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Show supervisor info #682

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merged 2 commits into from
Oct 17, 2023
Merged

Show supervisor info #682

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1c3e770
Show supervisor info
krichardsson Oct 16, 2023
b09dce8
Only show supervisor for newer firmware
krichardsson Oct 17, 2023
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32 changes: 26 additions & 6 deletions src/cfclient/ui/tabs/FlightTab.py
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Original file line number Diff line number Diff line change
Expand Up @@ -39,9 +39,9 @@
import cfclient
from cfclient.ui.widgets.ai import AttitudeIndicator

from cfclient.utils.config import Config
from cflib.crazyflie.log import LogConfig

from cfclient.utils.config import Config
from cfclient.utils.input import JoystickReader

from cfclient.ui.tab_toolbox import TabToolbox
Expand Down Expand Up @@ -191,7 +191,7 @@ def __init__(self, helper):
# Supervisor
self._supervisor_info_bitfield = 0
self.armButton.clicked.connect(self.updateArm)
self._update_arm_button(False)
self._update_supervisor_and_arming(False)

self.uiSetupReady()

Expand Down Expand Up @@ -301,7 +301,7 @@ def _log_data_received(self, timestamp, data, logconf):
if self.LOG_NAME_SUPERVISOR_INFO in data:
self._supervisor_info_bitfield = data[self.LOG_NAME_SUPERVISOR_INFO]

self._update_arm_button(True)
self._update_supervisor_and_arming(True)

def _pose_data_received(self, pose_logger, pose):
if self.isVisible():
Expand Down Expand Up @@ -355,19 +355,36 @@ def _change_input_labels(self, using_hover_assist):
self.inputRollLabel.setText(roll)
self.inputYawLabel.setText(yaw)

def _update_arm_button(self, connected):
def _update_supervisor_and_arming(self, connected):
if not connected:
self.armButton.setStyleSheet("")
self.armButton.setText("Arm")
self.armButton.setEnabled(False)
self._supervisor_state.setText("")
self._supervisor_state.setStyleSheet("")
self._supervisor_state.setText("")
return

# We could set the text to "ready" or similar here, but an empty string is better for backwards compatibility as
# it would show "Ready" when locked for an older firmware.
self._supervisor_state.setText("")

if self._is_flying():
self.armButton.setEnabled(True)
self.armButton.setText("Emergency stop")
self.armButton.setStyleSheet("background-color: red")
self._supervisor_state.setText("Flying")
return

if self._is_tumbled():
self._supervisor_state.setText("Tumbled")

if self._is_locked():
self._supervisor_state.setText("Locked - reboot")
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I tried this and the wording was a bit confusing. as it sseemed like it was locked and then was going to reboot by itself. It doesn't incite an action.

Perhaps 'Locked - please reboot' or someting?

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Good point!
The space is limited though, the best I can come up with that fits is "Locked-pls reboot"

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I like the please part but perhaps something like "Locked -> reboot" looks better? That is not so clear that an action is needed though.

self._supervisor_state.setStyleSheet("background-color: red")
else:
self._supervisor_state.setStyleSheet("")

if self._is_armed():
self.armButton.setStyleSheet("background-color: red")
if self._auto_arming():
Expand Down Expand Up @@ -503,7 +520,7 @@ def disconnected(self, linkURI):
self._update_flight_commander(False)

self._supervisor_info_bitfield = 0
self._update_arm_button(False)
self._update_supervisor_and_arming(False)

def _can_arm(self):
return bool(self._supervisor_info_bitfield & 0x0001)
Expand All @@ -523,6 +540,9 @@ def _is_flying(self):
def _is_tumbled(self):
return bool(self._supervisor_info_bitfield & 0x0020)

def _is_locked(self):
return bool(self._supervisor_info_bitfield & 0x0040)

def minMaxThrustChanged(self):
self._helper.inputDeviceReader.min_thrust = self.minThrust.value()
self._helper.inputDeviceReader.max_thrust = self.maxThrust.value()
Expand Down Expand Up @@ -685,7 +705,7 @@ def _all_params_updated(self):
self._ring_populate_dropdown()
self._populate_assisted_mode_dropdown()
self._update_flight_commander(True)
self._update_arm_button(True)
self._update_supervisor_and_arming(True)

def _ring_populate_dropdown(self):
try:
Expand Down
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