Swarm supervision (#3671)

* [supervision] tiny refector

* [supervision] Add multi selection mode

* [supervision] remove mono selection mode

* [supervision] remove outdated code

---------

Co-authored-by: Fabien-B <Fabien-B@github.com>

sw/supervision/python/build_widget.py

@@ -6,8 +6,8 @@ from generated.ui_build import Ui_Build
 import lxml.etree as ET
 import os
 import utils
-from conf import Aircraft, Conf
-from typing import List, Dict
+from conf import Aircraft
+from typing import Dict, List, Optional, Set
 from dataclasses import dataclass, field
 import re
 
@@ -27,23 +27,17 @@ class FlashMode:
 
 class BuildWidget(Ui_Build, QWidget):
 
-    spawn_program = QtCore.pyqtSignal(str, list, str, object)
-    refresh_ac = QtCore.pyqtSignal(object)
+    multi_action_requested = QtCore.pyqtSignal(str)
 
     def __init__(self, parent=None):
         QWidget.__init__(self, parent=parent)
         self.setupUi(self)
         # uic.loadUi("ui/build.ui", self)
-        self.ac: Aircraft = None
-        self.conf: Conf = None      # to save conf before building
         self.flash_modes: List[FlashMode] = self.parse_flash_modes()
         self.build_button.clicked.connect(self.build)
         self.clean_button.clicked.connect(self.clean)
         self.flash_button.clicked.connect(self.flash)
-        self.target_combo.currentTextChanged.connect(self.update_flash_mode)
-
-    def set_conf(self, conf: Conf):
-        self.conf = conf
+        self.target_combo.currentTextChanged.connect(lambda _: self.multi_action_requested.emit("RefreshFlashModes"))
 
     @staticmethod
     def parse_flash_modes() -> List[FlashMode]:
@@ -68,68 +62,53 @@ class BuildWidget(Ui_Build, QWidget):
         mode_names = [mode.name for mode in modes]
         return mode_names
 
-    def update_targets(self, ac: Aircraft):
-        self.ac = ac
+    def update_targets_for_aircrafts(self, aircrafts: List[Aircraft]):
+        selected_target = self.target_combo.currentText()
         self.target_combo.clear()
-
-        for target in ac.boards.keys():
-            self.target_combo.addItem(target)
-        last_target = utils.get_settings().value("ui/last_target", None, str)
-        if last_target is not None and last_target in ac.boards.keys():
-            self.target_combo.setCurrentText(last_target)
-
-    def update_flash_mode(self, target):
         self.device_combo.clear()
-        if target != "":
+        if not aircrafts:
+            return
+
+        common_targets = set(aircrafts[0].boards.keys())
+        for ac in aircrafts[1:]:
+            common_targets.intersection_update(ac.boards.keys())
+        for target in sorted(common_targets):
+            self.target_combo.addItem(target)
+        if selected_target in common_targets:
+            self.target_combo.setCurrentText(selected_target)
+        self.update_flash_modes_for_aircrafts(aircrafts)
+
+    def update_flash_modes_for_aircrafts(self, aircrafts: List[Aircraft]):
+        selected_flash_mode = self.device_combo.currentText()
+        self.device_combo.clear()
         self.device_combo.addItem("Default")
-            board = self.ac.boards[target]
-            flash_modes = self.get_flash_modes(board)
-            self.device_combo.addItems(flash_modes)
-            last_flash_mode = utils.get_settings().value("ui/last_flash_mode", None, str)
-            if last_flash_mode in flash_modes:
-                self.device_combo.setCurrentText(last_flash_mode)
+        target = self.target_combo.currentText()
+        if not aircrafts or not target:
+            return
+
+        common_modes: Optional[Set[str]] = None
+        for ac in aircrafts:
+            board = ac.boards.get(target)
+            modes = set(self.get_flash_modes(board)) if board is not None else set()
+            common_modes = modes if common_modes is None else common_modes.intersection(modes)
+        if common_modes:
+            self.device_combo.addItems(sorted(common_modes))
+        if selected_flash_mode and self.device_combo.findText(selected_flash_mode) >= 0:
+            self.device_combo.setCurrentText(selected_flash_mode)
 
     def get_current_target(self) -> str:
         return self.target_combo.currentText()
 
     def build(self):
-        target = self.target_combo.currentText()
-        cmd = ["make", "-C", utils.PAPARAZZI_HOME, "-f", "Makefile.ac",
-               "AIRCRAFT={}".format(self.ac.name), "{}.compile".format(target)]
-        if self.print_config_checkbox.isChecked():
-            cmd.append("PRINT_CONFIG=1")
-        shortname = "Build {}".format(self.ac.name)
-        self.refresh_ac.emit(self.ac)
-        self.conf.save(False)
-        self.target_combo.setCurrentText(target)
-        self.enable_buttons(False)
-        utils.get_settings().setValue("ui/last_target", target)
-        self.spawn_program.emit(shortname, cmd, None, lambda: self.enable_buttons(True))
+        self.multi_action_requested.emit("Build")
 
     def clean(self):
-        cmd = ["make", "-C", utils.PAPARAZZI_HOME, "-f", "Makefile.ac",
-               "AIRCRAFT={}".format(self.ac.name), "clean_ac"]
-        shortname = "Clean {}".format(self.ac.name)
-        self.enable_buttons(False)
-        self.spawn_program.emit(shortname, cmd, None, lambda: self.enable_buttons(True))
+        self.multi_action_requested.emit("Clean")
 
     def flash(self):
-        target = self.target_combo.currentText()
-        vars = []
-        flash_mode = self.device_combo.currentText()
-        if flash_mode != "Default":
-            for mode in self.flash_modes:
-                if mode.name == flash_mode:
-                    vars = ["{}={}".format(var_name, var_value) for (var_name, var_value) in mode.vars.items()]
-                    break
-            else:
-                raise Exception("Flash mode {} not found!".format(flash_mode))
-        cmd = ["make", "-C", utils.PAPARAZZI_HOME, "-f", "Makefile.ac",
-               "AIRCRAFT={}".format(self.ac.name)] + vars + ["{}.upload".format(target)]
-        shortname = "Flash {}".format(self.ac.name)
-        utils.get_settings().setValue("ui/last_flash_mode", flash_mode)
-        self.spawn_program.emit(shortname, cmd, None, None)
+        self.multi_action_requested.emit("Flash")
 
     def enable_buttons(self, enable: bool):
         self.build_button.setEnabled(enable)
         self.clean_button.setEnabled(enable)
+        self.flash_button.setEnabled(enable)

sw/supervision/python/conf.py

@@ -9,6 +9,7 @@ import utils
 
 MOD_DEP = os.path.join(utils.PAPARAZZI_SRC, "sw", "tools", "generators", "dump_modules_list.out")
 CONF = os.path.join(utils.PAPARAZZI_HOME, "conf", "conf.xml")
+PLACEHOLDER = "<...>"
 
 
 class ConfError(Exception):
@@ -27,6 +28,26 @@ class Setting:
             return f"[{self.name}]"
 
 
+@dataclass
+class AircraftConfig:
+    airframe: str = ""
+    radio: str = ""
+    telemetry: str = ""
+    flight_plan: str = ""
+    settings: List[Setting] = field(default_factory=list)
+    settings_modules: List[Setting] = field(default_factory=list)
+
+    def copy(self) -> "AircraftConfig":
+        return AircraftConfig(
+            self.airframe,
+            self.radio,
+            self.telemetry,
+            self.flight_plan,
+            list(self.settings),
+            list(self.settings_modules),
+        )
+
+
 @dataclass
 class Aircraft:
     name: str = ""
@@ -60,6 +81,24 @@ class Aircraft:
         else:
             self.gui_color = color
 
+    def get_config(self) -> AircraftConfig:
+        return AircraftConfig(
+            self.airframe,
+            self.radio,
+            self.telemetry,
+            self.flight_plan,
+            list(self.settings),
+            list(self.settings_modules),
+        )
+
+    def set_config(self, config: AircraftConfig):
+        self.airframe = config.airframe
+        self.radio = config.radio
+        self.telemetry = config.telemetry
+        self.flight_plan = config.flight_plan
+        self.settings = list(config.settings)
+        self.settings_modules = list(config.settings_modules)
+
     def update(self):
         self.update_targets()
         self.update_settings()
@@ -136,6 +175,36 @@ class Aircraft:
             raise ConfError("XMLSyntaxError, file {} is illformed !".format(self.airframe))
 
 
+def common_aircraft_config(aircrafts: List[Aircraft]) -> AircraftConfig:
+    if not aircrafts:
+        return AircraftConfig()
+
+    configs = [ac.get_config() for ac in aircrafts]
+
+    def common_value(field: str) -> str:
+        first = getattr(configs[0], field)
+        if all(getattr(config, field) == first for config in configs[1:]):
+            return first
+        return PLACEHOLDER
+
+    def common_settings(field: str) -> List[Setting]:
+        first = getattr(configs[0], field)
+        settings_lists = [getattr(config, field) for config in configs]
+        common = [setting for setting in first if all(setting in settings for settings in settings_lists[1:])]
+        if any(settings != first for settings in settings_lists[1:]):
+            common.append(Setting(PLACEHOLDER, False))
+        return common
+
+    return AircraftConfig(
+        common_value("airframe"),
+        common_value("radio"),
+        common_value("telemetry"),
+        common_value("flight_plan"),
+        common_settings("settings"),
+        common_settings("settings_modules"),
+    )
+
+
 class Conf:
     def __init__(self, file: str):
         self.file = file        # type: str
@@ -239,5 +308,3 @@ class Conf:
 
 
 
-
-

sw/supervision/python/conf_widget.py

@@ -3,6 +3,7 @@ from PyQt5 import QtCore
 
 import conf
 import utils
+from conf import AircraftConfig, PLACEHOLDER, Setting
 from conf_file_widget import ConfFileWidget
 from conf_settings_widget import ConfSettingsWidget
 
@@ -10,23 +11,24 @@ from conf_settings_widget import ConfSettingsWidget
 class ConfWidget(QWidget):
 
     conf_changed = QtCore.pyqtSignal()
+    file_changed = QtCore.pyqtSignal(str, str)
     setting_changed = QtCore.pyqtSignal()
 
     def __init__(self, parent=None):
         QWidget.__init__(self, parent=parent)
         lay = QVBoxLayout(self)
         self.airframe = ConfFileWidget("Airframe", "airframes", self)
-        self.airframe.file_changed.connect(self.conf_changed)
+        self.airframe.file_changed.connect(lambda: self.handle_file_changed("airframe", self.airframe.path))
         self.flight_plan = ConfFileWidget("Flight Plan", "flight_plans", self)
-        self.flight_plan.file_changed.connect(self.conf_changed)
+        self.flight_plan.file_changed.connect(lambda: self.handle_file_changed("flight_plan", self.flight_plan.path))
         self.flight_plan.edit_alt_button.show()
         self.flight_plan.edit_alt_button.setText("Edit GCS")
         self.settings = ConfSettingsWidget(self)
         self.settings.settings_changed.connect(self.setting_changed)
         self.radio = ConfFileWidget("Radio", "radios", self)
-        self.radio.file_changed.connect(self.conf_changed)
+        self.radio.file_changed.connect(lambda: self.handle_file_changed("radio", self.radio.path))
         self.telemetry = ConfFileWidget("Telemetry", "telemetry", self)
-        self.telemetry.file_changed.connect(self.conf_changed)
+        self.telemetry.file_changed.connect(lambda: self.handle_file_changed("telemetry", self.telemetry.path))
 
         self.settings.settings.itemDoubleClicked.connect(self.edit_setting)
         self.settings.settings.itemChanged.connect(self.setting_changed)
@@ -39,17 +41,48 @@ class ConfWidget(QWidget):
         lay.addWidget(self.radio)
         lay.addWidget(self.telemetry)
 
+    def handle_file_changed(self, field: str, path: str):
+        self.file_changed.emit(field, path)
+        self.conf_changed.emit()
+
     def set_ac(self, ac: conf.Aircraft):
-        self.airframe.set_path(ac.airframe)
-        self.telemetry.set_path(ac.telemetry)
-        self.radio.set_path(ac.radio)
-        self.flight_plan.set_path(ac.flight_plan)
+        self.set_config(ac.get_config())
+
+    def set_config(self, config: AircraftConfig):
+        self.airframe.set_path(config.airframe)
+        self.telemetry.set_path(config.telemetry)
+        self.radio.set_path(config.radio)
+        self.flight_plan.set_path(config.flight_plan)
+        with QtCore.QSignalBlocker(self.settings.settings):
             self.settings.settings.clear()
-        for setting in ac.settings + ac.settings_modules:
+            for setting in config.settings + config.settings_modules:
                 item = QListWidgetItem(setting.name)
+                if setting.name != PLACEHOLDER:
                     item.setCheckState(QtCore.Qt.Checked if setting.enabled else QtCore.Qt.Unchecked)
                 self.settings.settings.addItem(item)
 
+    def get_config(self) -> AircraftConfig:
+        settings, modules = self.get_settings()
+        return AircraftConfig(
+            self.airframe.path,
+            self.radio.path,
+            self.telemetry.path,
+            self.flight_plan.path,
+            settings,
+            modules,
+        )
+
+    def get_settings(self):
+        modules, settings = [], []
+        for i in range(self.settings.settings.count()):
+            item = self.settings.settings.item(i)
+            setting = Setting(item.text(), item.checkState() == QtCore.Qt.Checked)
+            if item.text().startswith("module"):
+                modules.append(setting)
+            else:
+                settings.append(setting)
+        return settings, modules
+
     def edit_setting(self, item: QListWidgetItem):
         utils.edit_file(item.text())
 
@@ -59,4 +92,3 @@ class ConfWidget(QWidget):
         self.telemetry.set_path("")
         self.radio.set_path("")
         self.settings.settings.clear()
-

sw/supervision/python/configuration_panel.py

@@ -14,6 +14,7 @@ class ConfigurationPanel(QWidget, Ui_ConfigurationPanel):
 
     clear_error = QtCore.pyqtSignal()
     ac_edited = QtCore.pyqtSignal(Aircraft)
+    config_file_changed = QtCore.pyqtSignal(str, str)
     program_state_changed = QtCore.pyqtSignal(TabProgramsState)
 
     def __init__(self, parent=None, *args, **kwargs):
@@ -23,10 +24,10 @@ class ConfigurationPanel(QWidget, Ui_ConfigurationPanel):
         self.currentAC = None   # type: Aircraft
         self.flight_plan_editor = None
         self.programs_state: TabProgramsState = TabProgramsState.IDLE
+        self.conf_widget.file_changed.connect(self.handle_config_file_changed)
         self.conf_widget.conf_changed.connect(self.handle_conf_changed)
         self.conf_widget.setting_changed.connect(self.handle_setting_changed)
         self.conf_widget.flight_plan.edit_alt.connect(self.edit_flightplan_gcs)
-        self.build_widget.spawn_program.connect(self.launch_program)
 
     def init(self):
         settings = utils.get_settings()
@@ -37,38 +38,36 @@ class ConfigurationPanel(QWidget, Ui_ConfigurationPanel):
     def set_ac(self, ac: Aircraft):
         if ac is None:
             self.conf_widget.setDisabled(True)
+            self.currentAC = None
+            self.conf_widget.reset()
+            return
+        self.conf_widget.setDisabled(False)
         self.currentAC = ac
         self.conf_widget.set_ac(ac)
-        self.build_widget.update_targets(ac)
+
+    def display_config(self, config: AircraftConfig):
+        self.currentAC = None
+        self.conf_widget.setDisabled(False)
+        self.conf_widget.set_config(config)
 
     def handle_setting_changed(self):
-        def make_setting(item: QListWidgetItem):
-            name = item.text()
-            state = True if item.checkState() == QtCore.Qt.Checked else False
-            return Setting(name, state)
+        self.apply_current_widget_config()
 
-        modules, settings = [], []
-        for i in range(self.conf_widget.settings.settings.count()):
-            item = self.conf_widget.settings.settings.item(i)
-            s = make_setting(item)
-            if item.text().startswith("module"):
-                modules.append(s)
-            else:
-                settings.append(s)
+    def handle_conf_changed(self):
+        self.apply_current_widget_config()
 
-        self.currentAC.settings_modules = modules
-        self.currentAC.settings = settings
+    def handle_config_file_changed(self, field: str, path: str):
+        if self.currentAC is None:
+            self.config_file_changed.emit(field, path)
+
+    def apply_current_widget_config(self):
+        if self.currentAC is None:
+            return
+        self.currentAC.set_config(self.conf_widget.get_config())
         self.ac_edited.emit(self.currentAC)
         # should we save each time a tiny change is made ? very inefficient !
         # self.conf.save()
 
-    def handle_conf_changed(self):
-        self.currentAC.airframe = self.conf_widget.airframe.path
-        self.currentAC.flight_plan = self.conf_widget.flight_plan.path
-        self.currentAC.radio = self.conf_widget.radio.path
-        self.currentAC.telemetry = self.conf_widget.telemetry.path
-        self.ac_edited.emit(self.currentAC)
-    
     def handle_tools_changed(self, tools: Dict[str, Tool]):
         if "Flight Plan Editor" in tools:
             self.flight_plan_editor = tools["Flight Plan Editor"]
@@ -86,8 +85,9 @@ class ConfigurationPanel(QWidget, Ui_ConfigurationPanel):
             subprocess.Popen(cmd)
             # self.launch_program(self.flight_plan_editor.name, cmd, self.flight_plan_editor.icon)
 
-    def launch_program(self, shortname, cmd, icon, cb):
+    def launch_program(self, shortname, cmd, icon, cb, aircraft=None):
         pw = ProgramWidget(shortname, cmd, icon, self.programs_widget)
+        pw.aircraft = aircraft if aircraft is not None else self.currentAC
         self.programs_widget.layout().addWidget(pw)
         pw.ready_read_stderr.connect(lambda: self.console_widget.handle_stderr(pw))
         pw.ready_read_stdout.connect(lambda: self.console_widget.handle_stdout(pw))

sw/supervision/python/console_widget.py

@@ -8,8 +8,9 @@ import utils
 from program_widget import ProgramWidget
 from dataclasses import dataclass
 from enum import Enum
-from typing import Dict, List
+from typing import Dict, List, Optional
 import re
+from conf import Aircraft
 
 
 class Level(Enum):
@@ -46,11 +47,16 @@ class ConsoleWidget(QWidget, Ui_Console):
         self.setupUi(self)
         self.records: List[Record] = []
         self.p_checkboxes: Dict[ProgramWidget, QCheckBox] = {}
+        self.current_aircraft: Optional[Aircraft] = None
         self.programs_checkbox.stateChanged.connect(self.handle_check_all)
         self.log_level_slider.valueChanged.connect(self.log_level_changed)
         self.clear_button.clicked.connect(self.clear)
         self.splitter.setSizes([500, 100])
 
+    def set_aircraft(self, ac: Aircraft):
+        self.current_aircraft = ac
+        self.update_content()
+
     def display_record(self, record):
         if record.level == Level.ERROR:
             bg = "background-color:red;"
@@ -100,7 +106,9 @@ class ConsoleWidget(QWidget, Ui_Console):
 
             level = self.classify(line)
             r = Record(level, line, pw, channel)
+            r.aircraft = getattr(pw, "aircraft", None)
             self.records.append(r)
+            if self.filter(r):
                 self.display_record(r)
 
     def handle_stdout(self, pw: ProgramWidget):
@@ -119,7 +127,9 @@ class ConsoleWidget(QWidget, Ui_Console):
 
     def post_message(self, pw: ProgramWidget, msg):
         r = Record(Level.ALL, msg, pw, Channel.MANAGEMENT)
+        r.aircraft = getattr(pw, "aircraft", None)
         self.records.append(r)
+        if self.filter(r):
             self.display_record(r)
 
     def new_program(self, pw: ProgramWidget):
@@ -186,8 +196,12 @@ class ConsoleWidget(QWidget, Ui_Console):
         if self.programs_checkbox.checkState() != Qt.Unchecked:
             if r.emitter is None:
                 return False
+            if r.emitter not in self.p_checkboxes:
+                return False
             if self.p_checkboxes[r.emitter].checkState() != Qt.Checked:
                 return False
+        if self.current_aircraft is not None:
+            return getattr(r, "aircraft", getattr(r.emitter, "aircraft", None)) == self.current_aircraft
         return True
 
     def update_content(self):

sw/supervision/python/generated/ui_conf_header.py

@@ -2,7 +2,7 @@
 
 # Form implementation generated from reading ui file 'ui/ui_conf_header.ui'
 #
-# Created by: PyQt5 UI code generator 5.15.10
+# Created by: PyQt5 UI code generator 5.15.6
 #
 # WARNING: Any manual changes made to this file will be lost when pyuic5 is
 # run again.  Do not edit this file unless you know what you are doing.
@@ -17,88 +17,65 @@ class Ui_ConfHeader(object):
         ConfHeader.resize(664, 192)
         self.horizontalLayout = QtWidgets.QHBoxLayout(ConfHeader)
         self.horizontalLayout.setObjectName("horizontalLayout")
-        self.color_button = QtWidgets.QToolButton(ConfHeader)
-        self.color_button.setStyleSheet("")
-        self.color_button.setText("")
-        self.color_button.setObjectName("color_button")
-        self.horizontalLayout.addWidget(self.color_button)
-        self.id_spinBox = QtWidgets.QSpinBox(ConfHeader)
-        self.id_spinBox.setMaximum(255)
-        self.id_spinBox.setObjectName("id_spinBox")
-        self.horizontalLayout.addWidget(self.id_spinBox)
-        self.ac_combo = QtWidgets.QComboBox(ConfHeader)
-        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.MinimumExpanding, QtWidgets.QSizePolicy.Fixed)
+        self.label_4 = QtWidgets.QLabel(ConfHeader)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Fixed, QtWidgets.QSizePolicy.Preferred)
         sizePolicy.setHorizontalStretch(0)
         sizePolicy.setVerticalStretch(0)
-        sizePolicy.setHeightForWidth(self.ac_combo.sizePolicy().hasHeightForWidth())
-        self.ac_combo.setSizePolicy(sizePolicy)
-        self.ac_combo.setEditable(False)
-        self.ac_combo.setSizeAdjustPolicy(QtWidgets.QComboBox.AdjustToContents)
-        self.ac_combo.setObjectName("ac_combo")
-        self.horizontalLayout.addWidget(self.ac_combo)
-        self.menu_button = QtWidgets.QToolButton(ConfHeader)
-        self.menu_button.setContextMenuPolicy(QtCore.Qt.ActionsContextMenu)
-        self.menu_button.setText("")
-        icon = QtGui.QIcon()
-        icon.addPixmap(QtGui.QPixmap(":/icons/icons/menu.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
-        self.menu_button.setIcon(icon)
-        self.menu_button.setObjectName("menu_button")
-        self.horizontalLayout.addWidget(self.menu_button)
-        self.refresh_button = QtWidgets.QToolButton(ConfHeader)
-        icon1 = QtGui.QIcon()
-        icon1.addPixmap(QtGui.QPixmap(":/icons/icons/refresh.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
-        self.refresh_button.setIcon(icon1)
-        self.refresh_button.setObjectName("refresh_button")
-        self.horizontalLayout.addWidget(self.refresh_button)
-        self.save_button = QtWidgets.QToolButton(ConfHeader)
-        icon2 = QtGui.QIcon()
-        icon2.addPixmap(QtGui.QPixmap(":/icons/icons/save.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
-        self.save_button.setIcon(icon2)
-        self.save_button.setObjectName("save_button")
-        self.horizontalLayout.addWidget(self.save_button)
-        spacerItem = QtWidgets.QSpacerItem(40, 20, QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Minimum)
-        self.horizontalLayout.addItem(spacerItem)
-        self.label_4 = QtWidgets.QLabel(ConfHeader)
+        sizePolicy.setHeightForWidth(self.label_4.sizePolicy().hasHeightForWidth())
+        self.label_4.setSizePolicy(sizePolicy)
         self.label_4.setObjectName("label_4")
         self.horizontalLayout.addWidget(self.label_4)
         self.set_combo = QtWidgets.QComboBox(ConfHeader)
         self.set_combo.setSizeAdjustPolicy(QtWidgets.QComboBox.AdjustToContents)
         self.set_combo.setObjectName("set_combo")
         self.horizontalLayout.addWidget(self.set_combo)
+        self.refresh_button = QtWidgets.QToolButton(ConfHeader)
+        icon = QtGui.QIcon()
+        icon.addPixmap(QtGui.QPixmap(":/icons/icons/refresh.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        self.refresh_button.setIcon(icon)
+        self.refresh_button.setObjectName("refresh_button")
+        self.horizontalLayout.addWidget(self.refresh_button)
+        self.save_button = QtWidgets.QToolButton(ConfHeader)
+        icon1 = QtGui.QIcon()
+        icon1.addPixmap(QtGui.QPixmap(":/icons/icons/save.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        self.save_button.setIcon(icon1)
+        self.save_button.setObjectName("save_button")
+        self.horizontalLayout.addWidget(self.save_button)
+        spacerItem = QtWidgets.QSpacerItem(40, 20, QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Minimum)
+        self.horizontalLayout.addItem(spacerItem)
         self.new_ac_action = QtWidgets.QAction(ConfHeader)
         icon = QtGui.QIcon.fromTheme("document-new")
         self.new_ac_action.setIcon(icon)
         self.new_ac_action.setObjectName("new_ac_action")
         self.remove_ac_action = QtWidgets.QAction(ConfHeader)
-        icon3 = QtGui.QIcon()
-        icon3.addPixmap(QtGui.QPixmap(":/icons/icons/delete.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
-        self.remove_ac_action.setIcon(icon3)
+        icon2 = QtGui.QIcon()
+        icon2.addPixmap(QtGui.QPixmap(":/icons/icons/delete.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        self.remove_ac_action.setIcon(icon2)
         self.remove_ac_action.setObjectName("remove_ac_action")
         self.duplicate_action = QtWidgets.QAction(ConfHeader)
-        icon4 = QtGui.QIcon()
-        icon4.addPixmap(QtGui.QPixmap(":/icons/icons/copy.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
-        self.duplicate_action.setIcon(icon4)
+        icon3 = QtGui.QIcon()
+        icon3.addPixmap(QtGui.QPixmap(":/icons/icons/copy.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        self.duplicate_action.setIcon(icon3)
         self.duplicate_action.setObjectName("duplicate_action")
         self.rename_action = QtWidgets.QAction(ConfHeader)
-        icon5 = QtGui.QIcon()
-        icon5.addPixmap(QtGui.QPixmap(":/icons/icons/edit.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
-        self.rename_action.setIcon(icon5)
+        icon4 = QtGui.QIcon()
+        icon4.addPixmap(QtGui.QPixmap(":/icons/icons/edit.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        self.rename_action.setIcon(icon4)
         self.rename_action.setObjectName("rename_action")
 
         self.retranslateUi(ConfHeader)
-        self.menu_button.clicked.connect(self.menu_button.showMenu) # type: ignore
         QtCore.QMetaObject.connectSlotsByName(ConfHeader)
 
     def retranslateUi(self, ConfHeader):
         _translate = QtCore.QCoreApplication.translate
         ConfHeader.setWindowTitle(_translate("ConfHeader", "Form"))
+        self.label_4.setText(_translate("ConfHeader", "Set"))
         self.refresh_button.setToolTip(_translate("ConfHeader", "refresh Aircraft"))
         self.refresh_button.setText(_translate("ConfHeader", "..."))
         self.refresh_button.setShortcut(_translate("ConfHeader", "Ctrl+R"))
         self.save_button.setToolTip(_translate("ConfHeader", "save conf"))
         self.save_button.setText(_translate("ConfHeader", "..."))
         self.save_button.setShortcut(_translate("ConfHeader", "Ctrl+S"))
-        self.label_4.setText(_translate("ConfHeader", "Set"))
         self.new_ac_action.setText(_translate("ConfHeader", "New AC"))
         self.remove_ac_action.setText(_translate("ConfHeader", "Remove"))
         self.duplicate_action.setText(_translate("ConfHeader", "Duplicate"))

sw/supervision/python/generated/ui_console.py

@@ -15,8 +15,43 @@ class Ui_Console(object):
     def setupUi(self, Console):
         Console.setObjectName("Console")
         Console.resize(709, 647)
+        Console.setLayoutDirection(QtCore.Qt.LeftToRight)
         self.verticalLayout_2 = QtWidgets.QVBoxLayout(Console)
         self.verticalLayout_2.setObjectName("verticalLayout_2")
+        self.horizontalLayout_2 = QtWidgets.QHBoxLayout()
+        self.horizontalLayout_2.setObjectName("horizontalLayout_2")
+        self.label_3 = QtWidgets.QLabel(Console)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Fixed, QtWidgets.QSizePolicy.Fixed)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.label_3.sizePolicy().hasHeightForWidth())
+        self.label_3.setSizePolicy(sizePolicy)
+        self.label_3.setObjectName("label_3")
+        self.horizontalLayout_2.addWidget(self.label_3)
+        self.log_level_slider = QtWidgets.QSlider(Console)
+        self.log_level_slider.setMaximumSize(QtCore.QSize(100, 16777215))
+        self.log_level_slider.setMaximum(3)
+        self.log_level_slider.setPageStep(1)
+        self.log_level_slider.setProperty("value", 3)
+        self.log_level_slider.setOrientation(QtCore.Qt.Horizontal)
+        self.log_level_slider.setTickPosition(QtWidgets.QSlider.TicksBelow)
+        self.log_level_slider.setTickInterval(1)
+        self.log_level_slider.setObjectName("log_level_slider")
+        self.horizontalLayout_2.addWidget(self.log_level_slider)
+        self.log_level_label = QtWidgets.QLabel(Console)
+        self.log_level_label.setObjectName("log_level_label")
+        self.horizontalLayout_2.addWidget(self.log_level_label)
+        spacerItem = QtWidgets.QSpacerItem(40, 20, QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Minimum)
+        self.horizontalLayout_2.addItem(spacerItem)
+        self.clear_button = QtWidgets.QPushButton(Console)
+        icon = QtGui.QIcon()
+        icon.addPixmap(QtGui.QPixmap(":/icons/icons/clear.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        self.clear_button.setIcon(icon)
+        self.clear_button.setObjectName("clear_button")
+        self.horizontalLayout_2.addWidget(self.clear_button)
+        self.horizontalLayout_2.setStretch(1, 1)
+        self.horizontalLayout_2.setStretch(3, 2)
+        self.verticalLayout_2.addLayout(self.horizontalLayout_2)
         self.splitter = QtWidgets.QSplitter(Console)
         self.splitter.setOrientation(QtCore.Qt.Horizontal)
         self.splitter.setObjectName("splitter")
@@ -48,46 +83,12 @@ class Ui_Console(object):
         self.programs_widget.setObjectName("programs_widget")
         self.verticalLayout_4 = QtWidgets.QVBoxLayout(self.programs_widget)
         self.verticalLayout_4.setObjectName("verticalLayout_4")
-        spacerItem = QtWidgets.QSpacerItem(1, 167, QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.Expanding)
-        self.verticalLayout_4.addItem(spacerItem)
+        spacerItem1 = QtWidgets.QSpacerItem(1, 167, QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.Expanding)
+        self.verticalLayout_4.addItem(spacerItem1)
         self.scrollArea.setWidget(self.programs_widget)
         self.verticalLayout.addWidget(self.scrollArea)
         self.verticalLayout_2.addWidget(self.splitter)
-        self.horizontalLayout_2 = QtWidgets.QHBoxLayout()
-        self.horizontalLayout_2.setObjectName("horizontalLayout_2")
-        self.label_3 = QtWidgets.QLabel(Console)
-        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Fixed, QtWidgets.QSizePolicy.Fixed)
-        sizePolicy.setHorizontalStretch(0)
-        sizePolicy.setVerticalStretch(0)
-        sizePolicy.setHeightForWidth(self.label_3.sizePolicy().hasHeightForWidth())
-        self.label_3.setSizePolicy(sizePolicy)
-        self.label_3.setObjectName("label_3")
-        self.horizontalLayout_2.addWidget(self.label_3)
-        self.log_level_slider = QtWidgets.QSlider(Console)
-        self.log_level_slider.setMaximumSize(QtCore.QSize(100, 16777215))
-        self.log_level_slider.setMaximum(3)
-        self.log_level_slider.setPageStep(1)
-        self.log_level_slider.setProperty("value", 3)
-        self.log_level_slider.setOrientation(QtCore.Qt.Horizontal)
-        self.log_level_slider.setTickPosition(QtWidgets.QSlider.TicksBelow)
-        self.log_level_slider.setTickInterval(1)
-        self.log_level_slider.setObjectName("log_level_slider")
-        self.horizontalLayout_2.addWidget(self.log_level_slider)
-        self.log_level_label = QtWidgets.QLabel(Console)
-        self.log_level_label.setObjectName("log_level_label")
-        self.horizontalLayout_2.addWidget(self.log_level_label)
-        spacerItem1 = QtWidgets.QSpacerItem(40, 20, QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Minimum)
-        self.horizontalLayout_2.addItem(spacerItem1)
-        self.clear_button = QtWidgets.QPushButton(Console)
-        icon = QtGui.QIcon()
-        icon.addPixmap(QtGui.QPixmap(":/icons/icons/clear.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
-        self.clear_button.setIcon(icon)
-        self.clear_button.setObjectName("clear_button")
-        self.horizontalLayout_2.addWidget(self.clear_button)
-        self.horizontalLayout_2.setStretch(1, 1)
-        self.horizontalLayout_2.setStretch(3, 2)
-        self.verticalLayout_2.addLayout(self.horizontalLayout_2)
-        self.verticalLayout_2.setStretch(0, 1)
+        self.verticalLayout_2.setStretch(1, 1)
 
         self.retranslateUi(Console)
         QtCore.QMetaObject.connectSlotsByName(Console)
@@ -95,9 +96,9 @@ class Ui_Console(object):
     def retranslateUi(self, Console):
         _translate = QtCore.QCoreApplication.translate
         Console.setWindowTitle(_translate("Console", "Form"))
-        self.label.setText(_translate("Console", "Filters"))
-        self.programs_checkbox.setText(_translate("Console", "Programs"))
         self.label_3.setText(_translate("Console", "Log level:"))
         self.log_level_label.setText(_translate("Console", "All"))
         self.clear_button.setText(_translate("Console", "Clear console"))
+        self.label.setText(_translate("Console", "Filters"))
+        self.programs_checkbox.setText(_translate("Console", "Programs"))
 from generated import resources_rc

sw/supervision/python/header_widget.py

@@ -1,52 +1,27 @@
 # Copyright (C) 2008-2022 The Paparazzi Team
 # released under GNU GPLv2 or later. See COPYING file.
 from PyQt5.QtWidgets import *
-from PyQt5 import QtCore, QtGui, QtWidgets
+from PyQt5 import QtCore
 from generated.ui_conf_header import Ui_ConfHeader
 from conf import Aircraft, Conf
-import utils
-import os
-import sys
 import paparazzi
-from typing import List
 
 
 class HeaderWidget(QWidget, Ui_ConfHeader):
 
     set_changed = QtCore.pyqtSignal(str)
-    ac_changed = QtCore.pyqtSignal(str)
     ac_edited = QtCore.pyqtSignal(Aircraft)
-    ac_rename = QtCore.pyqtSignal(Aircraft)
-    ac_delete = QtCore.pyqtSignal(Aircraft)
-    ac_duplicate = QtCore.pyqtSignal(Aircraft)
     ac_save = QtCore.pyqtSignal(Aircraft)
-    ac_new = QtCore.pyqtSignal()
 
     def __init__(self, parent=None):
         QWidget.__init__(self, parent=parent)
         self.setupUi(self)
         self.currentAc: Aircraft = None
         self.set_combo.currentTextChanged.connect(self.set_changed)
-        self.ac_combo.currentTextChanged.connect(self.ac_changed)
-        self.id_spinBox.valueChanged.connect(self.handle_id_changed)
 
         self.refresh_button.clicked.connect(lambda: self.ac_edited.emit(self.currentAc))
-        self.color_button.clicked.connect(self.change_color)
         self.save_button.clicked.connect(lambda: self.ac_save.emit(self.currentAc))
 
-        self.menu_button.addAction(self.rename_action)
-        self.rename_action.triggered.connect(lambda: self.ac_rename.emit(self.currentAc))
-        self.menu_button.addAction(self.remove_ac_action)
-        self.remove_ac_action.triggered.connect(lambda: self.ac_delete.emit(self.currentAc))
-        self.menu_button.addAction(self.duplicate_action)
-        self.duplicate_action.triggered.connect(lambda: self.ac_duplicate.emit(self.currentAc))
-        self.menu_button.addAction(self.new_ac_action)
-        self.new_ac_action.triggered.connect(self.ac_new)
-
-    def handle_id_changed(self, new_id):
-        self.currentAc.ac_id = new_id
-        self.ac_edited.emit(self.currentAc)
-
     def update_sets(self):
         sets = paparazzi.get_list_of_conf_files()
         conf_init = Conf.get_current_conf()
@@ -54,39 +29,8 @@ class HeaderWidget(QWidget, Ui_ConfHeader):
         if conf_init in sets:
             self.set_combo.setCurrentText(conf_init)
 
-    def set_acs(self, acs: List[str]):
-        self.ac_combo.clear()
-        self.ac_combo.addItems(acs)
-
     def set_ac(self, ac: Aircraft):
         self.currentAc = ac
-        self.id_spinBox.blockSignals(True)
-        self.id_spinBox.setValue(ac.ac_id)
-        self.id_spinBox.blockSignals(False)
-        self.color_button.setStyleSheet("background-color: {};".format(ac.get_color()))
-        self.ac_combo.setCurrentText(ac.name)
-
-    def add_ac(self, ac: Aircraft):
-        self.ac_combo.addItem(ac.name)
-
-    def remove_ac(self, ac):
-        for i in range(self.ac_combo.count()):
-            if self.ac_combo.itemText(i) == ac.name:
-                self.ac_combo.removeItem(i)
-                break
-
-    def rename_ac(self, new_name):
-        i = self.ac_combo.currentIndex()
-        self.ac_combo.setItemText(i, new_name)
-
-    def change_color(self):
-        initial = QtGui.QColor(self.currentAc.get_color())
-        color = QColorDialog.getColor(initial, self, "AC color")
-        if color.isValid():
-            color_name = color.name()
-            self.currentAc.set_color(color_name)
-            self.color_button.setStyleSheet("background-color: {};".format(color_name))
-            self.ac_edited.emit(self.currentAc)
 
     def disable_sets(self):
         self.set_combo.setDisabled(True)

sw/supervision/python/program_widget.py

@@ -41,6 +41,8 @@ class ProgramWidget(QWidget, Ui_Program):
         self.process.finished.connect(self.handle_finished)
         self.process.started.connect(self.handle_started)
         self.process.errorOccurred.connect(self.handle_error)
+        if icon is None:
+            icon = "default_tool_icon.svg"
         i = QIcon(os.path.join(utils.PAPARAZZI_HOME, "data", "pictures", "tools_icons", icon))
         self.icon_label.setPixmap(i.pixmap(20, 20))
         self.icon_label.setToolTip(shortname)

sw/supervision/python/session_widget.py

@@ -155,6 +155,7 @@ class SessionWidget(QWidget, Ui_Session):
             cmd = [os.path.join(utils.PAPARAZZI_SRC, tool.command)] + flat_args
 
         pw = ProgramWidget(tool.name, cmd, tool.icon, self.programs_widget)
+        pw.aircraft = self.ac
         self.program_widgets.append(pw)
         lay: QVBoxLayout = self.programs_widget.layout()
         lay.insertWidget(lay.count()-1, pw)

sw/supervision/python/ui/ui_conf_header.ui

@@ -15,49 +15,22 @@
   </property>
   <layout class="QHBoxLayout" name="horizontalLayout">
    <item>
-    <widget class="QToolButton" name="color_button">
-     <property name="styleSheet">
-      <string notr="true"/>
-     </property>
-     <property name="text">
-      <string/>
-     </property>
-    </widget>
-   </item>
-   <item>
-    <widget class="QSpinBox" name="id_spinBox">
-     <property name="maximum">
-      <number>255</number>
-     </property>
-    </widget>
-   </item>
-   <item>
-    <widget class="QComboBox" name="ac_combo">
+    <widget class="QLabel" name="label_4">
      <property name="sizePolicy">
-      <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+      <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
        <horstretch>0</horstretch>
        <verstretch>0</verstretch>
       </sizepolicy>
      </property>
-     <property name="editable">
-      <bool>false</bool>
-     </property>
-     <property name="sizeAdjustPolicy">
-      <enum>QComboBox::AdjustToContents</enum>
+     <property name="text">
+      <string>Set</string>
      </property>
     </widget>
    </item>
    <item>
-    <widget class="QToolButton" name="menu_button">
-     <property name="contextMenuPolicy">
-      <enum>Qt::ActionsContextMenu</enum>
-     </property>
-     <property name="text">
-      <string/>
-     </property>
-     <property name="icon">
-      <iconset resource="resources.qrc">
-       <normaloff>:/icons/icons/menu.png</normaloff>:/icons/icons/menu.png</iconset>
+    <widget class="QComboBox" name="set_combo">
+     <property name="sizeAdjustPolicy">
+      <enum>QComboBox::AdjustToContents</enum>
      </property>
     </widget>
    </item>
@@ -108,20 +81,6 @@
      </property>
     </spacer>
    </item>
-   <item>
-    <widget class="QLabel" name="label_4">
-     <property name="text">
-      <string>Set</string>
-     </property>
-    </widget>
-   </item>
-   <item>
-    <widget class="QComboBox" name="set_combo">
-     <property name="sizeAdjustPolicy">
-      <enum>QComboBox::AdjustToContents</enum>
-     </property>
-    </widget>
-   </item>
   </layout>
   <action name="new_ac_action">
    <property name="icon">
@@ -163,22 +122,5 @@
  <resources>
   <include location="resources.qrc"/>
  </resources>
- <connections>
-  <connection>
-   <sender>menu_button</sender>
-   <signal>clicked()</signal>
-   <receiver>menu_button</receiver>
-   <slot>showMenu()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>302</x>
-     <y>95</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>302</x>
-     <y>95</y>
-    </hint>
-   </hints>
-  </connection>
- </connections>
+ <connections/>
 </ui>

sw/supervision/python/ui/ui_console.ui

@@ -13,78 +13,10 @@
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QVBoxLayout" name="verticalLayout_2" stretch="1,0">
-   <item>
-    <widget class="QSplitter" name="splitter">
-     <property name="orientation">
-      <enum>Qt::Horizontal</enum>
+  <property name="layoutDirection">
+   <enum>Qt::LeftToRight</enum>
   </property>
-     <widget class="QTextEdit" name="console_textedit">
-      <property name="readOnly">
-       <bool>true</bool>
-      </property>
-     </widget>
-     <widget class="QWidget" name="filter_widget" native="true">
-      <layout class="QVBoxLayout" name="verticalLayout">
-       <item>
-        <widget class="QLabel" name="label">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="text">
-          <string>Filters</string>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QCheckBox" name="programs_checkbox">
-         <property name="text">
-          <string>Programs</string>
-         </property>
-         <property name="checked">
-          <bool>false</bool>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QScrollArea" name="scrollArea">
-         <property name="widgetResizable">
-          <bool>true</bool>
-         </property>
-         <widget class="QWidget" name="programs_widget">
-          <property name="geometry">
-           <rect>
-            <x>0</x>
-            <y>0</y>
-            <width>180</width>
-            <height>525</height>
-           </rect>
-          </property>
-          <layout class="QVBoxLayout" name="verticalLayout_4">
-           <item>
-            <spacer name="verticalSpacer">
-             <property name="orientation">
-              <enum>Qt::Vertical</enum>
-             </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>1</width>
-               <height>167</height>
-              </size>
-             </property>
-            </spacer>
-           </item>
-          </layout>
-         </widget>
-        </widget>
-       </item>
-      </layout>
-     </widget>
-    </widget>
-   </item>
+  <layout class="QVBoxLayout" name="verticalLayout_2" stretch="0,1">
    <item>
     <layout class="QHBoxLayout" name="horizontalLayout_2" stretch="0,1,0,2,0">
      <item>
@@ -161,6 +93,77 @@
      </item>
     </layout>
    </item>
+   <item>
+    <widget class="QSplitter" name="splitter">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <widget class="QTextEdit" name="console_textedit">
+      <property name="readOnly">
+       <bool>true</bool>
+      </property>
+     </widget>
+     <widget class="QWidget" name="filter_widget" native="true">
+      <layout class="QVBoxLayout" name="verticalLayout">
+       <item>
+        <widget class="QLabel" name="label">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="text">
+          <string>Filters</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QCheckBox" name="programs_checkbox">
+         <property name="text">
+          <string>Programs</string>
+         </property>
+         <property name="checked">
+          <bool>false</bool>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QScrollArea" name="scrollArea">
+         <property name="widgetResizable">
+          <bool>true</bool>
+         </property>
+         <widget class="QWidget" name="programs_widget">
+          <property name="geometry">
+           <rect>
+            <x>0</x>
+            <y>0</y>
+            <width>180</width>
+            <height>525</height>
+           </rect>
+          </property>
+          <layout class="QVBoxLayout" name="verticalLayout_4">
+           <item>
+            <spacer name="verticalSpacer">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>1</width>
+               <height>167</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+          </layout>
+         </widget>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+    </widget>
+   </item>
   </layout>
  </widget>
  <resources>