def create_character(fontpath, size, c, bypp, crop, bpp):
try:
from PIL import Image
from PIL import ImageDraw
from PIL import ImageFont
from PIL import ImageChops
except:
# we will get respawn hopefully after python-PIL is loaded
print 'failed to load PIL to create fonts, aborting...'
import time
time.sleep(3)
exit(1)
ifont = ImageFont.truetype(fontpath, size)
size = ifont.getsize(c)
image = Image.new('RGBA', size)
draw = ImageDraw.Draw(image)
draw.text((0, 0), c, font=ifont)
if crop:
bg = Image.new(image.mode, image.size, image.getpixel((0, 0)))
diff = ImageChops.difference(image, bg)
bbox = diff.getbbox()
if bbox:
image = image.crop(bbox)
if bpp:
data = list(image.getdata())
for i in range(len(data)):
d = 255 / (1<<bpp)
v = int(round(data[i][0] / (255 / (1<<bpp))) * (255 / ((1<<bpp)-1)))
data[i] = (v,v,v,v)
image.putdata(data)
return ugfx.surface(image.size[0], image.size[1], bypp, image.tobytes())
def draw(surface, pos, text, size, bw, crop=False):
if not size in fonts:
fonts[size] = {}
font = fonts[size]
if pos:
x, y = pos
else:
x, y = 0, 0
origx = x
width = 0
lineheight = 0
height = 0
for c in text:
if c == '\n':
x = origx
y += lineheight
height += lineheight
lineheight = 0
continue
if not c in font:
filename = fontpath + '/%03d%03d' % (size, ord(c))
if bw:
filename += 'b'
if crop:
filename += 'c'
#print 'ord', ord(c), filename
font[c] = ugfx.surface(filename)
if font[c].bypp == 0:
font[c] = create_character(
os.path.abspath(os.path.dirname(__file__)) + "/font.ttf",
size, c, surface.bypp, crop, bw)
font[c].store_grey(filename)
if pos:
surface.blit(font[c], x, y)
x += font[c].width
width = max(width, x - origx)
lineheight = max(lineheight, font[c].height)
return width, height + lineheight
def __init__(self, screen):
# w, h, self.bw = 44, 84, 1
# w, h, self.bw = 64, 128, 1
# w, h, self.bw = 320, 480, 0
self.config = {}
self.configfilename = os.getenv('HOME') + '/.pypilot/lcdclient.conf'
self.config['contrast'] = 60
self.config['invert'] = False
self.config['flip'] = False
self.config['language'] = 'en'
self.config['bigstep'] = 10
self.config['smallstep'] = 1
print 'loading load config file:', self.configfilename
try:
file = open(self.configfilename)
config = json.loads(file.readline())
for name in config:
self.config[name] = config[name]
except:
print 'failed to load config file:', self.configfilename
if screen:
w, h = screen.width, screen.height
mul = int(math.ceil(w / 48.0))
self.bw = 1 if w < 256 else False
width = min(w, 48*mul)
self.surface = ugfx.surface(width, width*h/w, screen.bypp, None)
self.frameperiod = .25 # 4 frames a second possible
else:
self.surface = None
self.frameperiod = 1
self.set_language(self.config['language'])
self.range_edit = False
self.modes = {'compass': self.have_compass,
'gps': self.have_gps,
'wind': self.have_wind,
'true wind': self.have_true_wind};
self.modes_list = ['compass', 'gps', 'wind', 'true wind'] # in order
self.initial_gets = gains + ['servo.min_speed', 'servo.max_speed', 'servo.max_current', 'servo.period', 'imu.alignmentCounter']
self.have_select = False
self.create_mainmenu()
self.longsleep = 30
self.display_page = self.display_connecting
self.connecting_dots = 0
self.client = False
self.keystate = {}
self.keypad = [False, False, False, False, False, False, False, False]
self.keypadup = list(self.keypad)
self.blink = black, white
self.control = False
self.wifi = False
self.overcurrent_time = 0
if orangepi:
self.pins = [11, 16, 13, 15, 12]
else:
self.pins = [17, 23, 27, 22, 18]
if GPIO:
if orangepi:
for pin in self.pins:
cmd = 'gpio -1 mode ' + str(pin) + ' up'
os.system(cmd)
GPIO.setmode(GPIO.BOARD)
else:
GPIO.setmode(GPIO.BCM)
for pin in self.pins:
try:
GPIO.setup(pin, GPIO.IN, pull_up_down=GPIO.PUD_UP)
pass
except RuntimeError:
os.system("sudo chown tc /dev/gpiomem")
GPIO.setup(pin, GPIO.IN, pull_up_down=GPIO.PUD_UP)
def cbr(channel):
self.longsleep = 0
GPIO.add_event_detect(pin, GPIO.BOTH, callback=cbr, bouncetime=20)
global LIRC
if LIRC:
try:
LIRC.init('pypilot')
self.lirctime = False
except:
print 'failed to initialize lirc. is .lircrc missing?'
LIRC = None
def main():
print 'init...'
screen = None
for arg in sys.argv:
if 'nokia5110' in arg:
sys.argv.remove(arg)
print 'using nokia5110'
screen = ugfx.nokia5110screen()
if not screen:
if use_glut:
screen = glut.screen((120, 210))
#screen = glut.screen((64, 128))
#screen = glut.screen((48, 84))
else:
screen = ugfx.screen("/dev/fb0")
if screen.width == 416 and screen.height == 656:
# no actual device or display
print 'no actual screen, running headless'
screen = None
if screen.width > 480:
screen.width = 480
screen.height= min(screen.height, 640)
lcdclient = LCDClient(screen)
if screen:
# magnify to fill screen
mag = min(screen.width / lcdclient.surface.width, screen.height / lcdclient.surface.height)
if mag != 1:
print "magnifying lcd surface to fit screen"
magsurface = ugfx.surface(screen)
invsurface = ugfx.surface(lcdclient.surface)
def idle():
if screen:
lcdclient.display()
surface = lcdclient.surface
if lcdclient.config['invert']:
invsurface.blit(surface, 0, 0)
surface = invsurface
surface.invert(0, 0, surface.width, surface.height)
if mag != 1:
magsurface.magnify(surface, mag)
surface = magsurface
# mag = 2
#surface.magnify(mag)
screen.blit(surface, 0, 0, lcdclient.config['flip'])
screen.refresh()
if 'contrast' in lcdclient.config:
screen.contrast = int(lcdclient.config['contrast'])
lcdclient.idle()
if use_glut:
from OpenGL.GLUT import glutMainLoop
from OpenGL.GLUT import glutIdleFunc
from OpenGL.GLUT import glutKeyboardFunc
from OpenGL.GLUT import glutKeyboardUpFunc
from OpenGL.GLUT import glutSpecialFunc
from OpenGL.GLUT import glutSpecialUpFunc
glutKeyboardFunc(lcdclient.glutkeydown)
glutKeyboardUpFunc(lcdclient.glutkeyup)
glutSpecialFunc(lcdclient.glutspecialdown)
glutSpecialUpFunc(lcdclient.glutspecialup)
glutIdleFunc(idle)
# glutIgnoreKeyRepeat(True)
glutMainLoop()
else:
while True:
idle()
def __init__(self, hat):
self.hat = hat
self.config = hat.config['lcd']
default = {
'contrast': 60,
'invert': False,
'backlight': 200,
'flip': False,
'language': 'en',
'bigstep': 10,
'smallstep': 1,
'remote': False
}
for name in default:
if not name in self.config:
self.config[name] = default[name]
# set the driver to the one from hat eeprom
driver = 'default'
if self.hat.hatconfig:
driver = self.hat.hatconfig['lcd']['driver']
for pdriver in [
'nokia5110', 'jlx12864', 'glut', 'framebuffer', 'none'
]:
if pdriver in sys.argv:
sys.argv.remove(pdriver)
driver = pdriver
break
print('Using driver', driver)
use_glut = 'DISPLAY' in os.environ
self.use_glut = False
if driver == 'none':
screen = None
elif driver == 'nokia5110' or (driver == 'default' and not use_glut):
screen = ugfx.spiscreen(0)
elif driver == 'jlx12864':
screen = ugfx.spiscreen(1)
elif driver == 'glut' or (driver == 'default' and use_glut):
self.use_glut = True
print('using glut')
import glut
#screen = glut.screen((120, 210))
#screen = glut.screen((64, 128))
screen = glut.screen((48, 84))
#screen = glut.screen((96, 168))
from OpenGL.GLUT import glutKeyboardFunc, glutKeyboardUpFunc
from OpenGL.GLUT import glutSpecialFunc, glutSpecialUpFunc
glutKeyboardFunc(self.glutkeydown)
glutKeyboardUpFunc(self.glutkeyup)
glutSpecialFunc(self.glutspecialdown)
glutSpecialUpFunc(self.glutspecialup)
# glutIgnoreKeyRepeat(True)
elif driver == 'framebuffer':
print('using framebuffer')
screen = ugfx.screen("/dev/fb0")
if screen.width > 480:
screen.width = 480
screen.height = min(screen.height, 640)
if screen:
w, h = screen.width, screen.height
mul = int(math.ceil(w / 48.0))
self.bw = 1 if w < 256 else False
width = min(w, 48 * mul)
self.surface = ugfx.surface(width, int(width * h / w), screen.bypp,
None)
# magnify to fill screen
self.mag = min(screen.width / self.surface.width,
screen.height / self.surface.height)
if self.mag != 1:
print('magnifying lcd surface to fit screen')
self.magsurface = ugfx.surface(screen)
self.invsurface = ugfx.surface(self.surface)
self.frameperiod = .25 # 4 frames a second possible
self.lastframetime = 0
else:
self.surface = None
self.frameperiod = 1
self.screen = screen
self.set_language(self.config['language'])
self.range_edit = False
self.modes = {
'compass': self.have_compass,
'gps': self.have_gps,
'wind': self.have_wind,
'true wind': self.have_true_wind
}
self.modes_list = ['compass', 'gps', 'wind', 'true wind'] # in order
self.watchlist = [
'ap.enabled', 'ap.mode', 'ap.pilot', 'ap.heading_command',
'gps.source', 'wind.source', 'servo.controller', 'servo.flags',
'imu.compass.calibration', 'imu.compass.calibration.sigmapoints',
'imu.compass.calibration.locked', 'imu.alignmentQ',
'rudder.calibration_state'
]
self.initial_gets = [
'servo.speed.min', 'servo.speed.max', 'servo.max_current',
'servo.period', 'imu.alignmentCounter'
]
self.create_mainmenu()
self.display_page = self.display_control
self.connecting_dots = 0
self.keypad = [False, False, False, False, False, False, False, False]
self.keypadup = list(self.keypad)
self.blink = black, white
self.control = False # used to keep track of what is drawn on screen to avoid redrawing it
self.wifi = False