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Clean up UI windows and strengthen settings workflows

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This commit is contained in:
PitresAli
2026-09-30 15:22:09 +02:00
parent 7c85397af0
commit 0093f3f4aa
18 changed files with 2533 additions and 118 deletions
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SUB Control/web_ui.py
+64 -3
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@@ -40,12 +40,15 @@ class ControlApi:
"app_state": "disconnected",
"status": "Ready. Select a USB port to begin.",
"battery": None,
"link_quality": None,
"heavy_quality": None,
"log_path": None,
"servos": {str(i): {"function": None, "direction": None} for i in range(1, 17)},
}
self.servo_functions: dict[int, int] = {}
self.motor_directions: dict[int, int] = {}
self.battery_path = Path(__file__).resolve().parent / "battery_settings.json"
self.link_path = Path(__file__).resolve().parent / "link_settings.json"
self.model_path = Path(__file__).resolve().parent / "model_settings.json"
self.model_cache = Path(__file__).resolve().parent / "runtime" / "vehicle_model.stl"
self.model_cache_name = Path(__file__).resolve().parent / "runtime" / "vehicle_model_name.txt"
@@ -62,11 +65,22 @@ class ControlApi:
self.battery_config.update(json.loads(self.battery_path.read_text(encoding="utf-8")))
except (OSError, ValueError, TypeError):
pass
self.link_config = {
"baud": 57600, "control_hz": 20,
"ping_hz": 1, "system_hz": 1, "servo_hz": 2,
"rc_hz": 2, "esc_hz": 1,
}
try:
self.link_config.update(json.loads(self.link_path.read_text(encoding="utf-8")))
except (OSError, ValueError, TypeError):
pass
self._apply_link_config()
def initial_state(self):
return {
"ports": self.refresh_ports(),
"battery_config": self.battery_config,
"link_config": self.link_config,
"state": self._snapshot(),
"model_info": self.get_saved_model_info(),
}
@@ -233,6 +247,9 @@ class ControlApi:
self.state.update(
connected=True, link="LINK OK", vehicle="DEMO • DISARMED",
armed=False, mode="MANUAL", status="Demo mode ready — no hardware connected.",
link_quality={"grade": "excellent", "latency_ms": 12.0,
"loss_percent": 0.0, "samples": 20,
"corrupt_frames_20s": 0, "heartbeat_age_s": 0.1},
battery={"voltage": 15.8, "per_cell": 3.95, "percent": 72,
"cells": 4, "low": False},
)
@@ -268,15 +285,26 @@ class ControlApi:
raise TimeoutError(f"No MAVLink heartbeat received from {port} within 8 seconds")
def disconnect(self):
if self.worker.heavy_quality_test is not None:
self.worker.cancel_heavy_quality_test()
if self.demo_mode:
self.demo_mode = False
with self.lock:
self.state.update(connected=False, link="DISCONNECTED", vehicle="No heartbeat",
armed=False, mode=None, battery=None, status="Demo mode disconnected")
armed=False, mode=None, battery=None, link_quality=None,
status="Demo mode disconnected")
return True
self.worker.disconnect()
return True
def start_heavy_quality_test(self):
if self.demo_mode:
raise RuntimeError("The heavy link test requires a real flight-controller connection")
return self.worker.start_heavy_quality_test()
def cancel_heavy_quality_test(self):
return self.worker.cancel_heavy_quality_test()
def set_axes(self, forward, turn, vertical, sequence=None):
if self.demo_mode:
with self.lock:
@@ -389,8 +417,33 @@ class ControlApi:
raise ValueError("Full voltage per cell must be greater than empty voltage")
if not 0 <= clean["warning_percent"] <= 100:
raise ValueError("Warning percentage must be between 0 and 100")
self.battery_config = clean
self.battery_path.write_text(json.dumps(clean, indent=2) + "\n", encoding="utf-8")
self.battery_config = clean
return clean
def _apply_link_config(self):
self.worker.rate_hz = self.link_config["control_hz"]
self.worker.set_link_rates(self.link_config["ping_hz"], {
"SYS_STATUS": self.link_config["system_hz"],
"SERVO_OUTPUT_RAW": self.link_config["servo_hz"],
"RC_CHANNELS": self.link_config["rc_hz"],
"ESC_TELEMETRY_1_TO_4": self.link_config["esc_hz"],
})
def save_link_settings(self, config):
allowed = {0, 1, 2, 5, 10}
clean = {key: int(config.get(key, value)) for key, value in self.link_config.items()}
if clean["baud"] not in {9600, 19200, 38400, 57600, 115200}:
raise ValueError("Choose a supported baud rate")
if clean["control_hz"] not in {10, 20}:
raise ValueError("Control rate must be 10 or 20 Hz")
if clean["ping_hz"] not in {1, 2, 5, 10}:
raise ValueError("Link test rate must be 1, 2, 5 or 10 Hz")
if any(clean[key] not in allowed for key in ("system_hz", "servo_hz", "rc_hz", "esc_hz")):
raise ValueError("Telemetry rates must be Off, 1, 2, 5 or 10 Hz")
self.link_path.write_text(json.dumps(clean, indent=2) + "\n", encoding="utf-8")
self.link_config = clean
self._apply_link_config()
return clean
def open_logs(self):
@@ -399,6 +452,10 @@ class ControlApi:
os.startfile(path)
return True
def read_console(self, limit=150):
"""Return a bounded, read-only view of the local session console."""
return self.worker.read_console(limit)
def poll(self):
# Bound a poll even if telemetry arrives continuously.
with self._poll_lock:
@@ -468,6 +525,10 @@ class ControlApi:
"voltage": voltage, "per_cell": per_cell, "percent": percent,
"cells": cells, "low": percent <= self.battery_config["warning_percent"],
}
elif kind == "link_quality":
self.state["link_quality"] = event[1]
elif kind == "heavy_quality":
self.state["heavy_quality"] = event[1]
elif kind == "servo_param":
_, param_id, value = event
servo = int(param_id[5:param_id.index("_")])
@@ -490,7 +551,7 @@ class ControlApi:
last_err = self.state.get("last_error")
status_msg = last_err if last_err else "Disconnected"
self.state.update(connected=False, link="DISCONNECTED", vehicle="No heartbeat",
mode=None, status=status_msg)
mode=None, link_quality=None, status=status_msg)
self.state["last_error"] = None
def _update_servo(self, servo):