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

cfclient/ui/dialogs/anchor_position_dialog.ui

@@ -0,0 +1,138 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>Form</class>
+ <widget class="QWidget" name="Form">
+  <property name="windowModality">
+   <enum>Qt::ApplicationModal</enum>
+  </property>
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>443</width>
+    <height>558</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Anchor position configuration</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout_4">
+   <item>
+    <layout class="QVBoxLayout" name="verticalLayout">
+     <item>
+      <layout class="QHBoxLayout" name="horizontalLayout">
+       <item>
+        <widget class="QPushButton" name="_add_anchor_button">
+         <property name="text">
+          <string>Add anchor</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="_remove_anchors_button">
+         <property name="text">
+          <string>Remove anchor(s)</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <spacer name="horizontalSpacer_2">
+         <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="QTableView" name="_table_view"/>
+     </item>
+     <item>
+      <layout class="QHBoxLayout" name="horizontalLayout_4">
+       <item>
+        <widget class="QPushButton" name="_load_button">
+         <property name="text">
+          <string>Load from file...</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="_save_button">
+         <property name="text">
+          <string>Save to file...</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <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="Line" name="line">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <layout class="QHBoxLayout" name="horizontalLayout_2">
+       <item>
+        <widget class="QPushButton" name="_get_from_anchors_button">
+         <property name="text">
+          <string>Get from anchors</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="_write_to_anchors_button">
+         <property name="text">
+          <string>Write to anchors</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <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>
+        <widget class="QPushButton" name="_close_button">
+         <property name="text">
+          <string>Close</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+    </layout>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

cfclient/ui/dialogs/basestation_mode_dialog.py

@@ -0,0 +1,185 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+#
+#     ||          ____  _ __
+#  +------+      / __ )(_) /_______________ _____  ___
+#  | 0xBC |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+#  +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+#   ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
+#
+#  Copyright (C) 2011-2023 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.
+"""
+Toolbox used to interact with the Basestation to set it in a certain channel
+"""
+
+from PyQt6 import QtWidgets
+from PyQt6 import uic
+from PyQt6.QtCore import Qt
+
+import io
+import serial
+from serial.tools.list_ports import comports
+import cfclient
+import time
+
+
+__author__ = 'Bitcraze AB'
+__all__ = ['LighthouseBsModeDialog']
+
+(basestation_mode_widget_class, connect_widget_base_class) = uic.loadUiType(
+    cfclient.module_path + "/ui/dialogs/basestation_mode_dialog.ui")
+
+
+class LighthouseBsModeDialog(QtWidgets.QWidget, basestation_mode_widget_class):
+
+    PID = 0x2500
+    VID = 0x28de
+
+    def __init__(self, helper, *args):
+        super(LighthouseBsModeDialog, self).__init__(*args)
+
+        self.setupUi(self)
+
+        self.helper = helper
+
+        self._set_basestation_button.pressed.connect(self._set_basestation_pressed)
+        self._set_channel_spinbox.valueChanged.connect(self._set_channel_number)
+        self._scan_basestation_button.pressed.connect(self._set_basestation_dev)
+
+        self._channel = 1
+        self._device = None
+
+        self._basestation_port_display.setText('No basestation found!')
+
+        self._basestation_port_display.setText(self._device)
+
+    def _set_basestation_dev(self):
+        self._device = self._find_basestation()
+        if self._device is None:
+            self._basestation_port_display.setText('No basestation found!')
+            self._set_basestation_button.setEnabled(False)
+            self._display_current_channel.setText('')
+            self._display_current_id.setText('')
+        else:
+            self._basestation_port_display.setText(self._device)
+            self._set_basestation_button.setEnabled(True)
+            self._check_current_mode()
+            self._check_current_id()
+
+    def _check_current_mode(self):
+        dev = self._device
+        ser = serial.Serial(dev, timeout=0.4)
+        sio = io.TextIOWrapper(io.BufferedRWPair(ser, ser))
+        sio.write("\r\nmode \r\n")
+        sio.flush()
+        mode_confirm_lines = sio.readlines()
+        for line in mode_confirm_lines:
+            if line.startswith('Current mode: '):
+                parts = line.split()
+                confirm_mode = int(parts[2])
+        if confirm_mode == 0:
+            self._display_current_channel.setText('0 (not supported)')
+        else:
+            self._display_current_channel.setText(str(confirm_mode))
+        ser.close()
+
+    def _check_current_id(self):
+        dev = self._device
+        ser = serial.Serial(dev, timeout=0.4)
+        sio = io.TextIOWrapper(io.BufferedRWPair(ser, ser))
+
+        sio.write("\r\nid\r\n")
+        sio.flush()
+        id_lines = sio.readlines()
+
+        uid = id_lines[3].split(': ')[1].strip()
+        self._display_current_id.setText(str(uid))
+        ser.close()
+
+    def _set_basestation_pressed(self):
+        self._set_basestation_button.setEnabled(False)
+        dev = self._device
+        try:
+            ser = serial.Serial(dev, timeout=0.4)
+        except serial.SerialException:
+            self._basestation_mode_status.setText(
+                'Permission denied: cannot access serial port.\n'
+                'Try running: \"sudo usermod -aG dialout [username]\" '
+                'and then restart your computer.'
+            )
+
+            self._set_basestation_button.setEnabled(True)
+            return
+
+        sio = io.TextIOWrapper(io.BufferedRWPair(ser, ser))
+        sio.write("\r\nmode " + str(self._channel) + "\r\n")
+        sio.flush()
+        time.sleep(1)
+        sio.write("\r\nparam save\r\n")
+        sio.flush()
+        time.sleep(1)
+        sio.write("\r\nmode\r\n")
+        sio.flush()
+        mode_confirm_lines = sio.readlines()
+        confirm_mode = None
+        for line in mode_confirm_lines:
+            if line.startswith('Current mode: '):
+                parts = line.split()
+                confirm_mode = int(parts[2])
+        if confirm_mode is self._channel:
+            self._basestation_mode_status.setText('Success !')
+        else:
+            self._basestation_mode_status.setText('Try again !')
+        self._display_current_channel.setText(str(confirm_mode))
+        self._set_basestation_button.setEnabled(True)
+        ser.close()
+
+    def _set_channel_number(self, value):
+        self._channel = value
+
+    def getName(self):
+        return 'LH Basestation Setup'
+
+    def getTabName(self):
+        return 'LH Basestation Setup'
+
+    def enable(self):
+        return
+
+    def disable(self):
+        return
+
+    def preferedDockArea(self):
+        return Qt.DockWidgetArea.RightDockWidgetArea
+
+    def _find_basestation(self):
+        ports = comports()
+
+        for port in ports:
+            if port.vid == self.VID and port.pid == self.PID:
+                return port.device
+
+    def reset(self):
+        self._channel = 1
+        self._device = None
+        self._set_basestation_button.setEnabled(False)
+        self._basestation_port_display.setText('No basestation found!')
+        self._display_current_channel.setText('')
+        self._basestation_mode_status.setText('')
+        self._set_channel_spinbox.setValue(self._channel)
+        self._display_current_id.setText('')

cfclient/ui/dialogs/basestation_mode_dialog.ui

@@ -0,0 +1,186 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>Form</class>
+ <widget class="QWidget" name="Form">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>400</width>
+    <height>300</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Basestation configuration</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <item>
+    <layout class="QVBoxLayout" name="verticalLayout_2">
+     <item>
+      <layout class="QHBoxLayout" name="horizontalLayout">
+       <item>
+        <widget class="QLabel" name="label">
+         <property name="font">
+          <font>
+           <weight>75</weight>
+           <bold>true</bold>
+          </font>
+         </property>
+         <property name="text">
+          <string>Lighthouse V2 Basestation Configuration Tool</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+     <item>
+      <widget class="QLabel" name="label_5">
+       <property name="font">
+        <font>
+         <pointsize>9</pointsize>
+         <italic>true</italic>
+        </font>
+       </property>
+       <property name="text">
+        <string>Connect only 1 basestation with a micro usb  at the time </string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QLabel" name="label_6">
+       <property name="font">
+        <font>
+         <pointsize>9</pointsize>
+         <italic>true</italic>
+        </font>
+       </property>
+       <property name="text">
+        <string/>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <layout class="QGridLayout" name="checkGrid">
+       <item row="5" column="0">
+        <widget class="QLabel" name="label_2">
+         <property name="text">
+          <string>Change channel</string>
+         </property>
+        </widget>
+       </item>
+       <item row="2" column="0">
+        <widget class="QLabel" name="label_3">
+         <property name="text">
+          <string>USB port: </string>
+         </property>
+        </widget>
+       </item>
+       <item row="1" column="1">
+        <widget class="QPushButton" name="_scan_basestation_button">
+         <property name="text">
+          <string>Scan basestation</string>
+         </property>
+        </widget>
+       </item>
+       <item row="5" column="1">
+        <widget class="QSpinBox" name="_set_channel_spinbox">
+         <property name="minimum">
+          <number>1</number>
+         </property>
+         <property name="maximum">
+          <number>16</number>
+         </property>
+        </widget>
+       </item>
+       <item row="3" column="0">
+        <widget class="QLabel" name="label_4">
+         <property name="text">
+          <string>Current channel:</string>
+         </property>
+        </widget>
+       </item>
+       <item row="3" column="1">
+        <widget class="QLabel" name="_display_current_channel">
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
+       </item>
+       <item row="2" column="1">
+        <widget class="QLabel" name="_basestation_port_display">
+         <property name="text">
+          <string>None</string>
+         </property>
+        </widget>
+       </item>
+       <item row="6" column="0">
+        <widget class="QLabel" name="label_7">
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
+       </item>
+       <item row="6" column="1">
+        <widget class="QPushButton" name="_set_basestation_button">
+         <property name="enabled">
+          <bool>true</bool>
+         </property>
+         <property name="text">
+          <string>Set channel</string>
+         </property>
+         <property name="checkable">
+          <bool>false</bool>
+         </property>
+        </widget>
+       </item>
+       <item row="4" column="0">
+        <widget class="QLabel" name="label_8">
+         <property name="text">
+          <string>Current ID</string>
+         </property>
+        </widget>
+       </item>
+       <item row="4" column="1">
+        <widget class="QLabel" name="_display_current_id">
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+     <item>
+      <widget class="QLabel" name="_basestation_mode_status">
+       <property name="font">
+        <font>
+         <italic>true</italic>
+        </font>
+       </property>
+       <property name="text">
+        <string/>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <spacer name="verticalSpacer">
+       <property name="orientation">
+        <enum>Qt::Vertical</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>20</width>
+         <height>40</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+    </layout>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>