def create_main_panel(self):
import platform
if platform.system() == 'Darwin':
from MAVProxy.modules.lib.MacOS import backend_wxagg
FigCanvas = backend_wxagg.FigureCanvasWxAgg
else:
from matplotlib.backends.backend_wxagg import FigureCanvasWxAgg as FigCanvas
self.panel = wx.Panel(self)
self.init_plot()
self.canvas = FigCanvas(self.panel, -1, self.fig)
self.close_button = wx.Button(self.panel, -1, "Close")
self.Bind(wx.EVT_BUTTON, self.on_close_button, self.close_button)
self.pause_button = wx.Button(self.panel, -1, "Pause")
self.Bind(wx.EVT_BUTTON, self.on_pause_button, self.pause_button)
self.Bind(wx.EVT_UPDATE_UI, self.on_update_pause_button, self.pause_button)
self.hbox1 = wx.BoxSizer(wx.HORIZONTAL)
self.hbox1.Add(self.close_button, border=5, flag=wx.ALL | wx.ALIGN_CENTER_VERTICAL)
self.hbox1.AddSpacer(1)
self.hbox1.Add(self.pause_button, border=5, flag=wx.ALL | wx.ALIGN_CENTER_VERTICAL)
self.vbox = wx.BoxSizer(wx.VERTICAL)
self.vbox.Add(self.canvas, 1, flag=wx.LEFT | wx.TOP | wx.GROW)
self.vbox.Add(self.hbox1, 0, flag=wx.ALIGN_LEFT | wx.TOP)
self.panel.SetSizer(self.vbox)
self.vbox.Fit(self)
def __init__(self, title, graphdef, callback):
wx.Dialog.__init__(self, None, -1, title, size=(900, 400))
self.callback = callback
self.graphdef = graphdef
self.panel = wx.Panel(self, -1)
vbox = wx.BoxSizer(wx.VERTICAL)
# name entry
hbox_name = wx.BoxSizer(wx.HORIZONTAL)
st_name = wx.StaticText(self.panel, -1, 'Name: ')
self.tc_name = wx.TextCtrl(self.panel, -1, size=(400, -1))
self.tc_name.Value = self.graphdef.name
hbox_name.Add(st_name, 0, wx.LEFT, 10)
hbox_name.Add(self.tc_name, 0, wx.LEFT, 35)
vbox.Add(hbox_name, 0, wx.TOP, 10)
# expression entry
st = wx.StaticText(self.panel, -1, 'Expressions: ')
vbox.Add(st, 0, wx.LEFT, 10)
hbox_expressions = wx.BoxSizer(wx.HORIZONTAL)
self.tc_expressions = wx.TextCtrl(self.panel,
-1,
style=wx.TE_MULTILINE | wx.HSCROLL,
size=(800, 80))
elist = []
for e in self.graphdef.expressions:
e = ' '.join(e.split())
elist.append(e)
self.tc_expressions.Value = '\n'.join(elist)
vbox.Add(self.tc_expressions, 0, wx.LEFT, 15)
# description entry
st = wx.StaticText(self.panel, -1, 'Description: ')
vbox.Add(st, 0, wx.LEFT, 10)
self.tc_description = wx.TextCtrl(self.panel,
-1,
style=wx.TE_MULTILINE)
vbox.Add(self.tc_description, 1,
wx.EXPAND | wx.TOP | wx.RIGHT | wx.LEFT, 15)
self.tc_description.Value = self.graphdef.description
# buttons
button_save = wx.Button(self.panel, 1, 'Save')
button_cancel = wx.Button(self.panel, 2, 'Cancel')
button_test = wx.Button(self.panel, 3, 'Test')
hbox_buttons = wx.BoxSizer(wx.HORIZONTAL)
hbox_buttons.Add(button_save, 0, wx.LEFT, 10)
hbox_buttons.Add(button_cancel, 0, wx.LEFT, 10)
hbox_buttons.Add(button_test, 0, wx.LEFT, 10)
vbox.Add(hbox_buttons, 0, wx.TOP, 10)
self.Bind(wx.EVT_BUTTON, self.OnSave, id=1)
self.Bind(wx.EVT_BUTTON, self.OnCancel, id=2)
self.Bind(wx.EVT_BUTTON, self.OnTest, id=3)
self.panel.SetSizer(vbox)
self.Centre()
def AddButton(self, label, callback=None):
c = wx.Button(self.panel, label=label)
self.AddControl(c, label, False)
if callback is not None:
self.callbacks[c.GetId()] = callback
c.Bind(wx.EVT_BUTTON, self.OnButton)
self.row.Add(c, 0, wx.LEFT, 20)
def __init__(self, state, parent):
wx.Panel.__init__(self, parent) # , style=wx.BORDER_SIMPLE)
self.state = state
self.sizer = wx.BoxSizer(wx.VERTICAL)
self.titleText = wx.StaticText(
self, label="Unassigned Vehicles -->\n\nTools:")
self.sizer.Add(self.titleText, flag=wx.EXPAND |
wx.LEFT | wx.RIGHT, border=5)
self.getParamsButton = wx.Button(
self, label="Get offsets", size=wx.Size(100, 50))
self.Bind(wx.EVT_BUTTON, self.getParams, self.getParamsButton)
self.resetButton = wx.Button(
self, label="Reset layout", size=wx.Size(100, 50))
self.Bind(wx.EVT_BUTTON, self.reset, self.resetButton)
self.sizer.Add(self.getParamsButton)
self.sizer.Add(self.resetButton)
# Do the sizer layout
self.SetSizer(self.sizer)
def __init__(self, tab_names, title='Title', size=wx.DefaultSize):
wx.Dialog.__init__(self,
None,
-1,
title,
style=wx.DEFAULT_DIALOG_STYLE | wx.RESIZE_BORDER)
self.tab_names = tab_names
self.notebook = wx.Notebook(self, -1, size=size)
self.panels = {}
self.sizers = {}
for t in tab_names:
self.panels[t] = wx.Panel(self.notebook)
self.notebook.AddPage(self.panels[t], t)
self.sizers[t] = wx.BoxSizer(wx.VERTICAL)
self.panels[t].SetSizer(self.sizers[t])
self.dialog_sizer = wx.BoxSizer(wx.VERTICAL)
self.dialog_sizer.Add(self.notebook, 1, wx.EXPAND | wx.ALL, 5)
self.controls = {}
self.browse_option_map = {}
self.control_map = {}
self.setting_map = {}
button_box = wx.BoxSizer(wx.HORIZONTAL)
self.button_apply = wx.Button(self, -1, "Apply")
self.button_cancel = wx.Button(self, -1, "Cancel")
self.button_save = wx.Button(self, -1, "Save")
self.button_load = wx.Button(self, -1, "Load")
button_box.Add(self.button_cancel, 0, wx.ALL)
button_box.Add(self.button_apply, 0, wx.ALL)
button_box.Add(self.button_save, 0, wx.ALL)
button_box.Add(self.button_load, 0, wx.ALL)
self.dialog_sizer.Add(button_box, 0,
wx.GROW | wx.ALIGN_CENTER_VERTICAL | wx.ALL, 5)
wx.EVT_BUTTON(self, self.button_cancel.GetId(), self.on_cancel)
wx.EVT_BUTTON(self, self.button_apply.GetId(), self.on_apply)
wx.EVT_BUTTON(self, self.button_save.GetId(), self.on_save)
wx.EVT_BUTTON(self, self.button_load.GetId(), self.on_load)
self.Centre()
def createWidgets(self):
#create the panels for the tabs
PanelAssembly = wx.Panel(self.nb)
boxAssembly = wx.BoxSizer(wx.VERTICAL)
PanelAssembly.SetAutoLayout(True)
PanelAssembly.SetSizer(boxAssembly)
PanelAssembly.Layout()
PanelEngine = wx.Panel(self.nb)
boxEngine = wx.BoxSizer(wx.VERTICAL)
PanelEngine.SetAutoLayout(True)
PanelEngine.SetSizer(boxEngine)
PanelEngine.Layout()
PanelTakeoff = wx.Panel(self.nb)
boxTakeoff = wx.BoxSizer(wx.VERTICAL)
PanelTakeoff.SetAutoLayout(True)
PanelTakeoff.SetSizer(boxTakeoff)
PanelTakeoff.Layout()
PanelCruise = wx.Panel(self.nb)
boxCruise = wx.BoxSizer(wx.VERTICAL)
PanelCruise.SetAutoLayout(True)
PanelCruise.SetSizer(boxCruise)
PanelCruise.Layout()
PanelDrop = wx.Panel(self.nb)
boxDrop = wx.BoxSizer(wx.VERTICAL)
PanelDrop.SetAutoLayout(True)
PanelDrop.SetSizer(boxDrop)
PanelDrop.Layout()
PanelLanding = wx.Panel(self.nb)
boxLanding = wx.BoxSizer(wx.VERTICAL)
PanelLanding.SetAutoLayout(True)
PanelLanding.SetSizer(boxLanding)
PanelLanding.Layout()
PanelShutdown = wx.Panel(self.nb)
boxShutdown = wx.BoxSizer(wx.VERTICAL)
PanelShutdown.SetAutoLayout(True)
PanelShutdown.SetSizer(boxShutdown)
PanelShutdown.Layout()
#add the data to the individual tabs
'''before assembly checklist'''
for key in self.beforeAssemblyList:
if self.beforeAssemblyList[key] == 0:
disCheckBox = wx.CheckBox(PanelAssembly, wx.ID_ANY, key)
disCheckBox.Enable(False)
boxAssembly.Add(disCheckBox)
if self.beforeAssemblyList[key] == 2:
boxAssembly.Add(wx.CheckBox(PanelAssembly, wx.ID_ANY, key))
self.AssemblyButton = wx.Button(PanelAssembly, wx.ID_ANY,
"Close final hatches")
boxAssembly.Add(self.AssemblyButton)
'''before Engine Start checklist'''
for key in self.beforeEngineList:
if self.beforeEngineList[key] == 0:
disCheckBox = wx.CheckBox(PanelEngine, wx.ID_ANY, key)
disCheckBox.Enable(False)
boxEngine.Add(disCheckBox)
if self.beforeEngineList[key] == 2:
boxEngine.Add(wx.CheckBox(PanelEngine, wx.ID_ANY, key))
self.EngineButton = wx.Button(PanelEngine, wx.ID_ANY,
"Ready for Engine start")
boxEngine.Add(self.EngineButton)
'''before takeoff checklist'''
for key in self.beforeTakeoffList:
if self.beforeTakeoffList[key] == 0:
disCheckBox = wx.CheckBox(PanelTakeoff, wx.ID_ANY, key)
disCheckBox.Enable(False)
boxTakeoff.Add(disCheckBox)
if self.beforeTakeoffList[key] == 2:
boxTakeoff.Add(wx.CheckBox(PanelTakeoff, wx.ID_ANY, key))
self.TakeoffButton = wx.Button(PanelTakeoff, wx.ID_ANY,
"Ready for Takeoff")
boxTakeoff.Add(self.TakeoffButton)
'''before cruise/AUTO checklist'''
for key in self.beforeCruiseList:
if self.beforeCruiseList[key] == 0:
disCheckBox = wx.CheckBox(PanelCruise, wx.ID_ANY, key)
disCheckBox.Enable(False)
boxCruise.Add(disCheckBox)
if self.beforeCruiseList[key] == 2:
boxCruise.Add(wx.CheckBox(PanelCruise, wx.ID_ANY, key))
self.CruiseButton = wx.Button(PanelCruise, wx.ID_ANY,
"Ready for Cruise/AUTO")
boxCruise.Add(self.CruiseButton)
'''before bottle drop checklist'''
for key in self.bottleDropList:
if self.bottleDropList[key] == 0:
disCheckBox = wx.CheckBox(PanelDrop, wx.ID_ANY, key)
disCheckBox.Enable(False)
boxDrop.Add(disCheckBox)
if self.bottleDropList[key] == 2:
boxDrop.Add(wx.CheckBox(PanelDrop, wx.ID_ANY, key))
self.DropButton = wx.Button(PanelDrop, wx.ID_ANY,
"Ready for Bottle Drop")
boxDrop.Add(self.DropButton)
'''before landing checklist'''
for key in self.beforeLandingList:
if self.beforeLandingList[key] == 0:
disCheckBox = wx.CheckBox(PanelLanding, wx.ID_ANY, key)
disCheckBox.Enable(False)
boxLanding.Add(disCheckBox)
if self.beforeLandingList[key] == 2:
boxLanding.Add(wx.CheckBox(PanelLanding, wx.ID_ANY, key))
self.LandingButton = wx.Button(PanelLanding, wx.ID_ANY,
"Ready for Landing")
boxLanding.Add(self.LandingButton)
'''before shutdown checklist'''
for key in self.beforeShutdownList:
if self.beforeShutdownList[key] == 0:
disCheckBox = wx.CheckBox(PanelShutdown, wx.ID_ANY, key)
disCheckBox.Enable(False)
boxShutdown.Add(disCheckBox)
if self.beforeShutdownList[key] == 2:
boxShutdown.Add(wx.CheckBox(PanelShutdown, wx.ID_ANY, key))
self.ShutdownButton = wx.Button(PanelShutdown, wx.ID_ANY,
"Ready for Shutdown")
boxShutdown.Add(self.ShutdownButton)
#and add in the tabs
self.nb.AddPage(PanelAssembly, "1. During Assembly")
self.nb.AddPage(PanelEngine, "2. Before Engine Start")
self.nb.AddPage(PanelTakeoff, "3. Before Takeoff")
self.nb.AddPage(PanelCruise, "4. Before Cruise/AUTO")
self.nb.AddPage(PanelDrop, "5. Before Bottle Drop")
self.nb.AddPage(PanelLanding, "6. Before Landing")
self.nb.AddPage(PanelShutdown, "7. Before Shutdown")
def on_timer(self, event):
state = self.state
if state.close_event.wait(0.001):
self.timer.Stop()
self.Destroy()
return
while state.child_pipe_recv.poll():
try:
obj = state.child_pipe_recv.recv()
except EOFError:
self.timer.Stop()
self.Destroy()
return
if isinstance(obj, Value):
# request to set a status field
if obj.name not in self.values:
# create a new status field
statictextbox = wx.StaticText(self.panel, -1, obj.text)
font = wx.Font(18, wx.DEFAULT, wx.NORMAL, wx.NORMAL)
statictextbox.SetFont(font)
# possibly add more status rows
for i in range(len(self.status), obj.row + 1):
self.status.append(wx.BoxSizer(wx.HORIZONTAL))
self.vbox.Insert(len(self.status) - 1,
self.status[i],
0,
flag=wx.ALIGN_LEFT | wx.TOP)
self.vbox.Layout()
self.status[obj.row].Add(statictextbox, border=5)
self.status[obj.row].AddSpacer(20)
self.values[obj.name] = statictextbox
statictextbox = self.values[obj.name]
statictextbox.SetForegroundColour(obj.fg)
statictextbox.SetBackgroundColour(obj.bg)
statictextbox.SetLabel(obj.text)
self.panel.Layout()
elif isinstance(obj, Text):
'''request to add text to the console'''
self.pending.append(obj)
for p in self.pending:
# we're scrolled at the bottom
oldstyle = self.control.GetDefaultStyle()
style = wx.TextAttr()
style.SetTextColour(p.fg)
style.SetBackgroundColour(p.bg)
self.control.SetDefaultStyle(style)
self.control.AppendText(p.text)
self.control.SetDefaultStyle(oldstyle)
self.pending = []
elif isinstance(obj, mp_menu.MPMenuTop):
if obj is not None:
self.SetMenuBar(None)
self.menu = obj
self.SetMenuBar(self.menu.wx_menu())
self.Bind(wx.EVT_MENU, self.on_menu)
self.Refresh()
self.Update()
elif isinstance(obj, mp_menu.MPButton):
if obj is not None:
newbtn = wx.Button(self.panel, label=obj.label)
newbtn.Bind(wx.EVT_BUTTON, self.on_button)
self.buttongridsizer.Add(newbtn, 0, wx.EXPAND)
self.buttons.append(obj)
elif isinstance(obj, win_layout.WinLayout):
win_layout.set_wx_window_layout(self, obj)
def __init__(self, state, parent, sysid, compid, vehtype, isLeader, listFollowers, takeoffalt):
wx.Panel.__init__(self, parent)
self.state = state
self.sysid = sysid
self.compid = compid
self.listFollowers = listFollowers
self.isLeader = isLeader
self.vehtype = vehtype
self.takeoffalt = takeoffalt
self.inLinkLoss = False
# XYZ offsets. Filled are we get params
self.offsetValues = [None, None, None]
self.sizer = wx.BoxSizer(wx.VERTICAL)
# Status boxes
if self.isLeader:
self.title = wx.StaticText(self, label="Leader {0}:{1} {2}".format(
sysid, compid, get_vehicle_name(vehtype)))
self.offsets = wx.StaticText(self, label="Offset: N/A")
else:
self.title = wx.StaticText(self, label="Veh {0}:{1} {2}".format(
sysid, compid, get_vehicle_name(vehtype)))
self.offsets = wx.StaticText(self, label="Offset: xxxxxx")
self.armmode = wx.StaticText(self, label="armed/mode N/A ")
self.thrAlt = wx.StaticText(
self, label="Alt: {0}m Thr: {1}%".format(0, 0))
self.altRel = wx.StaticText(self, label="Rel Alt: {0}m".format(0))
self.battery = wx.StaticText(self, label="Battery: {0}V".format(0))
self.status = wx.StaticText(self, label="Status: N/A")
self.prearm = wx.StaticText(self, label="Prearm: N/A")
self.statusText = wx.TextCtrl(
self, style=wx.TE_READONLY | wx.TE_MULTILINE, size=wx.Size(140, 100))
# Command buttons
self.doArm = wx.Button(self, label="XXX", size=wx.Size(100, 50))
self.Bind(wx.EVT_BUTTON, self.arm, self.doArm)
if self.isLeader:
self.armSizer = wx.BoxSizer(wx.HORIZONTAL)
self.doArmAll = wx.Button(self, label="ALL", size=wx.Size(70, 50))
self.Bind(wx.EVT_BUTTON, self.armAll, self.doArmAll)
self.doGuided = wx.Button(
self, label="Mode GUIDED", size=wx.Size(100, 50))
self.Bind(wx.EVT_BUTTON, self.guided, self.doGuided)
if self.isLeader:
self.guidedSizer = wx.BoxSizer(wx.HORIZONTAL)
self.doGuidedAll = wx.Button(
self, label="ALL", size=wx.Size(70, 50))
self.Bind(wx.EVT_BUTTON, self.guidedAll, self.doGuidedAll)
if vehtype != mavutil.mavlink.MAV_TYPE_GROUND_ROVER:
self.doGuidedTakeoff = wx.Button(
self, label="GUIDED T/O {0}m".format(self.takeoffalt), size=wx.Size(130, 50))
self.Bind(wx.EVT_BUTTON, self.guidedTakeoff, self.doGuidedTakeoff)
if self.isLeader:
self.takeoffSizer = wx.BoxSizer(wx.HORIZONTAL)
self.doGuidedTakeoffAll = wx.Button(
self, label="ALL".format(self.takeoffalt), size=wx.Size(70, 50))
self.Bind(wx.EVT_BUTTON, self.guidedTakeoffAll,
self.doGuidedTakeoffAll)
self.doRTL = wx.Button(self, label="Mode RTL", size=wx.Size(100, 50))
self.Bind(wx.EVT_BUTTON, self.rtl, self.doRTL)
if self.isLeader:
self.rtlSizer = wx.BoxSizer(wx.HORIZONTAL)
self.doRTLAll = wx.Button(self, label="ALL", size=wx.Size(70, 50))
self.Bind(wx.EVT_BUTTON, self.rtlAll, self.doRTLAll)
self.doKill = wx.Button(self, label="KILL", size=wx.Size(100, 50))
self.killTimer = None
self.Bind(wx.EVT_BUTTON, self.kill, self.doKill)
if self.isLeader:
self.killSizer = wx.BoxSizer(wx.HORIZONTAL)
self.doKillAll = wx.Button(self, label="ALL", size=wx.Size(70, 50))
self.killAllTimer = None
self.Bind(wx.EVT_BUTTON, self.killall, self.doKillAll)
if self.isLeader:
self.doFollowAll = wx.Button(
self, label="All Follow Leader", size=wx.Size(130, 50))
self.Bind(wx.EVT_BUTTON, self.followAll, self.doFollowAll)
self.doAUTO = wx.Button(
self, label="Mode AUTO", size=wx.Size(100, 50))
self.Bind(wx.EVT_BUTTON, self.auto, self.doAUTO)
else:
self.doFollow = wx.Button(
self, label="Mode Follow", size=wx.Size(100, 50))
self.Bind(wx.EVT_BUTTON, self.follow, self.doFollow)
# Do the sizer layout
self.doSizer()
# get offset params. Needs to be after GUI elements are created
time.sleep(0.05)
self.state.child_pipe.send(("getoffsets", self.sysid, self.compid))
