From e3764d130e53ffaf7a9ef04dbe9725494de31a97 Mon Sep 17 00:00:00 2001
From: Jason D <FatedZenith@outlook.com>
Date: Thu, 30 Oct 2025 12:05:14 -0500
Subject: [PATCH] Revert "Fixes Manual Drone Control crashing for linux."

---
 GUI5.py | 43 +++++++++++++++++++++++++++++--------------
 1 file changed, 29 insertions(+), 14 deletions(-)

diff --git a/GUI5.py b/GUI5.py
index 94233168..91d9daf7 100644
--- a/GUI5.py
+++ b/GUI5.py
@@ -1,3 +1,20 @@
+"""
+Avatar - BCI Application with NAO Robot Control
+Author: Youssef Elkhouly
+Date: October 2025
+
+Description:
+    This module implements the backend for the Avatar BCI application, which integrates
+    brainwave reading, drone control, and NAO robot control. The application uses PySide6
+    for the GUI framework and connects to various hardware controllers.
+
+Key Features:
+    - Brainwave data acquisition and processing
+    - Drone control via Tello SDK
+    - NAO robot connection and control with configurable IP/Port
+    - Machine learning predictions (Random Forest and Deep Learning)
+    - File shuffling and data transfer utilities
+"""
 
 import sys
 import os
@@ -8,7 +25,6 @@
 from PySide6.QtCore import QObject, Signal, Slot, QProcess, QUrl
 from pdf2image import convert_from_path
 from djitellopy import Tello
-import threading
 import random
 import re
 import pandas as pd
@@ -201,7 +217,6 @@ def devChart(self):
         except Exception as e:
             print(f"hofCharts.main() ERROR: {e}")
 
-    #might be useless because is.connected is defined already in the def__init method
     def get_is_connected(self):
         return self.isConnectedChanged
 
@@ -226,7 +241,6 @@ def __init__(self):
         self.is_connected = False
         try:
             self.tello = Tello()
-            self.connected = False
         except Exception as e:
             print(f"Warning: Failed to initialize Tello drone: {e}")
             self.logMessage.emit(f"Warning: Failed to initialize Tello drone: {e}")
@@ -386,18 +400,19 @@ def keepDroneAlive(self):
 
     @Slot(str)
     def getDroneAction(self, action):
-        threading.Thread(target=self._doAction, args=(action,), daemon=True).start()
-
-    def _doAction(self, action):
-        try:
-            if action == 'connect':
+        if action == 'connect':
+            try:
                 self.tello.connect()
-                self.connected = True
+                self.is_connected = True
                 self.logMessage.emit("Connected to Tello Drone")
-            elif self.connected:
-                self.logMessage.emit("Drone did not connect.")
-                return
-
+            except:
+                self.is_connected = False
+                self.logMessage.emit("Error during connect: {e}")
+            return
+        elif not self.is_connected:
+            self.logMessage.emit(f"Drone not connected. Aborting command '{action}'.")
+            return
+        try:
             if action == 'up':
                 self.tello.move_up(30)
                 self.logMessage.emit("Moving up")
@@ -421,7 +436,7 @@ def _doAction(self, action):
                 self.logMessage.emit("Rotating left")
             elif action == 'turn_right':
                 self.tello.rotate_clockwise(45)
-                self.logMessage.emit("Rotating right")
+                self.logMessage.emit("Rotationg right")
             elif action == 'takeoff':
                 self.tello.takeoff()
                 self.logMessage.emit("Taking off")