New python supervision (#2863)

paparazzi

@@ -11,7 +11,7 @@ env['PAPARAZZI_HOME'] = PAPARAZZI_HOME
 env['PAPARAZZI_SRC'] = PAPARAZZI_SRC
 
 if len(sys.argv) > 1 and sys.argv[1] == "-python":
-    path = os.path.normpath(os.path.join(dirname, 'sw', 'supervision', 'python', 'main.py'))
+    path = os.path.normpath(os.path.join(dirname, 'sw', 'supervision', 'python', 'paparazzicenter.py'))
     os.execve(path, sys.argv, env)
 else:
     path = os.path.normpath(os.path.join(dirname, 'sw', 'supervision', 'paparazzicenter'))

sw/supervision/python/Makefile

@@ -0,0 +1,18 @@
+# Copyright (C) 2008-2022 The Paparazzi Team
+# released under GNU GPLv2 or later. See COPYING file.
+all:
+	mkdir -p generated
+	pyuic5 ui/conf_header.ui -o generated/ui_conf_header.py
+	pyuic5 ui/conf_item.ui -o generated/ui_conf_item.py
+	pyuic5 ui/build.ui -o generated/ui_build.py
+	pyuic5 ui/configuration_panel.ui -o generated/ui_configuration_panel.py
+	pyuic5 ui/new_ac_dialog.ui -o generated/ui_new_ac_dialog.py
+	pyuic5 ui/session.ui -o generated/ui_session.py
+	pyuic5 ui/program.ui -o generated/ui_program.py
+	pyuic5 ui/operation_panel.ui -o generated/ui_operation_panel.py
+	pyuic5 ui/console.ui -o generated/ui_console.py
+	pyuic5 ui/tools_list.ui -o generated/ui_tools_list.py
+	pyuic5 ui/app_settings.ui -o generated/ui_app_settings.py
+
+clean:
+	rm -r generated

sw/supervision/python/Readme.md

@@ -0,0 +1,10 @@
+# Paparazzi Center
+
+The Paparazzi Center is the home application for Paparazzi UAV.
+
+
+
+Install the package `pyqt5-dev-tools` and run `make` to generate python ui files.
+
+Install python dependencies:  
+`python3 -m pip install -r requirements.txt`

sw/supervision/python/app_settings.py

@@ -0,0 +1,28 @@
+# Copyright (C) 2008-2022 The Paparazzi Team
+# released under GNU GPLv2 or later. See COPYING file.
+from PyQt5.QtWidgets import *
+from PyQt5 import QtCore, QtGui, QtWidgets
+from generated.ui_app_settings import Ui_AppSettingsDialog
+import utils
+
+
+class AppSettings(QDialog, Ui_AppSettingsDialog):
+
+    def __init__(self, parent=None):
+        QWidget.__init__(self, parent=parent)
+        self.setupUi(self)
+        settings = utils.get_settings()
+        self.text_editor_edit.setText(settings.value("text_editor", "", str))
+        self.terminal_emulator_edit.setText(settings.value("terminal_emulator", "", str))
+        self.keep_changes_checkbox.setChecked(settings.value("always_keep_changes", False, bool))
+        self.finished.connect(self.handle_finished)
+
+    def handle_finished(self, result):
+        if result:
+            settings = utils.get_settings()
+            text_editor = self.text_editor_edit.text()
+            settings.setValue("text_editor", text_editor)
+            terminal_emulator = self.terminal_emulator_edit.text()
+            settings.setValue("terminal_emulator", terminal_emulator)
+            keep_changes = self.keep_changes_checkbox.isChecked()
+            settings.setValue("always_keep_changes", keep_changes)

sw/supervision/python/build_widget.py

@@ -0,0 +1,119 @@
+# Copyright (C) 2008-2022 The Paparazzi Team
+# released under GNU GPLv2 or later. See COPYING file.
+from PyQt5.QtWidgets import *
+from PyQt5 import QtCore
+from generated.ui_build import Ui_Build
+import lxml.etree as ET
+import os
+import utils
+from conf import Aircraft, Conf
+from typing import List, Dict
+from dataclasses import dataclass, field
+import re
+
+
+@dataclass
+class FlashMode:
+    name: str
+    vars: Dict[str, str] = field(default_factory=dict)
+    boards: List[str] = field(default_factory=list)
+
+    def match(self, board):
+        for regex in self.boards:
+            if re.match(regex, board) is not None:
+                return True
+        return False
+
+
+class BuildWidget(Ui_Build, QWidget):
+
+    spawn_program = QtCore.pyqtSignal(str, list, str)
+
+    def __init__(self, parent=None):
+        QWidget.__init__(self, parent=parent)
+        self.setupUi(self)
+        # uic.loadUi("ui/build.ui", self)
+        self.ac: Aircraft = None
+        self.conf: Conf = None      # to save conf before building
+        self.flash_modes: List[FlashMode] = self.parse_flash_modes()
+        self.build_button.clicked.connect(self.build)
+        self.clean_button.clicked.connect(self.clean)
+        self.flash_button.clicked.connect(self.flash)
+        self.target_combo.currentTextChanged.connect(self.update_flash_mode)
+
+    def set_conf(self, conf: Conf):
+        self.conf = conf
+
+    @staticmethod
+    def parse_flash_modes() -> List[FlashMode]:
+        flash_xml = ET.parse(os.path.join(utils.CONF_DIR, "flash_modes.xml"))
+        modes = []
+        for xml_mode in flash_xml.getroot().findall("mode"):
+            mode_name = xml_mode.get("name")
+            vars = {}
+            for xml_var in xml_mode.findall("variable"):
+                var_name = xml_var.get("name")
+                var_value = xml_var.get("value")
+                vars[var_name] = var_value
+            mode = FlashMode(mode_name, vars)
+            for xml_board in xml_mode.find("boards").findall("board"):
+                board = xml_board.get("name")
+                mode.boards.append(board)
+            modes.append(mode)
+        return modes
+
+    def get_flash_modes(self, board):
+        modes = filter(lambda fm: fm.match(board), self.flash_modes)
+        mode_names = [mode.name for mode in modes]
+        return mode_names
+
+    def update_targets(self, ac: Aircraft):
+        self.ac = ac
+        self.target_combo.clear()
+
+        for target in ac.boards.keys():
+            self.target_combo.addItem(target)
+
+    def update_flash_mode(self, target):
+        self.device_combo.clear()
+        if target != "":
+            self.device_combo.addItem("Default")
+            board = self.ac.boards[target]
+            flash_modes = self.get_flash_modes(board)
+            self.device_combo.addItems(flash_modes)
+
+    def get_current_target(self) -> str:
+        return self.target_combo.currentText()
+
+    def build(self):
+        target = self.target_combo.currentText()
+        cmd = ["make", "-C", utils.PAPARAZZI_HOME, "-f", "Makefile.ac",
+               "AIRCRAFT={}".format(self.ac.name), "{}.compile".format(target)]
+        if self.print_config_checkbox.isChecked():
+            cmd.append("PRINT_CONFIG=1")
+        shortname = "Build {}".format(self.ac.name)
+        self.conf.save(False)
+        self.spawn_program.emit(shortname, cmd, None)
+
+    def clean(self):
+        cmd = ["make", "-C", utils.PAPARAZZI_HOME, "-f", "Makefile.ac",
+               "AIRCRAFT={}".format(self.ac.name), "clean_ac"]
+        shortname = "Clean {}".format(self.ac.name)
+        self.spawn_program.emit(shortname, cmd, None)
+
+    def flash(self):
+        target = self.target_combo.currentText()
+        vars = []
+        flash_mode = self.device_combo.currentText()
+        if flash_mode != "Default":
+            for mode in self.flash_modes:
+                if mode.name == flash_mode:
+                    vars = ["{}={}".format(var_name, var_value) for (var_name, var_value) in mode.vars.items()]
+                    break
+            else:
+                raise Exception("Flash mode {} not found!".format(flash_mode))
+        cmd = ["make", "-C", utils.PAPARAZZI_HOME, "-f", "Makefile.ac",
+               "AIRCRAFT={}".format(self.ac.name)] + vars + ["{}.upload".format(target)]
+        shortname = "Flash {}".format(self.ac.name)
+        self.spawn_program.emit(shortname, cmd, None)
+