Initial commit: RangeView Crazyflie ToF mapping client
DearPyGui app that visualizes the Multi-ranger ToF sensors and builds a top-down map of the drone's surroundings. Handheld and experimental hardened-scan capture, Flow-deck drift correction (ZUPT), props-off dry-run mode, and optional 3D point-cloud streaming to CloudView. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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.gitignore
vendored
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vendored
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.venv/
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__pycache__/
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*.pyc
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.cache/
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cache/
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README.md
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README.md
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# Crazyflie RangeView
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A small [DearPyGui](https://github.com/hoffstadt/DearPyGui) tool (same GUI
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binding as the test-stand and mission clients) that visualises the
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**Multi-ranger** deck's five Time-of-Flight sensors on a Bitcraze **Crazyflie**
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and builds a top-down **map of the drone's immediate surroundings**.
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It has two independent parts:
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1. **Mapping** - each ToF distance is projected through the drone's position
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estimate (Flow v2 deck) into a world-frame point cloud. This needs only
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pose + range streaming, so it works **whether the drone is flying or you are
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holding it in your hand and walking it around**.
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2. **Flight (automated scan)** - an optional capture profile that flies the
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drone itself: arm, lift off, then **ascend slowly while rotating in place** so
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the sensors sweep a full circle hands-free.
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```
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┌─────────────────────────────┬──────────────────────────────────────┐
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│ Connection [radio...][Scan][⏻] │ Map (top-down) extent +/- 3m │
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│ ─────────────────────────── │ ┌────────────────────────────────┐ │
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│ Status: Connected - ready │ │ · ·· ··· │ │
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│ Battery 3.9V Height 0.00m │ │ · · │ │
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│ Multi-ranger attached │ │ · ╲front / · │ │
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│ Flow v2 attached │ │ · left●--●--●right · │ │
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│ Pos x+0.0 y+0.0 z+0.0 Yaw 0 │ │ · (drone) · │ │
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│ ─────────────────────────── │ │ · · │ │
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│ ToF (m) F:1.8 B:2.1 L:0.9 R... │ │ ··· ·· · │ │
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│ Up:2.4 Down:0.03 │ └────────────────────────────────┘ │
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│ ─────────────────────────── │ │
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│ Mapping [✓ Record] │ │
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│ [Reset origin] [Clear map] │ │
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│ Points: 1843 │ │
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│ ─────────────────────────── │ │
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│ Flight (automated scan) │ │
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│ Start 0.40m Top 1.50m │ │
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│ Climb 0.15m/s Yaw 45°/s │ │
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│ [ ARM -> SCAN -> LAND ] │ │
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│ [Disarm] [EMERGENCY (SPACE)] │ │
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│ ─────────────────────────── │ │
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│ Console ... │ │
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└─────────────────────────────┴──────────────────────────────────────┘
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```
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## Hardware
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- Crazyflie (brushless or standard) with current firmware.
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- **Flow v2 deck** - supplies the position/altitude estimate the map is plotted
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against, and is required to arm.
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- **Multi-ranger deck** - the five VL53L1x ToF sensors (front / back / left /
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right / up). The Flow deck's down-facing z-ranger provides the floor distance.
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## Install & run
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```sh
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# with uv
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uv run main.py
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# or a plain venv
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python -m venv .venv && . .venv/bin/activate
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pip install -r requirements.txt
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python -m rangeview # or: python main.py
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# custom radio URI
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CFLIB_URI=radio://0/80/2M/E7E7E7E7E7 python -m rangeview
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```
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## How the map is built
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The Multi-ranger reports a distance per sensor in millimetres. Each horizontal
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sensor points along a fixed body axis (front `+x`, back `−x`, left `+y`, right
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`−y`). For every sample, RangeView rotates that body direction by the drone's
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estimated yaw and offsets it from the estimated `(x, y)` position, giving the
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world-frame coordinate of the obstacle the beam hit:
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```
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yaw = radians(stabilizer.yaw)
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wx = cos(yaw)·bx − sin(yaw)·by # body dir -> world dir
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wy = sin(yaw)·bx + cos(yaw)·by
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point = (stateEstimate.x + wx·d, stateEstimate.y + wy·d)
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```
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Points accumulate into the cloud while **Record** is on, but only once the drone
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has actually moved (≥2 cm, ≥5 cm in height, or ≥2°), so a stationary drone never
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dumps noise into the map. Readings at or beyond the sensor's ~4 m ceiling are
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treated as "nothing there" and skipped, so empty directions don't pollute the
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map. The world origin is wherever the estimator was last reset.
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The in-app map is the 2D top-down **horizontal slice** (the four side sensors) —
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a quick live diagnostic. The points are world-anchored: each is placed using the
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drone's estimated pose *at the moment it was measured*, so the cloud stays fixed
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in space while the drone marker moves through it (accuracy is bound by the
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position estimate — drift smears it).
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## 3D view (CloudView)
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For a real 3D point cloud, RangeView streams the **full cloud** — horizontal
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hits at the drone's height, plus ceiling/floor points from the up/down sensors —
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to the standalone **[CloudView](../cloudview)** viewer over a socket. Tick
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**Stream 3D to** and give the viewer's address (default
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`tcp://127.0.0.1:9870`; `unix:///path` also works). Start the viewer with
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`python -m cloudview` in the `cloudview/` project first, or any time after — the
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publisher reconnects and replays the whole cloud, and the stream is best-effort
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so it never blocks flight. The 2D map keeps working regardless; CloudView is a
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generic viewer that other robots can feed too (see its README for the protocol).
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## Drift correction
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A Crazyflie with a Flow v2 deck **drifts even when it is sitting perfectly
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still** - there's no fix in the firmware estimator for this. Two things cause it:
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- The firmware Kalman filter integrates Flow-deck velocity continuously from the
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moment it powers on. With nothing to correct it, a freshly-connected drone can
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report a position **tens of metres** from where it actually is (on the bench
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here it read +78.9 m, −33.7 m). RangeView therefore **resets the estimator
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automatically on connect** so you always start from a clean `(0, 0)` origin -
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and you can re-zero any time with **Reset origin**.
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- Even after a reset, optical-flow noise keeps integrating into position and gyro
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bias into yaw, so the estimate slowly wanders (~a few mm per second at rest).
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To cancel the residual wander, RangeView applies a **zero-velocity update
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(ZUPT)**, toggled by the **Drift correction (hold pose when still)** checkbox
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(on by default). It detects "at rest" from the *raw* gyro rate and optical-flow
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counts - signals that read ~0 when the drone is genuinely still, independent of
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the drifting estimate - and while at rest it pins the corrected pose in place,
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folding the wander into an offset instead of letting it move the map. When you
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pick the drone up and move it, real motion passes straight through; when you set
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it down or pause, the drift is re-absorbed. The **Motion** line shows the current
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state and how much drift is being held off. Measured on the bench: over 15 s
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stationary the raw estimate drifted ~0.4 cm while the corrected pose held at
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0.0 cm.
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### Workflow A - handheld mapping (no flight)
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1. Connect.
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2. Place/hold the drone where you want `(0, 0)` and press **Reset origin** (this
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resets the Kalman estimator and clears the map).
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3. Make sure **Record** is checked, then slowly carry the drone through the space
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- keep it roughly level so the Flow deck tracks well. Walls fill in live.
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> The Flow v2 estimate drifts over long, fast, or feature-poor moves (it needs
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> texture under the down-facing camera and a return for the z-ranger). Move
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> smoothly and reset the origin if the map starts to smear.
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### Workflow B - automated scan (EXPERIMENTAL)
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> **A continuously-rotating ascent on a Flow deck caused a flyaway** (the drone
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> bounced off the walls, ceiling, and floor). A Flow deck cannot hold position
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> while yaw-rotating: spinning the optical-flow sensor injects phantom motion,
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> the firmware Kalman estimate diverges, and the position controller chases it
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> into obstacles. The client-side **drift correction only fixes the displayed
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> pose - the firmware flies on its own (diverging) estimate**, so it does *not*
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> make flight safer.
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>
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> The scan was therefore redesigned to be as gentle as possible, but rotation on
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> a Flow deck remains inherently unstable. **Bench-test with the props off,
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> then tethered, before any free flight, and keep the area clear and SPACE
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> (emergency stop) ready.**
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The hardened profile never spins continuously:
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1. Set **Start height**, **Top height**, **Climb rate**, and **Yaw rate** (the
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rotation speed of each step, hard-capped at 30 °/s). Defaults are conservative.
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2. Place the drone level on the floor with clear space all around.
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3. Press **ARM**, then **SCAN (!)**. The drone:
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- takes off with the firmware **high-level commander** (which holds position
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autonomously, so a slow UI can't drop it) and **settles into a stable hover**
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before doing anything else;
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- rotates one full turn in discrete **~30° "stop-and-stare" steps**, pausing at
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each bearing so the estimate re-converges and the sensors take a clean
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static reading;
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- climbs to the next ring (~0.3 m up) and repeats, up to the top height;
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- lands automatically when done.
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It **aborts to a controlled landing** if the estimate starts to diverge (any
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sustained horizontal speed while it's supposed to be holding still), if a wall
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comes within 25 cm, or if it loses the flying state, and **emergency-stops** on a
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tumble/crash. The climb is also **capped below the ceiling** sensed by the
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up-facing ToF. Press **LAND** any time to bring it down early; **SPACE** cuts the
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motors instantly.
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### Dry run (props off, no motors)
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Tick **Dry run (props off ...)** before arming to validate the whole sequence on
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the bench with **zero flight risk**. In dry run the controller walks the entire
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scan state machine - takeoff, every stop-and-stare go-to bearing, ring climbs,
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and landing - and logs each decision to the console (`[DRY RUN] ...`), but it
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**never arms the motors and never sends a flight command**. Live sensor data
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still drives the safety guards, so you can also confirm an abort fires (e.g.
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hold a hand within 25 cm of a horizontal sensor and watch it abort). Run this
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with the props off first; only after the sequence looks right should you remove
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dry run and fly tethered.
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## Safety
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- The drone never spins up until you press **ARM**, and arming is refused
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without a Flow v2 deck, on low battery, or if the supervisor reports the drone
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tumbled/locked.
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- **EMERGENCY STOP** (button or **SPACE**) cuts the motors instantly from any
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state. A real emergency stop requires a reboot before flying again.
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- All radio I/O runs on a dedicated worker thread that streams hover setpoints at
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10 Hz, so a slow or frozen UI can't make the drone drift or fall. Closing the
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window lands the drone (if airborne) and closes the link cleanly.
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## Layout
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- `rangeview/controller.py` - threaded Crazyflie link: connection, logging of
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`range.*` + `stateEstimate.*` + supervisor status, the arm/scan/land flight
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profile, and the world-frame map accumulation.
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- `rangeview/app.py` - DearPyGui front-end: telemetry readouts, the mapping and
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flight controls, the top-down map plot, and the firmware console.
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main.py
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main.py
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#!/usr/bin/env python3
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"""Entry point for the Crazyflie RangeView mapping UI."""
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from rangeview.app import main
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if __name__ == "__main__":
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main()
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pyproject.toml
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pyproject.toml
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[project]
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name = "rangeview"
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version = "0.1.0"
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description = "Visualise Crazyflie Multi-ranger ToF data and map the drone's surroundings"
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readme = "README.md"
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requires-python = ">=3.10"
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dependencies = [
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# Crazyflie radio link, logging, commander, supervisor arming API.
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# 0.1.25 is the first release with the supervisor arming API used here.
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"cflib>=0.1.25",
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# Immediate-mode GUI (same binding as the test-stand / mission clients).
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"dearpygui>=2.0",
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]
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[project.scripts]
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rangeview = "rangeview.app:main"
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[build-system]
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requires = ["hatchling"]
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build-backend = "hatchling.build"
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[tool.hatch.build.targets.wheel]
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packages = ["rangeview"]
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rangeview/__init__.py
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rangeview/__init__.py
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"""rangeview: visualise Crazyflie Multi-ranger ToF data and map the surroundings."""
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__version__ = "0.1.0"
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rangeview/__main__.py
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rangeview/__main__.py
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"""Allow `python -m rangeview`."""
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from .app import main
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if __name__ == "__main__":
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main()
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rangeview/app.py
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rangeview/app.py
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#!/usr/bin/env python3
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"""DearPyGui front-end for the Crazyflie range-mapping client.
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Two independent parts, reflecting how the data is captured:
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1. Mapping - projects the Multi-ranger ToF distances through the drone's
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position estimate into a top-down point-cloud map of the surroundings. This
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works whenever pose + range are streaming, so you can simply *hold the drone
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in your hand* and walk it around to build a map; no flight required.
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2. Flight (automated scan) - an optional capture profile: arm, lift off, then
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ascend slowly while rotating in place so the sensors sweep a full circle on
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their own.
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The render loop is driven manually (same pattern as the test-stand / mission
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clients): every frame we poll the controller's thread-safe snapshot() and the
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map, and refresh the widgets. All radio I/O stays on the controller's worker
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thread.
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Run:
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python -m rangeview
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CFLIB_URI=radio://0/80/2M/E7E7E7E7E7 python -m rangeview # custom URI
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"""
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from __future__ import annotations
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import math
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import os
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import shutil
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import subprocess
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import dearpygui.dearpygui as dpg
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from .cloud_publisher import DEFAULT_ADDRESS
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from .controller import (
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DEFAULT_CLIMB_RATE_MPS,
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DEFAULT_START_HEIGHT_M,
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DEFAULT_TOP_HEIGHT_M,
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DEFAULT_URI,
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DEFAULT_YAW_RATE_DPS,
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LOG_BUFFER,
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MAX_HEIGHT_M,
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MIN_HEIGHT_M,
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RangeController,
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State,
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)
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# Status text colour per state (R, G, B).
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STATE_COLOUR = {
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State.DISCONNECTED: (150, 150, 150),
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State.CONNECTING: (220, 180, 60),
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State.READY: (60, 200, 90),
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State.ARMING: (220, 180, 60),
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State.ARMED: (90, 150, 235),
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State.SCANNING: (60, 200, 90),
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State.LANDING: (220, 180, 60),
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State.EMERGENCY: (235, 70, 70),
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State.ERROR: (235, 70, 70),
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}
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# States in which a link exists (connected through on-the-ground emergency).
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CONNECTED_STATES = {State.READY, State.ARMING, State.ARMED, State.SCANNING,
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State.LANDING, State.EMERGENCY}
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ARMABLE_STATES = {State.READY, State.EMERGENCY} # primary: ARM (green)
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SCANNABLE_STATES = {State.ARMED} # primary: SCAN (blue)
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FLYING_STATES = {State.SCANNING} # primary: LAND (yellow)
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# Estimator reset / origin is a ground operation only.
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RESETTABLE_STATES = {State.READY, State.ARMED, State.EMERGENCY}
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# Scan-parameter sliders lock once airborne or mid-arm transient.
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PARAMS_LOCKED_STATES = {State.ARMING, State.SCANNING, State.LANDING}
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# Map sensor colours, matching the live-ray series in the plot.
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RAY_COLOUR = {
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'front': (90, 200, 255),
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'back': (255, 170, 90),
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'left': (140, 255, 140),
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'right': (255, 140, 200),
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||||
}
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||||
# Heading arrow length and drone marker, in metres / plot units.
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HEADING_LEN_M = 0.35
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||||
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||||
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class RangeViewApp:
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def __init__(self) -> None:
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self.controller = RangeController(
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os.environ.get('CFLIB_URI', DEFAULT_URI))
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self._console_version = -1 # last LOG_BUFFER version rendered
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self._map_version = -1 # last map version uploaded to the plot
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||||
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||||
# ------------------------------------------------------------------
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# UI construction
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# ------------------------------------------------------------------
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||||
def build(self) -> None:
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dpg.create_context()
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self._load_font()
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self._build_themes()
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with dpg.window(tag='primary'):
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with dpg.group(horizontal=True):
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# Left column: connection, telemetry, mapping + flight controls.
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with dpg.child_window(width=440, autosize_y=True):
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self._build_connection()
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dpg.add_separator()
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self._build_status()
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dpg.add_separator()
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self._build_ranges()
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dpg.add_separator()
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self._build_mapping()
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dpg.add_separator()
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self._build_flight()
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dpg.add_separator()
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self._build_console()
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# Right column: the map fills the rest of the window.
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with dpg.child_window(width=-1, autosize_y=True):
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self._build_map()
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||||
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||||
# SPACE = emergency stop, available anywhere.
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||||
with dpg.handler_registry():
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||||
dpg.add_key_press_handler(dpg.mvKey_Spacebar,
|
||||
callback=self._on_estop)
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||||
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||||
dpg.create_viewport(title='Crazyflie RangeView', width=1180, height=820)
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||||
dpg.setup_dearpygui()
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||||
dpg.show_viewport()
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||||
dpg.set_primary_window('primary', True)
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||||
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||||
def _load_font(self) -> None:
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||||
"""Bind Brass Mono as the UI font when available (falls back silently to
|
||||
the DearPyGui default). A real mono font also renders the box/glyph
|
||||
characters cleanly; the UI strings themselves are kept ASCII."""
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||||
path = _find_brass_mono()
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||||
if not path:
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||||
return
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||||
with dpg.font_registry():
|
||||
font = dpg.add_font(path, 16)
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||||
dpg.bind_font(font)
|
||||
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||||
def _build_themes(self) -> None:
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||||
def button_theme(base, hover, active, text=None):
|
||||
with dpg.theme() as theme:
|
||||
with dpg.theme_component(dpg.mvButton):
|
||||
dpg.add_theme_color(dpg.mvThemeCol_Button, base)
|
||||
dpg.add_theme_color(dpg.mvThemeCol_ButtonHovered, hover)
|
||||
dpg.add_theme_color(dpg.mvThemeCol_ButtonActive, active)
|
||||
if text is not None:
|
||||
dpg.add_theme_color(dpg.mvThemeCol_Text, text)
|
||||
return theme
|
||||
|
||||
self._estop_theme = button_theme((170, 30, 30), (210, 40, 40),
|
||||
(240, 60, 60))
|
||||
self._arm_theme = button_theme((30, 120, 50), (40, 150, 65),
|
||||
(50, 175, 80))
|
||||
self._scan_theme = button_theme((40, 95, 185), (55, 115, 210),
|
||||
(70, 135, 230))
|
||||
self._land_theme = button_theme((205, 170, 40), (225, 190, 55),
|
||||
(240, 205, 70), text=(35, 30, 0))
|
||||
|
||||
def _build_connection(self) -> None:
|
||||
dpg.add_text('Connection')
|
||||
with dpg.group(horizontal=True):
|
||||
dpg.add_combo([self.controller.uri], tag='uri_combo', width=250,
|
||||
default_value=self.controller.uri)
|
||||
dpg.add_button(label='Scan', tag='scan_btn', callback=self._on_scan)
|
||||
dpg.add_button(label='Connect', tag='connect_btn',
|
||||
callback=self._on_connect_toggle)
|
||||
|
||||
def _build_status(self) -> None:
|
||||
dpg.add_text('Status')
|
||||
dpg.add_text('Disconnected', tag='status_text',
|
||||
color=STATE_COLOUR[State.DISCONNECTED])
|
||||
with dpg.group(horizontal=True):
|
||||
dpg.add_text('Battery:')
|
||||
dpg.add_text('-- V', tag='vbat_text')
|
||||
dpg.add_text(' Height:')
|
||||
dpg.add_text('-- m', tag='height_text')
|
||||
with dpg.group(horizontal=True):
|
||||
dpg.add_text('Multi-ranger:')
|
||||
dpg.add_text('unknown', tag='mr_text')
|
||||
dpg.add_text(' Flow v2:')
|
||||
dpg.add_text('unknown', tag='flow_text')
|
||||
with dpg.group(horizontal=True):
|
||||
dpg.add_text('Pos (m):')
|
||||
dpg.add_text('x -- y -- z --', tag='pos_text')
|
||||
dpg.add_text(' Yaw:')
|
||||
dpg.add_text('-- deg', tag='yaw_text')
|
||||
with dpg.group(horizontal=True):
|
||||
dpg.add_text('Motion:')
|
||||
dpg.add_text('--', tag='motion_text')
|
||||
|
||||
def _build_ranges(self) -> None:
|
||||
dpg.add_text('ToF distances (m)')
|
||||
# Horizontal sensors, colour-matched to their map rays.
|
||||
with dpg.group(horizontal=True):
|
||||
for name in ('front', 'back', 'left', 'right'):
|
||||
dpg.add_text(f'{name[0].upper()}:')
|
||||
dpg.add_text('--', tag=f'rng_{name}', color=RAY_COLOUR[name])
|
||||
dpg.add_spacer(width=6)
|
||||
with dpg.group(horizontal=True):
|
||||
dpg.add_text('Up (ceiling):')
|
||||
dpg.add_text('--', tag='rng_up')
|
||||
dpg.add_text(' Down (floor):')
|
||||
dpg.add_text('--', tag='rng_down')
|
||||
|
||||
def _build_mapping(self) -> None:
|
||||
dpg.add_text('Mapping')
|
||||
dpg.add_text('Hold the drone and move it, or run a scan - both fill the '
|
||||
'map.', wrap=420, color=(150, 150, 150))
|
||||
with dpg.group(horizontal=True):
|
||||
dpg.add_checkbox(label='Record', tag='record_chk',
|
||||
default_value=self.controller.recording,
|
||||
callback=self._on_record_toggle)
|
||||
dpg.add_button(label='Reset origin', tag='reset_btn',
|
||||
callback=self._on_reset_origin, enabled=False)
|
||||
dpg.add_button(label='Clear map',
|
||||
callback=lambda: self.controller.clear_map())
|
||||
dpg.add_checkbox(label='Drift correction (hold pose when still)',
|
||||
tag='drift_chk',
|
||||
default_value=self.controller.drift_correction,
|
||||
callback=self._on_drift_toggle)
|
||||
dpg.add_text('Points: 0', tag='points_text')
|
||||
# 3-D stream to a CloudView viewer (the 2-D map above stays the live
|
||||
# diagnostic; the full 3-D cloud goes out over the socket).
|
||||
with dpg.group(horizontal=True):
|
||||
dpg.add_checkbox(label='Stream 3D to', tag='stream_chk',
|
||||
default_value=False,
|
||||
callback=self._on_stream_change)
|
||||
dpg.add_input_text(tag='stream_addr', width=210,
|
||||
default_value=DEFAULT_ADDRESS,
|
||||
callback=self._on_stream_change, on_enter=True)
|
||||
dpg.add_text('viewer: off', tag='stream_status', color=(150, 150, 150))
|
||||
|
||||
def _build_flight(self) -> None:
|
||||
dpg.add_text('Flight (automated scan)')
|
||||
dpg.add_text('EXPERIMENTAL - rotating flight on a Flow deck is risky. '
|
||||
'Bench-test props-off first; keep SPACE (e-stop) ready and '
|
||||
'the area clear.', wrap=420, color=(235, 170, 70))
|
||||
dpg.add_slider_float(label='Start height', tag='start_slider',
|
||||
default_value=DEFAULT_START_HEIGHT_M,
|
||||
min_value=MIN_HEIGHT_M, max_value=MAX_HEIGHT_M,
|
||||
format='%.2f m', width=-110,
|
||||
callback=self._on_param_change)
|
||||
dpg.add_slider_float(label='Top height', tag='top_slider',
|
||||
default_value=DEFAULT_TOP_HEIGHT_M,
|
||||
min_value=MIN_HEIGHT_M, max_value=MAX_HEIGHT_M,
|
||||
format='%.2f m', width=-110,
|
||||
callback=self._on_param_change)
|
||||
dpg.add_slider_float(label='Climb rate', tag='climb_slider',
|
||||
default_value=DEFAULT_CLIMB_RATE_MPS,
|
||||
min_value=0.05, max_value=0.5,
|
||||
format='%.2f m/s', width=-110,
|
||||
callback=self._on_param_change)
|
||||
dpg.add_slider_float(label='Yaw rate', tag='yaw_slider',
|
||||
default_value=DEFAULT_YAW_RATE_DPS,
|
||||
min_value=15.0, max_value=120.0,
|
||||
format='%.0f deg/s', width=-110,
|
||||
callback=self._on_param_change)
|
||||
dpg.add_checkbox(label='Dry run (props off - walk the scan, no motors)',
|
||||
tag='dryrun_chk',
|
||||
default_value=self.controller.dry_run,
|
||||
callback=self._on_dryrun_toggle)
|
||||
# Primary action: ARM (green) -> SCAN (blue) -> LAND (yellow).
|
||||
dpg.add_button(label='ARM', tag='arm_btn', width=-1, height=42,
|
||||
callback=self._on_primary, enabled=False)
|
||||
with dpg.group(horizontal=True):
|
||||
dpg.add_button(label='Disarm', tag='disarm_btn', width=140,
|
||||
callback=self._on_disarm, enabled=False)
|
||||
estop = dpg.add_button(label='EMERGENCY STOP (SPACE)',
|
||||
tag='estop_btn', width=-1, height=42,
|
||||
callback=self._on_estop)
|
||||
dpg.bind_item_theme(estop, self._estop_theme)
|
||||
|
||||
def _build_console(self) -> None:
|
||||
with dpg.group(horizontal=True):
|
||||
dpg.add_text('Console')
|
||||
dpg.add_button(label='Clear', callback=lambda: LOG_BUFFER.clear())
|
||||
with dpg.child_window(tag='console_child', width=-1, height=150):
|
||||
dpg.add_text('', tag='console_text', wrap=410)
|
||||
|
||||
def _build_map(self) -> None:
|
||||
with dpg.group(horizontal=True):
|
||||
dpg.add_text('Map (top-down - looking down on the drone)')
|
||||
dpg.add_spacer(width=12)
|
||||
dpg.add_text('extent +/-')
|
||||
dpg.add_slider_float(tag='extent_slider', default_value=3.0,
|
||||
min_value=1.0, max_value=8.0, format='%.1f m',
|
||||
width=160)
|
||||
with dpg.plot(tag='map_plot', height=-1, width=-1, equal_aspects=True):
|
||||
dpg.add_plot_legend()
|
||||
dpg.add_plot_axis(dpg.mvXAxis, label='x - forward (m)', tag='map_x')
|
||||
with dpg.plot_axis(dpg.mvYAxis, label='y - left (m)', tag='map_y'):
|
||||
dpg.add_scatter_series([], [], label='obstacles',
|
||||
tag='map_points')
|
||||
# Live sensor rays from the drone's current pose.
|
||||
for name in ('front', 'back', 'left', 'right'):
|
||||
dpg.add_line_series([], [], label=name, tag=f'ray_{name}')
|
||||
dpg.add_line_series([], [], label='heading', tag='heading_line')
|
||||
dpg.add_scatter_series([0.0], [0.0], label='drone',
|
||||
tag='drone_pt')
|
||||
|
||||
# Series styling: small grey obstacle dots, coloured rays, bold drone.
|
||||
self._style_series('map_points', (200, 200, 80), marker_size=2)
|
||||
self._style_series('drone_pt', (60, 220, 90), marker_size=6,
|
||||
marker=dpg.mvPlotMarker_Circle)
|
||||
self._style_series('heading_line', (60, 220, 90), weight=2.0)
|
||||
for name in ('front', 'back', 'left', 'right'):
|
||||
self._style_series(f'ray_{name}', RAY_COLOUR[name], weight=1.5)
|
||||
|
||||
def _style_series(self, tag, colour, marker_size=3, weight=1.0,
|
||||
marker=dpg.mvPlotMarker_Circle) -> None:
|
||||
with dpg.theme() as theme:
|
||||
with dpg.theme_component(dpg.mvScatterSeries):
|
||||
dpg.add_theme_color(dpg.mvPlotCol_Line, colour,
|
||||
category=dpg.mvThemeCat_Plots)
|
||||
dpg.add_theme_color(dpg.mvPlotCol_MarkerFill, colour,
|
||||
category=dpg.mvThemeCat_Plots)
|
||||
dpg.add_theme_color(dpg.mvPlotCol_MarkerOutline, colour,
|
||||
category=dpg.mvThemeCat_Plots)
|
||||
dpg.add_theme_style(dpg.mvPlotStyleVar_Marker, marker,
|
||||
category=dpg.mvThemeCat_Plots)
|
||||
dpg.add_theme_style(dpg.mvPlotStyleVar_MarkerSize, marker_size,
|
||||
category=dpg.mvThemeCat_Plots)
|
||||
with dpg.theme_component(dpg.mvLineSeries):
|
||||
dpg.add_theme_color(dpg.mvPlotCol_Line, colour,
|
||||
category=dpg.mvThemeCat_Plots)
|
||||
dpg.add_theme_style(dpg.mvPlotStyleVar_LineWeight, weight,
|
||||
category=dpg.mvThemeCat_Plots)
|
||||
dpg.bind_item_theme(tag, theme)
|
||||
|
||||
# ------------------------------------------------------------------
|
||||
# Callbacks
|
||||
# ------------------------------------------------------------------
|
||||
def _on_scan(self) -> None:
|
||||
uris = self.controller.scan_uris()
|
||||
if uris:
|
||||
dpg.configure_item('uri_combo', items=uris)
|
||||
dpg.set_value('uri_combo', uris[0])
|
||||
else:
|
||||
dpg.configure_item('uri_combo', items=[self.controller.uri])
|
||||
dpg.set_value('uri_combo', '(none found)')
|
||||
|
||||
def _on_connect_toggle(self) -> None:
|
||||
state = self.controller.snapshot().state
|
||||
if state in CONNECTED_STATES or state == State.CONNECTING:
|
||||
self.controller.disconnect()
|
||||
return
|
||||
uri = dpg.get_value('uri_combo')
|
||||
if uri and uri.startswith(('radio://', 'usb://')):
|
||||
self.controller.connect(uri)
|
||||
|
||||
def _on_record_toggle(self, sender, value) -> None:
|
||||
self.controller.set_recording(value)
|
||||
|
||||
def _on_reset_origin(self) -> None:
|
||||
self.controller.reset_origin()
|
||||
|
||||
def _on_drift_toggle(self, sender, value) -> None:
|
||||
self.controller.set_drift_correction(value)
|
||||
|
||||
def _on_dryrun_toggle(self, sender, value) -> None:
|
||||
self.controller.set_dry_run(value)
|
||||
|
||||
def _on_stream_change(self, *_) -> None:
|
||||
self.controller.set_streaming(dpg.get_value('stream_chk'),
|
||||
dpg.get_value('stream_addr').strip())
|
||||
|
||||
def _on_param_change(self, *_) -> None:
|
||||
self.controller.set_scan_params(
|
||||
dpg.get_value('start_slider'), dpg.get_value('top_slider'),
|
||||
dpg.get_value('climb_slider'), dpg.get_value('yaw_slider'))
|
||||
|
||||
def _on_primary(self) -> None:
|
||||
state = self.controller.snapshot().state
|
||||
if state in ARMABLE_STATES:
|
||||
self._on_param_change() # latch the latest slider values
|
||||
self.controller.arm()
|
||||
elif state in SCANNABLE_STATES:
|
||||
self.controller.scan()
|
||||
elif state in FLYING_STATES:
|
||||
self.controller.stop() # land
|
||||
|
||||
def _on_disarm(self) -> None:
|
||||
if self.controller.snapshot().state in SCANNABLE_STATES:
|
||||
self.controller.stop()
|
||||
|
||||
def _on_estop(self, *_) -> None:
|
||||
self.controller.emergency_stop()
|
||||
|
||||
# ------------------------------------------------------------------
|
||||
# Per-frame update
|
||||
# ------------------------------------------------------------------
|
||||
def update(self) -> None:
|
||||
upd = self.controller.snapshot()
|
||||
state, t = upd.state, upd.telemetry
|
||||
|
||||
dpg.set_value('status_text', upd.message or state.name)
|
||||
dpg.configure_item('status_text',
|
||||
color=STATE_COLOUR.get(state, (200, 200, 200)))
|
||||
dpg.set_value('vbat_text', f'{t.vbat:.2f} V' if t.vbat else '-- V')
|
||||
dpg.set_value('height_text', f'{t.z:.2f} m')
|
||||
dpg.set_value('mr_text', _deck_label(t.multiranger))
|
||||
dpg.set_value('flow_text', _deck_label(t.flow_deck))
|
||||
dpg.set_value('pos_text',
|
||||
f'x {t.x:+.2f} y {t.y:+.2f} z {t.z:+.2f}')
|
||||
dpg.set_value('yaw_text', f'{t.yaw:+.1f} deg')
|
||||
|
||||
# Motion / drift-hold indicator: shows when the pose is being pinned, and
|
||||
# the residual raw drift it is absorbing so you can see it working.
|
||||
if t.still and t.drift_corrected:
|
||||
drift = math.hypot(t.raw_x - t.x, t.raw_y - t.y)
|
||||
dpg.set_value('motion_text',
|
||||
f'still - pose held (absorbing {drift * 100:.0f} cm drift)')
|
||||
dpg.configure_item('motion_text', color=(90, 150, 235))
|
||||
elif t.still:
|
||||
dpg.set_value('motion_text', 'still (correction off)')
|
||||
dpg.configure_item('motion_text', color=(150, 150, 150))
|
||||
else:
|
||||
dpg.set_value('motion_text', 'moving')
|
||||
dpg.configure_item('motion_text', color=(60, 200, 90))
|
||||
|
||||
for name in ('front', 'back', 'left', 'right', 'up', 'down'):
|
||||
dpg.set_value(f'rng_{name}', _range_label(getattr(t, name)))
|
||||
|
||||
# 3-D stream status.
|
||||
if not dpg.get_value('stream_chk'):
|
||||
dpg.set_value('stream_status', 'viewer: off')
|
||||
dpg.configure_item('stream_status', color=(150, 150, 150))
|
||||
elif self.controller.streaming_connected:
|
||||
dpg.set_value('stream_status', 'viewer: connected')
|
||||
dpg.configure_item('stream_status', color=(60, 200, 90))
|
||||
else:
|
||||
dpg.set_value('stream_status', 'viewer: waiting for connection...')
|
||||
dpg.configure_item('stream_status', color=(220, 180, 60))
|
||||
|
||||
self._refresh_buttons(state)
|
||||
self._refresh_map(t)
|
||||
self._refresh_console()
|
||||
|
||||
def _refresh_buttons(self, state: State) -> None:
|
||||
connecting = state == State.CONNECTING
|
||||
connected = state in CONNECTED_STATES
|
||||
dpg.configure_item(
|
||||
'connect_btn', enabled=not connecting,
|
||||
label='Disconnect' if (connected or connecting) else 'Connect')
|
||||
dpg.configure_item('scan_btn', enabled=not (connected or connecting))
|
||||
dpg.configure_item('uri_combo', enabled=not (connected or connecting))
|
||||
|
||||
dpg.configure_item('reset_btn', enabled=state in RESETTABLE_STATES)
|
||||
|
||||
locked = state in PARAMS_LOCKED_STATES
|
||||
for tag in ('start_slider', 'top_slider', 'climb_slider', 'yaw_slider'):
|
||||
dpg.configure_item(tag, enabled=not locked)
|
||||
|
||||
# Dry run swaps the lock to keep the params editable and re-labels the
|
||||
# buttons so it's obvious nothing will fly.
|
||||
dry = dpg.get_value('dryrun_chk')
|
||||
|
||||
# Primary button across the ARM -> SCAN -> LAND flow.
|
||||
if state in ARMABLE_STATES:
|
||||
dpg.configure_item('arm_btn', enabled=True,
|
||||
label='ARM (dry run)' if dry else 'ARM')
|
||||
dpg.bind_item_theme('arm_btn', self._arm_theme)
|
||||
elif state in SCANNABLE_STATES:
|
||||
top = dpg.get_value('top_slider')
|
||||
label = (f'DRY-RUN SCAN (walk to {top:.2f} m, no motors)' if dry
|
||||
else f'SCAN (!) (rotating, to {top:.2f} m)')
|
||||
dpg.configure_item('arm_btn', enabled=True, label=label)
|
||||
dpg.bind_item_theme('arm_btn', self._scan_theme)
|
||||
elif state in FLYING_STATES:
|
||||
dpg.configure_item('arm_btn', enabled=True, label='LAND')
|
||||
dpg.bind_item_theme('arm_btn', self._land_theme)
|
||||
else:
|
||||
dpg.configure_item('arm_btn', enabled=False, label='ARM')
|
||||
dpg.bind_item_theme('arm_btn', 0)
|
||||
|
||||
dpg.configure_item('disarm_btn', enabled=state in SCANNABLE_STATES)
|
||||
dpg.configure_item('estop_btn', enabled=connected)
|
||||
|
||||
def _refresh_map(self, t) -> None:
|
||||
# Re-upload the accumulated cloud only when it actually changed.
|
||||
version, xs, ys = self.controller.map_snapshot()
|
||||
if version != self._map_version:
|
||||
self._map_version = version
|
||||
dpg.set_value('map_points', [xs, ys])
|
||||
dpg.set_value('points_text', f'Points: {len(xs)}')
|
||||
|
||||
# Drone marker, heading arrow, and live rays from the current pose.
|
||||
dpg.set_value('drone_pt', [[t.x], [t.y]])
|
||||
yaw = math.radians(t.yaw)
|
||||
hx = t.x + HEADING_LEN_M * math.cos(yaw)
|
||||
hy = t.y + HEADING_LEN_M * math.sin(yaw)
|
||||
dpg.set_value('heading_line', [[t.x, hx], [t.y, hy]])
|
||||
for name, (bx, by) in (('front', (1.0, 0.0)), ('back', (-1.0, 0.0)),
|
||||
('left', (0.0, 1.0)), ('right', (0.0, -1.0))):
|
||||
dist = getattr(t, name)
|
||||
if dist is None:
|
||||
dpg.set_value(f'ray_{name}', [[], []])
|
||||
continue
|
||||
wx = math.cos(yaw) * bx - math.sin(yaw) * by
|
||||
wy = math.sin(yaw) * bx + math.cos(yaw) * by
|
||||
dpg.set_value(f'ray_{name}',
|
||||
[[t.x, t.x + wx * dist], [t.y, t.y + wy * dist]])
|
||||
|
||||
# Keep the view centred on the origin with a user-set extent (equal
|
||||
# aspect keeps it square regardless of window shape).
|
||||
ext = dpg.get_value('extent_slider')
|
||||
dpg.set_axis_limits('map_x', -ext, ext)
|
||||
dpg.set_axis_limits('map_y', -ext, ext)
|
||||
|
||||
def _refresh_console(self) -> None:
|
||||
version, lines = LOG_BUFFER.snapshot()
|
||||
if version == self._console_version:
|
||||
return
|
||||
self._console_version = version
|
||||
try:
|
||||
at_bottom = (dpg.get_y_scroll('console_child')
|
||||
>= dpg.get_y_scroll_max('console_child') - 2.0)
|
||||
except Exception:
|
||||
at_bottom = True
|
||||
dpg.set_value('console_text', '\n'.join(lines))
|
||||
if at_bottom:
|
||||
dpg.set_y_scroll('console_child', -1.0)
|
||||
|
||||
# ------------------------------------------------------------------
|
||||
# Run loop
|
||||
# ------------------------------------------------------------------
|
||||
def run(self) -> None:
|
||||
self.controller.start()
|
||||
self.build()
|
||||
try:
|
||||
while dpg.is_dearpygui_running():
|
||||
self.update()
|
||||
dpg.render_dearpygui_frame()
|
||||
finally:
|
||||
# Never leave the drone airborne: ask the controller to land (if
|
||||
# flying) and close the link, and wait for the worker to finish so
|
||||
# libusb is never torn down mid-call. Bounded so we can't hang.
|
||||
try:
|
||||
self.controller.shutdown()
|
||||
self.controller.join(timeout=12)
|
||||
except Exception:
|
||||
pass
|
||||
dpg.destroy_context()
|
||||
|
||||
|
||||
def _find_brass_mono() -> str | None:
|
||||
"""Locate the Brass Mono regular TTF, or None if it isn't installed."""
|
||||
candidates = [
|
||||
os.path.expanduser('~/.local/share/fonts/BrassMono-Regular.ttf'),
|
||||
'/usr/share/fonts/truetype/brassmono/BrassMono-Regular.ttf',
|
||||
'/usr/local/share/fonts/BrassMono-Regular.ttf',
|
||||
]
|
||||
for path in candidates:
|
||||
if os.path.isfile(path):
|
||||
return path
|
||||
# Fall back to fontconfig, which resolves by family name.
|
||||
if shutil.which('fc-match'):
|
||||
try:
|
||||
out = subprocess.run(['fc-match', '-f', '%{file}', 'Brass Mono'],
|
||||
capture_output=True, text=True, timeout=3)
|
||||
path = out.stdout.strip()
|
||||
if path and os.path.isfile(path) and 'brass' in path.lower():
|
||||
return path
|
||||
except Exception:
|
||||
pass
|
||||
return None
|
||||
|
||||
|
||||
def _deck_label(present) -> str:
|
||||
if present is None:
|
||||
return 'unknown'
|
||||
return 'attached' if present else 'NOT DETECTED'
|
||||
|
||||
|
||||
def _range_label(dist) -> str:
|
||||
return f'{dist:.2f}' if dist is not None else '--'
|
||||
|
||||
|
||||
def main() -> None:
|
||||
RangeViewApp().run()
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
191
rangeview/cloud_publisher.py
Normal file
191
rangeview/cloud_publisher.py
Normal file
@@ -0,0 +1,191 @@
|
||||
"""Best-effort point-cloud publisher (producer side of the CloudView protocol).
|
||||
|
||||
Streams batches of ``(x, y, z)`` points to a CloudView viewer over a stream
|
||||
socket (TCP or Unix) as NDJSON. Design goals:
|
||||
|
||||
* **Never block the caller.** Points are produced from the cflib log callback /
|
||||
flight thread; those must not stall on the network. ``add_points`` only
|
||||
appends to in-memory buffers and returns immediately. A dedicated socket
|
||||
thread does all I/O, and outgoing batches are dropped (not queued unbounded)
|
||||
if the viewer is slow or absent.
|
||||
* **Survive a missing/restarted viewer.** The socket thread reconnects with
|
||||
backoff, and on every (re)connect it replays the whole retained cloud, so a
|
||||
viewer started *after* the drone still sees the full map.
|
||||
|
||||
Only the standard library is used, so RangeView gains no heavy dependency; the
|
||||
NDJSON format is the sole contract with the viewer.
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import json
|
||||
import logging
|
||||
import socket
|
||||
import threading
|
||||
import time
|
||||
from collections import deque
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
DEFAULT_ADDRESS = "tcp://127.0.0.1:9870"
|
||||
|
||||
|
||||
def _encode(msg: dict) -> bytes:
|
||||
return (json.dumps(msg, separators=(",", ":")) + "\n").encode("utf-8")
|
||||
|
||||
|
||||
def _parse_address(addr: str):
|
||||
"""('tcp', host, port) or ('unix', path, None). Mirrors cloudview.protocol
|
||||
so the two programs stay independent."""
|
||||
if addr.startswith("tcp://"):
|
||||
host, _, port = addr[len("tcp://"):].partition(":")
|
||||
return ("tcp", host or "127.0.0.1", int(port or 9870))
|
||||
if addr.startswith("unix://"):
|
||||
return ("unix", addr[len("unix://"):], None)
|
||||
if addr.startswith("unix:"):
|
||||
return ("unix", addr[len("unix:"):], None)
|
||||
if ":" in addr:
|
||||
host, _, port = addr.partition(":")
|
||||
return ("tcp", host or "127.0.0.1", int(port))
|
||||
raise ValueError(f"unrecognised address: {addr!r}")
|
||||
|
||||
|
||||
class CloudPublisher:
|
||||
"""Streams a retained point cloud to a CloudView viewer, best-effort."""
|
||||
|
||||
def __init__(self, source: str = "rangeview", name: str = "RangeView",
|
||||
max_points: int = 200_000, max_pending: int = 2000) -> None:
|
||||
self._source = source
|
||||
self._name = name
|
||||
self._lock = threading.Lock()
|
||||
self._points: deque = deque(maxlen=max_points) # retained full cloud
|
||||
self._pending: deque = deque(maxlen=max_pending) # unsent delta batches
|
||||
self._enabled = False
|
||||
self._address: str | None = None
|
||||
self._generation = 0 # bumped on any config change to force reconnect
|
||||
self._connected = False
|
||||
self._stop = False
|
||||
self._thread = threading.Thread(target=self._run, name="cloud-pub",
|
||||
daemon=True)
|
||||
self._thread.start()
|
||||
|
||||
# ---------------------------------------------------------------- API ---
|
||||
def configure(self, enabled: bool, address: str | None) -> None:
|
||||
"""Enable/disable streaming and/or change the viewer address."""
|
||||
with self._lock:
|
||||
self._enabled = bool(enabled)
|
||||
if address:
|
||||
self._address = address
|
||||
self._generation += 1 # make the socket thread re-evaluate/reconnect
|
||||
|
||||
@property
|
||||
def connected(self) -> bool:
|
||||
return self._connected
|
||||
|
||||
def add_points(self, pts) -> None:
|
||||
"""Append a batch of (x, y, z) to the retained cloud and queue it for
|
||||
sending. Cheap and non-blocking; safe to call from any thread."""
|
||||
batch = [(float(x), float(y), float(z)) for x, y, z in pts]
|
||||
if not batch:
|
||||
return
|
||||
with self._lock:
|
||||
self._points.extend(batch)
|
||||
if self._enabled:
|
||||
self._pending.append(batch)
|
||||
|
||||
def clear(self) -> None:
|
||||
"""Drop the retained cloud and tell the viewer to clear this source."""
|
||||
with self._lock:
|
||||
self._points.clear()
|
||||
if self._enabled:
|
||||
self._pending.append("clear")
|
||||
|
||||
def close(self) -> None:
|
||||
self._stop = True
|
||||
|
||||
# ------------------------------------------------------------ internals -
|
||||
def _config(self):
|
||||
with self._lock:
|
||||
return self._enabled, self._address, self._generation
|
||||
|
||||
def _run(self) -> None:
|
||||
while not self._stop:
|
||||
enabled, address, gen = self._config()
|
||||
if not enabled or not address:
|
||||
self._connected = False
|
||||
time.sleep(0.2)
|
||||
continue
|
||||
try:
|
||||
sock = self._connect(address)
|
||||
except Exception as exc:
|
||||
logger.debug("cloud viewer connect to %s failed: %s",
|
||||
address, exc)
|
||||
time.sleep(1.0)
|
||||
continue
|
||||
self._connected = True
|
||||
logger.info("streaming points to %s", address)
|
||||
try:
|
||||
self._on_connect(sock)
|
||||
self._pump(sock, gen)
|
||||
except Exception as exc:
|
||||
logger.debug("cloud stream to %s ended: %s", address, exc)
|
||||
finally:
|
||||
self._connected = False
|
||||
try:
|
||||
sock.close()
|
||||
except OSError:
|
||||
pass
|
||||
time.sleep(0.3) # backoff before reconnecting
|
||||
|
||||
@staticmethod
|
||||
def _connect(address: str) -> socket.socket:
|
||||
kind, a, b = _parse_address(address)
|
||||
if kind == "tcp":
|
||||
sock = socket.create_connection((a, b), timeout=2.0)
|
||||
else:
|
||||
sock = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
|
||||
sock.settimeout(2.0)
|
||||
sock.connect(a)
|
||||
sock.settimeout(2.0)
|
||||
return sock
|
||||
|
||||
def _on_connect(self, sock: socket.socket) -> None:
|
||||
"""Announce ourselves and replay the full retained cloud, so a freshly
|
||||
connected viewer is immediately consistent. Any deltas queued while we
|
||||
were disconnected are discarded first (the replay already covers them)."""
|
||||
with self._lock:
|
||||
self._pending.clear()
|
||||
points = list(self._points)
|
||||
sock.sendall(_encode({"type": "hello", "source": self._source,
|
||||
"name": self._name}))
|
||||
sock.sendall(_encode({"type": "clear", "source": self._source}))
|
||||
for i in range(0, len(points), 2000):
|
||||
chunk = points[i:i + 2000]
|
||||
sock.sendall(_encode({"type": "points", "source": self._source,
|
||||
"frame": "world",
|
||||
"points": [list(p) for p in chunk]}))
|
||||
|
||||
def _pump(self, sock: socket.socket, gen: int) -> None:
|
||||
"""Send queued batches until disabled, reconfigured, or disconnected."""
|
||||
while not self._stop:
|
||||
enabled, _addr, cur_gen = self._config()
|
||||
if not enabled or cur_gen != gen:
|
||||
return
|
||||
items = self._drain()
|
||||
if not items:
|
||||
time.sleep(0.02)
|
||||
continue
|
||||
blob = b"".join(self._render(item) for item in items)
|
||||
sock.sendall(blob)
|
||||
|
||||
def _drain(self) -> list:
|
||||
with self._lock:
|
||||
items = list(self._pending)
|
||||
self._pending.clear()
|
||||
return items
|
||||
|
||||
def _render(self, item) -> bytes:
|
||||
if item == "clear":
|
||||
return _encode({"type": "clear", "source": self._source})
|
||||
return _encode({"type": "points", "source": self._source,
|
||||
"frame": "world", "points": [list(p) for p in item]})
|
||||
1225
rangeview/controller.py
Normal file
1225
rangeview/controller.py
Normal file
File diff suppressed because it is too large
Load Diff
6
requirements.txt
Normal file
6
requirements.txt
Normal file
@@ -0,0 +1,6 @@
|
||||
# Crazyflie Python library (radio link, logging, commander, supervisor).
|
||||
# 0.1.25 is the first release with the supervisor arming API used here.
|
||||
cflib>=0.1.25
|
||||
|
||||
# Immediate-mode GUI (same binding as the test-stand / mission clients).
|
||||
dearpygui>=2.0
|
||||
503
uv.lock
generated
Normal file
503
uv.lock
generated
Normal file
@@ -0,0 +1,503 @@
|
||||
version = 1
|
||||
revision = 3
|
||||
requires-python = ">=3.10"
|
||||
resolution-markers = [
|
||||
"python_full_version >= '3.12'",
|
||||
"python_full_version == '3.11.*'",
|
||||
"python_full_version < '3.11'",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "cflib"
|
||||
version = "0.1.32"
|
||||
source = { registry = "https://pypi.org/simple" }
|
||||
dependencies = [
|
||||
{ name = "libusb-package" },
|
||||
{ name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
|
||||
{ name = "numpy", version = "2.4.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version == '3.11.*'" },
|
||||
{ name = "numpy", version = "2.5.0", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.12'" },
|
||||
{ name = "packaging" },
|
||||
{ name = "pyusb" },
|
||||
{ name = "scipy", version = "1.15.3", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
|
||||
{ name = "scipy", version = "1.17.1", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version == '3.11.*'" },
|
||||
{ name = "scipy", version = "1.18.0", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.12'" },
|
||||
]
|
||||
sdist = { url = "https://files.pythonhosted.org/packages/5c/33/036cf36fa8a54f27ef2f675dc09277ce8ff6aafc3582436fca2fe255d41b/cflib-0.1.32.tar.gz", hash = "sha256:555ad23d1de4375214884c8d30a29b7ee5ef162fc46b5ce50ca4f56292031250", size = 407935, upload-time = "2026-04-13T11:43:57.044Z" }
|
||||
wheels = [
|
||||
{ url = "https://files.pythonhosted.org/packages/79/cd/4c43e422834cc53174c1996db164d066735cb4e320a8b8e77b82b963244d/cflib-0.1.32-py3-none-any.whl", hash = "sha256:392c2cdc0387c24eb44c5abfc1bfe644809b1f95e1e04cb6ca6ec656acf8d50c", size = 519552, upload-time = "2026-04-13T11:43:55.201Z" },
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "dearpygui"
|
||||
version = "2.3.1"
|
||||
source = { registry = "https://pypi.org/simple" }
|
||||
wheels = [
|
||||
{ url = "https://files.pythonhosted.org/packages/49/eb/78ba8feb7fa01ae3b2eafe94783e5051ec5cf997463c4181840fc89b80c8/dearpygui-2.3.1-cp310-cp310-macosx_13_0_arm64.whl", hash = "sha256:8c3db42d9496e1baed8117148718bb69cab671066435d9f312cafb90d0df530c", size = 2003069, upload-time = "2026-05-01T22:45:57.452Z" },
|
||||
{ url = "https://files.pythonhosted.org/packages/3b/20/bab626e3e02645fdeba9b67dd1f6296e624a82d023fe2fa186fc4444c4dd/dearpygui-2.3.1-cp310-cp310-manylinux1_x86_64.whl", hash = "sha256:55ce713722583f1c874bfdb458cc3c0c09200c200419a31128534f7a86f9ccff", size = 2678634, upload-time = "2026-05-01T22:46:04.902Z" },
|
||||
{ url = "https://files.pythonhosted.org/packages/d3/5c/e894ea047be360910320501b4283a2079bd84b1cc03e66bd6999862ee1cc/dearpygui-2.3.1-cp310-cp310-manylinux2014_aarch64.whl", hash = "sha256:853e912c6d1d555711c002f0e1b7d3355b118fe56a42dda92b30e0dbd6528b76", size = 2502216, upload-time = "2026-05-01T22:46:15.506Z" },
|
||||
{ url = "https://files.pythonhosted.org/packages/22/bb/86c6e8125c7d8b106624bf9c537abdd0f723ca94bb11c18bf25fb16487d8/dearpygui-2.3.1-cp310-cp310-win_amd64.whl", hash = "sha256:36389e45dda45f91efb1d2d693b2c7198eb987db4799e6442862eba6e5b086bb", size = 1881760, upload-time = "2026-05-01T22:45:46.418Z" },
|
||||
{ url = "https://files.pythonhosted.org/packages/6c/40/22c00a3b3e47c609ece39b0e1970b8e031ac613201fee065dd93c9cbcb6c/dearpygui-2.3.1-cp311-cp311-macosx_13_0_arm64.whl", hash = "sha256:e1a9ffbb845600ab4a171daf2d7e7a1895f5b4433eed248d4cab42766b55fdff", size = 2002951, upload-time = "2026-05-01T22:45:58.663Z" },
|
||||
{ url = "https://files.pythonhosted.org/packages/31/7d/b2b26e75437a6173e44a89a816d5f1df76537ca2f4b3206a2a787ac9d479/dearpygui-2.3.1-cp311-cp311-manylinux1_x86_64.whl", hash = "sha256:686423b4f8a30aaf57f1044ec4e3b087beb9cc9b25be812cf92f4e7feff44fd6", size = 2678639, upload-time = "2026-05-01T22:46:06.246Z" },
|
||||
{ url = "https://files.pythonhosted.org/packages/00/90/efaa3dbcdab267638b0b65551c88ea1e994235b74345c8d995b8a0a9d59e/dearpygui-2.3.1-cp311-cp311-manylinux2014_aarch64.whl", hash = "sha256:0259a2db7b6c82459ac1402b0d42388a7cd180cd97d7dcb31a5210725c3171d3", size = 2501986, upload-time = "2026-05-01T22:46:17.044Z" },
|
||||
{ url = "https://files.pythonhosted.org/packages/b4/db/8f15dfe06d104746591c4763a5bba31369b86d861aa916101da8f633bfc6/dearpygui-2.3.1-cp311-cp311-win_amd64.whl", hash = "sha256:76ee38696a8f1f3805751b1588c98d9bb6567b033b91cb0f58111fb9fe907b5b", size = 1881816, upload-time = "2026-05-01T22:45:48.044Z" },
|
||||
{ url = "https://files.pythonhosted.org/packages/20/f1/6f30c7eafa25755105d0c26049a95c89cc5c82b68971e1cc8ffea36b748a/dearpygui-2.3.1-cp312-cp312-macosx_13_0_arm64.whl", hash = "sha256:6b1efd675a358176b3b76c039587a543d407d8fbb2cc3643a527e0ab7c0f5577", size = 2002717, upload-time = "2026-05-01T22:46:00.242Z" },
|
||||
{ url = "https://files.pythonhosted.org/packages/cc/03/fa76c31087b6ebbc13948de6d9d3bc9ed9946824b13d9d1089356b54249c/dearpygui-2.3.1-cp312-cp312-manylinux1_x86_64.whl", hash = "sha256:364b5b6a0953999fec764d529d9bb0b2cc6ab6ed06188e0ded28237c1475ca98", size = 2678552, upload-time = "2026-05-01T22:46:07.502Z" },
|
||||
{ url = "https://files.pythonhosted.org/packages/f2/ef/657ec68a79664cd28d98d590eed85103c6ffc1e23e7d3c4e5aedb7ee887d/dearpygui-2.3.1-cp312-cp312-manylinux2014_aarch64.whl", hash = "sha256:199dffebda245c9f59aa7c10c3b7f62963237c5f744150ad9be409b27a2661d3", size = 2501224, upload-time = "2026-05-01T22:46:18.8Z" },
|
||||
{ url = "https://files.pythonhosted.org/packages/77/be/e67e5a04439f15e60cf596092a31b2a907272288954e47f5ced43c0b1678/dearpygui-2.3.1-cp312-cp312-win_amd64.whl", hash = "sha256:26ed9197cdb30099c665bd1b23724e0dba60ad06b71344ecca7e52748c21874b", size = 1882080, upload-time = "2026-05-01T22:45:49.366Z" },
|
||||
{ url = "https://files.pythonhosted.org/packages/42/db/56a293ad392b8dafdd3eb1a0c4d367efbde99aa6930359685fe270984dd1/dearpygui-2.3.1-cp313-cp313-macosx_13_0_arm64.whl", hash = "sha256:d2d29e72b031886893b32269e1478eff1fd651512e6c2bceda91059c3bc8ee0e", size = 2002694, upload-time = "2026-05-01T22:46:01.425Z" },
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]
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Reference in New Issue
Block a user