diff --git a/src/cfclient/ui/tabs/QualisysTab.py b/src/cfclient/ui/tabs/QualisysTab.py
index 256e304e57ba012d4139acef34d185e0d63eec7a..4f699cc25a52effd3db04161b754c3766ffa8302 100644
--- a/src/cfclient/ui/tabs/QualisysTab.py
+++ b/src/cfclient/ui/tabs/QualisysTab.py
@@ -144,6 +144,10 @@ class QualisysTab(Tab, qualisys_tab_class):
_param_updated_signal = pyqtSignal(str, str)
_imu_data_signal = pyqtSignal(int, object, object)
+ statusChanged = pyqtSignal(str)
+ cfStatusChanged = pyqtSignal(str)
+ qtmStatusChanged = pyqtSignal(str)
+
def __init__(self, tabWidget, helper, *args):
super(QualisysTab, self).__init__(*args)
self.setupUi(self)
@@ -158,6 +162,10 @@ class QualisysTab(Tab, qualisys_tab_class):
self.uri = "80/2M"
self.model = QStandardItemModel(10, 4)
+ self._cf_status = self.cfStatusLabel.text()
+ self._status = self.statusLabel.text()
+ self._qtm_status = self.qtmStatusLabel.text()
+
self.flying_enabled = False
self.flight_mode_switched = True
self.flight_mode = FlightModeStates.DISCONNECTED
@@ -230,6 +238,10 @@ class QualisysTab(Tab, qualisys_tab_class):
self._log_data_signal.connect(self._log_data_received)
self._param_updated_signal.connect(self._param_updated)
+ self.statusChanged.connect(self._update_status)
+ self.cfStatusChanged.connect(self._update_cf_status)
+ self.qtmStatusChanged.connect(self._update_qtm_status)
+
# Connect the Crazyflie API callbacks to the signals
self._helper.cf.connected.add_callback(self._connected_signal.emit)
@@ -279,6 +291,18 @@ class QualisysTab(Tab, qualisys_tab_class):
def _qtm_discovered(self, info, ip):
self.qtmIpBox.addItem("{} {}".format(ip, info))
+ @pyqtSlot(str)
+ def _update_status(self, status):
+ self.statusLabel.setText("Status: {}".format(status))
+
+ @pyqtSlot(str)
+ def _update_cf_status(self, status):
+ self.cfStatusLabel.setText(status)
+
+ @pyqtSlot(str)
+ def _update_qtm_status(self, status):
+ self.qtmStatusLabel.setText(status)
+
@pyqtSlot(str)
def quad_changed(self, quad):
self.quadName = quad
@@ -287,6 +311,38 @@ class QualisysTab(Tab, qualisys_tab_class):
def stick_changed(self, stick):
self.stickName = stick
+ # Properties
+
+ @pyqtProperty(str, notify=statusChanged)
+ def status(self):
+ return self._status
+
+ @status.setter
+ def status(self, value):
+ if value != self._status:
+ self._status = value
+ self.statusChanged.emit(value)
+
+ @pyqtProperty(str, notify=qtmStatusChanged)
+ def qtmStatus(self):
+ return self._qtm_status
+
+ @qtmStatus.setter
+ def qtmStatus(self, value):
+ if value != self._qtm_status:
+ self._qtm_status = value
+ self.qtmStatusChanged.emit(value)
+
+ @pyqtProperty(str, notify=cfStatusChanged)
+ def cfStatus(self):
+ return self._qtm_status
+
+ @cfStatus.setter
+ def cfStatus(self, value):
+ if value != self._cf_status:
+ self._cf_status = value
+ self.cfStatusChanged.emit(value)
+
def path_changed(self):
if self.flight_mode == FlightModeStates.PATH:
@@ -373,10 +429,9 @@ class QualisysTab(Tab, qualisys_tab_class):
(self.circle_resolution / 2))), 4)) * 2
logger.info(self.circle_pos_threshold)
except ValueError as err:
- logger.info("illegal character used: {}".format(str(err)))
- self.statusLabel.setText(
- "Status: illegal character used in circle settings: {}".
- format(str(err)))
+ self.status = ("illegal character used in circle"
+ " settings: {}").format(str(err))
+ logger.info(self.status)
return
self.flight_mode = FlightModeStates.CIRCLE
@@ -422,7 +477,7 @@ class QualisysTab(Tab, qualisys_tab_class):
self.switch_flight_mode()
elif self.model.item(0, 0) is None:
- self.statusLabel.setText("Status: missing Flight Plan")
+ self.status = "missing Flight Plan"
return
# Path mode off, read data from UI table and start path mode
else:
@@ -431,10 +486,9 @@ class QualisysTab(Tab, qualisys_tab_class):
self.position_hold_timelimit = float(
self.posHoldPathBox.text())
except ValueError as err:
- logger.info("illegal character used: {}".format(str(err)))
- self.statusLabel.setText(
- "Status: illegal character used in path settings: {}".
- format(str(err)))
+ self.status = ("illegal character used in path"
+ " settings: {}").format(str(err))
+ logger.info(self.status)
return
# Get the flightpath from the GUI table
@@ -455,13 +509,9 @@ class QualisysTab(Tab, qualisys_tab_class):
float(element)
except ValueError:
self.flightPathDataTable.selectRow(y)
- logger.info(
- "Value at cell x:{} y:{} must be a number".
- format(x, y))
- self.statusLabel.setText(
- ("Flight Path: Value at cell x:{} y:{} "
- "must be a number")
- .format(x, y))
+ self.status = ("Value at cell x:{} y:{} "
+ "must be a number").format(x, y)
+ logger.info(self.status)
break
x += 1
@@ -479,12 +529,9 @@ class QualisysTab(Tab, qualisys_tab_class):
list = list.split(',')
list = [float(i) for i in list]
if (len(list) % 4) != 0:
- logger.info(
- "Missing value to create a valid flight path")
- self.statusLabel.setText(
- ("Flight Path: Missing value to create "
- "a valid flight path")
- )
+ self.status = ("Missing value to create a valid"
+ " flight path")
+ logger.info(self.status)
break
list = [list[i:i + 4] for i in range(0, len(list), 4)]
list.insert(
@@ -555,8 +602,7 @@ class QualisysTab(Tab, qualisys_tab_class):
async def setup_qtm_connection(self):
self.connectQtmButton.setEnabled(True)
self.connectQtmButton.setText('Disconnect QTM')
- self.qtmStatusLabel.setText(
- ': connected : Waiting QTM to start sending data')
+ self.qtmStatus = ': connected : Waiting QTM to start sending data'
try:
result = await self._qtm_connection.get_parameters(
@@ -574,7 +620,7 @@ class QualisysTab(Tab, qualisys_tab_class):
self.setup_6dof_comboboxes()
# Gui
- self.qtmStatusLabel.setText(': connected')
+ self.qtmStatus = ': connected'
self.qtmCfPositionBox.setEnabled(True)
self.qtmWandPositionBox.setEnabled(True)
self.discoverQTM.setEnabled(False)
@@ -597,7 +643,6 @@ class QualisysTab(Tab, qualisys_tab_class):
self._qtm_connection = None
logger.info(reason)
- self.qtmStatusLabel.setText(str(reason))
# Gui
self.qtmCfPositionBox.setEnabled(False)
@@ -606,7 +651,9 @@ class QualisysTab(Tab, qualisys_tab_class):
self.qtmIpBox.setEnabled(True)
self.connectQtmButton.setEnabled(True)
self.connectQtmButton.setText('Connect QTM')
- self.qtmStatusLabel.setText(': not connected : {}'.format(reason))
+ self.qtmStatus = ': not connected : {}'.format(
+ reason if reason is not None else ''
+ )
self.flight_mode = FlightModeStates.DISCONNECTED
self.switch_flight_mode()
@@ -616,13 +663,12 @@ class QualisysTab(Tab, qualisys_tab_class):
logger.info(event)
if event == qtm.QRTEvent.EventRTfromFileStarted:
- self.qtmStatusLabel.setText(': connected')
+ self.qtmStatus = ': connected'
self.qtmCfPositionBox.setEnabled(True)
self.qtmWandPositionBox.setEnabled(True)
elif event == qtm.QRTEvent.EventRTfromFileStopped:
- self.qtmStatusLabel.setText(
- ': connected : Waiting QTM to start sending data')
+ self.qtmStatus = ': connected : Waiting QTM to start sending data'
self.qtmCfPositionBox.setEnabled(False)
self.qtmWandPositionBox.setEnabled(False)
@@ -653,8 +699,7 @@ class QualisysTab(Tab, qualisys_tab_class):
yaw=temp_cf_pos[1][0])
except ValueError as err:
- self.qtmStatusLabel.setText(
- ' : connected : No 6DoF body found called \'Crazyflie\'')
+ self.qtmStatus = ' : connected : No 6DoF body found'
try:
temp_wand_pos = bodies[self.qtm_6DoF_labels.index(self.stickName)]
@@ -667,8 +712,7 @@ class QualisysTab(Tab, qualisys_tab_class):
yaw=temp_wand_pos[1][0])
except ValueError as err:
- self.qtmStatusLabel.setText(
- ' : connected : No 6DoF body found called \'QStick\'')
+ self.qtmStatus = ' : connected : No 6DoF body found'
if self.scf is not None and self.cf_pos.is_valid():
# If a scf (syncronous Crazyflie) exists and the position is valid
@@ -730,9 +774,8 @@ class QualisysTab(Tab, qualisys_tab_class):
if frames_without_tracking > lost_tracking_threshold:
self.flight_mode = FlightModeStates.GROUNDED
self.switch_flight_mode()
- self.statusLabel.setText(
- "Status: Tracking lost, turning off motors")
- logger.info('Tracking lost, turning off motors')
+ self.status = "Tracking lost, turning off motors"
+ logger.info(self.status)
# If the cf is upside down, kill the motors
if self.flight_mode != FlightModeStates.GROUNDED and (
@@ -740,9 +783,8 @@ class QualisysTab(Tab, qualisys_tab_class):
or self.valid_cf_pos.roll < -120):
self.flight_mode = FlightModeStates.GROUNDED
self.switch_flight_mode()
- self.statusLabel.setText(
- "Status: Upside down, turning off motors")
- logger.info('Upside down, turning off motors')
+ self.status = "Status: Upside down, turning off motors"
+ logger.info(self.status)
# Some of the flight modes needs an initial init
# when they are activated, which is done here
@@ -995,9 +1037,8 @@ class QualisysTab(Tab, qualisys_tab_class):
# Start the timer thread
self.save_current_position()
# Gui
- logger.info("Recording flightpath")
- self.statusLabel.setText(
- "Status: Recording Flightpath")
+ self.status = "Recording Flightpath"
+ logger.info(self.status)
elif self.valid_cf_pos.z < 0.03 and self.recording:
# Stop the recording when the cf is put on
@@ -1032,11 +1073,11 @@ class QualisysTab(Tab, qualisys_tab_class):
Config().set("flight_paths", self.flight_paths)
# Wait while the operator moves away
- self.statusLabel.setText("Status: Replay in 3s")
+ self.status = "Replay in 3s"
time.sleep(1)
- self.statusLabel.setText("Status: Replay in 2s")
+ self.status = "Replay in 2s"
time.sleep(1)
- self.statusLabel.setText("Status: Replay in 1s")
+ self.status = "Replay in 1s"
time.sleep(1)
# Switch to path mode and replay the recording
self.flight_mode = FlightModeStates.PATH
@@ -1050,7 +1091,7 @@ class QualisysTab(Tab, qualisys_tab_class):
except Exception as err:
logger.info(err)
- self.cfStatusLabel.setText(str(err))
+ self.cfStatus = str(err)
def save_current_position(self):
if self.recording:
@@ -1067,7 +1108,7 @@ class QualisysTab(Tab, qualisys_tab_class):
if not self.flying_enabled:
self.flying_enabled = True
- self.cfStatusLabel.setText(": connecting...")
+ self.cfStatus = ": connecting..."
t = threading.Thread(target=self.flight_controller)
t.start()
@@ -1075,14 +1116,14 @@ class QualisysTab(Tab, qualisys_tab_class):
logger.debug("Crazyflie connected to {}".format(self.uri))
# Gui
- self.cfStatusLabel.setText(': connected')
+ self.cfStatus = ': connected'
self.cf_ready_to_fly = True
def _disconnected(self, link_uri):
"""Callback for when the Crazyflie has been disconnected"""
logger.info("Crazyflie disconnected from {}".format(link_uri))
- self.cfStatusLabel.setText(': not connected')
+ self.cfStatus = ': not connected'
self.flying_enabled = False
self.cf_ready_to_fly = False
@@ -1106,7 +1147,7 @@ class QualisysTab(Tab, qualisys_tab_class):
def wait_for_position_estimator(self, scf):
logger.info('Waiting for estimator to find stable position...')
- self.cfStatusLabel.setText(
+ self.cfStatus = (
'Waiting for estimator to find stable position... '
'(QTM needs to be connected and providing data)'
)
@@ -1150,7 +1191,7 @@ class QualisysTab(Tab, qualisys_tab_class):
"Position found with error in, x: {}, y: {}, z: {}".
format(max_x - min_x, max_y - min_y, max_z - min_z))
- self.cfStatusLabel.setText(": connected")
+ self.cfStatus = ": connected"
self.flight_mode = FlightModeStates.GROUNDED
self.switch_flight_mode()
@@ -1185,7 +1226,7 @@ class QualisysTab(Tab, qualisys_tab_class):
self.flight_mode_switched = True
if self.flight_mode == FlightModeStates.HOVERING:
- self.statusLabel.setText("Status: Hovering...")
+ self.status = "Hovering..."
self.pathButton.setText("Path Mode")
self.followButton.setText("Follow Mode")
self.circleButton.setText("Circle Mode")
@@ -1200,7 +1241,7 @@ class QualisysTab(Tab, qualisys_tab_class):
logger.info('Switching Flight Mode to: Hovering')
elif self.flight_mode == FlightModeStates.DISCONNECTED:
- self.statusLabel.setText("Status: Disabled")
+ self.status = "Disabled"
self.pathButton.setText("Path Mode")
self.followButton.setText("Follow Mode")
self.circleButton.setText("Circle Mode")
@@ -1215,7 +1256,7 @@ class QualisysTab(Tab, qualisys_tab_class):
logger.info('Switching Flight Mode to: Disconnected')
elif self.flight_mode == FlightModeStates.GROUNDED:
- self.statusLabel.setText("Status: Landed")
+ self.status = "Landed"
self.pathButton.setText("Path Mode")
self.followButton.setText("Follow Mode")
self.circleButton.setText("Circle Mode")
@@ -1230,7 +1271,7 @@ class QualisysTab(Tab, qualisys_tab_class):
logger.info('Switching Flight Mode to: Grounded')
elif self.flight_mode == FlightModeStates.PATH:
- self.statusLabel.setText("Status: Path Mode")
+ self.status = "Path Mode"
self.circleButton.setText("Circle Mode")
self.followButton.setText("Follow Mode")
self.recordButton.setText("Record Mode")
@@ -1245,7 +1286,7 @@ class QualisysTab(Tab, qualisys_tab_class):
logger.info('Switching Flight Mode to: Path Mode')
elif self.flight_mode == FlightModeStates.FOLLOW:
- self.statusLabel.setText("Status: Follow Mode")
+ self.status = "Follow Mode"
self.pathButton.setText("Path Mode")
self.circleButton.setText("Circle Mode")
self.recordButton.setText("Record Mode")
@@ -1259,7 +1300,7 @@ class QualisysTab(Tab, qualisys_tab_class):
logger.info('Switching Flight Mode to: Follow Mode')
elif self.flight_mode == FlightModeStates.LIFT:
- self.statusLabel.setText("Status: Lifting...")
+ self.status = "Lifting..."
self.liftButton.setEnabled(False)
self.emergencyButton.setEnabled(True)
self.landButton.setEnabled(True)
@@ -1270,7 +1311,7 @@ class QualisysTab(Tab, qualisys_tab_class):
logger.info('Switching Flight Mode to: Lift Mode')
elif self.flight_mode == FlightModeStates.LAND:
- self.statusLabel.setText("Status: Landing...")
+ self.status = "Landing..."
self.liftButton.setEnabled(False)
self.landButton.setEnabled(False)
self.emergencyButton.setEnabled(True)
@@ -1281,7 +1322,7 @@ class QualisysTab(Tab, qualisys_tab_class):
logger.info('Switching Flight Mode to: Land Mode')
elif self.flight_mode == FlightModeStates.CIRCLE:
- self.statusLabel.setText("Status: Circle Mode")
+ self.status = "Circle Mode"
self.pathButton.setText("Path Mode")
self.followButton.setText("Follow Mode")
self.recordButton.setText("Record Mode")
@@ -1296,7 +1337,7 @@ class QualisysTab(Tab, qualisys_tab_class):
logger.info('Switching Flight Mode to: Cricle Mode')
elif self.flight_mode == FlightModeStates.RECORD:
- self.statusLabel.setText("Status: Record Mode")
+ self.status = "Record Mode"
self.pathButton.setText("Path Mode")
self.followButton.setText("Follow Mode")
self.circleButton.setText("Circle Mode")