#!/usr/bin/env python
# -*- coding: utf-8 -*-
#
# || ____ _ __
# +------+ / __ )(_) /_______________ _____ ___
# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
#
# Copyright (C) 2011-2013 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.
"""
The about dialog.
"""
import sys
import cfclient
import cflib.crtp
from PyQt5.QtCore import QT_VERSION_STR
from PyQt5.QtCore import PYQT_VERSION_STR
from PyQt5 import QtWidgets
from PyQt5 import uic
from PyQt5.QtCore import pyqtSignal
from cflib.crazyflie.mem import MemoryElement
__author__ = 'Bitcraze AB'
__all__ = ['AboutDialog']
(about_widget_class,
about_widget_base_class) = (uic.loadUiType(cfclient.module_path +
'/ui/dialogs/about.ui'))
DEBUG_INFO_FORMAT = """
<b>Cfclient</b><br>
Cfclient version: {version}<br>
System: {system}<br>
Python: {pmajor}.{pminor}.{pmicro}<br>
Qt: {qt_version}<br>
PyQt: {pyqt_version}<br>
<br>
<b>Interface status</b><br>
{interface_status}
<br>
<b>Input readers</b><br>
{input_readers}
<br>
<b>Input devices</b><br>
{input_devices}
<br>
<b>Crazyflie</b><br>
Connected: {uri}<br>
Firmware: {firmware}<br>
<br>
<b>Decks found</b><br>
{decks}
<br>
<b>Sensors found</b><br>
{imu_sensors}
<br>
<b>Sensors tests</b><br>
{imu_sensor_tests}
"""
INTERFACE_FORMAT = "{}: {}<br>"
INPUT_READER_FORMAT = "{} ({} devices connected)<br>"
DEVICE_FORMAT = "{}: ({}) {}<br>"
IMU_SENSORS_FORMAT = "{}: {}<br>"
SENSOR_TESTS_FORMAT = "{}: {}<br>"
FIRMWARE_FORMAT = "{:x}{:x} ({})"
DECK_FORMAT = "{}: rev={}, adr={}<br>"
CREDITS_FORMAT = """
<b>Contributions</b><br>
{contribs}
<br><br>
<b>Used libraries</b><br>
<a href="http://qt-project.org/">QT</a><br>
<a href="http://www.riverbankcomputing.co.uk/software/pyqt/intro">PyQT</a><br>
<a href="http://pysdl2.readthedocs.org">PySDL2</a><br>
<a href="http://www.pyqtgraph.org/">PyQtGraph</a><br>
<a href="http://marble.kde.org/">KDE Marble</a><br>
<a href="http://sourceforge.net/projects/pyusb/">PyUSB</a><br>
<a href="http://www.python.org/">Python</a><br>
"""
class AboutDialog(QtWidgets.QWidget, about_widget_class):
_disconnected_signal = pyqtSignal(str)
_cb_deck_data_updated_signal = pyqtSignal(object)
"""Crazyflie client About box for debugging and information"""
def __init__(self, helper, *args):
super(AboutDialog, self).__init__(*args)
self.setupUi(self)
self._close_button.clicked.connect(self.close)
self._name_label.setText(
self._name_label.text().replace('#version#', cfclient.VERSION))
self._interface_text = ""
self._imu_sensors_text = ""
self._imu_sensor_test_text = ""
self._decks_text = ""
self._uri = None
self._fw_rev0 = None
self._fw_rev1 = None
self._fw_modified = None
self._firmware = None
self._helper = helper
helper.cf.param.add_update_callback(
group="imu_sensors", cb=self._imu_sensors_update)
helper.cf.param.add_update_callback(
group="imu_tests", cb=self._imu_sensor_tests_update)
helper.cf.param.add_update_callback(
group="firmware", cb=self._firmware_update)
helper.cf.connected.add_callback(self._connected)
self._disconnected_signal.connect(self._disconnected)
helper.cf.disconnected.add_callback(self._disconnected_signal.emit)
self._cb_deck_data_updated_signal.connect(self._deck_data_updated)
# Open the Credits file and show it in the UI
credits = ""
try:
with open("CREDITS.txt", encoding='utf-8', mode='r') as f:
for line in f:
credits += "{}<br>".format(line)
except IOError:
credits = ""
self._credits.setHtml(
CREDITS_FORMAT.format(contribs=credits)
)
def showEvent(self, event):
"""Event when the about box is shown"""
self._interface_text = ""
interface_status = cflib.crtp.get_interfaces_status()
for key in list(interface_status.keys()):
self._interface_text += INTERFACE_FORMAT.format(
key, interface_status[key])
self._device_text = ""
devs = self._helper.inputDeviceReader.available_devices()
for d in devs:
self._device_text += DEVICE_FORMAT.format(
d.reader_name, d.id, d.name)
if len(self._device_text) == 0:
self._device_text = "None<br>"
self._input_readers_text = ""
# readers = self._helper.inputDeviceReader.getAvailableDevices()
for reader in cfclient.utils.input.inputreaders.initialized_readers:
self._input_readers_text += INPUT_READER_FORMAT.format(
reader.name, len(reader.devices()))
if len(self._input_readers_text) == 0:
self._input_readers_text = "None<br>"
if self._uri:
self._firmware = FIRMWARE_FORMAT.format(
self._fw_rev0,
self._fw_rev1,
"MODIFIED" if self._fw_modified else "CLEAN")
self._request_deck_data_update()
self._update_debug_info_view()
def _update_debug_info_view(self):
self._debug_out.setHtml(
DEBUG_INFO_FORMAT.format(
version=cfclient.VERSION,
system=sys.platform,
pmajor=sys.version_info.major,
pminor=sys.version_info.minor,
pmicro=sys.version_info.micro,
qt_version=QT_VERSION_STR,
pyqt_version=PYQT_VERSION_STR,
interface_status=self._interface_text,
input_devices=self._device_text,
input_readers=self._input_readers_text,
uri=self._uri,
firmware=self._firmware,
imu_sensors=self._imu_sensors_text,
imu_sensor_tests=self._imu_sensor_test_text,
decks=self._decks_text))
def _connected(self, uri):
"""Callback when Crazyflie is connected"""
self._uri = uri
def _firmware_update(self, name, value):
"""Callback for firmware parameters"""
if "revision0" in name:
self._fw_rev0 = eval(value)
if "revision1" in name:
self._fw_rev1 = eval(value)
if "modified" in name:
self._fw_modified = eval(value)
def _imu_sensors_update(self, name, value):
"""Callback for sensor found parameters"""
param = name[name.index('.') + 1:]
if param not in self._imu_sensors_text:
self._imu_sensors_text += IMU_SENSORS_FORMAT.format(
param, eval(value))
def _imu_sensor_tests_update(self, name, value):
"""Callback for sensor test parameters"""
param = name[name.index('.') + 1:]
if param not in self._imu_sensor_test_text:
self._imu_sensor_test_text += SENSOR_TESTS_FORMAT.format(
param, eval(value))
def _disconnected(self, uri):
"""Callback for Crazyflie disconnected"""
self._interface_text = ""
self._imu_sensors_text = ""
self._imu_sensor_test_text = ""
self._decks_text = ""
self._uri = None
self._fw_rev1 = None
self._fw_rev0 = None
self._fw_modified = None
self._firmware = None
def _request_deck_data_update(self):
self._decks_text = ""
mems = self._helper.cf.mem.get_mems(MemoryElement.TYPE_1W)
for mem in mems:
mem.update(self._cb_deck_data_updated_signal.emit)
def _deck_data_updated(self, deck_data):
name = 'N/A'
if "Board name" in deck_data.elements:
name = deck_data.elements["Board name"]
rev = 'N/A'
if "Board revision" in deck_data.elements:
rev = deck_data.elements["Board revision"]
self._decks_text += DECK_FORMAT.format(name, rev, deck_data.addr)
self._update_debug_info_view()
