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Guard log stream setup against missing TOC variables #813

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17 changes: 12 additions & 5 deletions src/cfclient/ui/main.py
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Original file line number Diff line number Diff line change
Expand Up @@ -592,15 +592,22 @@ def _notify_tabs_disconnected(self) -> None:
async def _stream_battery(self, cf):
log = cf.log()
block = await log.create_block()
await block.add_variable("pm.vbat")
await block.add_variable("pm.state")

available = log.names()
for name in ("pm.vbat", "pm.state"):
if name in available:
await block.add_variable(name)
else:
logger.warning("Log variable %s missing from TOC, skipping", name)

stream = await block.start(1000)
try:
while True:
data = await stream.next()
self._battery_signal.emit(
data.data["pm.vbat"], int(data.data["pm.state"])
)
if "pm.vbat" in data.data and "pm.state" in data.data:
self._battery_signal.emit(
data.data["pm.vbat"], int(data.data["pm.state"])
)
finally:
try:
await asyncio.shield(stream.stop())
Expand Down
32 changes: 20 additions & 12 deletions src/cfclient/ui/pose_logger.py
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Original file line number Diff line number Diff line change
Expand Up @@ -96,24 +96,32 @@ def stop(self):
async def _stream_loop(self, cf):
log = cf.log()
block = await log.create_block()
await block.add_variable(self.LOG_NAME_ESTIMATE_X)
await block.add_variable(self.LOG_NAME_ESTIMATE_Y)
await block.add_variable(self.LOG_NAME_ESTIMATE_Z)
await block.add_variable(self.LOG_NAME_ESTIMATE_ROLL)
await block.add_variable(self.LOG_NAME_ESTIMATE_PITCH)
await block.add_variable(self.LOG_NAME_ESTIMATE_YAW)

available = log.names()
for name in (
self.LOG_NAME_ESTIMATE_X,
self.LOG_NAME_ESTIMATE_Y,
self.LOG_NAME_ESTIMATE_Z,
self.LOG_NAME_ESTIMATE_ROLL,
self.LOG_NAME_ESTIMATE_PITCH,
self.LOG_NAME_ESTIMATE_YAW,
):
if name in available:
await block.add_variable(name)
else:
logger.warning("Log variable %s missing from TOC, skipping", name)

stream = await block.start(16) # 16ms period
try:
while True:
data = await stream.next()
self.pose = (
data.data[self.LOG_NAME_ESTIMATE_X],
data.data[self.LOG_NAME_ESTIMATE_Y],
data.data[self.LOG_NAME_ESTIMATE_Z],
data.data[self.LOG_NAME_ESTIMATE_ROLL],
data.data[self.LOG_NAME_ESTIMATE_PITCH],
data.data[self.LOG_NAME_ESTIMATE_YAW],
data.data.get(self.LOG_NAME_ESTIMATE_X, 0.0),
data.data.get(self.LOG_NAME_ESTIMATE_Y, 0.0),
data.data.get(self.LOG_NAME_ESTIMATE_Z, 0.0),
data.data.get(self.LOG_NAME_ESTIMATE_ROLL, 0.0),
data.data.get(self.LOG_NAME_ESTIMATE_PITCH, 0.0),
data.data.get(self.LOG_NAME_ESTIMATE_YAW, 0.0),
)
self.data_received_cb.call(self, self.pose)
finally:
Expand Down
56 changes: 34 additions & 22 deletions src/cfclient/ui/tabs/FlightTab.py
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Original file line number Diff line number Diff line change
Expand Up @@ -345,19 +345,25 @@ async def _async_flight_command(self, action):

def _log_data_received(self, timestamp, data):
if self.isVisible() and self._isConnected:
self.actualM1.setValue(data[self.LOG_NAME_MOTOR_1])
self.actualM2.setValue(data[self.LOG_NAME_MOTOR_2])
self.actualM3.setValue(data[self.LOG_NAME_MOTOR_3])
self.actualM4.setValue(data[self.LOG_NAME_MOTOR_4])

self.estimateThrust.setText(
"%.2f%%" % self.thrustToPercentage(data[self.LOG_NAME_THRUST])
)

if data[self.LOG_NAME_CAN_FLY] != self._can_fly_deprecated:
self._can_fly_deprecated = data[self.LOG_NAME_CAN_FLY]
if self._cf is not None:
create_task(self._update_flight_commander(self._cf))
if self.LOG_NAME_MOTOR_1 in data:
self.actualM1.setValue(data[self.LOG_NAME_MOTOR_1])
if self.LOG_NAME_MOTOR_2 in data:
self.actualM2.setValue(data[self.LOG_NAME_MOTOR_2])
if self.LOG_NAME_MOTOR_3 in data:
self.actualM3.setValue(data[self.LOG_NAME_MOTOR_3])
if self.LOG_NAME_MOTOR_4 in data:
self.actualM4.setValue(data[self.LOG_NAME_MOTOR_4])

if self.LOG_NAME_THRUST in data:
self.estimateThrust.setText(
"%.2f%%" % self.thrustToPercentage(data[self.LOG_NAME_THRUST])
)

if self.LOG_NAME_CAN_FLY in data:
if data[self.LOG_NAME_CAN_FLY] != self._can_fly_deprecated:
self._can_fly_deprecated = data[self.LOG_NAME_CAN_FLY]
if self._cf is not None:
create_task(self._update_flight_commander(self._cf))

if self.LOG_NAME_SUPERVISOR_INFO in data:
self._supervisor_info_bitfield = data[self.LOG_NAME_SUPERVISOR_INFO]
Expand Down Expand Up @@ -534,15 +540,21 @@ def connected(self, cf):
async def _stream_motors(self, cf):
log = cf.log()
block = await log.create_block()
await block.add_variable(self.LOG_NAME_THRUST)
await block.add_variable(self.LOG_NAME_MOTOR_1)
await block.add_variable(self.LOG_NAME_MOTOR_2)
await block.add_variable(self.LOG_NAME_MOTOR_3)
await block.add_variable(self.LOG_NAME_MOTOR_4)
await block.add_variable(self.LOG_NAME_CAN_FLY)

if self.LOG_NAME_SUPERVISOR_INFO in log.names():
await block.add_variable(self.LOG_NAME_SUPERVISOR_INFO)

available = log.names()
for name in (
self.LOG_NAME_THRUST,
self.LOG_NAME_MOTOR_1,
self.LOG_NAME_MOTOR_2,
self.LOG_NAME_MOTOR_3,
self.LOG_NAME_MOTOR_4,
self.LOG_NAME_CAN_FLY,
self.LOG_NAME_SUPERVISOR_INFO,
):
if name in available:
await block.add_variable(name)
else:
logger.warning("Log variable %s missing from TOC, skipping", name)

period_ms = Config().get("ui_update_period")
stream = await block.start(period_ms)
Expand Down