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

cfclient/ui/dialogs/inputconfigdialogue.py

@@ -7,7 +7,7 @@
 #  +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
 #   ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
 #
-#  Copyright (C) 2011-2017 Bitcraze AB
+#  Copyright (C) 2011-2023 Bitcraze AB
 #
 #  Crazyflie Nano Quadcopter Client
 #
@@ -30,15 +30,14 @@ 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 PyQt6.QtCore import Qt
+from PyQt6.QtCore import QThread
+from PyQt6.QtCore import QTimer
+from PyQt6.QtCore import pyqtSignal
+from PyQt6.QtWidgets import QMessageBox
 from cfclient.utils.config_manager import ConfigManager
-from PyQt5 import Qt
-from PyQt5 import QtWidgets
-from PyQt5 import uic
-from PyQt5.Qt import *  # noqa
+from PyQt6 import QtWidgets
+from PyQt6 import uic
 
 __author__ = 'Bitcraze AB'
 __all__ = ['InputConfigDialogue']
@@ -107,8 +106,12 @@ class InputConfigDialogue(QtWidgets.QWidget, inputconfig_widget_class):
                 "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)"))
+                "estop", "Disarm/Kill",
+                "Press the button to disarm/kill (will disable motors)"))
+        self.detectArm.clicked.connect(
+            lambda: self._button_detect(
+                "arm", "Arm system",
+                "Press the button to arm the system (will enable motor ouput)"))
         self.detectAlt1.clicked.connect(
             lambda: self._button_detect(
                 "alt1", "Alternative function 1",
@@ -142,9 +145,10 @@ class InputConfigDialogue(QtWidgets.QWidget, inputconfig_widget_class):
             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.detectKillswitch, self.detectArm,
+            self.detectExitapp, self._detect_assisted_control,
+            self.detectAlt1, self.detectAlt2,
+            self.detectMuxswitch]
 
         self._button_to_detect = ""
         self._axis_to_detect = ""
@@ -178,7 +182,8 @@ class InputConfigDialogue(QtWidgets.QWidget, inputconfig_widget_class):
             "pitchNeg": self.pitchNeg,
             "rollPos": self.rollPos,
             "rollNeg": self.rollNeg,
-            "killswitch": self.killswitch,
+            "estop": self.killswitch,
+            "arm": self.arm,
             "alt1": self.alt1,
             "alt2": self.alt2,
             "exitapp": self.exitapp,
@@ -205,16 +210,16 @@ class InputConfigDialogue(QtWidgets.QWidget, inputconfig_widget_class):
         self._combined_button = QtWidgets.QPushButton('Combined Axis ' +
                                                       'Detection')
         self.cancelButton = QtWidgets.QPushButton('Cancel')
-        self._popup.addButton(self.cancelButton, QMessageBox.DestructiveRole)
+        self._popup.addButton(self.cancelButton, QMessageBox.ButtonRole.DestructiveRole)
         self._popup.setWindowTitle(caption)
-        self._popup.setWindowFlags(Qt.Dialog | Qt.MSWindowsFixedSizeDialogHint)
+        self._popup.setWindowFlags(Qt.WindowType.Dialog | Qt.WindowType.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)
+                                  QMessageBox.ButtonRole.ActionRole)
         self._popup.setText(message)
         self._popup.show()
 
@@ -295,7 +300,7 @@ class InputConfigDialogue(QtWidgets.QWidget, inputconfig_widget_class):
                     scaled_value = InputConfigDialogue._scale(
                         self._input.max_yaw_rate, scaled_value
                     )
-                self._axisindicators[v].setValue(scaled_value)
+                self._axisindicators[v].setValue(int(scaled_value))
 
     def _map_axis(self, function, key_id, scale):
         self._map["Input.AXIS-{}".format(key_id)] = {}

cfclient/ui/dialogs/inputconfigdialogue.ui

@@ -505,13 +505,13 @@
           <property name="geometry">
            <rect>
             <x>600</x>
-            <y>158</y>
+            <y>150</y>
             <width>292</width>
-            <height>202</height>
+            <height>221</height>
            </rect>
           </property>
           <layout class="QGridLayout" name="gridLayout_5">
-           <item row="5" column="1">
+           <item row="6" column="1">
             <widget class="QPushButton" name="detectAlt2">
              <property name="enabled">
               <bool>false</bool>
@@ -521,7 +521,30 @@
              </property>
             </widget>
            </item>
-           <item row="4" column="0">
+           <item row="2" column="1">
+            <widget class="QPushButton" name="detectKillswitch">
+             <property name="enabled">
+              <bool>false</bool>
+             </property>
+             <property name="text">
+              <string>Detect</string>
+             </property>
+            </widget>
+           </item>
+           <item row="7" column="0">
+            <widget class="QCheckBox" name="muxswitch">
+             <property name="enabled">
+              <bool>false</bool>
+             </property>
+             <property name="text">
+              <string>Mux switch</string>
+             </property>
+             <property name="checkable">
+              <bool>true</bool>
+             </property>
+            </widget>
+           </item>
+           <item row="5" column="0">
             <widget class="QCheckBox" name="alt1">
              <property name="enabled">
               <bool>false</bool>
@@ -534,8 +557,8 @@
              </property>
             </widget>
            </item>
-           <item row="3" column="1">
-            <widget class="QPushButton" name="detectExitapp">
+           <item row="1" column="1">
+            <widget class="QPushButton" name="_detect_assisted_control">
              <property name="enabled">
               <bool>false</bool>
              </property>
@@ -544,30 +567,33 @@
              </property>
             </widget>
            </item>
-           <item row="2" column="1">
-            <widget class="QPushButton" name="detectKillswitch">
+           <item row="6" column="0">
+            <widget class="QCheckBox" name="alt2">
              <property name="enabled">
               <bool>false</bool>
              </property>
              <property name="text">
-              <string>Detect</string>
+              <string>Alt 2</string>
+             </property>
+             <property name="checkable">
+              <bool>true</bool>
              </property>
             </widget>
            </item>
-           <item row="2" column="0">
-            <widget class="QCheckBox" name="killswitch">
+           <item row="1" column="0">
+            <widget class="QCheckBox" name="_assisted_control">
              <property name="enabled">
               <bool>false</bool>
              </property>
              <property name="text">
-              <string>Killswitch</string>
+              <string>Assisted control</string>
              </property>
              <property name="checkable">
               <bool>true</bool>
              </property>
             </widget>
            </item>
-           <item row="3" column="0">
+           <item row="4" column="0">
             <widget class="QCheckBox" name="exitapp">
              <property name="enabled">
               <bool>false</bool>
@@ -580,21 +606,21 @@
              </property>
             </widget>
            </item>
-           <item row="1" column="0">
-            <widget class="QCheckBox" name="_assisted_control">
+           <item row="2" column="0">
+            <widget class="QCheckBox" name="killswitch">
              <property name="enabled">
               <bool>false</bool>
              </property>
              <property name="text">
-              <string>Assisted control</string>
+              <string>Emergency stop</string>
              </property>
              <property name="checkable">
               <bool>true</bool>
              </property>
             </widget>
            </item>
-           <item row="1" column="1">
-            <widget class="QPushButton" name="_detect_assisted_control">
+           <item row="7" column="1">
+            <widget class="QPushButton" name="detectMuxswitch">
              <property name="enabled">
               <bool>false</bool>
              </property>
@@ -603,21 +629,18 @@
              </property>
             </widget>
            </item>
-           <item row="5" column="0">
-            <widget class="QCheckBox" name="alt2">
+           <item row="5" column="1">
+            <widget class="QPushButton" name="detectAlt1">
              <property name="enabled">
               <bool>false</bool>
              </property>
              <property name="text">
-              <string>Alt 2</string>
-             </property>
-             <property name="checkable">
-              <bool>true</bool>
+              <string>Detect</string>
              </property>
             </widget>
            </item>
            <item row="4" column="1">
-            <widget class="QPushButton" name="detectAlt1">
+            <widget class="QPushButton" name="detectExitapp">
              <property name="enabled">
               <bool>false</bool>
              </property>
@@ -626,21 +649,21 @@
              </property>
             </widget>
            </item>
-           <item row="6" column="0">
-            <widget class="QCheckBox" name="muxswitch">
+           <item row="3" column="0">
+            <widget class="QCheckBox" name="arm">
              <property name="enabled">
               <bool>false</bool>
              </property>
              <property name="text">
-              <string>Mux switch</string>
+              <string>Arm/disarm</string>
              </property>
              <property name="checkable">
               <bool>true</bool>
              </property>
             </widget>
            </item>
-           <item row="6" column="1">
-            <widget class="QPushButton" name="detectMuxswitch">
+           <item row="3" column="1">
+            <widget class="QPushButton" name="detectArm">
              <property name="enabled">
               <bool>false</bool>
              </property>

cfclient/ui/dialogs/lighthouse_bs_geometry_dialog.py

@@ -0,0 +1,220 @@
+# -*- coding: utf-8 -*-
+#
+#     ||          ____  _ __
+#  +------+      / __ )(_) /_______________ _____  ___
+#  | 0xBC |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+#  +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+#   ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
+#
+#  Copyright (C) 2021-2023 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 base station geometry. Used from the lighthouse tab.
+"""
+import logging
+
+import cfclient
+from PyQt6 import QtWidgets
+from PyQt6 import uic
+from PyQt6.QtCore import QVariant, Qt, QAbstractTableModel, pyqtSignal
+from cflib.localization import LighthouseSweepAngleAverageReader
+from cflib.crazyflie.mem import LighthouseBsGeometry
+from cfclient.ui.wizards.lighthouse_geo_bs_estimation_wizard import LighthouseBasestationGeometryWizard
+
+__author__ = 'Bitcraze AB'
+__all__ = ['LighthouseBsGeometryDialog']
+
+logger = logging.getLogger(__name__)
+
+(basestation_geometry_widget_class, connect_widget_base_class) = (
+    uic.loadUiType(
+        cfclient.module_path + '/ui/dialogs/lighthouse_bs_geometry_dialog.ui')
+)
+
+
+class LighthouseBsGeometryTableModel(QAbstractTableModel):
+    def __init__(self, headers, parent=None, *args):
+        QAbstractTableModel.__init__(self, parent)
+        self._headers = headers
+        self._table_values = []
+        self._current_geos = {}
+        self._estimated_geos = {}
+
+    def rowCount(self, parent=None, *args, **kwargs):
+        return len(self._table_values)
+
+    def columnCount(self, parent=None, *args, **kwargs):
+        return len(self._headers)
+
+    def data(self, index, role=None):
+        if index.isValid():
+            value = self._table_values[index.row()][index.column()]
+            if role == Qt.ItemDataRole.DisplayRole:
+                return QVariant(value)
+
+        return QVariant()
+
+    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 _compile_entry(self, current_geo, estimated_geo, index):
+        result = 'N/A'
+        if current_geo is not None:
+            result = '%.2f' % current_geo.origin[index]
+        if estimated_geo is not None:
+            result += ' -> %.2f' % estimated_geo.origin[index]
+
+        return result
+
+    def _add_table_value(self, current_geo, estimated_geo, id, table_values):
+        x = self._compile_entry(current_geo, estimated_geo, 0)
+        y = self._compile_entry(current_geo, estimated_geo, 1)
+        z = self._compile_entry(current_geo, estimated_geo, 2)
+
+        table_values.append([id + 1, x, y, z])
+
+    def _add_table_value_for_id(self, current_geos, estimated_geos, table_values, id):
+        current_geo = None
+        if id in current_geos:
+            current_geo = current_geos[id]
+
+        estimated_geo = None
+        if id in estimated_geos:
+            estimated_geo = estimated_geos[id]
+
+        if current_geo is not None or estimated_geo is not None:
+            self._add_table_value(current_geo, estimated_geo, id, table_values)
+
+    def _add_table_values(self, current_geos, estimated_geos, table_values):
+        current_ids = set(current_geos.keys())
+        estimated_ids = set(estimated_geos.keys())
+        all_ids = current_ids.union(estimated_ids)
+
+        for id in all_ids:
+            self._add_table_value_for_id(current_geos, estimated_geos, table_values, id)
+
+    def _update_table_data(self):
+        self.layoutAboutToBeChanged.emit()
+        self._table_values = []
+        self._add_table_values(self._current_geos, self._estimated_geos, self._table_values)
+        self._table_values.sort(key=lambda row: row[0])
+        self.layoutChanged.emit()
+
+    def set_estimated_geos(self, geos):
+        self._estimated_geos = geos
+        self._update_table_data()
+
+    def set_current_geos(self, geos):
+        self._current_geos = geos
+        self._update_table_data()
+
+
+class LighthouseBsGeometryDialog(QtWidgets.QWidget, basestation_geometry_widget_class):
+
+    _sweep_angles_received_and_averaged_signal = pyqtSignal(object)
+    _base_station_geometery_received_signal = pyqtSignal(object)
+
+    def __init__(self, lighthouse_tab, *args):
+        super(LighthouseBsGeometryDialog, self).__init__(*args)
+        self.setupUi(self)
+
+        self._lighthouse_tab = lighthouse_tab
+
+        self._estimate_geometry_button.clicked.connect(self._estimate_geometry_button_clicked)
+
+        self._write_to_cf_button.clicked.connect(self._write_to_cf_button_clicked)
+
+        self._sweep_angles_received_and_averaged_signal.connect(self._sweep_angles_received_and_averaged_cb)
+        self._base_station_geometery_received_signal.connect(self._basestation_geometry_received_signal_cb)
+        self._close_button.clicked.connect(self.close)
+
+        self._sweep_angle_reader = LighthouseSweepAngleAverageReader(
+            self._lighthouse_tab._helper.cf, self._sweep_angles_received_and_averaged_signal.emit)
+
+        self._base_station_geometry_wizard = LighthouseBasestationGeometryWizard(
+            self._lighthouse_tab._helper.cf, self._base_station_geometery_received_signal.emit)
+
+        self._lh_geos = None
+        self._newly_estimated_geometry = {}
+
+        # Table handlers
+        self._headers = ['id', 'x', 'y', 'z']
+        self._data_model = LighthouseBsGeometryTableModel(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.Stretch)
+        header.setSectionResizeMode(2, QtWidgets.QHeaderView.ResizeMode.Stretch)
+        header.setSectionResizeMode(3, QtWidgets.QHeaderView.ResizeMode.Stretch)
+
+        self._update_ui()
+
+    def reset(self):
+        self._newly_estimated_geometry = {}
+        self._update_ui()
+
+    def _basestation_geometry_received_signal_cb(self, basestation_geometries):
+        self._newly_estimated_geometry = basestation_geometries
+        self.show()
+        self._update_ui()
+
+    def _sweep_angles_received_and_averaged_cb(self, averaged_angles):
+        self._averaged_angles = averaged_angles
+        self._newly_estimated_geometry = {}
+
+        for id, average_data in averaged_angles.items():
+            sensor_data = average_data[1]
+            rotation_bs_matrix, position_bs_vector = self._simple_estimator.estimate_geometry(sensor_data)
+            geo = LighthouseBsGeometry()
+            geo.rotation_matrix = rotation_bs_matrix
+            geo.origin = position_bs_vector
+            geo.valid = True
+            self._newly_estimated_geometry[id] = geo
+
+        self._update_ui()
+
+    def _estimate_geometry_button_clicked(self):
+        self._base_station_geometry_wizard.reset()
+        self._base_station_geometry_wizard.show()
+        self.hide()
+
+    def _write_to_cf_button_clicked(self):
+        if len(self._newly_estimated_geometry) > 0:
+            self._lighthouse_tab.write_and_store_geometry(self._newly_estimated_geometry)
+            self._newly_estimated_geometry = {}
+
+        self._update_ui()
+
+    def _update_ui(self):
+        self._write_to_cf_button.setEnabled(len(self._newly_estimated_geometry) > 0)
+        self._data_model.set_estimated_geos(self._newly_estimated_geometry)
+
+    def closeEvent(self, event):
+        self._stop_collection()
+
+    def _stop_collection(self):
+        self._sweep_angle_reader.stop_angle_collection()
+
+    def geometry_updated(self, geometry):
+        self._data_model.set_current_geos(geometry)
+
+        self._update_ui()

cfclient/ui/dialogs/lighthouse_bs_geometry_dialog.ui

@@ -0,0 +1,110 @@
+<?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>555</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Basestation Geometry Managment</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="_estimate_geometry_button">
+         <property name="text">
+          <string>Estimate Geometry</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>
+        <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="_write_to_cf_button">
+         <property name="text">
+          <string>Write to Crazyflie</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>