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Merged
tridge merged 1 commit into from
Jul 7, 2025
Merged

gui: Add support to configure the connection device from the CLI #92

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28 changes: 27 additions & 1 deletion dronecan_gui_tool/main.py
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,12 @@
parser.add_argument("--debug", action='store_true', help="enable debugging")
parser.add_argument("--dsdl", help="path to custom DSDL")
parser.add_argument("--signing-passphrase", help="MAVLink2 signing passphrase", default=None)
parser.add_argument("--interface", help="skip the setup dialog by setting the device to connect to")
parser.add_argument("--baudrate", help="set the baudrate", type=int, default=115200)
parser.add_argument("--bitrate", help="set the bitrate of the CAN Bus", type=int, default=1000000)
parser.add_argument("--bus", help="set the CAN Bus number", type=int, default=1)
parser.add_argument("--filtered", action='store_true', help="enable filtering of DroneCAN traffic")
parser.add_argument("--target-system", help="set the targetted system", type=int, default=0)

args = parser.parse_args()

Expand Down Expand Up @@ -60,6 +66,8 @@
#
# Importing other stuff once the logging has been configured
#
from serial import SerialException

import dronecan

from PyQt5.QtWidgets import QApplication, QMainWindow, QWidget, QVBoxLayout, QSplitter, QAction
Expand Down Expand Up @@ -578,7 +586,18 @@ def main():
while True:
# Asking the user to specify which interface to work with
try:
iface, iface_kwargs, dsdl_directory = run_setup_window(get_app_icon(), args.dsdl)
if args.interface is not None:
iface = args.interface
iface_kwargs = {}
iface_kwargs['baudrate'] = int(args.baudrate)
iface_kwargs['bitrate'] = int(args.bitrate)
iface_kwargs['bus_number'] = int(args.bus)
iface_kwargs['filtered'] = bool(args.filtered)
iface_kwargs['mavlink_target_system'] = int(args.target_system)
iface_kwargs['mavlink_signing_key'] = str(args.signing_passphrase if args.signing_passphrase is not None else '')
dsdl_directory = args.dsdl
else:
iface, iface_kwargs, dsdl_directory = run_setup_window(get_app_icon(), args.dsdl, args.baudrate, args.bitrate, args.bus, args.filtered, args.target_system, args.signing_passphrase)
if not iface:
sys.exit(0)
except Exception as ex:
Expand Down Expand Up @@ -624,6 +643,13 @@ def main():
# allow unrecognized messages on startup:
logger.warning('DroneCAN Transfer Error occurred on startup', exc_info=True)
break
except SerialException as ex:
logger.error('DroneCAN node init failed', exc_info=True)
show_error('Error', 'Could not find serial port', ex, blocking=True)

# The serial port had a fault, so reset args and the interface and return to the setup window
args.interface = None
iface = None
except Exception as ex:
logger.error('DroneCAN node init failed', exc_info=True)
show_error('Fatal error', 'Could not initialize DroneCAN node', ex, blocking=True)
Expand Down
12 changes: 7 additions & 5 deletions dronecan_gui_tool/setup_window.py
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Original file line number Diff line number Diff line change
Expand Up @@ -158,7 +158,7 @@ def get_list(self):
return copy.copy(self._ifaces)


def run_setup_window(icon, dsdl_path=None):
def run_setup_window(icon, dsdl_path=None, config_baudrate=DEFAULT_BAUD_RATE, config_bitrate=1000000, config_can_bus=1, enable_filtering=False, mavlink_target_system=0, mavlink_signing_key=''):
win = QDialog()
win.setWindowTitle('Application Setup')
win.setWindowIcon(icon)
Expand All @@ -179,12 +179,12 @@ def run_setup_window(icon, dsdl_path=None):
bitrate = QSpinBox(win)
bitrate.setMaximum(1000000)
bitrate.setMinimum(10000)
bitrate.setValue(1000000)
bitrate.setValue(config_bitrate)

bus_number = QSpinBox(win)
bus_number.setMaximum(4)
bus_number.setMinimum(1)
bus_number.setValue(1)
bus_number.setValue(config_can_bus)

baudrate = QComboBox(win)
baudrate.setEditable(True)
Expand All @@ -198,16 +198,18 @@ def run_setup_window(icon, dsdl_path=None):

baudrate.setValidator(QIntValidator(min(STANDARD_BAUD_RATES), max(STANDARD_BAUD_RATES)))
baudrate.insertItems(0, map(str, STANDARD_BAUD_RATES))
baudrate.setCurrentText(str(DEFAULT_BAUD_RATE))
baudrate.setCurrentText(str(config_baudrate))

filtered = QCheckBox('Enable Filtering')
filtered.setChecked(enable_filtering)

target_system = QSpinBox(win)
target_system.setMaximum(255)
target_system.setMinimum(0)
target_system.setValue(0)
target_system.setValue(mavlink_target_system)

signing_key = PasswordEdit(win)
signing_key.setText(mavlink_signing_key)

dir_selection = directory_selection.DirectorySelectionWidget(win, 'Location of custom DSDL definitions [optional]', path=dsdl_path, directory_only=True)

Expand Down