bitcraze#349 Added functionality to save/load anchor positions to file

bconvens · Sep 4, 2018 · abf07bc · abf07bc
1 parent 7528617
commit abf07bc
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Showing 4 changed files with 74 additions and 7 deletions.
diff --git a/README.md b/README.md
@@ -142,6 +142,7 @@ The Crazyflie PC client has the following dependencies:
   * PyQtGraph
   * ZMQ
   * appdirs
+  * PyYAML
 
 ### Setting udev permissions
 

diff --git a/setup.py b/setup.py
@@ -125,7 +125,7 @@ def relative(lst, base=''):
     },
 
     install_requires=platform_requires + ['cflib>=0.1.6', 'appdirs>=1.4.0',
-                                          'pyzmq', 'pyqtgraph>=0.10'],
+                                          'pyzmq', 'pyqtgraph>=0.10', 'PyYAML'],
 
     # List of dev and qt dependencies
     # You can install them by running

diff --git a/src/cfclient/ui/dialogs/anchor_position_dialog.py b/src/cfclient/ui/dialogs/anchor_position_dialog.py
@@ -32,7 +32,8 @@
 from PyQt5 import uic
 from PyQt5.QtCore import QAbstractTableModel, QVariant, Qt
 from PyQt5.QtGui import QBrush, QColor
-from PyQt5.QtWidgets import QInputDialog
+from PyQt5.QtWidgets import QInputDialog, QFileDialog
+import yaml
 
 __author__ = 'Bitcraze AB'
 __all__ = ['AnchorPositionDialog']
@@ -110,13 +111,14 @@ def add_anchor(self, anchor_id, x=0.0, y=0.0, z=0.0):
             self._anchor_positions.sort(key=lambda row: row[1])
             self.layoutChanged.emit()
 
-    def replaceAnchorsFromLatestKnownPositions(self):
-        self.layoutAboutToBeChanged.emit()
+    def replace_anchors_from_latest_known_positions(self):
+        self.replace_anchor_positions(self._latest_known_anchor_positions)
 
+    def replace_anchor_positions(self, anchor_positions):
+        self.layoutAboutToBeChanged.emit()
         self._anchor_positions = []
-        for id, position in self._latest_known_anchor_positions.items():
+        for id, position in anchor_positions.items():
             self.add_anchor(id, x=position[0], y=position[1], z=position[2])
-
         self.layoutChanged.emit()
 
     def get_anchor_postions(self):
@@ -186,6 +188,10 @@ def __init__(self, lps_tab, *args):
         self._write_to_anchors_button.clicked.connect(
             self._write_to_anchors_button_clicked)
         self._close_button.clicked.connect(self.close)
+        self._load_button.clicked.connect(
+            self._load_button_clicked)
+        self._save_button.clicked.connect(
+            self._save_button_clicked)
 
     def _add_anchor_button_clicked(self):
         anchor_id, ok = QInputDialog.getInt(
@@ -194,11 +200,33 @@ def _add_anchor_button_clicked(self):
             self._data_model.add_anchor(anchor_id)
 
     def _get_from_anchors_button_clicked(self):
-        self._data_model.replaceAnchorsFromLatestKnownPositions()
+        self._data_model.replace_anchors_from_latest_known_positions()
 
     def _write_to_anchors_button_clicked(self):
         anchor_positions = self._data_model.get_anchor_postions()
         self._lps_tab.write_positions_to_anchors(anchor_positions)
 
     def anchor_postions_updated(self, anchor_positions):
         self._data_model.anchor_postions_updated(anchor_positions)
+
+    def _load_button_clicked(self):
+        names = QFileDialog.getOpenFileName(self, 'Open file')
+        f = open(names[0], 'r')
+        with f:
+            data = yaml.load(f)
+
+            anchor_positions = {}
+            for id, pos in data.items():
+                anchor_positions[id] = (pos['x'], pos['y'], pos['z'])
+            self._data_model.replace_anchor_positions(anchor_positions)
+
+    def _save_button_clicked(self):
+        anchor_positions = self._data_model.get_anchor_postions()
+        data = {}
+        for id, pos in anchor_positions.items():
+            data[id] = {'x': pos[0], 'y': pos[1], 'z': pos[2]}
+
+        names = QFileDialog.getSaveFileName(self, 'Save file')
+        f = open(names[0], 'w')
+        with f:
+            yaml.dump(data, f)
diff --git a/src/cfclient/ui/dialogs/anchor_position_dialog.ui b/src/cfclient/ui/dialogs/anchor_position_dialog.ui
@@ -53,6 +53,44 @@
      <item>
       <widget class="QTableView" name="_table_view"/>
      </item>
+     <item>
+      <layout class="QHBoxLayout" name="horizontalLayout_4">
+       <item>
+        <widget class="QPushButton" name="_load_button">
+         <property name="text">
+          <string>Load from file...</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="_save_button">
+         <property name="text">
+          <string>Save to file...</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <spacer name="horizontalSpacer_3">
+         <property name="orientation">
+          <enum>Qt::Horizontal</enum>
+         </property>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>40</width>
+           <height>20</height>
+          </size>
+         </property>
+        </spacer>
+       </item>
+      </layout>
+     </item>
+     <item>
+      <widget class="Line" name="line">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+      </widget>
+     </item>
      <item>
       <layout class="QHBoxLayout" name="horizontalLayout_2">
        <item>