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Server: Handle new data, fix getting copter client data, remove old r…
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…equests
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@goldarte
goldarte committed Nov 1, 2019
1 parent 87a45ad commit 0beb6ca
Showing 1 changed file with 11 additions and 70 deletions.
81 changes: 11 additions & 70 deletions Server/server_qt.py
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Original file line number Diff line number Diff line change
Expand Up @@ -166,52 +166,6 @@ def init_ui(self):
self.ui.takeoff_button.setEnabled(False)
self.ui.flip_button.setEnabled(False)

@pyqtSlot()
def selfcheck_selected_old(self):
for copter_data_row in self.model.user_selected():
client = copter_data_row.client

client.get_response("anim_id", self.set_copter_data, callback_args=(1, copter_data_row))
client.get_response("batt_voltage", self.set_copter_data, callback_args=(2, copter_data_row))
client.get_response("cell_voltage", self.set_copter_data, callback_args=(3, copter_data_row))
client.get_response("sys_status", self.set_copter_data, callback_args=(4, copter_data_row))
client.get_response("cal_status", self.set_copter_data, callback_args=(5, copter_data_row))
client.get_response("selfcheck", self.set_copter_data, callback_args=(6, copter_data_row))
client.get_response("position", self.set_copter_data, callback_args=(7, copter_data_row))
client.get_response("time", self.set_copter_data, callback_args=(8, copter_data_row))


def set_copter_data(self, value, col, copter_data_row):
row = self.model.get_row_index(copter_data_row)
if row is None:
logging.error("No such client!")
return

if col == 1:
data = value
elif col == 2:
data = "{}".format(round(float(value), 3))
elif col == 3:
batt_percent = ((float(value) - 3.2) / (4.2 - 3.2)) * 100 # TODO config
data = "{}".format(round(batt_percent, 3))
elif col == 4:
data = str(value)
elif col == 5:
data = str(value)
elif col == 6:
data = value
elif col == 7:
data = str(value)
elif col == 8:
data = "{}".format(round(float(value) - time.time(), 3))
if abs(float(data)) > 1:
copter_data_row.client.send_message("repair_chrony")
else:
logging.error("No column matched for response")
return

self.signals.update_data_signal.emit(row, col, data, ModelDataRole)

@pyqtSlot()
def selfcheck_selected(self):
for copter_data_row in self.model.user_selected():
Expand All @@ -221,7 +175,6 @@ def selfcheck_selected(self):
@pyqtSlot(str)
def update_table_data(self, message):
fields = message.split('`')
logging.info(fields[8])
# copter_id git_version animation_id battery_v battery_p system_status calibration_status mode selfcheck current_position start_position copter_time
copter_id = fields[0]
git_version = fields[1]
Expand All @@ -236,27 +189,16 @@ def update_table_data(self, message):
start_pos = fields[10]
copter_time = fields[11]
row = self.model.get_row_index(self.model.get_row_by_attr('copter_id', copter_id))
logging.info("Row = {}".format(row))
self.signals.update_data_signal.emit(row, 1, animation_id, ModelDataRole)
self.signals.update_data_signal.emit(row, 2, battery_v, ModelDataRole)
self.signals.update_data_signal.emit(row, 3, battery_p, ModelDataRole)
self.signals.update_data_signal.emit(row, 1, git_version, ModelDataRole)
self.signals.update_data_signal.emit(row, 2, animation_id, ModelDataRole)
self.signals.update_data_signal.emit(row, 3, "{}V {}%".format(battery_v, battery_p), ModelDataRole)
self.signals.update_data_signal.emit(row, 4, sys_status, ModelDataRole)
self.signals.update_data_signal.emit(row, 5, cal_status, ModelDataRole)
self.signals.update_data_signal.emit(row, 6, selfcheck, ModelDataRole)
self.signals.update_data_signal.emit(row, 7, current_pos, ModelDataRole)
self.signals.update_data_signal.emit(row, 8, "{}".format(round(float(copter_time) - time.time(), 3)), ModelDataRole)

#def set_copter_id(self, value, copter_data_row):
# col = 0
# row = self.model.get_row_index(copter_data_row)
# if row is None:
# logging.error("No such client!")
# return
# logging.info("SET COPTER ID TO {}".format(value))
#
# copter_data_row.client.copter_id = value
# self.signals.update_data_signal.emit(row, col, value, ModelDataRole)
# self.signals.update_data_signal.emit(row, col, True, ModelStateRole)
self.signals.update_data_signal.emit(row, 6, mode, ModelDataRole)
self.signals.update_data_signal.emit(row, 7, selfcheck, ModelDataRole)
self.signals.update_data_signal.emit(row, 8, current_pos, ModelDataRole)
self.signals.update_data_signal.emit(row, 9, start_pos, ModelDataRole)
self.signals.update_data_signal.emit(row, 10, "{}".format(round(float(copter_time) - time.time(), 3)), ModelDataRole)

@pyqtSlot(QtCore.QModelIndex)
def selfcheck_info_dialog(self, index):
Expand Down Expand Up @@ -400,13 +342,12 @@ def send_animations(self):
print("Selected directory:", path)
files = [file for file in glob.glob(path + '/*.csv')]
names = [os.path.basename(file).split(".")[0] for file in files]
# print(files)
for file, name in zip(files, names):
for copter in self.model.user_selected():
if name == copter.copter_id:
copter.client.send_file(file, "animation.csv") # TODO config
else:
print("Filename has no matches with any drone selected")
logging.info("Filename has no matches with any drone selected")

@pyqtSlot()
def send_calibrations(self):
Expand All @@ -422,7 +363,7 @@ def send_calibrations(self):
if name == copter.copter_id:
copter.client.send_file(file, "/home/pi/catkin_ws/src/clever/clever/camera_info/calibration.yaml")
else:
print("Filename has no matches with any drone selected")
logging.info("Filename has no matches with any drone selected")

@pyqtSlot()
def send_configurations(self):
Expand All @@ -435,7 +376,7 @@ def send_configurations(self):
for section in sendable_config.sections():
for option in dict(sendable_config.items(section)):
value = sendable_config[section][option]
logging.debug("Got item from config:".format(section, option, value))
logging.debug("Got item from config: {} {} {}".format(section, option, value))
options.append(ConfigOption(section, option, value))

for copter in self.model.user_selected():
Expand Down

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