mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-24 05:45:59 +08:00
Fabien-B
294 lines
11 KiB
Python
294 lines
11 KiB
Python
import os, sys, copy
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from PyQt5.QtWidgets import *
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from PyQt5 import QtCore, QtGui, QtWidgets
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import utils
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from generated.ui_configuration_panel import Ui_ConfigurationPanel
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from generated.ui_new_ac_dialog import Ui_Dialog
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from program_widget import ProgramWidget
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from conf import *
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from programs_conf import parse_tools
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import subprocess
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PAPARAZZI_SRC = os.getenv("PAPARAZZI_SRC")
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PAPARAZZI_HOME = os.getenv("PAPARAZZI_HOME", PAPARAZZI_SRC)
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lib_path = os.path.normpath(os.path.join(PAPARAZZI_SRC, 'sw', 'lib', 'python'))
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sys.path.append(lib_path)
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import paparazzi
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# TODO make a setting ?
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REMOVE_PROGRAMS_FINISHED = True
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class ConfigurationPanel(QWidget, Ui_ConfigurationPanel):
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msg_error = QtCore.pyqtSignal(str)
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clear_error = QtCore.pyqtSignal()
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ac_changed = QtCore.pyqtSignal(Aircraft)
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def __init__(self, parent=None, *args, **kwargs):
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QWidget.__init__(self, parent=parent, *args, **kwargs)
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self.setupUi(self)
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self.console_widget.filter_widget.hide()
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self.conf = None # type: conf.Conf
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self.currentAC = None # type: str
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self.flight_plan_editor = None
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self.header.set_changed.connect(self.handle_set_changed)
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self.header.ac_changed.connect(self.update_ac)
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self.header.id_changed.connect(self.handle_id_changed)
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self.header.refresh_button.clicked.connect(self.refresh_ac)
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self.header.color_button.clicked.connect(self.change_color)
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self.header.save_button.clicked.connect(lambda: self.conf.save())
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self.addAction(self.save_conf_action)
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self.save_conf_action.triggered.connect(lambda: self.conf.save())
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self.conf_widget.conf_changed.connect(self.handle_conf_changed)
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self.conf_widget.setting_changed.connect(self.handle_setting_changed)
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self.conf_widget.flight_plan.edit_alt.connect(self.edit_flightplan_gcs)
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self.header.rename_action.triggered.connect(self.rename_ac)
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self.header.new_ac_action.triggered.connect(self.new_ac)
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self.header.duplicate_action.triggered.connect(self.duplicate_ac)
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self.header.remove_ac_action.triggered.connect(self.remove_ac)
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self.build_widget.spawn_program.connect(self.launch_program)
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def init(self):
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sets = paparazzi.get_list_of_conf_files()
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settings = utils.get_settings()
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self.header.set_sets(sets, conf_init=Conf.get_current_conf())
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last_ac: QtCore.QVariant = settings.value("ui/last_AC", None, str)
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last_target: QtCore.QVariant = settings.value("ui/last_target", None, str)
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if last_ac is not None:
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self.header.ac_combo.setCurrentText(last_ac)
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if last_target is not None:
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self.build_widget.target_combo.setCurrentText(last_target)
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window_size: QtCore.QSize = settings.value("ui/window_size", QtCore.QSize(1000, 600), QtCore.QSize)
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lpw = settings.value("ui/left_pane_width", 100, int)
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self.splitter.setSizes([lpw, window_size.width() - lpw])
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def handle_set_changed(self, conf_file):
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self.conf = Conf(conf_file)
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Conf.set_current_conf(conf_file)
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self.build_widget.set_conf(self.conf)
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acs = [ac.name for ac in self.conf.aircrafts]
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self.header.set_acs(acs)
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def disable_sets(self):
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self.header.set_combo.setDisabled(True)
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def enable_sets(self):
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self.header.set_combo.setDisabled(False)
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def update_ac(self, ac_name):
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ac = self.conf[ac_name]
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if ac_name != "" and ac is not None:
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self.conf_widget.setDisabled(False)
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self.currentAC = ac_name
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status, stderr = ac.update()
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if status != 0:
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self.msg_error.emit(stderr.decode().strip())
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else:
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self.clear_error.emit()
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self.header.set_ac(ac)
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self.conf_widget.set_ac(ac)
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self.build_widget.update_targets(self.conf[ac_name])
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self.ac_changed.emit(self.conf[ac_name])
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else:
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# self.conf_widget.reset()
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self.conf_widget.setDisabled(True)
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def get_current_ac(self) -> str:
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"""
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:return: name of the current AC
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"""
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return self.currentAC
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def refresh_ac(self):
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self.update_ac(self.currentAC)
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def handle_id_changed(self, id):
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self.conf[self.currentAC].ac_id = id
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if len(self.conf.get_all(id)) > 1:
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self.header.id_spinBox.setStyleSheet("background-color: red;")
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else:
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self.header.id_spinBox.setStyleSheet("background-color: white;")
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def handle_setting_changed(self):
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def make_setting(item: QListWidgetItem):
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name = item.text()
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state = True if item.checkState() == QtCore.Qt.Checked else False
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return Setting(name, state)
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modules, settings = [], []
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for i in range(self.conf_widget.settings.settings.count()):
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item = self.conf_widget.settings.settings.item(i)
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s = make_setting(item)
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if item.text().startswith("module"):
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modules.append(s)
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else:
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settings.append(s)
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self.conf[self.currentAC].settings_modules = modules
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self.conf[self.currentAC].settings = settings
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# should we save each time a tiny change is made ? very inefficient !
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# self.conf.save()
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def handle_conf_changed(self):
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self.conf[self.currentAC].airframe = self.conf_widget.airframe.path
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self.conf[self.currentAC].flight_plan = self.conf_widget.flight_plan.path
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self.conf[self.currentAC].radio = self.conf_widget.radio.path
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self.conf[self.currentAC].telemetry = self.conf_widget.telemetry.path
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# reload settings modules, and update UI
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self.update_ac(self.currentAC)
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def add_ac(self, ac: Aircraft):
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self.conf.append(ac)
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self.header.add_ac(ac.name)
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def new_ac(self):
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orig = Aircraft()
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self.create_ac(orig)
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def remove_ac(self):
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button = QMessageBox.question(self, "Remove AC", "Remove AC <strong>{}</strong>?".format(self.currentAC))
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if button == QMessageBox.Yes:
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self.conf.remove(self.conf[self.currentAC])
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self.header.remove_current()
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def duplicate_ac(self):
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orig = self.conf[self.currentAC]
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self.create_ac(orig)
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def create_ac(self, orig):
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ui_dialog = Ui_Dialog()
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dialog = QDialog(parent=self)
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ui_dialog.setupUi(dialog)
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def verify():
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ok = True
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id = ui_dialog.id_spinbox.value()
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name = ui_dialog.name_edit.text()
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if self.conf[id] is not None or id == 0:
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ui_dialog.id_spinbox.setStyleSheet("background-color: red;")
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ok = False
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else:
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ui_dialog.id_spinbox.setStyleSheet("")
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if self.conf[name] is not None or name == "":
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ui_dialog.name_edit.setStyleSheet("background-color: red;")
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ok = False
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else:
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ui_dialog.name_edit.setStyleSheet("")
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return ok
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def accept():
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if verify():
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dialog.accept()
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def reject():
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dialog.reject()
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def duplicate(result):
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if result:
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new_ac = copy.deepcopy(orig)
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name = ui_dialog.name_edit.text()
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ac_id = ui_dialog.id_spinbox.value()
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new_ac.name = name
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new_ac.ac_id = ac_id
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self.add_ac(new_ac)
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self.header.set_current(name)
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ui_dialog.id_spinbox.setValue(self.conf.get_free_id())
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ui_dialog.buttonBox.accepted.connect(accept)
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ui_dialog.buttonBox.rejected.connect(reject)
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ui_dialog.id_spinbox.valueChanged.connect(verify)
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ui_dialog.name_edit.textChanged.connect(verify)
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dialog.finished.connect(duplicate)
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dialog.open()
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def rename_ac(self):
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orig = self.conf[self.currentAC]
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ui_dialog = Ui_Dialog()
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dialog = QDialog(parent=self)
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ui_dialog.setupUi(dialog)
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ui_dialog.name_edit.setText(orig.name)
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ui_dialog.id_spinbox.setValue(orig.ac_id)
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def verify():
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ok = True
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id = ui_dialog.id_spinbox.value()
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name = ui_dialog.name_edit.text()
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acs_name = self.conf.get_all(name)
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if len(acs_name) > 1 or (len(acs_name) == 1 and acs_name[0] != orig):
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ui_dialog.name_edit.setStyleSheet("background-color: red;")
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ok = False
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else:
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ui_dialog.name_edit.setStyleSheet("")
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acs_id = self.conf.get_all(id)
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if len(acs_id) > 1 or (len(acs_id) == 1 and acs_id[0] != orig):
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ui_dialog.id_spinbox.setStyleSheet("background-color: red;")
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ok = False
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else:
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ui_dialog.id_spinbox.setStyleSheet("")
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return ok
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def accept():
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if verify():
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dialog.accept()
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def reject():
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dialog.reject()
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def rename(result):
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if result:
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orig.name = ui_dialog.name_edit.text()
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orig.ac_id = ui_dialog.id_spinbox.value()
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self.header.rename_ac(orig.name)
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ui_dialog.buttonBox.accepted.connect(accept)
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ui_dialog.buttonBox.rejected.connect(reject)
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ui_dialog.id_spinbox.valueChanged.connect(verify)
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ui_dialog.name_edit.textChanged.connect(verify)
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dialog.finished.connect(rename)
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dialog.open()
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def change_color(self):
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ac = self.conf[self.currentAC]
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initial = QtGui.QColor(ac.get_color())
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color = QColorDialog.getColor(initial, self, "AC color")
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if color.isValid():
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color_name = color.name()
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ac.set_color(color_name)
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self.header.set_color(color_name)
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def edit_flightplan_gcs(self, path):
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if self.flight_plan_editor is None:
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tools = parse_tools()
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if "Flight Plan Editor" in tools:
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self.flight_plan_editor = tools["Flight Plan Editor"]
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if self.flight_plan_editor is not None:
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cmd = [os.path.join(utils.PAPARAZZI_SRC, self.flight_plan_editor.command)]
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for arg in self.flight_plan_editor.args:
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cmd += arg.args()
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cmd.append(os.path.join(utils.CONF_DIR, path))
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subprocess.Popen(cmd)
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# self.launch_program(self.flight_plan_editor.name, cmd, self.flight_plan_editor.icon)
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def launch_program(self, shortname, cmd, icon):
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pw = ProgramWidget(shortname, cmd, icon, self.programs_widget)
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self.programs_widget.layout().addWidget(pw)
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pw.ready_read_stderr.connect(lambda: self.console_widget.handle_stderr(pw))
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pw.ready_read_stdout.connect(lambda: self.console_widget.handle_stdout(pw))
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pw.finished.connect(lambda c, s: self.console_widget.handle_program_finished(pw, c, s))
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pw.remove.connect(lambda: self.remove_program(pw))
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if REMOVE_PROGRAMS_FINISHED:
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pw.finished.connect(lambda: self.remove_program(pw))
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pw.start_program()
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def remove_program(self, pw: ProgramWidget):
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self.programs_widget.layout().removeWidget(pw)
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self.console_widget.remove_program(pw)
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pw.deleteLater()
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