                    ui_elements.interface_combo.setEnabled(True)
+            elif self._state == self.UIState.CONNECTED:
+                for ui_elements in self._ui_elements:
+                    ui_elements.connect_button.setText("Disconnect")
+                    ui_elements.connect_button.setToolTip("Disconnect from the Crazyflie (Ctrl+I)")
+                    ui_elements.scan_button.setEnabled(False)
+                    ui_elements.address_spinner.setEnabled(False)
+                    ui_elements.interface_combo.setEnabled(False)
+            elif self._state == self.UIState.CONNECTING:
+                for ui_elements in self._ui_elements:
+                    ui_elements.connect_button.setText("Cancel")
+                    ui_elements.connect_button.setToolTip("Cancel connecting to the Crazyflie")
+                    ui_elements.scan_button.setEnabled(False)
+                    ui_elements.address_spinner.setEnabled(False)
+                    ui_elements.interface_combo.setEnabled(False)
+            elif self._state == self.UIState.SCANNING:
+                for ui_elements in self._ui_elements:
+                    ui_elements.connect_button.setText("Connect")
+                    ui_elements.connect_button.setEnabled(False)
+                    ui_elements.scan_button.setText("Scanning...")
+                    ui_elements.scan_button.setEnabled(False)
+                    ui_elements.address_spinner.setEnabled(False)
+                    ui_elements.interface_combo.setEnabled(False)
+        else:
+            for ui_elements in self._ui_elements:
+                ui_elements.connect_button.setEnabled(False)
+                ui_elements.scan_button.setEnabled(False)
+                ui_elements.address_spinner.setEnabled(False)
+                ui_elements.interface_combo.setEnabled(False)

cfclient/ui/dialogs/about.py

@@ -7,7 +7,7 @@
 #  +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
 #   ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
 #
-#  Copyright (C) 2011-2013 Bitcraze AB
+#  Copyright (C) 2011-2023 Bitcraze AB
 #
 #  Crazyflie Nano Quadcopter Client
 #
@@ -31,11 +31,12 @@ import sys
 
 import cfclient
 import cflib.crtp
-from PyQt5.QtCore import QT_VERSION_STR
-from PyQt5.QtCore import PYQT_VERSION_STR
-from PyQt5 import QtWidgets
-from PyQt5 import uic
-from PyQt5.QtCore import pyqtSignal
+from PyQt6.QtCore import QT_VERSION_STR
+from PyQt6.QtCore import PYQT_VERSION_STR
+from PyQt6 import QtWidgets
+from PyQt6 import uic
+from PyQt6.QtCore import pyqtSignal
+from cflib.crazyflie.mem import MemoryElement
 
 __author__ = 'Bitcraze AB'
 __all__ = ['AboutDialog']
@@ -64,8 +65,13 @@ PyQt: {pyqt_version}<br>
 <b>Crazyflie</b><br>
 Connected: {uri}<br>
 Firmware: {firmware}<br>
+<br>
+<b>Decks found</b><br>
+{decks}
+<br>
 <b>Sensors found</b><br>
 {imu_sensors}
+<br>
 <b>Sensors tests</b><br>
 {imu_sensor_tests}
 """
@@ -76,24 +82,12 @@ DEVICE_FORMAT = "{}: ({}) {}<br>"
 IMU_SENSORS_FORMAT = "{}: {}<br>"
 SENSOR_TESTS_FORMAT = "{}: {}<br>"
 FIRMWARE_FORMAT = "{:x}{:x} ({})"
-
-CREDITS_FORMAT = """
-<b>Contributions</b><br>
-{contribs}
-<br><br>
-<b>Used libraries</b><br>
-<a href="http://qt-project.org/">QT</a><br>
-<a href="http://www.riverbankcomputing.co.uk/software/pyqt/intro">PyQT</a><br>
-<a href="http://pysdl2.readthedocs.org">PySDL2</a><br>
-<a href="http://www.pyqtgraph.org/">PyQtGraph</a><br>
-<a href="http://marble.kde.org/">KDE Marble</a><br>
-<a href="http://sourceforge.net/projects/pyusb/">PyUSB</a><br>
-<a href="http://www.python.org/">Python</a><br>
-"""
+DECK_FORMAT = "{}: rev={}, adr={}<br>"
 
 
 class AboutDialog(QtWidgets.QWidget, about_widget_class):
     _disconnected_signal = pyqtSignal(str)
+    _cb_deck_data_updated_signal = pyqtSignal(object)
 
     """Crazyflie client About box for debugging and information"""
 
@@ -107,10 +101,13 @@ class AboutDialog(QtWidgets.QWidget, about_widget_class):
         self._interface_text = ""
         self._imu_sensors_text = ""
         self._imu_sensor_test_text = ""
+        self._decks_text = ""
         self._uri = None
         self._fw_rev0 = None
         self._fw_rev1 = None
         self._fw_modified = None
+        self._firmware = None
+
         self._helper = helper
 
         helper.cf.param.add_update_callback(
@@ -124,18 +121,7 @@ class AboutDialog(QtWidgets.QWidget, about_widget_class):
         self._disconnected_signal.connect(self._disconnected)
         helper.cf.disconnected.add_callback(self._disconnected_signal.emit)
 
-        # Open the Credits file and show it in the UI
-        credits = ""
-        try:
-            with open("CREDITS.txt", encoding='utf-8', mode='r') as f:
-                for line in f:
-                    credits += "{}<br>".format(line)
-        except IOError:
-            credits = ""
-
-        self._credits.setHtml(
-            CREDITS_FORMAT.format(contribs=credits)
-        )
+        self._cb_deck_data_updated_signal.connect(self._deck_data_updated)
 
     def showEvent(self, event):
         """Event when the about box is shown"""
@@ -144,7 +130,6 @@ class AboutDialog(QtWidgets.QWidget, about_widget_class):
         for key in list(interface_status.keys()):
             self._interface_text += INTERFACE_FORMAT.format(
                 key, interface_status[key])
-        firmware = None
 
         self._device_text = ""
         devs = self._helper.inputDeviceReader.available_devices()
@@ -163,10 +148,16 @@ class AboutDialog(QtWidgets.QWidget, about_widget_class):
             self._input_readers_text = "None<br>"
 
         if self._uri:
-            firmware = FIRMWARE_FORMAT.format(
+            self._firmware = FIRMWARE_FORMAT.format(
                 self._fw_rev0,
                 self._fw_rev1,
                 "MODIFIED" if self._fw_modified else "CLEAN")
+
+            self._request_deck_data_update()
+
+        self._update_debug_info_view()
+
+    def _update_debug_info_view(self):
         self._debug_out.setHtml(
             DEBUG_INFO_FORMAT.format(
                 version=cfclient.VERSION,
@@ -180,9 +171,10 @@ class AboutDialog(QtWidgets.QWidget, about_widget_class):
                 input_devices=self._device_text,
                 input_readers=self._input_readers_text,
                 uri=self._uri,
-                firmware=firmware,
+                firmware=self._firmware,
                 imu_sensors=self._imu_sensors_text,
-                imu_sensor_tests=self._imu_sensor_test_text))
+                imu_sensor_tests=self._imu_sensor_test_text,
+                decks=self._decks_text))
 
     def _connected(self, uri):
         """Callback when Crazyflie is connected"""
@@ -216,7 +208,32 @@ class AboutDialog(QtWidgets.QWidget, about_widget_class):
         self._interface_text = ""
         self._imu_sensors_text = ""
         self._imu_sensor_test_text = ""
+        self._decks_text = ""
         self._uri = None
         self._fw_rev1 = None
         self._fw_rev0 = None
         self._fw_modified = None
+        self._firmware = None
+
+    def _request_deck_data_update(self):
+        self._decks_text = ""
+        # Query both 1-Wire and DeckCtrl memories for deck information
+        mems = self._helper.cf.mem.get_mems(MemoryElement.TYPE_1W)
+        mems += self._helper.cf.mem.get_mems(MemoryElement.TYPE_DECKCTRL)
+        for mem in mems:
+            mem.update(self._cb_deck_data_updated_signal.emit)
+
+    def _deck_data_updated(self, deck_data):
+        name = 'N/A'
+        if "Board name" in deck_data.elements:
+            name = deck_data.elements["Board name"]
+
+        rev = 'N/A'
+        if "Board revision" in deck_data.elements:
+            rev = deck_data.elements["Board revision"]
+
+        # OWElement has addr attribute, DeckCtrlElement does not
+        addr = getattr(deck_data, 'addr', 'N/A')
+        self._decks_text += DECK_FORMAT.format(name, rev, addr)
+
+        self._update_debug_info_view()

cfclient/ui/dialogs/about.ui

@@ -39,14 +39,20 @@
              <item row="1" column="0">
               <widget class="QLabel" name="label_2">
                <property name="text">
-                <string>Copyright (c) 2011-2017, Bitcraze AB</string>
+                <string>Copyright (c) 2011-2023, Bitcraze AB</string>
                </property>
               </widget>
              </item>
              <item row="2" column="0">
               <widget class="QLabel" name="label">
                <property name="text">
-                <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-size:12pt;&quot;&gt;The Crazyflie client is a multi-platform client&lt;br/&gt;for controlling, bootloading and logging the Crazyflie.&lt;br/&gt;For more info visit our homepage.&lt;/span&gt;&lt;/p&gt;&lt;p&gt;&lt;a href=&quot;http://www.bitcraze.io&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;Bitcraze Homepage&lt;/span&gt;&lt;/a&gt;&lt;span style=&quot; font-size:12pt;&quot;&gt;&lt;br/&gt;&lt;/span&gt;&lt;a href=&quot;http://wiki.bitcraze.io/doc:crazyflie:client:pycfclient:index&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;Client documentation on Bitcraze Wiki&lt;/span&gt;&lt;/a&gt;&lt;span style=&quot; font-size:12pt;&quot;&gt;&lt;br/&gt;&lt;/span&gt;&lt;a href=&quot;http://forum.bitcraze.se&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;Bitcraze Forum&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;p&gt;&lt;br/&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-size:12pt;&quot;&gt;The Crazyflie client is a multi-platform client&lt;br/&gt;for controlling, bootloading and logging the Crazyflie.&lt;br/&gt;For more info visit our homepage.&lt;/span&gt;&lt;/p&gt;&lt;p&gt;&lt;a href=&quot;http://www.bitcraze.io&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;Bitcraze Homepage&lt;/span&gt;&lt;/a&gt;&lt;span style=&quot; font-size:12pt;&quot;&gt;&lt;br/&gt;&lt;/span&gt;&lt;a href=&quot;https://www.bitcraze.io/documentation/repository/crazyflie-clients-python/master/userguides/userguide_client/&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;Client documentation&lt;/span&gt;&lt;/a&gt;&lt;span style=&quot; font-size:12pt;&quot;&gt;&lt;br/&gt;&lt;/span&gt;&lt;a href=&quot;http://discussions.bitcraze.io&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;Bitcraze Discussions&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;p&gt;&lt;br/&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+               </property>
+               <property name="openExternalLinks">
+                <bool>true</bool>
+               </property>
+               <property name="textInteractionFlags">
+                <set>Qt::TextBrowserInteraction</set>
                </property>
               </widget>
              </item>
@@ -84,7 +90,21 @@
          <item>
           <layout class="QGridLayout" name="gridLayout_3">
            <item row="0" column="0">
-            <widget class="QTextEdit" name="_credits"/>
+            <widget class="QTextBrowser" name="_credits">
+             <property name="html">
+              <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Cantarell'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Contributions&lt;/span&gt;&lt;br /&gt;We are very grateful for all the contributions we have received for this project. Below is a link showing all of the users that have contributed to the Crazyflie client. &lt;br /&gt;&lt;br /&gt;Thank you! &lt;br /&gt;&lt;br /&gt;&lt;a href=&quot;https://github.com/bitcraze/crazyflie-clients-python/graphs/contributors&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#1b6acb;&quot;&gt;Contributor information on GitHub&lt;/span&gt;&lt;/a&gt; &lt;br /&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+             </property>
+             <property name="textInteractionFlags">
+              <set>Qt::LinksAccessibleByKeyboard|Qt::LinksAccessibleByMouse|Qt::TextBrowserInteraction|Qt::TextEditable|Qt::TextEditorInteraction|Qt::TextSelectableByKeyboard|Qt::TextSelectableByMouse</set>
+             </property>
+             <property name="openExternalLinks">
+              <bool>true</bool>
+             </property>
+            </widget>
            </item>
           </layout>
          </item>

cfclient/ui/dialogs/anchor_position_dialog.py

@@ -0,0 +1,252 @@
+# -*- coding: utf-8 -*-
+#
+#     ||          ____  _ __
+#  +------+      / __ )(_) /_______________ _____  ___
+#  | 0xBC |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+#  +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+#   ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
+#
+#  Copyright (C) 2018-2023 Bitcraze AB
+#
+#  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.
+
+"""
+Dialog box used to configure anchor positions. Used from the LPS tab.
+"""
+import logging
+
+import cfclient
+from cfclient.utils.logconfigreader import FILE_REGEX_YAML
+from PyQt6 import QtWidgets
+from PyQt6 import uic
+from PyQt6.QtCore import QAbstractTableModel, QVariant, Qt
+from PyQt6.QtGui import QBrush, QColor
+from PyQt6.QtWidgets import QInputDialog, QFileDialog
+import yaml
+import os
+
+__author__ = 'Bitcraze AB'
+__all__ = ['AnchorPositionDialog']
+
+logger = logging.getLogger(__name__)
+
+(anchor_postiong_widget_class, connect_widget_base_class) = (
+    uic.loadUiType(
+        cfclient.module_path + '/ui/dialogs/anchor_position_dialog.ui')
+)
+
+
+class AnchorPositionConfigTableModel(QAbstractTableModel):
+    def __init__(self, headers, parent=None, *args):
+        QAbstractTableModel.__init__(self, parent)
+        self._anchor_positions = []
+        self._headers = headers
+        self._latest_known_anchor_positions = {}
+
+        self._green_brush = QBrush(QColor(200, 255, 200))
+        self._red_brush = QBrush(QColor(255, 200, 200))
+
+    def rowCount(self, parent=None, *args, **kwargs):
+        return len(self._anchor_positions)
+
+    def columnCount(self, parent=None, *args, **kwargs):
+        return len(self._headers)
+
+    def data(self, index, role=None):
+        value = self._anchor_positions[index.row()][index.column()]
+        if index.isValid():
+            if index.column() == 0:
+                if role == Qt.ItemDataRole.CheckStateRole:
+                    return QVariant(value)
+            elif index.column() == 1:
+                if role == Qt.ItemDataRole.DisplayRole:
+                    return QVariant(value)
+            else:
+                if role == Qt.ItemDataRole.DisplayRole:
+                    return QVariant('%.2f' % (value))
+                elif role == Qt.ItemDataRole.EditRole:
+                    return QVariant(value)
+                elif role == Qt.ItemDataRole.BackgroundRole:
+                    return self._get_background(index.row(), index.column())
+
+        return QVariant()
+
+    def setData(self, index, value, role=Qt.ItemDataRole.EditRole):
+        if not index.isValid():
+            return False
+
+        self._anchor_positions[index.row()][index.column()] = value
+        return True
+
+    def headerData(self, col, orientation, role=None):
+        if orientation == Qt.Orientation.Horizontal and role == Qt.ItemDataRole.DisplayRole:
+            return QVariant(self._headers[col])
+        return QVariant()
+
+    def flags(self, index):
+        if not index.isValid():
+            return None
+
+        if index.column() == 0:
+            return Qt.ItemFlag.ItemIsEnabled | Qt.ItemFlag.ItemIsUserCheckable
+        elif index.column() == 1:
+            return Qt.ItemFlag.ItemIsEnabled
+        else:
+            return Qt.ItemFlag.ItemIsEnabled | Qt.ItemFlag.ItemIsEditable
+
+    def add_anchor(self, anchor_id, x=0.0, y=0.0, z=0.0):
+        if not self._id_exist(anchor_id):
+            self.layoutAboutToBeChanged.emit()
+            self._anchor_positions.append([0, anchor_id, x, y, z])
+            self._anchor_positions.sort(key=lambda row: row[1])
+            self.layoutChanged.emit()
+
+    def replace_anchors_from_latest_known_positions(self):
+        self.replace_anchor_positions(self._latest_known_anchor_positions)
+
+    def replace_anchor_positions(self, anchor_positions):
+        self.layoutAboutToBeChanged.emit()
+        self._anchor_positions = []
+        for id, position in anchor_positions.items():
+            self.add_anchor(id, x=position[0], y=position[1], z=position[2])
+        self.layoutChanged.emit()
+
+    def get_anchor_postions(self):
+        result = {}
+        for row in self._anchor_positions:
+            result[row[1]] = (row[2], row[3], row[4])
+        return result
+
+    def anchor_postions_updated(self, anchor_positions):
+        self.layoutAboutToBeChanged.emit()
+        self._latest_known_anchor_positions = anchor_positions
+        self.layoutChanged.emit()
+
+    def remove_selected_anchors(self):
+        self.layoutAboutToBeChanged.emit()
+        self._anchor_positions = list(filter(
+            lambda row: row[0] == 0, self._anchor_positions))
+        self.layoutChanged.emit()
+
+    def _id_exist(self, anchor_id):
+        for anchor in self._anchor_positions:
+            if anchor[1] == anchor_id:
+                return True
+        return False
+
+    def _get_background(self, row, col):
+        id = self._anchor_positions[row][1]
+        if id in self._latest_known_anchor_positions:
+            current_value = self._anchor_positions[row][col]
+            latest_value = self._latest_known_anchor_positions[id][col - 2]
+
+            if abs(current_value - latest_value) < 0.005:
+                return self._green_brush
+            else:
+                return self._red_brush
+
+        return QVariant()
+
+
+class AnchorPositionDialog(QtWidgets.QWidget, anchor_postiong_widget_class):
+
+    def __init__(self, lps_tab, helper):
+        super(AnchorPositionDialog, self).__init__()
+        self.setupUi(self)
+
+        self._lps_tab = lps_tab
+        self._helper = helper
+
+        self._headers = ['', 'id', 'x', 'y', 'z']
+        self._data_model = AnchorPositionConfigTableModel(self._headers, self)
+        self._table_view.setModel(self._data_model)
+
+        self._table_view.verticalHeader().setVisible(False)
+
+        header = self._table_view.horizontalHeader()
+        header.setSectionResizeMode(0, QtWidgets.QHeaderView.ResizeMode.ResizeToContents)
+        header.setSectionResizeMode(1, QtWidgets.QHeaderView.ResizeMode.ResizeToContents)
+        header.setSectionResizeMode(2, QtWidgets.QHeaderView.ResizeMode.Stretch)
+        header.setSectionResizeMode(3, QtWidgets.QHeaderView.ResizeMode.Stretch)
+        header.setSectionResizeMode(4, QtWidgets.QHeaderView.ResizeMode.Stretch)
+
+        self._add_anchor_button.clicked.connect(
+            self._add_anchor_button_clicked)
+        self._remove_anchors_button.clicked.connect(
+            self._data_model.remove_selected_anchors)
+        self._get_from_anchors_button.clicked.connect(
+            self._get_from_anchors_button_clicked)
+        self._write_to_anchors_button.clicked.connect(
+            self._write_to_anchors_button_clicked)
+        self._close_button.clicked.connect(self.close)
+        self._load_button.clicked.connect(
+            self._load_button_clicked)
+        self._save_button.clicked.connect(
+            self._save_button_clicked)
+
+    def _add_anchor_button_clicked(self):
+        anchor_id, ok = QInputDialog.getInt(
+            self, "New anchor", "Enter id", min=0, max=255)
+        if ok:
+            self._data_model.add_anchor(anchor_id)
+
+    def _get_from_anchors_button_clicked(self):
+        self._data_model.replace_anchors_from_latest_known_positions()
+
+    def _write_to_anchors_button_clicked(self):
+        anchor_positions = self._data_model.get_anchor_postions()
+        self._lps_tab.write_positions_to_anchors(anchor_positions)
+
+    def anchor_postions_updated(self, anchor_positions):
+        self._data_model.anchor_postions_updated(anchor_positions)
+
+    def _load_button_clicked(self):
+        names = QFileDialog.getOpenFileName(self, 'Open file', self._helper.current_folder, FILE_REGEX_YAML)
+
+        if names[0] == '':
+            return
+
+        self._helper.current_folder = os.path.dirname(names[0])
+
+        f = open(names[0], 'r')
+        with f:
+            data = yaml.safe_load(f)
+
+            anchor_positions = {}
+            for id, pos in data.items():
+                anchor_positions[id] = (pos['x'], pos['y'], pos['z'])
+            self._data_model.replace_anchor_positions(anchor_positions)
+
+    def _save_button_clicked(self):
+        anchor_positions = self._data_model.get_anchor_postions()
+        data = {}
+        for id, pos in anchor_positions.items():
+            data[id] = {'x': pos[0], 'y': pos[1], 'z': pos[2]}
+
+        names = QFileDialog.getSaveFileName(self, 'Save file', self._helper.current_folder, FILE_REGEX_YAML)
+
+        if names[0] == '':
+            return
+
+        self._helper.current_folder = os.path.dirname(names[0])
+
+        if not names[0].endswith(".yaml") and names[0].find(".") < 0:
+            filename = names[0] + ".yaml"
+        else:
+            filename = names[0]
+
+        f = open(filename, 'w')
+        with f:
+            yaml.dump(data, f)