tools: Add CircuitStatus and Hardpoint Panels

dronecan_gui_tool/panels/__init__.py

@@ -17,6 +17,8 @@
 from . import RemoteID_panel
 from . import hobbywing_esc
 from . import rc_panel
+from . import hardpoints_panel
+from . import circuit_status_panel
 
 class PanelDescriptor:
     def __init__(self, module):
@@ -45,5 +47,7 @@ def safe_spawn(self, parent, node):
     PanelDescriptor(stats_panel),
     PanelDescriptor(RemoteID_panel),
     PanelDescriptor(hobbywing_esc),
-    PanelDescriptor(rc_panel)
+    PanelDescriptor(rc_panel),
+    PanelDescriptor(hardpoints_panel),
+    PanelDescriptor(circuit_status_panel)
 ]

dronecan_gui_tool/panels/circuit_status_panel.py

@@ -0,0 +1,186 @@
+#
+# Copyright (C) 2026 DroneCAN Development Team <dronecan.org>
+#
+# This software is distributed under the terms of the MIT License.
+#
+
+import dronecan
+from functools import partial
+from PyQt6.QtWidgets import QVBoxLayout, QLabel, QDialog, QGroupBox, QTableWidget, QTableWidgetItem, QHeaderView
+from PyQt6.QtCore import Qt, QTimer
+from PyQt6.QtGui import QBrush, QColor
+from logging import getLogger
+from ..widgets import get_icon, get_monospace_font
+
+__all__ = 'PANEL_NAME', 'spawn', 'get_icon'
+
+PANEL_NAME = 'CircuitStatus'
+
+logger = getLogger(__name__)
+
+_singleton = None
+
+
+class CircuitStatusPanel(QDialog):
+    def __init__(self, parent, node):
+        super(CircuitStatusPanel, self).__init__(parent)
+        self.setWindowTitle('CircuitStatus Monitor')
+        self.setAttribute(Qt.WA_DeleteOnClose)
+
+        self._node = node
+
+        # Main Layout
+        layout = QVBoxLayout(self)
+
+        # ---------------------------------------------------------
+        # Monitoring Group Box (CircuitStatus updates)
+        # ---------------------------------------------------------
+        monitor_group = QGroupBox('Circuit Status Monitor', self)
+        monitor_layout = QVBoxLayout()
+
+        self._table = QTableWidget(self)
+        self._table.setColumnCount(5)
+        self._table.setHorizontalHeaderLabels(['Circuit', 'Voltage', 'Current', 'Power', 'Status / Errors'])
+        self._table.horizontalHeader().setSectionResizeMode(QHeaderView.ResizeMode.Stretch)
+        self._table.verticalHeader().setVisible(False)
+
+        monitor_layout.addWidget(self._table)
+        monitor_group.setLayout(monitor_layout)
+        layout.addWidget(monitor_group)
+
+        self._circuit_rows = {}
+
+        self.setLayout(layout)
+        self.resize(550, 300)
+
+        # Register DroneCAN handler for CircuitStatus
+        self._handlers = [
+            self._node.add_handler(dronecan.uavcan.equipment.power.CircuitStatus, self._on_circuit_status)
+        ]
+
+        # Timer to check for offline/stale status
+        self._stale_timer = QTimer(self)
+        self._stale_timer.timeout.connect(self._check_stale_circuits)
+        self._stale_timer.start(1000)
+
+    def _on_circuit_status(self, event):
+        import time
+        msg = event.message
+        cid = msg.circuit_id
+
+        if cid not in self._circuit_rows:
+            # Insert row at sorted position
+            row_idx = sum(1 for existing_cid in self._circuit_rows if existing_cid < cid)
+            self._table.insertRow(row_idx)
+
+            item_name = QTableWidgetItem(f'Circuit {cid}')
+            item_volt = QTableWidgetItem('NC')
+            item_curr = QTableWidgetItem('NC')
+            item_pwr = QTableWidgetItem('NC')
+            item_err = QTableWidgetItem('NC')
+
+            font = get_monospace_font()
+            for item in (item_name, item_volt, item_curr, item_pwr, item_err):
+                item.setFont(font)
+                item.setFlags(item.flags() & ~Qt.ItemFlag.ItemIsEditable)
+
+            self._table.setItem(row_idx, 0, item_name)
+            self._table.setItem(row_idx, 1, item_volt)
+            self._table.setItem(row_idx, 2, item_curr)
+            self._table.setItem(row_idx, 3, item_pwr)
+            self._table.setItem(row_idx, 4, item_err)
+
+            self._circuit_rows[cid] = {
+                'voltage': item_volt,
+                'current': item_curr,
+                'power': item_pwr,
+                'error': item_err,
+                'last_update': 0
+            }
+
+        row = self._circuit_rows[cid]
+        row['last_update'] = time.time()
+
+        # Format voltage, current, power
+        v = msg.voltage
+        i = msg.current
+        p = v * i
+
+        row['voltage'].setText(f'{v:6.2f} V')
+        row['current'].setText(f'{i:6.2f} A')
+        row['power'].setText(f'{p:6.2f} W')
+
+        # Parse error flags
+        errs = []
+        flags = msg.error_flags
+        if flags & msg.ERROR_FLAG_OVERVOLTAGE:
+            errs.append('OVER_V')
+        if flags & msg.ERROR_FLAG_UNDERVOLTAGE:
+            errs.append('UNDER_V')
+        if flags & msg.ERROR_FLAG_OVERCURRENT:
+            errs.append('OVER_C')
+        if flags & msg.ERROR_FLAG_UNDERCURRENT:
+            errs.append('UNDER_C')
+
+        if errs:
+            row['error'].setText(', '.join(errs))
+            row['error'].setForeground(QBrush(QColor('red')))
+            font = row['error'].font()
+            font.setBold(True)
+            row['error'].setFont(font)
+        else:
+            row['error'].setText('OK')
+            row['error'].setForeground(QBrush(QColor('green')))
+            font = row['error'].font()
+            font.setBold(False)
+            row['error'].setFont(font)
+
+    def _check_stale_circuits(self):
+        import time
+        now = time.time()
+        for cid, row in self._circuit_rows.items():
+            if row['last_update'] == 0:
+                continue
+            if now - row['last_update'] > 3.0:
+                row['voltage'].setText('STALE')
+                row['current'].setText('STALE')
+                row['power'].setText('STALE')
+                row['error'].setText('OFFLINE')
+                row['error'].setForeground(QBrush(QColor('gray')))
+                font = row['error'].font()
+                font.setBold(False)
+                row['error'].setFont(font)
+
+    def __del__(self):
+        global _singleton
+        _singleton = None
+        for h in self._handlers:
+            try:
+                h.remove()
+            except Exception:
+                pass
+
+    def closeEvent(self, event):
+        global _singleton
+        _singleton = None
+        for h in self._handlers:
+            try:
+                h.remove()
+            except Exception:
+                pass
+        super(CircuitStatusPanel, self).closeEvent(event)
+
+
+def spawn(parent, node):
+    global _singleton
+    if _singleton is None:
+        _singleton = CircuitStatusPanel(parent, node)
+
+    _singleton.show()
+    _singleton.raise_()
+    _singleton.activateWindow()
+
+    return _singleton
+
+
+get_icon = partial(get_icon, 'fa6s.asterisk')

dronecan_gui_tool/panels/hardpoints_panel.py

@@ -0,0 +1,140 @@
+#
+# Copyright (C) 2026 DroneCAN Development Team <dronecan.org>
+#
+# This software is distributed under the terms of the MIT License.
+#
+
+import dronecan
+from functools import partial
+from PyQt6.QtWidgets import QVBoxLayout, QHBoxLayout, QLabel, QDialog, QSpinBox, QComboBox, QGroupBox, QLayout
+from PyQt6.QtCore import Qt
+from logging import getLogger
+from ..widgets import make_icon_button, get_icon
+
+__all__ = 'PANEL_NAME', 'spawn', 'get_icon'
+
+PANEL_NAME = 'Hardpoints'
+
+logger = getLogger(__name__)
+
+_singleton = None
+
+
+class HardpointsPanel(QDialog):
+    def __init__(self, parent, node):
+        super(HardpointsPanel, self).__init__(parent)
+        self.setWindowTitle('Hardpoints Control')
+        self.setAttribute(Qt.WA_DeleteOnClose)
+
+        self._node = node
+
+        # Main Layout
+        layout = QVBoxLayout(self)
+
+        # ---------------------------------------------------------
+        # Control Group Box (Relay/Hardpoint Controls)
+        # ---------------------------------------------------------
+        control_group = QGroupBox('Relay / Hardpoint Control', self)
+        control_layout = QVBoxLayout()
+
+        # Hardpoint ID field
+        hp_id_layout = QHBoxLayout()
+        hp_id_layout.addWidget(QLabel('Hardpoint ID:', self))
+        self._hardpoint_id = QSpinBox(self)
+        self._hardpoint_id.setMinimum(0)
+        self._hardpoint_id.setMaximum(255)
+        self._hardpoint_id.setValue(0)
+        hp_id_layout.addWidget(self._hardpoint_id)
+        hp_id_layout.addStretch()
+        control_layout.addLayout(hp_id_layout)
+
+        # Command / State field
+        state_layout = QHBoxLayout()
+        state_layout.addWidget(QLabel('State / Command:', self))
+        self._state_combo = QComboBox(self)
+        self._state_combo.addItem('0 - Release / OFF', 0)
+        self._state_combo.addItem('1 - Hold / ON', 1)
+        self._state_combo.addItem('Custom...', -1)
+        self._state_combo.currentIndexChanged.connect(self._on_state_combo_changed)
+        state_layout.addWidget(self._state_combo)
+
+        self._custom_val = QSpinBox(self)
+        self._custom_val.setMinimum(0)
+        self._custom_val.setMaximum(65535)
+        self._custom_val.setValue(0)
+        self._custom_val.setVisible(False)
+        state_layout.addWidget(self._custom_val)
+        state_layout.addStretch()
+        control_layout.addLayout(state_layout)
+
+        # Send Button
+        self._send_button = make_icon_button('fa6s.paper-plane', 'Send command', self, text='Send Command', on_clicked=self._do_send)
+        control_layout.addWidget(self._send_button)
+
+        # Status Label
+        self._status_label = QLabel('', self)
+        control_layout.addWidget(self._status_label)
+
+        control_group.setLayout(control_layout)
+        layout.addWidget(control_group)
+
+        self.setLayout(layout)
+        self.setMinimumWidth(350)
+        layout.setSizeConstraint(QLayout.SizeConstraint.SetFixedSize)
+
+    def _on_state_combo_changed(self):
+        is_custom = self._state_combo.currentData() == -1
+        self._custom_val.setVisible(is_custom)
+
+    def get_command_value(self):
+        val = self._state_combo.currentData()
+        if val == -1:
+            return self._custom_val.value()
+        return val
+
+    def _do_send(self):
+        try:
+            # Construct the message (uses default ID 1070)
+            msg = dronecan.uavcan.equipment.hardpoint.Command()
+            msg.hardpoint_id = self._hardpoint_id.value()
+            msg.command = self.get_command_value()
+
+            # Broadcast
+            self._node.broadcast(msg)
+
+            cmd_val = msg.command
+            if cmd_val == 0:
+                cmd_str = "release"
+            elif cmd_val == 1:
+                cmd_str = "hold"
+            else:
+                cmd_str = str(cmd_val)
+
+            self._status_label.setText(f"command {cmd_str} sent to hardpoint {msg.hardpoint_id}")
+        except Exception as ex:
+            logger.error(f'Sending failed: {ex}')
+            self._status_label.setText(f"Sending failed: {ex}")
+
+    def __del__(self):
+        global _singleton
+        _singleton = None
+
+    def closeEvent(self, event):
+        global _singleton
+        _singleton = None
+        super(HardpointsPanel, self).closeEvent(event)
+
+
+def spawn(parent, node):
+    global _singleton
+    if _singleton is None:
+        _singleton = HardpointsPanel(parent, node)
+
+    _singleton.show()
+    _singleton.raise_()
+    _singleton.activateWindow()
+
+    return _singleton
+
+
+get_icon = partial(get_icon, 'fa6s.toggle-on')