main.py

from threading import Thread
import tkinter as tk
import time

from calculations import Calculate
from crazyHealthTest import HealthTest
import cflib.crtp
from mainframe import MainFrame, LogFrame
from topframe import TopFrame


class Gui:

    """ 
    Main GUI object that handles communication between the visual
    layer and the Crazyflie.
    It consists of a Top frame, which is the menu and a main frame,
    which contains all the visual logs to the Crazyflie.
    """

    def __init__(self, root):

        self.topframe = TopFrame(root, self)
        self.mainframe = MainFrame(root, self)
        self.uris = {}


    def add_uri(self, uri):
        """ 
        Tries to add a URI to the listbox and make a new LogFrame
        object out of it. Raises a warning message is URI already exists
        """
        try:
            self.mainframe.canvas.delete('warning')
        finally:
            if uri not in self.uris:
                self.topframe.uribox.insert('end', uri)
                row, column = Calculate.row_and_col(self.uris)
                self.uris[uri] = LogFrame(self.mainframe.canvas, row, column, uri)
                self.mainframe.update_canvas_scroll()
            else:
                self.mainframe.warning_msg('You already have that URI added')

    def del_uris(self, uris):
        """ Deletes selected uris and repositions the remaining ones """
        for uri in uris:
            if uri in self.uris:
                self.uris[uri].delete()
                self.uris.pop(uri)
                
        for i, uri in enumerate(self.uris):
            row, column = Calculate.new_placements(i)
            self.uris[uri].delete()
            self.uris[uri] = LogFrame(self.mainframe.canvas, row, column, uri)

    def clear_uris(self):
        for uri in self.uris:
            self.uris[uri].delete()
        self.uris = {}


    def run_test(self, test):
        """ Runs the chosen test on all Crazyflies, with their own threads """
        if self.uris:
            for uri in self.uris:
                try:
                    self.uris[uri].reset_motors()
                    self.uris[uri].reset_battery()
                except AttributeError:
                    pass
                finally:
                    Thread(target=self.start, args=(uri, test)).start()
            
    def start(self, uri, test):
        cflib.crtp.init_drivers(enable_debug_driver=False)

        cf = HealthTest(uri, self, test)
        try:
            cf.open_link()
            cf.run_test()
        finally:
            cf.close_link()

    def warning_msg(self, msg):
        self.mainframe.warning_msg(msg)


    # Callbacks from Crazyflie

    def connecting(self, uri):
        self.uris[uri].update_status_text('Connecting...')

    def running_test(self, uri):
        self.uris[uri].update_status_text('Running Test...')

    def connected(self, uri):
        self.uris[uri].clear_status_text()
        self.uris[uri].show_motors()
        self.uris[uri].show_battery()

    def connection_failed(self, uri):
        self.uris[uri].update_status_text('Connection Failed', fg='red')

    def connection_lost(self, uri):
        self.uris[uri].update_status_text('Connection Lost', fg='red')

    def disconnected(self, uri):
        self.uris[uri].update_status_text('Disconnected', fg='red')

    def cb_logs(self, uri, motor_values, battery):
        """
        Callback with all the logs from the Crazyflie 
        This gets sent to the LogFrame object that can represent
        the values visually
        """
        if not self.uris[uri].test_is_done:
            motor_text = Calculate.motor_text(motor_values)
            motor_fill = Calculate.motor_fill(motor_values)
            b_text, b_fill = Calculate.battery(battery)
        
            self.uris[uri].update_motors(motor_fill, motor_text)
            self.uris[uri].update_battery(b_text, b_fill)


    def hover_test_done(self, uri, means):
        self.uris[uri].test_is_done = True
        time.sleep(0.1)
        results, colors = Calculate.is_mean_ok(means)
        self.uris[uri].update_motor_status(results, colors)

    def propeller_test_done(self, motorlog, uri):
        self.uris[uri].test_is_done = True
        time.sleep(0.1)
        results, colors = Calculate.propeller_result(motorlog)
        self.uris[uri].update_motor_status(results, colors)


if __name__ == '__main__':
    root = tk.Tk()
    off_y = int( (root.winfo_screenheight() - 600) / 4 )
    off_x = int( (root.winfo_screenwidth() - 800) / 2 )
    
    root.geometry("800x600+{}+{}".format(off_x, off_y))
    root.title('Crazyflie Health Test')

    gui = Gui(root)

    root.mainloop()