Console: Port to Qt

MAVProxy/modules/mavproxy_qt_console/__init__.py

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+from MAVProxy.modules.lib import mp_module
+from MAVProxy.modules.mavproxy_qt_console.ui_qt_console import Ui_QtConsole
+from PySide6.QtWidgets import QApplication, QMainWindow
+from PySide6.QtCore import QTimer
+from PySide6.QtGui import QColor
+import sys
+import threading
+from MAVProxy.modules.lib import multiproc
+import multiprocessing
+import time
+from MAVProxy.modules.lib.wxconsole_util import  Text, Value
+import socket
+import errno
+from MAVProxy.modules.lib import textconsole
+
+class QtConsoleWindow(QMainWindow):
+    def __init__(self, parent):
+        super(QtConsoleWindow, self).__init__()
+        self._parent = parent
+        self._ui = Ui_QtConsole()
+        self._ui.setupUi(self)
+
+        self._timer = QTimer(self)
+        self._timer.timeout.connect(self.update)
+        self._timer.start(200)
+
+        self._ui.actionShow_Map.triggered.connect(self.show_map)
+
+    def update(self):
+        '''Slot called by QTimer at a specified interval'''
+        if self._parent.close_event.wait(0.001):
+            self._timer.stop()
+            self.close()
+            return
+
+        try:
+            poll_success = self._parent.child_pipe_recv.poll()
+            if not poll_success:
+                return
+        except socket.error as e:
+            if e.errno == errno.EPIPE:
+                self._timer.stop()
+                return
+            else:
+                raise e
+
+        try:
+            msg = self._parent.child_pipe_recv.recv()
+        except EOFError:
+            self._timer.stop()
+            return
+
+        if isinstance(msg, Text):
+            self._ui.textEdit.setTextColor(QColor(msg.fg))
+            self._ui.textEdit.setTextBackgroundColor(QColor(msg.bg))
+            self._ui.textEdit.append(msg.text)
+
+    def show_map(self):
+        self._parent.child_pipe_send.send("# module load map")
+
+    def closeEvent(self, event) -> None:
+        """Handles the cross button on the UI"""
+        if not self._parent.close_event.is_set():
+            self._parent.child_pipe_send.send("# module unload qt_console")
+            return super().closeEvent(event)
+
+class QtConsole(textconsole.SimpleConsole):
+    def __init__(self, mpstate) -> None:
+        super(QtConsole, self).__init__()
+        self.mpstate = mpstate
+        self.parent_pipe_recv, self.child_pipe_send = multiproc.Pipe(duplex=False)
+        self.child_pipe_recv,self.parent_pipe_send = multiproc.Pipe(duplex=False)
+
+        # For quitting cleanly
+        self.close_event = multiproc.Event()
+        self.close_event.clear()
+
+        # main process in which GUI (child) lives
+        self.child = multiprocessing.Process(target=self.child_task)
+        self.child.start()
+
+        # This class (parent) doesn't need the child pipes
+        self.child_pipe_send.close()
+        self.child_pipe_recv.close()
+
+        # Thread that listens to clicks etc. from the GUI
+        t = threading.Thread(target=self.watch_thread)
+        t.daemon = True
+        t.start()
+
+    def watch_thread(self):
+        '''watch for menu events from child'''
+        from MAVProxy.modules.lib.mp_settings import MPSetting
+        try:
+            while True:
+                msg = self.parent_pipe_recv.recv()
+                if msg.startswith("#"): # Header for command packet
+                    self.mpstate.functions.process_stdin(msg[2:])
+                # print(msg)
+                # if isinstance(msg, win_layout.WinLayout):
+                #     win_layout.set_layout(msg, self.set_layout)
+                # elif self.menu_callback is not None:
+                #     self.menu_callback(msg)
+                time.sleep(0.1)
+        except EOFError:
+            pass
+
+    def child_task(self):
+        '''Main Process in which the Qt GUI lives'''
+        self.parent_pipe_send.close() # Good sense to close pipes that are not used by this process
+        self.parent_pipe_recv.close()
+        app = QApplication.instance()
+        if app == None:
+            app = QApplication()
+
+        window = QtConsoleWindow(self)
+        window.show()
+        app.exec()
+
+    def write(self, text, fg='black', bg='white'):
+        '''write to the console'''
+        try:
+            self.parent_pipe_send.send(Text(text, fg, bg))
+        except Exception:
+            pass
+
+    def writeln(self, text, fg='black', bg='white'):
+        '''write to the console with linefeed'''
+        if not isinstance(text, str):
+            text = str(text)
+        self.write(text, fg=fg, bg=bg)
+
+    def close(self):
+        '''close the console'''
+        self.close_event.set()
+        if self.child.is_alive():
+            self.child.join()
+
+class QtConsoleModule(mp_module.MPModule):
+    def __init__(self, mpstate):
+        super().__init__(mpstate, "qt_console", "GUI Console (Qt)", public=True, multi_vehicle=True)
+        self.add_command('qt_console', self.cmd_qt_console, "qt console module", ['add','list','remove'])        
+        self.mpstate.console = QtConsole(mpstate)
+
+    def cmd_qt_console(self, args):
+        pass
+
+    def mavlink_packet(self, packet):
+        # print("Packet recieved")
+        return super().mavlink_packet(packet)
+
+    def unload(self):
+        '''unload module'''
+        self.mpstate.console.close()
+        self.mpstate.console = textconsole.SimpleConsole()
+
+def init(mpstate):
+    '''initialise module'''
+    return QtConsoleModule(mpstate)

MAVProxy/modules/mavproxy_qt_console/qt_console.ui

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+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QtConsole</class>
+ <widget class="QMainWindow" name="QtConsole">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>799</width>
+    <height>308</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Qt Console</string>
+  </property>
+  <widget class="QWidget" name="centralwidget">
+   <widget class="QTabWidget" name="tabWidget">
+    <property name="geometry">
+     <rect>
+      <x>0</x>
+      <y>40</y>
+      <width>791</width>
+      <height>221</height>
+     </rect>
+    </property>
+    <property name="currentIndex">
+     <number>0</number>
+    </property>
+    <widget class="QWidget" name="tab">
+     <attribute name="title">
+      <string>Messages</string>
+     </attribute>
+     <widget class="QTextEdit" name="textEdit">
+      <property name="geometry">
+       <rect>
+        <x>0</x>
+        <y>0</y>
+        <width>791</width>
+        <height>191</height>
+       </rect>
+      </property>
+      <property name="readOnly">
+       <bool>true</bool>
+      </property>
+     </widget>
+    </widget>
+    <widget class="QWidget" name="tab_2">
+     <attribute name="title">
+      <string>Tab 2</string>
+     </attribute>
+    </widget>
+   </widget>
+  </widget>
+  <widget class="QMenuBar" name="menubar">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>799</width>
+     <height>22</height>
+    </rect>
+   </property>
+   <widget class="QMenu" name="menuFIle">
+    <property name="title">
+     <string>MAVProxy</string>
+    </property>
+    <addaction name="actionSettings"/>
+    <addaction name="actionShow_Map"/>
+    <addaction name="actionShow_HUD"/>
+   </widget>
+   <addaction name="menuFIle"/>
+  </widget>
+  <widget class="QStatusBar" name="statusbar"/>
+  <action name="actionSettings">
+   <property name="text">
+    <string>Settings</string>
+   </property>
+  </action>
+  <action name="actionShow_Map">
+   <property name="text">
+    <string>Show Map</string>
+   </property>
+  </action>
+  <action name="actionShow_HUD">
+   <property name="text">
+    <string>Show HUD</string>
+   </property>
+  </action>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

MAVProxy/modules/mavproxy_qt_console/ui_qt_console.py

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+# -*- coding: utf-8 -*-
+
+################################################################################
+## Form generated from reading UI file 'qt_console.ui'
+##
+## Created by: Qt User Interface Compiler version 6.4.2
+##
+## WARNING! All changes made in this file will be lost when recompiling UI file!
+################################################################################
+
+from PySide6.QtCore import (QCoreApplication, QDate, QDateTime, QLocale,
+    QMetaObject, QObject, QPoint, QRect,
+    QSize, QTime, QUrl, Qt)
+from PySide6.QtGui import (QAction, QBrush, QColor, QConicalGradient,
+    QCursor, QFont, QFontDatabase, QGradient,
+    QIcon, QImage, QKeySequence, QLinearGradient,
+    QPainter, QPalette, QPixmap, QRadialGradient,
+    QTransform)
+from PySide6.QtWidgets import (QApplication, QMainWindow, QMenu, QMenuBar,
+    QSizePolicy, QStatusBar, QTabWidget, QTextEdit,
+    QWidget)
+
+class Ui_QtConsole(object):
+    def setupUi(self, QtConsole):
+        if not QtConsole.objectName():
+            QtConsole.setObjectName(u"QtConsole")
+        QtConsole.resize(799, 308)
+        self.actionSettings = QAction(QtConsole)
+        self.actionSettings.setObjectName(u"actionSettings")
+        self.actionShow_Map = QAction(QtConsole)
+        self.actionShow_Map.setObjectName(u"actionShow_Map")
+        self.actionShow_HUD = QAction(QtConsole)
+        self.actionShow_HUD.setObjectName(u"actionShow_HUD")
+        self.centralwidget = QWidget(QtConsole)
+        self.centralwidget.setObjectName(u"centralwidget")
+        self.tabWidget = QTabWidget(self.centralwidget)
+        self.tabWidget.setObjectName(u"tabWidget")
+        self.tabWidget.setGeometry(QRect(0, 40, 791, 221))
+        self.tab = QWidget()
+        self.tab.setObjectName(u"tab")
+        self.textEdit = QTextEdit(self.tab)
+        self.textEdit.setObjectName(u"textEdit")
+        self.textEdit.setGeometry(QRect(0, 0, 791, 191))
+        self.textEdit.setReadOnly(True)
+        self.tabWidget.addTab(self.tab, "")
+        self.tab_2 = QWidget()
+        self.tab_2.setObjectName(u"tab_2")
+        self.tabWidget.addTab(self.tab_2, "")
+        QtConsole.setCentralWidget(self.centralwidget)
+        self.menubar = QMenuBar(QtConsole)
+        self.menubar.setObjectName(u"menubar")
+        self.menubar.setGeometry(QRect(0, 0, 799, 22))
+        self.menuFIle = QMenu(self.menubar)
+        self.menuFIle.setObjectName(u"menuFIle")
+        QtConsole.setMenuBar(self.menubar)
+        self.statusbar = QStatusBar(QtConsole)
+        self.statusbar.setObjectName(u"statusbar")
+        QtConsole.setStatusBar(self.statusbar)
+
+        self.menubar.addAction(self.menuFIle.menuAction())
+        self.menuFIle.addAction(self.actionSettings)
+        self.menuFIle.addAction(self.actionShow_Map)
+        self.menuFIle.addAction(self.actionShow_HUD)
+
+        self.retranslateUi(QtConsole)
+
+        self.tabWidget.setCurrentIndex(0)
+
+
+        QMetaObject.connectSlotsByName(QtConsole)
+    # setupUi
+
+    def retranslateUi(self, QtConsole):
+        QtConsole.setWindowTitle(QCoreApplication.translate("QtConsole", u"Qt Console", None))
+        self.actionSettings.setText(QCoreApplication.translate("QtConsole", u"Settings", None))
+        self.actionShow_Map.setText(QCoreApplication.translate("QtConsole", u"Show Map", None))
+        self.actionShow_HUD.setText(QCoreApplication.translate("QtConsole", u"Show HUD", None))
+        self.tabWidget.setTabText(self.tabWidget.indexOf(self.tab), QCoreApplication.translate("QtConsole", u"Messages", None))
+        self.tabWidget.setTabText(self.tabWidget.indexOf(self.tab_2), QCoreApplication.translate("QtConsole", u"Tab 2", None))
+        self.menuFIle.setTitle(QCoreApplication.translate("QtConsole", u"MAVProxy", None))
+    # retranslateUi
+