Merge pull request bitcraze#420 from victorhook/issue_400

Removed support for Crazyflie x-mode in client
cafeciaojoe · Jul 28, 2020 · 3553bad · 3553bad
2 parents ca748ac + fb3aa9c
commit 3553bad
Show file tree

Hide file tree

Showing 8 changed files with 65 additions and 157 deletions.
diff --git a/docs/development/dev_info_client.md b/docs/development/dev_info_client.md
@@ -100,7 +100,6 @@ configuration file.
 
 ``` {.json}
 {
-  "client_side_xmode": false,
   "link_uri": "radio://0/100/250K",
   "input_device": "Sony PLAYSTATION(R)3 Controller",
   "slew_limit": 45,
@@ -128,7 +127,6 @@ configuration file.
 
 | Field                      | Format    | Comments |
 | -------------------------- | --------- | -------- |
-| client\_side\_xmode        | boolean   | Sets whether the client side X-mode is activated or not (more info here)|
 | link\_uri                  | string    | The last successfully connected Crazyflie URI. This is used when you click \"Quick connect\" in the application|
 | auto\_reconnect            | boolean   | Set\'s if auto-reconnect is enabled or not|
 | ui\_update\_period         | int       | The minimum time (in ms) between UI updates for logging values|
@@ -177,7 +175,6 @@ accessed in the application.
     "min_thrust": 25,
     "max_yaw": 200,
     "max_rp": 30,
-    "client_side_xmode": false,
     "auto_reconnect": false,
     "device_config_mapping": {},
     "enable_debug_driver": false,

diff --git a/docs/userguides/cfheadless.md b/docs/userguides/cfheadless.md
@@ -29,7 +29,6 @@ optional arguments:
 -c CONTROLLER, --controller CONTROLLER
                     Use controller with specified id, id defaults to 0
 --controllers         Only display available controllers and exit
--x, --x-mode          Enable client-side X-mode
 ```
 The client is exited either by taking out the Crazyradio USB dongle or
 pressing Ctrl+C

diff --git a/examples/zmqsrvtest.py b/examples/zmqsrvtest.py
@@ -243,22 +243,6 @@ def run(self):
     "value": True
 }
 
-print("Setting param {} to {}...".format(param_cmd["name"],
-                                         param_cmd["value"]), end=' ')
-client_conn.send_json(param_cmd)
-resp = client_conn.recv_json()
-if resp["status"] == 0:
-    print("done!")
-else:
-    print("fail! {}".format(resp["msg"]))
-
-param_cmd = {
-    "version": 1,
-    "cmd": "param",
-    "name": "flightctrl.xmode",
-    "value": True
-}
-
 print("Setting param {} to {}...".format(param_cmd["name"],
                                          param_cmd["value"]), end=' ')
 client_conn.send_json(param_cmd)

diff --git a/src/cfclient/configs/config.json b/src/cfclient/configs/config.json
@@ -12,7 +12,6 @@
     "min_thrust": 25,
     "max_yaw": 200,
     "max_rp": 30,
-    "client_side_xmode": false,
     "auto_reconnect": false,
     "device_config_mapping": {},
     "enable_debug_driver": false,

diff --git a/src/cfclient/headless.py b/src/cfclient/headless.py
@@ -66,14 +66,9 @@ def __init__(self):
         for d in self._jr.available_devices():
             self._devs.append(d.name)
 
-    def setup_controller(self, input_config, input_device=0, xmode=False):
+    def setup_controller(self, input_config, input_device=0):
         """Set up the device reader"""
         # Set up the joystick reader
-        self._jr.device_error.add_callback(self._input_dev_error)
-        print("Client side X-mode: %s" % xmode)
-        if (xmode):
-            self._cf.commander.set_client_xmode(xmode)
-
         devs = self._jr.available_devices()  # noqa, is this a bug?
         print("Will use [%s] for input" % self._devs[input_device])
         self._jr.start_input(self._devs[input_device])
@@ -145,9 +140,6 @@ def main():
     parser.add_argument("--controllers", action="store_true",
                         dest="list_controllers",
                         help="Only display available controllers and exit")
-    parser.add_argument("-x", "--x-mode", action="store_true",
-                        dest="xmode",
-                        help="Enable client-side X-mode")
     (args, unused) = parser.parse_known_args()
 
     if args.debug:
@@ -162,8 +154,7 @@ def main():
     else:
         if headless.controller_connected():
             headless.setup_controller(input_config=args.input,
-                                      input_device=args.controller,
-                                      xmode=args.xmode)
+                                      input_device=args.controller)
             headless.connect_crazyflie(link_uri=args.uri)
         else:
             print("No input-device connected, exiting!")

diff --git a/src/cfclient/ui/tabs/FlightTab.py b/src/cfclient/ui/tabs/FlightTab.py
@@ -32,7 +32,7 @@
 import logging
 
 from PyQt5 import uic
-from PyQt5.QtCore import Qt, pyqtSlot, pyqtSignal
+from PyQt5.QtCore import Qt, pyqtSignal
 from PyQt5.QtWidgets import QMessageBox
 
 import cfclient
@@ -142,21 +142,9 @@ def __init__(self, tabWidget, helper, *args):
         self.maxAngle.valueChanged.connect(self.maxAngleChanged)
         self.maxYawRate.valueChanged.connect(self.maxYawRateChanged)
         self.uiSetupReadySignal.connect(self.uiSetupReady)
-        self.clientXModeCheckbox.toggled.connect(self.changeXmode)
         self.isInCrazyFlightmode = False
         self.uiSetupReady()
 
-        self.clientXModeCheckbox.setChecked(Config().get("client_side_xmode"))
-
-        self.crazyflieXModeCheckbox.clicked.connect(
-            lambda enabled:
-            self.helper.cf.param.set_value("flightmode.x",
-                                           str(enabled)))
-        self.helper.cf.param.add_update_callback(
-            group="flightmode", name="xmode",
-            cb=(lambda name, checked:
-                self.crazyflieXModeCheckbox.setChecked(eval(checked))))
-
         self.ratePidRadioButton.clicked.connect(
             lambda enabled:
             self.helper.cf.param.set_value("flightmode.ratepid",
@@ -177,10 +165,6 @@ def __init__(self, tabWidget, helper, *args):
             cb=(lambda name, checked:
                 self.ratePidRadioButton.setChecked(eval(checked))))
 
-        self.helper.cf.param.add_update_callback(
-            group="cpu", name="flash",
-            cb=self._set_enable_client_xmode)
-
         self.helper.cf.param.add_update_callback(
             group="ring", name="headlightEnable",
             cb=(lambda name, checked:
@@ -222,13 +206,6 @@ def __init__(self, tabWidget, helper, *args):
             self._limiting_updated.emit)
         self._limiting_updated.connect(self._set_limiting_enabled)
 
-    def _set_enable_client_xmode(self, name, value):
-        if eval(value) <= 128:
-            self.clientXModeCheckbox.setEnabled(True)
-        else:
-            self.clientXModeCheckbox.setEnabled(False)
-            self.clientXModeCheckbox.setChecked(False)
-
     def _set_limiting_enabled(self, rp_limiting_enabled,
                               yaw_limiting_enabled,
                               thrust_limiting_enabled):
@@ -377,7 +354,6 @@ def disconnected(self, linkURI):
         self.ai.setHover(0, self.is_visible())
         self.targetHeight.setEnabled(False)
         self.actualHeight.setEnabled(False)
-        self.clientXModeCheckbox.setEnabled(False)
         self.logBaro = None
         self.logAltHold = None
         self._led_ring_effect.setEnabled(False)
@@ -536,12 +512,6 @@ def _assisted_control_updated(self, enabled):
         else:
             self.helper.cf.param.set_value("flightmode.althold", str(enabled))
 
-    @pyqtSlot(bool)
-    def changeXmode(self, checked):
-        self.helper.cf.commander.set_client_xmode(checked)
-        Config().set("client_side_xmode", checked)
-        logger.info("Clientside X-mode enabled: %s", checked)
-
     def alt1_updated(self, state):
         if state:
             new_index = (self._ring_effect+1) % (self._ledring_nbr_effects+1)

diff --git a/src/cfclient/ui/tabs/flightTab.ui b/src/cfclient/ui/tabs/flightTab.ui
@@ -50,62 +50,29 @@
          <layout class="QHBoxLayout" name="horizontalLayout_3">
           <item>
            <layout class="QGridLayout" name="gridLayout_3">
-            <item row="1" column="1">
-             <widget class="QComboBox" name="flightModeCombo">
-              <property name="minimumSize">
-               <size>
-                <width>0</width>
-                <height>0</height>
-               </size>
-              </property>
-              <property name="toolTip">
-               <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Select what flightmode to use:&lt;/p&gt;&lt;p&gt; * Safe prevents crashing&lt;/p&gt;&lt;p&gt; * Crazy does not prevent crashing :)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+            <item row="3" column="1">
+             <widget class="QDoubleSpinBox" name="targetCalRoll">
+              <property name="minimum">
+               <double>-20.000000000000000</double>
               </property>
-              <property name="editable">
-               <bool>false</bool>
+              <property name="maximum">
+               <double>20.000000000000000</double>
               </property>
-              <property name="currentIndex">
-               <number>0</number>
+              <property name="singleStep">
+               <double>0.200000000000000</double>
               </property>
-              <item>
-               <property name="text">
-                <string>Normal</string>
-               </property>
-              </item>
-              <item>
-               <property name="text">
-                <string>Advanced</string>
-               </property>
-              </item>
              </widget>
             </item>
-            <item row="0" column="1">
-             <spacer name="verticalSpacer_3">
-              <property name="orientation">
-               <enum>Qt::Vertical</enum>
-              </property>
-              <property name="sizeType">
-               <enum>QSizePolicy::Maximum</enum>
-              </property>
-              <property name="sizeHint" stdset="0">
-               <size>
-                <width>0</width>
-                <height>0</height>
-               </size>
+            <item row="5" column="0">
+             <widget class="QRadioButton" name="angularPidRadioButton">
+              <property name="enabled">
+               <bool>false</bool>
               </property>
-             </spacer>
-            </item>
-            <item row="2" column="0">
-             <widget class="QLabel" name="label_5">
               <property name="text">
-               <string>Assist mode</string>
+               <string>Attitude control</string>
               </property>
-             </widget>
-            </item>
-            <item row="2" column="1">
-             <widget class="QComboBox" name="_assist_mode_combo">
-              <property name="enabled">
-               <bool>false</bool>
+              <property name="checked">
+               <bool>true</bool>
               </property>
              </widget>
             </item>
@@ -116,8 +83,8 @@
               </property>
              </widget>
             </item>
-            <item row="3" column="1">
-             <widget class="QDoubleSpinBox" name="targetCalRoll">
+            <item row="4" column="1">
+             <widget class="QDoubleSpinBox" name="targetCalPitch">
               <property name="minimum">
                <double>-20.000000000000000</double>
               </property>
@@ -129,16 +96,10 @@
               </property>
              </widget>
             </item>
-            <item row="4" column="1">
-             <widget class="QDoubleSpinBox" name="targetCalPitch">
-              <property name="minimum">
-               <double>-20.000000000000000</double>
-              </property>
-              <property name="maximum">
-               <double>20.000000000000000</double>
-              </property>
-              <property name="singleStep">
-               <double>0.200000000000000</double>
+            <item row="2" column="1">
+             <widget class="QComboBox" name="_assist_mode_combo">
+              <property name="enabled">
+               <bool>false</bool>
               </property>
              </widget>
             </item>
@@ -163,45 +124,64 @@
              </widget>
             </item>
             <item row="5" column="1">
-             <widget class="QCheckBox" name="crazyflieXModeCheckbox">
+             <widget class="QRadioButton" name="ratePidRadioButton">
               <property name="enabled">
                <bool>false</bool>
               </property>
               <property name="text">
-               <string>Crazyflie X-mode</string>
+               <string>Rate control</string>
               </property>
              </widget>
             </item>
-            <item row="5" column="0">
-             <widget class="QCheckBox" name="clientXModeCheckbox">
-              <property name="enabled">
+            <item row="1" column="1">
+             <widget class="QComboBox" name="flightModeCombo">
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="toolTip">
+               <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Select what flightmode to use:&lt;/p&gt;&lt;p&gt; * Safe prevents crashing&lt;/p&gt;&lt;p&gt; * Crazy does not prevent crashing :)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+              </property>
+              <property name="editable">
                <bool>false</bool>
               </property>
-              <property name="text">
-               <string>Client X-mode</string>
+              <property name="currentIndex">
+               <number>0</number>
               </property>
+              <item>
+               <property name="text">
+                <string>Normal</string>
+               </property>
+              </item>
+              <item>
+               <property name="text">
+                <string>Advanced</string>
+               </property>
+              </item>
              </widget>
             </item>
-            <item row="6" column="0">
-             <widget class="QRadioButton" name="angularPidRadioButton">
-              <property name="enabled">
-               <bool>false</bool>
+            <item row="0" column="1">
+             <spacer name="verticalSpacer_3">
+              <property name="orientation">
+               <enum>Qt::Vertical</enum>
               </property>
-              <property name="text">
-               <string>Attitude control</string>
+              <property name="sizeType">
+               <enum>QSizePolicy::Maximum</enum>
               </property>
-              <property name="checked">
-               <bool>true</bool>
+              <property name="sizeHint" stdset="0">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
               </property>
-             </widget>
+             </spacer>
             </item>
-            <item row="6" column="1">
-             <widget class="QRadioButton" name="ratePidRadioButton">
-              <property name="enabled">
-               <bool>false</bool>
-              </property>
+            <item row="2" column="0">
+             <widget class="QLabel" name="label_5">
               <property name="text">
-               <string>Rate control</string>
+               <string>Assist mode</string>
               </property>
              </widget>
             </item>

diff --git a/src/cfclient/ui/widgets/plotwidget.py b/src/cfclient/ui/widgets/plotwidget.py
@@ -178,7 +178,6 @@ def __init__(self, parent=None, fps=100, title="", *args):
         self._x_btn_group.addButton(self._enable_seconds_x)
         self._x_btn_group.addButton(self._enable_manual_x)
         self._x_btn_group.setExclusive(True)
-        self._x_btn_group.buttonClicked.connect(self._x_mode_change)
 
         self._draw_graph = True
         self._auto_redraw.stateChanged.connect(self._auto_redraw_change)
@@ -190,17 +189,6 @@ def _auto_redraw_change(self, state):
         else:
             self._draw_graph = True
 
-    def _x_mode_change(self, box):
-        """Callback when user changes the X-axis mode"""
-        if box == self._enable_range_x:
-            logger.info("Enable range x")
-            self._x_range = (
-                float(self._range_x_min.text()),
-                float(self._range_x_max.text()))
-        else:
-            self._range_x_min.setEnabled(False)
-            self._range_x_max.setEnabled(False)
-
     def _y_mode_change(self, box):
         """Callback when user changes the Y-axis mode"""
         if box == self._enable_range_y: