def __init__(self, title, parent = None):
super().__init__(Qt.Horizontal, parent)
self.param = UserData.getInstance().getUserDataEntry(UD_PLOTTER_WINDOW_KEY, {})
self.setWindowTitle(title)
self.plotMessages = {
'RAW_IMU' : None,
'SCALED_IMU' : None,
'GPS_RAW_INT' : None,
'ATTITUDE' : None,
'SCALED_PRESSURE' : None
}
self.chart = PlotterPanel()
self.chartView = QChartView(self.chart)
self.chartView.setRenderHint(QPainter.Antialiasing)
self.plotControl = PlotItemMenu()
self.plotControl.plotDataSignal.connect(self.chart.toggleDataVisibility)
spLeft = QSizePolicy(QSizePolicy.Preferred, QSizePolicy.Preferred)
spLeft.setHorizontalStretch(1)
self.plotControl.setSizePolicy(spLeft)
spRight = QSizePolicy(QSizePolicy.Preferred, QSizePolicy.Preferred)
spRight.setHorizontalStretch(6)
self.chartView.setSizePolicy(spRight)
self.addWidget(self.plotControl)
self.addWidget(self.chartView)
if UD_PLOTTER_WINDOW_HEIGHT_KEY in self.param and UD_PLOTTER_WINDOW_WIDTH_KEY in self.param:
self.resize(self.param[UD_PLOTTER_WINDOW_WIDTH_KEY], self.param[UD_PLOTTER_WINDOW_HEIGHT_KEY])
def __init__(self, connection, replayMode=False, enableLog=True):
super().__init__()
self.internalHandlerLookup = {}
self.mavStatus = {MavStsKeys.AP_SYS_ID: 1}
self.isConnected = False
# self.paramList = []
self.paramPanel = None
self.txLock = QMutex() # uplink lock
self.txResponseCond = QWaitCondition()
self.txTimeoutTimer = QTimer()
self.finalWPSent = False
self.wpLoader = MAVWPLoader()
self.onboardWPCount = 0
self.numberOfonboardWP = 0
self.onboardWP = []
self.mavlinkLogFile = None
self.lastMessageReceivedTimestamp = 0.0
self.lastMessages = {} # type = (msg, timestamp)
self.param = UserData.getInstance().getUserDataEntry(
UD_TELEMETRY_KEY, {})
self.messageTimeoutThreshold = UserData.getParameterValue(
self.param, UD_TELEMETRY_TIMEOUT_THRESHOLD_KEY,
MAVLinkConnection.DEFAULT_MESSAGE_TIMEOUT_THRESHOLD)
self.txTimeoutmsec = self.messageTimeoutThreshold * 1000000
# timeout for wait initial heartbeat signal
self.initHeartbeatTimeout = UserData.getParameterValue(
self.param, UD_TELEMETRY_HEARTBEAT_TIMEOUT_KEY,
MAVLinkConnection.DEFAULT_HEARTBEAT_TIMEOUT)
self.txMessageQueue = deque()
self.running = True
self.connection = connection
self.replayMode = replayMode
self.enableLog = enableLog
self.uas = None
if replayMode:
self.enableLog = False
connection.replayCompleteSignal.connect(self.requestExit)
self.internalHandlerLookup[
'PARAM_VALUE'] = self.receiveOnboardParameter
self.internalHandlerLookup[
'MISSION_REQUEST'] = self.receiveMissionRequest
self.internalHandlerLookup[
'MISSION_ACK'] = self.receiveMissionAcknowledge
self.internalHandlerLookup[
'MISSION_COUNT'] = self.receiveMissionItemCount
self.internalHandlerLookup['MISSION_ITEM'] = self.receiveMissionItem
self.internalHandlerLookup['DATA_STREAM'] = self.receiveDataStream
self.internalHandlerLookup['PARAM_SET'] = self.receiveParameterSet
self.txTimeoutTimer.timeout.connect(self._timerTimeout)
self.txTimeoutTimer.setSingleShot(True)
def __init__(self, parent=None):
super().__init__(parent)
self.mav = None
self.param = UserData.getInstance().getUserDataEntry(
UD_MAIN_WINDOW_KEY, {})
current_path = os.path.abspath(os.path.dirname(__file__))
qmlFile = os.path.join(current_path, './instruments/map.qml')
self.setWindowTitle('Mini GCS')
if UD_MAIN_WINDOW_HEIGHT_KEY in self.param and UD_MAIN_WINDOW_WIDTH_KEY in self.param:
self.resize(self.param[UD_MAIN_WINDOW_WIDTH_KEY],
self.param[UD_MAIN_WINDOW_HEIGHT_KEY])
self.teleWindow = ConnectionEditWindow()
self.teleWindow.MAVLinkConnectedSignal.connect(self.createConnection)
self.window = QSplitter()
self.left = QSplitter(Qt.Vertical, self.window)
self.pfd = PrimaryFlightDisplay(self.window)
self.sts = SystemStatusPanel(self.window)
self.msgSignWindow = MessageSigningSetupWindow()
self.hudWindow = HUDWindow()
self.hud = self.hudWindow.hud
self.sts.connectToMAVLink.connect(self.teleWindow.show)
self.sts.disconnectFromMAVLink.connect(self.disconnect)
spPfd = QSizePolicy(QSizePolicy.Preferred, QSizePolicy.Preferred)
spPfd.setVerticalStretch(3)
self.pfd.setSizePolicy(spPfd)
spSts = QSizePolicy(QSizePolicy.Preferred, QSizePolicy.Preferred)
spSts.setVerticalStretch(2)
self.sts.setSizePolicy(spSts)
self.left.addWidget(self.pfd)
self.left.addWidget(self.sts)
spLeft = QSizePolicy(QSizePolicy.Preferred, QSizePolicy.Preferred)
spLeft.setHorizontalStretch(2)
self.left.setSizePolicy(spLeft)
self.map = MapWidget(qmlFile)
spRight = QSizePolicy(QSizePolicy.Preferred, QSizePolicy.Preferred)
spRight.setHorizontalStretch(5)
self.map.setSizePolicy(spRight)
self.window.addWidget(self.left)
self.window.addWidget(self.map)
self.localGPSWindow = GPSConfigurationWindow()
# TODO configurable behavior
self.localGPSWindow.connection.locationUpdate.connect(
self.map.updateHomeLocationEvent)
self.sts.connectToLocalGPS.connect(self.localGPSWindow.show)
self.sts.disconnectFromLocalGPS.connect(
self.localGPSWindow.connection.disconnect)
self.sts.statusPanel.showHUDButton.clicked.connect(self.hudWindow.show)
self.teleWindow.cancelConnectionSignal.connect(
lambda: self.sts.statusPanel.connectButton.setEnabled(True))
self.__createMenus()
self.setCentralWidget(self.window)
def closeEvent(self, event):
print('[MAIN] closeEvent')
ud = UserData.getInstance()
s = self.size()
self.param[UD_MAIN_WINDOW_HEIGHT_KEY] = s.height()
self.param[UD_MAIN_WINDOW_WIDTH_KEY] = s.width()
ud.setUserDataEntry(UD_MAIN_WINDOW_KEY, self.param)
try:
ud.saveGCSConfiguration()
print('GCS Conf saved.')
except IOError:
pass
super().closeEvent(event)
def __init__(self, parent):
super().__init__(parent)
self.instrumentOpagueBackground = QBrush(
QColor.fromHsvF(0, 0, 0.3, 1.0))
self.instrumentBackground = QBrush(QColor.fromHsvF(0, 0, 0.3, 0.3))
self.instrumentEdgePen = QPen(QColor.fromHsvF(0, 0, 0.65, 0.5))
self.font = QFont()
self.lineWidth = 2
self.fineLineWidth = 1
self.navigationTargetBearing = PrimaryFlightDisplay.UNKNOWN_ATTITUDE
self.navigationCrosstrackError = 0
self.primaryAltitude = PrimaryFlightDisplay.UNKNOWN_ALTITUDE
self.GPSAltitude = PrimaryFlightDisplay.UNKNOWN_ALTITUDE
self.verticalVelocity = PrimaryFlightDisplay.UNKNOWN_ALTITUDE
self.primarySpeed = PrimaryFlightDisplay.UNKNOWN_SPEED
self.groundspeed = PrimaryFlightDisplay.UNKNOWN_SPEED
self.roll = 0.0
self.pitch = 0.0
self.yaw = 0.0
self.rollspeed = 0.0
self.pitchspeed = 0.0
self.yawspeed = 0.0
self.latitude = 0.0
self.longitude = 0.0
self.additionalParameters = {}
self.param = UserData.getInstance().getUserDataEntry(UD_PFD_KEY, {})
self.isGPSSpeedPrimary = UserData.getParameterValue(
self.param, UD_PFD_PRIMARY_SPEED_SOURCE_KEY) == 'GPS'
self.isGPSAltitudePrimary = UserData.getParameterValue(
self.param, UD_PFD_PRIMARY_ALTITUDE_SOURCE_KEY) == 'GPS'
self.setMinimumSize(480, 320)
self.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
self.smallTestSize = self.SMALL_TEXT_SIZE
self.mediumTextSize = self.MEDIUM_TEXT_SIZE
self.largeTextSize = self.LARGE_TEXT_SIZE
self.uiTimer = QTimer(self)
self.uiTimer.setInterval(40)
self.uiTimer.timeout.connect(self.update)
self.uas = None
def __init__(self, name, parent=None):
super().__init__(parent)
self.uasName = name
self.autopilotClass = mavlink.MAV_AUTOPILOT_GENERIC
self.param = UserData.getInstance().getUserDataEntry(
UD_UAS_CONF_KEY, {})
self.onboardParameters = []
self.oldOnboardParameters = []
self.onboardParamNotReceived = 0
self.messageHandlers = {}
self.messageHandlers['SYS_STATUS'] = self.uasStatusHandler
self.messageHandlers['GPS_RAW_INT'] = self.uasLocationHandler
self.messageHandlers[
'GLOBAL_POSITION_INT'] = self.uasFilteredLocationHandler
self.messageHandlers['SCALED_PRESSURE'] = self.uasAltitudeHandler
self.messageHandlers['ATTITUDE'] = self.uasAttitudeHandler
self.messageHandlers['GPS_STATUS'] = self.uasGPSStatusHandler
self.messageHandlers['RADIO_STATUS'] = self.uasRadioStatusHandler
self.messageHandlers['RC_CHANNELS'] = self.uasRCChannelsHandler
self.messageHandlers[
'NAV_CONTROLLER_OUTPUT'] = self.uasNavigationControllerOutputHandler
self.messageHandlers[
'LOCAL_POSITION_NED'] = self.uasDefaultMessageHandler
self.messageHandlers['PARAM_VALUE'] = self.uasDefaultMessageHandler
self.messageHandlers['HEARTBEAT'] = self.uasDefaultMessageHandler
self.messageHandlers[
'ATTITUDE_QUATERNION'] = self.uasDefaultMessageHandler
self.messageHandlers['SYSTEM_TIME'] = self.uasDefaultMessageHandler
self.messageHandlers['VFR_HUD'] = self.uasDefaultMessageHandler
self.messageHandlers[
'AUTOPILOT_VERSION'] = self.uasDefaultMessageHandler
self.messageHandlers['BATTERY_STATUS'] = self.uasDefaultMessageHandler
self.messageHandlers['SCALED_IMU'] = self.uasDefaultMessageHandler
self.messageHandlers['RAW_IMU'] = self.uasDefaultMessageHandler
self.altitudeReference = DEFAULT_ALTITUDE_REFERENCE
self.pressureReference = DEFAULT_PRESSURE_REFERENCE
self.signingKey = None
self.initialTimestamp = 0
self.mav.connection.WIRE_PROTOCOL_VERSION)
self.mav.start()
def disconnect(self):
self.mav.requestExit()
def closeEvent(self, event):
print('[MAIN] closeEvent')
ud = UserData.getInstance()
s = self.size()
self.param[UD_MAIN_WINDOW_HEIGHT_KEY] = s.height()
self.param[UD_MAIN_WINDOW_WIDTH_KEY] = s.width()
ud.setUserDataEntry(UD_MAIN_WINDOW_KEY, self.param)
try:
ud.saveGCSConfiguration()
print('GCS Conf saved.')
except IOError:
pass
super().closeEvent(event)
if __name__ == '__main__':
app = QApplication(sys.argv)
try:
UserData.getInstance().loadGCSConfiguration()
except IOError:
sys.exit(1)
frame = MiniGCS()
frame.show()
sys.exit(app.exec_())
def __getLastConnectionParameter(self):
pParam = UserData.getInstance().getUserDataEntry(UD_TELEMETRY_KEY, {})
return UserData.getParameterValue(pParam,
UD_TELEMETRY_LAST_CONNECTION_KEY, {})
