cfclient 2024.3__py3-none-any.whl → 2024.7__py3-none-any.whl

cfclient/ui/dialogs/inputconfigdialogue.py

@@ -210,7 +210,7 @@ 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.WindowType.Dialog | Qt.WindowType.MSWindowsFixedSizeDialogHint)
         if len(directions) > 1:
@@ -219,7 +219,7 @@ class InputConfigDialogue(QtWidgets.QWidget, inputconfig_widget_class):
             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()
 

cfclient/ui/tabs/FlightTab.py

@@ -715,7 +715,7 @@ class FlightTab(TabToolbox, flight_tab_class):
             self.targetHeight.setEnabled(enabled)
             print('Chaning enable for target height: %s' % enabled)
         else:
-            self._helper.cf.param.set_value("flightmode.althold", str(enabled))
+            self._helper.cf.param.set_value("flightmode.althold", int(enabled))
 
     def alt1_updated(self, state):
         if state:

cfclient/ui/tabs/ParamTab.py

@@ -31,17 +31,20 @@ to edit them.
 """
 
 import logging
+from threading import Event
 
 from PyQt6 import uic, QtCore
 from PyQt6.QtCore import QSortFilterProxyModel, Qt, pyqtSignal
 from PyQt6.QtCore import QAbstractItemModel, QModelIndex, QVariant
 from PyQt6.QtGui import QBrush, QColor
-from PyQt6.QtWidgets import QHeaderView
+from PyQt6.QtWidgets import QHeaderView, QFileDialog, QMessageBox
 
 from cflib.crazyflie.param import PersistentParamState
+from cflib.localization import ParamFileManager
 
 import cfclient
 from cfclient.ui.tab_toolbox import TabToolbox
+from cfclient.utils.logconfigreader import FILE_REGEX_YAML
 
 __author__ = 'Bitcraze AB'
 __all__ = ['ParamTab']
@@ -316,6 +319,13 @@ class ParamTab(TabToolbox, param_tab_class):
         self.paramTree.header().setSectionResizeMode(QHeaderView.ResizeMode.ResizeToContents)
         self.paramTree.selectionModel().selectionChanged.connect(self._paramChanged)
 
+        self._load_param_button.clicked.connect(self._load_param_button_clicked)
+        self._dump_param_button.clicked.connect(self._dump_param_button_clicked)
+        self._clear_param_button.clicked.connect(self._clear_stored_persistent_params_button_clicked)
+
+        self._is_connected = False
+        self._update_param_io_buttons()
+
     def _param_default_cb(self, default_value):
         if default_value is not None:
             self.defaultValue.setText(str(default_value))
@@ -408,14 +418,144 @@ class ParamTab(TabToolbox, param_tab_class):
             if elem.is_persistent():
                 self.cf.param.persistent_get_state(complete, lambda _, state: self._persistent_state_signal.emit(state))
 
+    def _update_param_io_buttons(self):
+        enabled = self._is_connected
+        self._load_param_button.setEnabled(enabled)
+        self._dump_param_button.setEnabled(enabled)
+        self._clear_param_button.setEnabled(enabled)
+
+    def _load_param_button_clicked(self):
+        names = QFileDialog.getOpenFileName(self, 'Open file', cfclient.config_path, FILE_REGEX_YAML)
+
+        if names[0] == '':
+            return
+        filename = names[0]
+        parameters = ParamFileManager.read(filename)
+
+        def _is_persistent_stored_callback(complete_name, success):
+            if not success:
+                print(f'Persistent params: failed to store {complete_name}!')
+                QMessageBox.about(self, 'Warning', f'Failed to persistently store {complete_name}!')
+            else:
+                print(f'Persistent params: stored {complete_name}!')
+
+        _set_param_names = []
+        for param, state in parameters.items():
+            if state.is_stored:
+                try:
+                    self.cf.param.set_value(param, state.stored_value)
+                    _set_param_names.append(param)
+                except Exception:
+                    print(f'Failed to set {param}!')
+                    QMessageBox.about(self, 'Warning', f'Failed to set {param}!')
+                print(f'Set {param}!')
+                self.cf.param.persistent_store(param, _is_persistent_stored_callback)
+
+        self._update_param_io_buttons()
+        dlg = QMessageBox(self)
+        dlg.setWindowTitle("Info")
+        _parameters_and_values = [f"{_param_name}:{parameters[_param_name].stored_value}"
+                                  for _param_name in _set_param_names]
+        dlg.setText('Loaded persistent parameters from file:\n' + "\n".join(_parameters_and_values))
+        dlg.setIcon(QMessageBox.Icon.NoIcon)
+        dlg.exec()
+
+    def _get_persistent_state(self, complete_param_name):
+        wait_for_callback_event = Event()
+        state_value = None
+
+        def state_callback(complete_name, value):
+            nonlocal state_value
+            state_value = value
+            wait_for_callback_event.set()
+
+        self.cf.param.persistent_get_state(complete_param_name, state_callback)
+        wait_for_callback_event.wait()
+        return state_value
+
+    def _get_all_persistent_param_names(self):
+        persistent_params = []
+        for group_name, params in self.cf.param.toc.toc.items():
+            for param_name, element in params.items():
+                if element.is_persistent():
+                    complete_name = group_name + '.' + param_name
+                    persistent_params.append(complete_name)
+
+        return persistent_params
+
+    def _get_all_stored_persistent_param_names(self):
+        persistent_params = self._get_all_persistent_param_names()
+        stored_params = []
+        for complete_name in persistent_params:
+            state = self._get_persistent_state(complete_name)
+            if state.is_stored:
+                stored_params.append(complete_name)
+        return stored_params
+
+    def _get_all_stored_persistent_params(self):
+        persistent_params = self._get_all_persistent_param_names()
+        stored_params = {}
+        for complete_name in persistent_params:
+            state = self._get_persistent_state(complete_name)
+            if state.is_stored:
+                stored_params[complete_name] = state
+        return stored_params
+
+    def _dump_param_button_clicked(self):
+        stored_persistent_params = self._get_all_stored_persistent_params()
+        names = QFileDialog.getSaveFileName(self, 'Save file', cfclient.config_path, FILE_REGEX_YAML)
+        if names[0] == '':
+            return
+        if not names[0].endswith(".yaml"):
+            filename = names[0] + ".yaml"
+        else:
+            filename = names[0]
+
+        ParamFileManager.write(filename, stored_persistent_params)
+        dlg = QMessageBox(self)
+        dlg.setWindowTitle('Info')
+        _parameters_and_values = [f"{_param_name}: {stored_persistent_params[_param_name].stored_value}"
+                                  for _param_name in stored_persistent_params.keys()]
+        dlg.setText('Dumped persistent parameters to file:\n' + "\n".join(_parameters_and_values))
+        dlg.setIcon(QMessageBox.Icon.NoIcon)
+        dlg.exec()
+
+    def _clear_persistent_parameter(self, complete_param_name):
+        wait_for_callback_event = Event()
+
+        def is_stored_cleared(complete_name, success):
+            if success:
+                print(f'Persistent params: cleared {complete_name}!')
+            else:
+                print(f'Persistent params: failed to clear {complete_name}!')
+            wait_for_callback_event.set()
+
+        self.cf.param.persistent_clear(complete_param_name, callback=is_stored_cleared)
+        wait_for_callback_event.wait()
+
+    def _clear_stored_persistent_params_button_clicked(self):
+        dlg = QMessageBox(self)
+        dlg.setWindowTitle("Clear Stored Parameters Confirmation")
+        dlg.setText("Are you sure you want to clear your stored persistent parameter?")
+        dlg.setStandardButtons(QMessageBox.StandardButton.Yes | QMessageBox.StandardButton.No)
+        button = dlg.exec()
+
+        if button == QMessageBox.StandardButton.Yes:
+            stored_persistent_params = self._get_all_stored_persistent_param_names()
+            for complete_name in stored_persistent_params:
+                self._clear_persistent_parameter(complete_name)
+
     def _connected(self, link_uri):
         self._model.reset()
         self._model.set_toc(self.cf.param.toc.toc, self._helper.cf)
         self._model.set_enabled(True)
         self._helper.cf.param.request_update_of_all_params()
+        self._is_connected = True
+        self._update_param_io_buttons()
 
     def _disconnected(self, link_uri):
-
+        self._is_connected = False
+        self._update_param_io_buttons()
         self._model.reset()
         self._paramChanged()
         self._model.set_enabled(False)

cfclient/ui/tabs/paramTab.ui

@@ -22,8 +22,8 @@
     </item>
     <item row="1" column="0">
         <widget class="QTreeView" name="paramTree"/>
-   </item>
-   <item row="0" column="1" rowspan="2">
+    </item>
+   <item row="1" column="1" rowspan="2">
     <widget class="QFrame" name="paramDetails">
         <property name="frameShape">
             <enum>QFrame::Box</enum>
@@ -182,6 +182,42 @@
         </layout>
     </widget>
    </item>
+   <item row="0" column="1">
+    <layout class="QVBoxLayout" name="verticalLayout">
+     <item>
+      <widget class="QLabel" name="label">
+       <property name="text">
+        <string>Persistent Parameter Management</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <layout class="QHBoxLayout" name="horizontalLayout">
+       <item>
+        <widget class="QPushButton" name="_dump_param_button">
+         <property name="text">
+          <string>Dump</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="_load_param_button">
+         <property name="text">
+          <string>Load</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="_clear_param_button">
+         <property name="text">
+          <string>Clear</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+    </layout>
+   </item>
   </layout>
  </widget>
  <resources/>

cfclient/ui/widgets/plotter.ui

@@ -31,20 +31,51 @@
           <layout class="QGridLayout" name="gridLayout">
            <item row="1" column="0">
             <layout class="QGridLayout" name="gridLayout_5">
+             <item row="0" column="0">
+              <widget class="QRadioButton" name="_enable_range_x">
+               <property name="text">
+                <string>Range (s)</string>
+               </property>
+               <property name="autoExclusive">
+                <bool>false</bool>
+               </property>
+              </widget>
+             </item>
              <item row="0" column="1">
-              <widget class="QLineEdit" name="_range_x_min">
+              <widget class="QDoubleSpinBox" name="_range_x_min">
                <property name="enabled">
                 <bool>false</bool>
                </property>
-               <property name="text">
-                <string>0</string>
+               <property name="minimum">
+                <double>0</double>
+               </property>
+               <property name="maximum">
+                <double>86400</double>
+               </property>
+               <property name="singleStep">
+                <double>1</double>
+               </property>
+               <property name="value">
+                <double>0</double>
                </property>
               </widget>
              </item>
-             <item row="0" column="2">
-              <widget class="QLabel" name="label_2">
-               <property name="text">
-                <string>-</string>
+             <item row="0" column="4">
+              <widget class="QDoubleSpinBox" name="_range_x_max">
+               <property name="enabled">
+                <bool>false</bool>
+               </property>
+               <property name="minimum">
+                <double>0</double>
+               </property>
+               <property name="maximum">
+                <double>86400</double>
+               </property>
+               <property name="singleStep">
+                <double>1</double>
+               </property>
+               <property name="value">
+                <double>60</double>
                </property>
               </widget>
              </item>
@@ -70,7 +101,7 @@
                 <string/>
                </property>
                <property name="maximum">
-                <number>2000</number>
+                <number>3000</number>
                </property>
                <property name="singleStep">
                 <number>100</number>
@@ -80,47 +111,8 @@
                </property>
               </widget>
              </item>
-             <item row="0" column="3">
-              <widget class="QLineEdit" name="_range_x_max">
-               <property name="enabled">
-                <bool>false</bool>
-               </property>
-               <property name="text">
-                <string>1000</string>
-               </property>
-              </widget>
-             </item>
-             <item row="0" column="0">
-              <widget class="QRadioButton" name="_enable_range_x">
-               <property name="enabled">
-                <bool>false</bool>
-               </property>
-               <property name="text">
-                <string>Range</string>
-               </property>
-               <property name="autoExclusive">
-                <bool>false</bool>
-               </property>
-              </widget>
-             </item>
-             <item row="3" column="0">
-              <widget class="QRadioButton" name="_enable_manual_x">
-               <property name="enabled">
-                <bool>false</bool>
-               </property>
-               <property name="text">
-                <string>Manual</string>
-               </property>
-               <property name="autoExclusive">
-                <bool>false</bool>
-               </property>
-              </widget>
-             </item>
              <item row="2" column="0">
               <widget class="QRadioButton" name="_enable_seconds_x">
-               <property name="enabled">
-                <bool>false</bool>
-               </property>
                <property name="text">
                 <string>Seconds</string>
                </property>

cfclient/ui/widgets/plotwidget.py

@@ -156,12 +156,17 @@ class PlotWidget(QtWidgets.QWidget, plot_widget_class):
         self._enable_samples_x.setChecked(True)
         self._last_ts = None
         self._dtime = None
+        self._first_ts = None
 
         self._x_range = (
             float(self._range_x_min.text()), float(self._range_x_max.text()))
         self._nbr_samples = int(self._nbr_of_samples_x.text())
-
         self._nbr_of_samples_x.valueChanged.connect(self._nbr_samples_changed)
+        self._nbr_seconds = int(self._nbr_of_seconds_x.text())
+        self._nbr_of_seconds_x.valueChanged.connect(self._nbr_of_seconds_changed)
+        self._range_x_min.valueChanged.connect(self._x_range_changed)
+        self._range_x_max.valueChanged.connect(self._x_range_changed)
+
         self._range_y_min.valueChanged.connect(self._y_range_changed)
         self._range_y_max.valueChanged.connect(self._y_range_changed)
 
@@ -175,8 +180,8 @@ class PlotWidget(QtWidgets.QWidget, plot_widget_class):
         self._x_btn_group.addButton(self._enable_range_x)
         self._x_btn_group.addButton(self._enable_samples_x)
         self._x_btn_group.addButton(self._enable_seconds_x)
-        self._x_btn_group.addButton(self._enable_manual_x)
         self._x_btn_group.setExclusive(True)
+        self._x_btn_group.buttonClicked.connect(self._x_mode_change)
 
         self._draw_graph = True
         self._auto_redraw.stateChanged.connect(self._auto_redraw_change)
@@ -188,6 +193,20 @@ class PlotWidget(QtWidgets.QWidget, plot_widget_class):
         else:
             self._draw_graph = True
 
+    def _x_mode_change(self, box):
+        """Callback when user changes the X-axis mode"""
+        self._nbr_of_samples_x.setEnabled(False)
+        self._nbr_of_seconds_x.setEnabled(False)
+        self._range_x_min.setEnabled(False)
+        self._range_x_max.setEnabled(False)
+        if box == self._enable_range_x:
+            self._range_x_min.setEnabled(True)
+            self._range_x_max.setEnabled(True)
+        elif box == self._enable_samples_x:
+            self._nbr_of_samples_x.setEnabled(True)
+        elif box == self._enable_seconds_x:
+            self._nbr_of_seconds_x.setEnabled(True)
+
     def _y_mode_change(self, box):
         """Callback when user changes the Y-axis mode"""
         if box == self._enable_range_y:
@@ -228,6 +247,14 @@ class PlotWidget(QtWidgets.QWidget, plot_widget_class):
         """Callback when user changes the number of samples to be shown"""
         self._nbr_samples = val
 
+    def _nbr_of_seconds_changed(self, val):
+        """Callback when user changes the number of seconds to be shown"""
+        self._nbr_seconds = val
+
+    def _x_range_changed(self, val):
+        self._range_x_min.setMaximum(self._range_x_max.value()-1)
+        self._range_x_max.setMinimum(self._range_x_min.value()+1)
+
     def set_title(self, title):
         """
         Set the title of the plot.
@@ -254,11 +281,15 @@ class PlotWidget(QtWidgets.QWidget, plot_widget_class):
                pairs
         ts - timestamp of the data in ms
         """
-        if not self._last_ts:
-            self._last_ts = ts
-        elif not self._last_ts:
+
+        if self._first_ts is None:
+            self._first_ts = ts
+
+        if self._last_ts is None:
+            self._dtime = 1e12
+        else:
             self._dtime = ts - self._last_ts
-            self._last_ts = ts
+        self._last_ts = ts
 
         x_min_limit = 0
         x_max_limit = 0
@@ -266,6 +297,17 @@ class PlotWidget(QtWidgets.QWidget, plot_widget_class):
         if self._enable_samples_x.isChecked():
             x_min_limit = max(0, self._last_item - self._nbr_samples)
             x_max_limit = max(self._last_item, self._nbr_samples)
+            self._range_x_min.setValue(int(self._first_ts + x_min_limit * self._dtime)/1000.)
+            self._range_x_max.setValue(int(self._first_ts + x_max_limit * self._dtime)/1000.)
+        elif self._enable_seconds_x.isChecked():
+            x_min_limit = max(0, int(((self._last_ts - self._first_ts) - self._nbr_seconds * 1000.) / self._dtime))
+            x_max_limit = max(0, self._last_item)
+            print(self._first_ts, x_min_limit, x_max_limit, self._dtime, self._nbr_seconds)
+            self._range_x_min.setValue((self._first_ts + x_min_limit * self._dtime)/1000.)
+            self._range_x_max.setValue((self._first_ts + x_min_limit * self._dtime)/1000. + self._nbr_seconds)
+        elif self._enable_range_x.isChecked():
+            x_min_limit = max(0, int((self._range_x_min.value() * 1000. - self._first_ts) / self._dtime))
+            x_max_limit = max(0, int((self._range_x_max.value() * 1000. - self._first_ts) / self._dtime))
 
         for name in self._items:
             self._items[name].add_point(data[name], ts)
@@ -277,6 +319,11 @@ class PlotWidget(QtWidgets.QWidget, plot_widget_class):
         if (self._enable_samples_x.isChecked() and self._dtime and
                 self._last_item < self._nbr_samples):
             self._x_max = self._x_min + self._nbr_samples * self._dtime
+        elif (self._enable_seconds_x.isChecked() and self._dtime and
+                self._last_item < int(self._nbr_seconds * 1000. / self._dtime)):
+            self._x_max = self._x_min + self._nbr_seconds * 1000.
+        elif (self._enable_range_x.isChecked() and self._dtime) and self._last_item < x_max_limit:
+            self._x_max = self._x_min + (x_max_limit - x_min_limit) * self._dtime
 
         self._last_item = self._last_item + 1
         self._plot_widget.getViewBox().setRange(
@@ -292,6 +339,7 @@ class PlotWidget(QtWidgets.QWidget, plot_widget_class):
         self._items = {}
         self._last_item = 0
         self._last_ts = None
+        self._first_ts = None
         self._dtime = None
         self._plot_widget.clear()
 

cfclient/utils/logconfigreader.py

@@ -7,7 +7,7 @@
 #  +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
 #   ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
 #
-#  Copyright (C) 2011-2023 Bitcraze AB
+#  Copyright (C) 2011-2024 Bitcraze AB
 #
 #  Crazyflie Nano Quadcopter Client
 #
@@ -27,15 +27,11 @@
 #  MA  02110-1301, USA.
 
 """
-The input module that will read joysticks/input devices and send control set-
-points to the Crazyflie. It will also accept settings from the UI.
-
-This module can use different drivers for reading the input device data.
-Currently it can just use the PySdl2 driver but in the future there will be a
-Linux and Windows driver that can bypass PySdl2.
+The logconfigreader module is responsible for reading and parsing log
+configuration data. This data is used to control what information is logged
+in the client.
 """
 
-import glob
 import json
 import logging
 import os
@@ -68,10 +64,7 @@ class LogConfigReader():
         # Check if user config exists, otherwise copy files
         if (not os.path.exists(cfclient.config_path + "/log")):
             logger.info("No user config found, copying dist files")
-            os.makedirs(cfclient.config_path + "/log")
-            for f in glob.glob(
-                    cfclient.module_path + "/configs/log/[A-Za-z]*.json"):
-                shutil.copy2(f, cfclient.config_path + "/log")
+            shutil.copytree(cfclient.module_path + "/configs/log", cfclient.config_path + "/log")
         self._cf = crazyflie
         self._cf.connected.add_callback(self._connected)
 
@@ -206,27 +199,27 @@ class LogConfigReader():
         self._log_configs = {'Default': []}
         log_path = os.path.join(cfclient.config_path, 'log')
 
-        for cathegory in os.listdir(log_path):
+        for category in os.listdir(log_path):
 
-            cathegory_path = os.path.join(log_path, cathegory)
+            category_path = os.path.join(log_path, category)
 
             try:
-                if (os.path.isdir(cathegory_path)):
+                if (os.path.isdir(category_path)):
                     # create a new cathegory
-                    self._log_configs[cathegory] = []
-                    for conf in os.listdir(cathegory_path):
+                    self._log_configs[category] = []
+                    for conf in os.listdir(category_path):
                         if conf.endswith('.json'):
-                            conf_path = os.path.join(cathegory_path, conf)
+                            conf_path = os.path.join(category_path, conf)
                             log_conf = self._get_conf(conf_path)
 
                         # add the log configuration to the cathegory
-                        self._log_configs[cathegory].append(log_conf)
+                        self._log_configs[category].append(log_conf)
 
                 else:
                     # if it's not a directory, the log config is placed
                     # in the 'Default' cathegory
-                    if cathegory_path.endswith('.json'):
-                        log_conf = self._get_conf(cathegory_path)
+                    if category_path.endswith('.json'):
+                        log_conf = self._get_conf(category_path)
                         self._log_configs['Default'].append(log_conf)
 
             except Exception as e:

{cfclient-2024.3.dist-info → cfclient-2024.7.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: cfclient
-Version: 2024.3
+Version: 2024.7
 Summary: Bitcraze Cazyflie quadcopter client
 Home-page: http://www.bitcraze.io
 Author: Bitcraze team
@@ -11,7 +11,7 @@ Classifier: Programming Language :: Python :: 3.4
 Classifier: Programming Language :: Python :: 3.5
 Description-Content-Type: text/markdown
 License-File: LICENSE.txt
-Requires-Dist: cflib >=0.1.25.1
+Requires-Dist: cflib >=0.1.26
 Requires-Dist: setuptools
 Requires-Dist: appdirs ~=1.4.0
 Requires-Dist: pyzmq ~=25.0