New paparazzicenter in Python (#1811)

This is the result of a student project to develop a new paparazzi center based on Python/Qt. See http://wiki.paparazziuav.org/wiki/Paparazzi_Center/Evolutions for the main idea and development process. It can be tested by running the main paparazzi launcher with the -python option. I more convenient way might be added later. This PR is mostly a way to not loose this work, and other people are encourage to improve it in many aspects (HMI, functionalities, ...).
2026-05-26 08:22:43 +08:00 · 2016-07-19 22:52:15 +02:00
parent 1ce9bcfb58
commit 9763a70ca9
58 changed files with 10571 additions and 1 deletions
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+###############################################################################
+#               Welcome in the future Paparazzi Center !                      #
+###############################################################################
+
+1) Run instructions :
+
+To run the new Paparazzi Center, you need :
+
+> A Linux or IOS system
+
+> A correctly installed version of Paparazzi UAV software
+
+> Python 3.4 (install package 'python3')
+
+> PyQt5 (install package 'python3-pyqt5')
+
+First "git pull" my part of code or copy the current "./sw/supervision/python"
+version into your own "./sw/supervision" directory. No installation nor
+compilation is needed.
+Then, make the 'main.py' file executable ('chmod +x main.py') and launch the
+program in a terminal ('./main.py') or from the paparazzi launcher (soon).
+
+###############################################################################
+
+2) Feedback :
+
+I'm an intern student at the ENAC and my mission is to reconceive the Paparazzi
+Center in Python/Qt to make it more intuitive and 'maintainable' (that can
+evolve easily). So I'd really like to have your feeling about my propositions !
+
+If you have any question or comment about it, please contact me by
+Github (my pseudo is 'floienac' and I use Gitter) or by mail
+('f.bitard@gmail.com').
+I'd be glad to be criticized, especially if you're directly concerned as a
+final user or a developer of Paparazzi UAV.
+
+Thanks by advance :)
+
+Florian BITARD - intern student at the ENAC's drones lab
+(February to June 2016)
+
+http://wiki.paparazziuav.org/wiki/Paparazzi_Center/Evolutions
+###############################################################################
+
+3) GNU License :
+
+As this new Paparazzi Center is a free and open source software part, feel
+free to correct bugs, improve the functions and add new ones to it.
+
+# Paparazzi center utilities
+#
+# Copyright (C) 2016 ENAC, Florian BITARD (intern student)
+#
+# This file is part of paparazzi.
+#
+# paparazzi 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, or (at your option)
+# any later version.
+#
+# paparazzi 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 paparazzi; see the file COPYING.  If not, write to
+# the Free Software Foundation, 59 Temple Place - Suite 330,
+# Boston, MA 02111-1307, USA.
@@ -0,0 +1,103 @@
+# Paparazzi center utilities
+#
+# Copyright (C) 2016 ENAC, Florian BITARD (intern student)
+#
+# This file is part of paparazzi.
+#
+# paparazzi 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, or (at your option)
+# any later version.
+#
+# paparazzi 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 paparazzi; see the file COPYING.  If not, write to
+# the Free Software Foundation, 59 Temple Place - Suite 330,
+# Boston, MA 02111-1307, USA.
+
+###############################################################################
+# [Imports]
+
+import ui.set_manager as manager
+import ui.popup as popup
+
+import PyQt5.QtWidgets as Widgets
+import logging
+import os
+
+
+###############################################################################
+# [Constants]
+
+LOGGER = logging.getLogger("[DIALOGS]")
+
+UI_DIR = "ui"
+
+DATA_CHANGED_POPUP_TYPE = "data changed"
+DATA_CHANGED_POPUP_HTML = "data_changed.html"
+CREDITS_POPUP_TYPE = "credits"
+CREDITS_POPUP_HTML = "credits.html"
+TUTORIAL_POPUP_TYPE = "tutorial"
+TUTORIAL_POPUP_HTML = "tutorial.html"
+
+
+###############################################################################
+# [SettingsManager class]
+
+class SettingsManager(Widgets.QDialog):
+    """Class to manage the settings manager HMI."""
+    def __init__(self):
+        super(SettingsManager, self).__init__()
+        self.ui = manager.Ui_Dialog()
+        self.ui.setupUi(self)
+
+
+###############################################################################
+# [SettingsManager class]
+
+class Popup(Widgets.QDialog):
+    """Class to manage the settings manager HMI."""
+    def __init__(self, popup_type=None):
+        super(Popup, self).__init__()
+        self.ui = popup.Ui_Dialog()
+        self.ui.setupUi(self)
+        self.ui.textBrowser.setOpenExternalLinks(True)
+
+        self.type = popup_type
+
+        self.set_popup_details()
+
+    def set_popup_details(self):
+        """
+        -> Set the title, the text and the dialog buttons of the popup window
+        according to its type.
+        """
+        if self.type == DATA_CHANGED_POPUP_TYPE:
+            self.setWindowTitle("/!\ Some unsaved data found !")
+            self.ui.buttonBox.setStandardButtons(
+                Widgets.QDialogButtonBox.Cancel | Widgets.QDialogButtonBox.Save)
+            html_file = DATA_CHANGED_POPUP_HTML
+        elif self.type == CREDITS_POPUP_TYPE:
+            self.setWindowTitle("Paparazzi UAV Center credits "
+                                "(Python/Qt version)")
+            self.ui.buttonBox.setStandardButtons(Widgets.QDialogButtonBox.Close)
+            html_file = CREDITS_POPUP_HTML
+        elif self.type == TUTORIAL_POPUP_TYPE:
+            self.setWindowTitle("Tutorials and documents")
+            self.ui.buttonBox.setStandardButtons(Widgets.QDialogButtonBox.Close)
+            html_file = TUTORIAL_POPUP_HTML
+        else:
+            self.setWindowTitle("Popup without specific type.")
+            html_file = "none.html"
+
+        try:
+            html_config_path = os.path.join(UI_DIR, html_file)
+            with open(html_config_path, 'r') as popup_html_content:
+                self.ui.textBrowser.setHtml(popup_html_content.read())
+        except FileNotFoundError:
+            print("Popup HTML configuration file not found ! "
+                  "('%s' should be in 'ui' directory.)" % html_file)
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+# Paparazzi center utilities
+#
+# Copyright (C) 2016 ENAC, Florian BITARD (intern student)
+#
+# This file is part of paparazzi.
+#
+# paparazzi 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, or (at your option)
+# any later version.
+#
+# paparazzi 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 paparazzi; see the file COPYING.  If not, write to
+# the Free Software Foundation, 59 Temple Place - Suite 330,
+# Boston, MA 02111-1307, USA.
+
+###############################################################################
+# [Imports]
+
+import lib.gui as gui
+
+import PyQt5.QtCore as Core
+import re
+
+
+###############################################################################
+# [Constants]
+
+DEFAULT_FONT_QCOLOR = gui.generate_qcolor("black")
+DEFAULT_BACKGROUND_QCOLOR = gui.generate_qcolor("white")
+DEFAULT_LOGGER_FONT_QCOLOR = gui.generate_qcolor("blue")
+
+ALL_MESSAGES_LEVEL = "all"
+CUSTOM_MESSAGES_LEVEL = "custom"
+MINIMAL_MESSAGES_LEVEL = "minimal"
+
+PROCESS_MESSAGE_TYPE = "process"
+APPLICATION_MESSAGE_TYPE = "application"
+
+ERROR_FLAG = "error"
+WARNING_FLAG = "warning"
+INFO_FLAG = "info"
+DEFAULT_FLAG = "default"
+
+BACKGROUNDS_COLORS = {ERROR_FLAG:   "red",
+                      WARNING_FLAG: "yellow",
+                      INFO_FLAG:    "green",
+                      DEFAULT_FLAG: "white"}
+
+FONTS_COLORS = {ERROR_FLAG:   "red",
+                WARNING_FLAG: "orange",
+                INFO_FLAG:    "blue",
+                DEFAULT_FLAG: "black"}
+
+ERROR_REGEX = re.compile(r"[Ee][Rr]{2}[Oo][Rr][ :]")
+WARNING_REGEX = re.compile(r"[Ww][Aa][Rr][Nn][Ii][Nn][Gg][ :]")
+INFO_REGEX = re.compile(r"[Ii][Nn][Ff][Oo][ :]")
+
+
+def analyse_log_line(line):
+    if ERROR_REGEX.search(line) is not None:
+        flag = ERROR_FLAG
+    elif WARNING_REGEX.search(line) is not None:
+        flag = WARNING_FLAG
+    elif INFO_REGEX.search(line) is not None:
+        flag = INFO_FLAG
+    else:
+        flag = DEFAULT_FLAG
+    return line, flag
+
+
+###############################################################################
+# [Console class]
+
+class Console(Core.QObject):
+    """ Class to define a Console object."""
+    def __init__(self, q_text_edit_widget):
+        super(Console, self).__init__()
+
+        self.edit = q_text_edit_widget
+
+    def write(self, line, font_color=DEFAULT_FONT_QCOLOR,
+              backgroud_color=DEFAULT_BACKGROUND_QCOLOR):
+
+        self.edit.setTextColor(font_color)
+        self.edit.setTextBackgroundColor(backgroud_color)
+        self.edit.append(line)
+
+
+###############################################################################
+# [LogFilter class]
+
+class LogFilter(object):
+    """Class to define a LogFilter object to manage the messages written in the
+    integrated console."""
+    def __init__(self, init_level_str, init_default_bool, init_info_bool,
+                 init_warning_bool, init_error_bool):
+        """
+        -> 'level' sets what sort of messages to display in the console and is
+        linked to the HMI radio-button choice.
+        -> 'info', 'warning' and 'error' are booleans to set what logs to
+        display in the console and is linked to the HMI check-boxes.
+        """
+        self.level = init_level_str
+
+        self.default = init_default_bool
+        self.info = init_info_bool
+        self.warning = init_warning_bool
+        self.error = init_error_bool
+
+    def __repr__(self):
+        string = "\t| level = {!s:<10} | default = {!s:<5} | info = {!s:<5} |"\
+                 " warning = {!s:<5} | error = {!s:<5} |"
+        format_string = string.format(self.level, self.default, self.info,
+                                      self.warning, self.error)
+        return format_string
+
+    def set_level(self, level):
+        """
+        :param level:
+        -> level = 'minimum' (only important messages)
+                   'basic' (customized messages)
+                   'all' (all messages emitted by Makefiles and compilers).
+        """
+        self.level = level
+
+    def set_sensitivity_filter(self, default, info, warning, error):
+        """
+        :param default:
+        :param info:
+        :param warning:
+        :param error:
+        -> info, warnings and error are booleans.
+        """
+        self.default = default
+        self.info = info
+        self.warning = warning
+        self.error = error
+
+    def write_line_decision(self, flag):
+        if flag == ERROR_FLAG and self.error:
+            return True
+        elif flag == WARNING_FLAG and self.warning:
+            return True
+        elif flag == INFO_FLAG and self.info:
+            return True
+        elif flag == DEFAULT_FLAG and self.default:
+            return True
+        else:
+            return False
@@ -0,0 +1,161 @@
+# Paparazzi center utilities
+#
+# Copyright (C) 2016 ENAC, Florian BITARD (intern student)
+#
+# This file is part of paparazzi.
+#
+# paparazzi 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, or (at your option)
+# any later version.
+#
+# paparazzi 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 paparazzi; see the file COPYING.  If not, write to
+# the Free Software Foundation, 59 Temple Place - Suite 330,
+# Boston, MA 02111-1307, USA.
+
+###############################################################################
+# [Imports]
+
+
+###############################################################################
+# [Configuration class]
+
+class Configuration(object):
+    """Class to define a Configuration (old aircraft) object."""
+    def __init__(self, name, config_id, airframes, targets):
+        # Necessary parameters :
+        self.name = name
+        self.id = config_id
+        self.airframes = airframes
+
+        # Not necessary parameters :
+        self.settings = []
+        self.modules = []
+        self.flight_plan = []
+        self.radio = []
+        self.telemetry = []
+
+        self.color = []
+
+        self.targets = targets
+
+    def __repr__(self):
+        string = "| name = {!s:<25} | id = {!s:<3} | airframe = {!s:<65} |" + \
+                 "targets = {!s:<250} | color = {!s:<15} | " + \
+                 "radio = {!s:<40} | telemetry = {!s:<45} | " + \
+                 "flight_plan = {!s:<75} | settings = {!s:<265} | " + \
+                 "modules = {!s:<265} |"
+        format_string = string.format(self.name, self.id, self.airframes,
+                                      [_ for _ in self.targets.values()],
+                                      self.color, self.radio,
+                                      self.telemetry, self.flight_plan,
+                                      self.settings, self.modules)
+        return format_string
+
+
+###############################################################################
+# [Set class]
+
+class Set(object):
+    """Class to define a Set (old configuration) object."""
+    def __init__(self, name):
+        self.name = name
+        self.configs_names = []
+
+    def __repr__(self):
+        string = "| name = {!s:<75} | configs_names = {!s:<680} |"
+        format_string = string.format(self.name, self.configs_names)
+        return format_string
+
+    def is_config_in_set(self, config):
+        return config.id in self.configs_names
+
+
+###############################################################################
+# [Target class]
+
+class Target(object):
+    """Class to define a Target object."""
+    def __init__(self, name, board, ):
+        self.name = name
+        self.board = board
+
+        self.subsystems = None
+        self.defines = None
+
+    def __repr__(self):
+        string = "| name = {!s:<15} | board = {!s:<20} |"
+        format_string = string.format(self.name, self.board)
+        return format_string
+
+
+###############################################################################
+# [Device class]
+
+class Device(object):
+    """Class to define a Device (old flash mode) object."""
+    def __init__(self, name, variable_name="", variable_value=""):
+        self.name = name
+        self.variable = (variable_name, variable_value)
+        self.boards_regex = []
+
+    def __repr__(self):
+        string = "| name = {!s:<25} | variable = {!s:<35} | " + \
+                 "boards_regex = {!s:<125} |"
+        format_string = string.format(self.name, self.variable,
+                                      self.boards_regex)
+        return format_string
+
+
+###############################################################################
+# [Session class]
+
+class Session(object):
+    """Class to define a Session object."""
+    def __init__(self, name, programs):
+        self.name = name
+        self.programs = programs
+
+    def __repr__(self):
+        string = "| name = {!s:<30} | programs = {!s:<1300} |"
+        format_string = string.format(self.name,
+                                      [_ for _ in self.programs.values()])
+        return format_string
+
+
+###############################################################################
+# [Program class]
+
+class Program(object):
+    """Class to define a Program (old tool) object."""
+    def __init__(self, name, command, options):
+        self.name = name
+        self.command = command
+        self.options = options
+
+    def __repr__(self):
+        string = "\t| name = {!s:<30} | command = {!s:<60} | options = {!s:<70} |"
+        format_string = string.format(self.name, self.command, self.options)
+        return format_string
+
+
+###############################################################################
+# [Cache class]
+
+class Cache(object):
+    """Class to define a Cache (old %gconf) object."""
+    def __init__(self, last_update_time):
+        self.last_update = last_update_time
+
+        self.main_window_shape = (0, 0)
+        self.last_set = None
+        self.last_configuration = None
+        self.last_target = None
+        self.last_session = None
+        self.last_device = None
@@ -0,0 +1,15 @@
+<cache>
+-    <system>
+-        <window>
+-            <geometry value="100 100 1026 448" />
+-        </window>
+-        <filters value="all 2 2 2 2" />
+-    </system>
+-    <data>
+-        <set value="conf_example.xml" />
+-        <config value="Microjet" />
+-        <target value="sim" />
+-        <device value=" __Default__ " />
+-        <session value="Simulation" />
+-    </data>
+-</cache>
@@ -0,0 +1,91 @@
+# Paparazzi center utilities
+#
+# Copyright (C) 2016 ENAC, Florian BITARD (intern student)
+#
+# This file is part of paparazzi.
+#
+# paparazzi 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, or (at your option)
+# any later version.
+#
+# paparazzi 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 paparazzi; see the file COPYING.  If not, write to
+# the Free Software Foundation, 59 Temple Place - Suite 330,
+# Boston, MA 02111-1307, USA.
+
+###############################################################################
+# [Imports]
+
+import os
+from sys import platform as os_name
+import logging
+
+
+###############################################################################
+# [Constants]
+
+LOGGER = logging.getLogger("[ENV]")
+OS = os_name
+
+SRC_NAME = "PAPARAZZI_SRC"
+HERE_TO_SRC = "../../../.."
+CONF_NAME = "PAPARAZZI_CONF"
+HOME_TO_CONF = "conf"
+HOME_NAME = "PAPARAZZI_HOME"
+HOME_TO_VAR = "var"
+IVY_BUS_NAME = "IVY_BUS"
+
+
+def get_src_dir(src_name):
+    current_dir = os.path.dirname(os.path.abspath(__file__))
+    src_dir = os.path.normpath(os.path.join(current_dir, HERE_TO_SRC))
+    return os.getenv(src_name, src_dir)
+
+PAPARAZZI_SRC = get_src_dir(SRC_NAME)
+LOGGER.debug("%s=%s", SRC_NAME, PAPARAZZI_SRC)
+
+
+def get_home_dir(home_name):
+    return os.getenv(home_name, get_src_dir(SRC_NAME))
+
+PAPARAZZI_HOME = get_home_dir(HOME_NAME)
+LOGGER.info("%s=%s", HOME_NAME, PAPARAZZI_HOME)
+
+
+def get_conf_dir(conf_name):
+    conf_dir = os.path.join(PAPARAZZI_HOME, HOME_TO_CONF)
+    if os.path.exists(conf_dir):
+        return os.getenv(conf_name, conf_dir)
+    else:
+        LOGGER.error("'%s' directory doesn't exist !", conf_dir)
+
+PAPARAZZI_CONF = get_conf_dir(CONF_NAME)
+
+
+def get_ivy_bus(ivy_bus_name):
+    supposed_ivy_bus = os.getenv(ivy_bus_name)
+    if supposed_ivy_bus is not None:
+        return supposed_ivy_bus
+    elif OS == 'linux':
+        return "127.255.255.255:2010"
+    elif OS == 'linux2':
+        return "127.255.255.255:2010"
+    elif OS == 'darwin':
+        return "224.5.6.7:8910"
+    LOGGER.error("Unknown Ivy bus for the current OS !")
+
+IVY_BUS = get_ivy_bus(IVY_BUS_NAME)
+LOGGER.debug("%s=%s", HOME_NAME, PAPARAZZI_HOME)
+
+RUN_VERSION_EXE_NAME = "paparazzi_version"
+RUN_VERSION_EXE = os.path.join(PAPARAZZI_HOME, RUN_VERSION_EXE_NAME)
+
+BUILD_VERSION_FILE_NAME = "build_version.txt"
+BUILD_VERSION_FILE = os.path.join(PAPARAZZI_HOME, HOME_TO_VAR,
+                                  BUILD_VERSION_FILE_NAME)
@@ -0,0 +1,69 @@
+# Paparazzi center utilities
+#
+# Copyright (C) 2016 ENAC, Florian BITARD (intern student)
+#
+# This file is part of paparazzi.
+#
+# paparazzi 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, or (at your option)
+# any later version.
+#
+# paparazzi 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 paparazzi; see the file COPYING.  If not, write to
+# the Free Software Foundation, 59 Temple Place - Suite 330,
+# Boston, MA 02111-1307, USA.
+
+###############################################################################
+# [Imports]
+
+import PyQt5.QtGui as Gui
+
+
+###############################################################################
+# [Constants]
+
+NORMAL_CURSOR_SHAPE = "normal"
+WAIT_CURSOR_SHAPE = "wait"
+
+
+###############################################################################
+# [Functions]
+
+def generate_qcolor(color):
+    qcolor = Gui.QColor()
+    qcolor.setNamedColor(color)
+    return qcolor
+
+
+def generate_widget_palette(widget, qcolor):
+    qpalette = Gui.QPalette(widget.palette())
+    qpalette.setColor(Gui.QPalette.Background, qcolor)
+    return qpalette
+
+
+def generate_qcursor(shape):
+    qcursor = Gui.QCursor()
+    if shape == WAIT_CURSOR_SHAPE:
+        qcursor.setShape(16)
+    elif shape == NORMAL_CURSOR_SHAPE:
+        qcursor.setShape(0)
+    else:
+        qcursor.setShape(0)
+    return qcursor
+
+
+def generate_qpixmap(picture_path=""):
+    return Gui.QPixmap(picture_path)
+
+
+def generate_qicon(icon_path=None):
+    if icon_path is not None:
+        return Gui.QIcon(icon_path)
+    else:
+        return Gui.QIcon()
@@ -0,0 +1,56 @@
+#!/usr/bin/env python3
+
+# Paparazzi center utilities
+#
+# Copyright (C) 2016 ENAC, Florian BITARD (intern student)
+#
+# This file is part of paparazzi.
+#
+# paparazzi 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, or (at your option)
+# any later version.
+#
+# paparazzi 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 paparazzi; see the file COPYING.  If not, write to
+# the Free Software Foundation, 59 Temple Place - Suite 330,
+# Boston, MA 02111-1307, USA.
+
+###############################################################################
+# [Imports]
+
+import lib.environment as env
+import hmi
+
+import PyQt5.QtWidgets as Widgets
+import sys
+import os
+
+
+###############################################################################
+# [Main function]
+def main():
+    """Main program : creates the main window and starts the main loop."""
+
+    # Set the environment variables (useful for some processes) :
+    os.putenv(env.HOME_NAME, env.PAPARAZZI_HOME)
+    os.putenv(env.SRC_NAME, env.PAPARAZZI_SRC)
+
+    app = Widgets.QApplication(sys.argv)
+
+    # TODO : SET APPLICATION ICON IN THE LAUNCHER (UBUNTU : UNITY)
+
+    main_window = hmi.Hmi()
+    main_window.init_all_hmi()
+    main_window.show()
+
+    sys.exit(app.exec_())
+
+
+if __name__ == "__main__":
+    main()
@@ -0,0 +1,238 @@
+# Paparazzi center utilities
+#
+# Copyright (C) 2016 ENAC, Florian BITARD (intern student)
+#
+# This file is part of paparazzi.
+#
+# paparazzi 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, or (at your option)
+# any later version.
+#
+# paparazzi 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 paparazzi; see the file COPYING.  If not, write to
+# the Free Software Foundation, 59 Temple Place - Suite 330,
+# Boston, MA 02111-1307, USA.
+
+###############################################################################
+# [Imports]
+
+import lib.environment as env
+import lib.console as cs
+
+import PyQt5.QtCore as Core
+import logging
+import os
+import signal
+
+
+###############################################################################
+# [Constants]
+
+LOGGER = logging.getLogger("[PROCESSES]")
+
+AC_MAKEFILE_NAME = "Makefile.ac"
+CONF_FLAG_NAME = "AIRCRAFT"
+DEVICE_FLAG_NAME = "FLASH_MODE"
+
+DEFAULT_EXIT_CODE = 2
+INTERRUPTED_EXIT_CODE = -1
+SUCCESS_EXIT_CODE = 0
+
+CLEAN = "clean"
+BUILD = "build"
+UPLOAD = "upload"
+PROGRAM = "program"
+TOOL = "tool"
+
+CLEAN_TARGET_KEY = "clean_ac"
+BUILD_TARGET_KEY = ".compile"
+UPLOAD_TARGET_KEY = ".upload"
+
+CONF_FLAG = "@" + CONF_FLAG_NAME
+TARGET_FLAG = "@TARGET"
+CONF_ID_FLAG = "@AC_ID"
+
+
+###############################################################################
+# [Stream class]
+
+class LoggerStream(Core.QObject):
+    """ Class to define a Stream object."""
+    logger_log_sent = Core.pyqtSignal(str, str, str)
+
+    def __init__(self):
+        super(LoggerStream, self).__init__()
+
+    # Reimplemented method in order to write the logs in the console :
+    def write(self, line):
+        log, flag = cs.analyse_log_line(line)
+        log_type = cs.APPLICATION_MESSAGE_TYPE
+        self.logger_log_sent.emit(log, flag, log_type)
+
+
+###############################################################################
+# [Process class]
+
+class Process(Core.QObject):
+    """Class to upload the built code to a device."""
+    process_killed = Core.pyqtSignal()
+    process_log_sent = Core.pyqtSignal(str, str, str)
+
+    def __init__(self, process_type,
+                 configuration=None, target=None, device=None, program=None):
+        """
+        :param process_type:
+        :param configuration:
+        :param target:
+        :param device:
+        :param program:
+        -> Declare a Process object as a QObject derivative.
+        -> Give it a name and the necessary parameters for its type.
+        -> Generate a command for the system call by the Popen object that
+        manages the subprocess and allows to redirect the output.
+        -> The process runs into an independent thread.
+        -> A queue is used to collect the logs from the Popen output and
+        an other one is used to send it to the QTextEdit integrated console.
+        -> Logs flags are collected for information.
+        -> Exit code is initialized to default value. Must change in case of
+        normal exit, error or user interruption.
+        """
+        super(Process, self).__init__()
+
+        self.type = process_type
+        self.name = None
+
+        self.config = configuration
+        self.target = target
+        self.device = device
+        self.program = program
+
+        if self.type == CLEAN:
+            self.command = self.generate_make_command(CLEAN_TARGET_KEY)
+            self.name = " - ".join([self.type.upper(),
+                                    self.config.name])
+        elif self.type == BUILD:
+            self.command = self.generate_make_command(BUILD_TARGET_KEY)
+            self.name = " - ".join([self.type.upper(), self.config.name,
+                                    self.target.name])
+        elif self.type == UPLOAD:
+            self.command = self.generate_make_command(UPLOAD_TARGET_KEY)
+            self.name = " - ".join([self.type.upper(), self.config.name,
+                                    self.target.name, self.device.name])
+        else:
+            self.command = self.generate_program_command()
+            self.name = " - ".join([self.type.upper(),
+                                    self.program.name])
+
+        self.subprocess = Core.QProcess()
+        self.subprocess.setProcessChannelMode(Core.QProcess.MergedChannels)
+        self.subprocess.setReadChannel(Core.QProcess.StandardOutput)
+
+        self.process_killed.connect(self.emergency_stop)
+        self.exit_code = DEFAULT_EXIT_CODE
+
+        self.flags = {cs.ERROR_FLAG:   0,
+                      cs.WARNING_FLAG: 0,
+                      cs.INFO_FLAG:    0}
+
+    def generate_make_command(self, target_key):
+        """
+        :param target_key:
+        -> Generate a system command to compile files by a Makefile and
+        putting the right arguments if given.
+        """
+        if self.config is not None:
+            aircraft_term = CONF_FLAG_NAME + "=" + self.config.name
+
+            if self.target is not None:
+                target_key = self.target.name + target_key
+
+            command_terms = ["make", "-C", env.PAPARAZZI_HOME, "-f",
+                             AC_MAKEFILE_NAME,
+                             aircraft_term, target_key]
+
+            if self.device is not None and self.device.variable[1]:
+                device_term = DEVICE_FLAG_NAME + "=" + self.device.variable[1]
+                command_terms.insert(-1, device_term)
+
+            return " ".join(command_terms)
+
+    def generate_program_command(self):
+        """
+        -> Generate a system command to run a program and add its options
+        if it has some.
+        """
+        if self.program is not None:
+            full_command = os.path.join(env.PAPARAZZI_HOME,
+                                        self.program.command)
+
+            for option in self.program.options:
+                if type(option) is tuple:
+                    flag, value = option
+                    if value == CONF_FLAG:
+                        full_command += " " + flag + " " + self.config.name
+                    elif value == TARGET_FLAG:
+                        full_command += " " + flag + " " + self.target.name
+                    elif value == CONF_ID_FLAG:
+                        full_command += " " + flag + " " + self.config.id
+                    else:
+                        full_command += " " + flag + " " + value
+                else:
+                    full_command += " " + option
+
+            return full_command
+
+    def check_before_start(self):
+        # TODO IF NECESSARY !!!
+        return self == self
+
+    def start(self):
+        """
+        -> Start the thread => start the worker => call the run method.
+        """
+        LOGGER.info("'%s' process running ... (command='%s')",
+                    self.name, self.command)
+        self.subprocess.start(self.command)
+        self.subprocess.readyReadStandardOutput.connect(self.send_text)
+        self.subprocess.finished.connect(self.finish_process)
+
+    def send_text(self):
+        """
+        -> Analyse an process output line to find a flag in it.
+        -> Send the item by the sending queue object.
+        -> Collect the flag found.
+        """
+        q_byte_array = self.subprocess.readAllStandardOutput()
+        string = str(q_byte_array, encoding="utf-8").strip()
+        for line in string.split("\n"):
+            log, flag = cs.analyse_log_line(line)
+            log_type = cs.PROCESS_MESSAGE_TYPE
+            self.process_log_sent.emit(log, flag, log_type)
+            if flag != cs.DEFAULT_FLAG:
+                self.flags[flag] += 1
+
+    def finish_process(self):
+        """
+        -> If the process finished, get the exit code.
+        -> Else, the process crashed...
+        """
+        if self.subprocess.exitStatus() == Core.QProcess.NormalExit:
+            self.exit_code = self.subprocess.exitCode()
+            LOGGER.info("'%s' process finished with exit code %s.\n",
+                        self.name, self.exit_code)
+        else:
+            self.exit_code = INTERRUPTED_EXIT_CODE
+            LOGGER.error("'%s' process crashed, probably stopped by user !\n",
+                         self.name)
+
+    def emergency_stop(self):
+        """
+        -> Kill the subprocess by getting its ProcessID.
+        """
+        os.kill(self.subprocess.pid(), signal.SIGKILL)
@@ -0,0 +1,16 @@
+<!doctype html>
+<html lang="en">
+    <head>
+      <meta charset="utf-8">
+    </head>
+    <body>
+        <header>
+            <img src="icons/penguin_icon.png" alt="Paparazzi UAV icon unreachable..."/>
+            <h1 align="center">Paparazzi Center</h1>
+            <p align="center"><i>(Python/Qt version)</i></p>
+        </header>
+        <p align="center">Copyright (C) 2007-2008 ENAC, Pascal Brisset</p>
+        <p align="center">License GPLv2</p>
+        <p align="center"><a href="http://paparazziuav.org">http://paparazziuav.org</a></p>
+    </body>
+</html>
@@ -0,0 +1,13 @@
+<!doctype html>
+<html lang="en">
+    <head>
+      <meta charset="utf-8">
+    </head>
+    <body>
+        <header>
+            <b>/!\ WARNING :</b>
+        </header>
+        <p>Values have been modified locally but not into the original XML files...</p>
+	<p>Do you want to save or ignore them ?</p>
+    </body>
+</html>
@@ -0,0 +1,107 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+<svg id="svg7698" xmlns="http://www.w3.org/2000/svg" height="16" width="16" version="1.1" xmlns:xlink="http://www.w3.org/1999/xlink">
+ <defs id="defs7700">
+  <linearGradient id="linearGradient3140" y2="31.211" gradientUnits="userSpaceOnUse" x2="23.576" gradientTransform="matrix(.41578 -.41749 .51898 .51462 -15.747 2.6504)" y1="25.357" x1="23.576">
+   <stop id="stop2541" style="stop-color:#181818" offset="0"/>
+   <stop id="stop2543" style="stop-color:#dbdbdb" offset=".13483"/>
+   <stop id="stop2545" style="stop-color:#a4a4a4" offset=".20224"/>
+   <stop id="stop2547" style="stop-color:#fff" offset=".26966"/>
+   <stop id="stop2549" style="stop-color:#8d8d8d" offset=".44650"/>
+   <stop id="stop2551" style="stop-color:#959595" offset=".57114"/>
+   <stop id="stop2553" style="stop-color:#cecece" offset=".72038"/>
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--- a/Show More
+++ b/Show More