def __init__(self, state, title, params, takeoffalt):
self.state = state
wx.Frame.__init__(self, None, title=title, size=(
1400, 500), style=wx.DEFAULT_FRAME_STYLE)
self.panel = scrolled.ScrolledPanel(self, style=wx.FULL_REPAINT_ON_RESIZE)
self.panel.SetBackgroundColour(wx.WHITE)
# Icon
self.SetIcon(icon.SimpleIcon("Swarm").get_ico())
# Params to show (array)
self.parmsToShow = params
self.takeoffalt = takeoffalt
self.last_layout_send = time.time()
# layout. Column per leader, with followers underneath
self.sizer = wx.FlexGridSizer(1, 1, 0, 0)
# add in the pipe from MAVProxy
self.timer = wx.Timer(self)
self.Bind(wx.EVT_TIMER, lambda evt,
panel=self.panel: self.on_timer(evt), self.timer)
self.timer.Start(100)
#Fires on window resize
self.Bind(wx.EVT_SIZE, self.OnSize)
# layout
self.panel.SetSizer(self.sizer)
self.panel.Layout()
self.panel.SetupScrolling()
self.Show(True)
def __init__(self, state, title):
self.state = state
wx.Frame.__init__(self,
None,
title=title,
size=(350, 400),
style=wx.DEFAULT_FRAME_STYLE ^ wx.RESIZE_BORDER)
#use tabs for the individual checklists
self.createLists()
self.panel = wx.Panel(self)
self.nb = wx.Choicebook(self.panel, wx.ID_ANY)
#create the tabs
self.createWidgets()
#assign events to the buttons on the tabs
self.createActions()
#add in the pipe from MAVProxy
self.timer = wx.Timer(self)
#self.Bind(wx.EVT_TIMER, self.on_timer, self.timer)
self.Bind(wx.EVT_TIMER,
lambda evt, notebook=self.nb: self.on_timer(evt, notebook),
self.timer)
self.timer.Start(100)
# finally, put the notebook in a sizer for the panel to manage
# the layout
sizer = wx.BoxSizer()
sizer.Add(self.nb, 1, wx.EXPAND)
self.panel.SetSizer(sizer)
self.Show(True)
self.pending = []
def __init__(self, *k, **kw):
kw['attribList'] = (glcanvas.WX_GL_SAMPLES, 4)
super(Vehicle, self).__init__(*k, **kw)
self.context = glcanvas.GLContext(self)
self.vehicle_wavefront = None
self.script = None
self.script_command = 0
self.script_timer = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.OnScriptTimer, self.script_timer)
self.angvel = None
self.desired_quaternion = None
self.attitude_callback = None
self.actuation_state = None
self.actuation_timer = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.OnActuationTimer, self.actuation_timer)
def kill(self, event):
'''disarm force (kill) the drone'''
if self.doKill.GetLabel() == "KILL":
self.doKill.SetLabel("KILL Sure?")
# start a 1 sec timer
self.killTimer = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.killTimeout, self.killTimer)
self.killTimer.Start(1000)
else:
self.state.child_pipe.send(("kill", self.sysid, self.compid))
def __init__(self, conn):
super(MagicalFrame, self).__init__(None, title='Magical')
self.state = None
self.grid = None
self.conn = conn
self.button_state = None
self.ui_is_active = False
self.countdown = 0
self.calibration_instruction_idx = 0
self.InitUI()
self.timer = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.OnTimer, self.timer)
self.timer.Start(60)
self.loader_timer = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.OnLoaderTimer, self.loader_timer)
self.loader_timer.Start(50)
self.countdown_timer = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.OnCountdownTimer, self.countdown_timer)
self.calibration_instructions_timer = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.OnCalibrationInstructionsTimer,
self.calibration_instructions_timer)
self.SetState('idle')
self.main_panel.GetSizer().Fit(self)
p = os.path
path = p.join(p.dirname(__file__), 'data', 'quadcopter.obj')
self.vehicle_loader = wv.ParserWorker(
wv.ObjParser(filename=path, enable_cache=True),
complete_callback=self.VehicleLoadCompleteCallback,
)
self.vehicle_loader.start()
def killall(self, event):
'''disarm force (kill) the whole swarm'''
if self.doKillAll.GetLabel() == "ALL":
self.doKillAll.SetLabel("ALL Sure?")
# start a 1 sec timer
self.killAllTimer = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.killAllTimeout, self.killAllTimer)
self.killAllTimer.Start(1000)
else:
self.state.child_pipe.send(("kill", self.sysid, self.compid))
if len(self.listFollowers) > 0:
for (sysidFollow, compidFollow, vehtype) in self.listFollowers:
self.state.child_pipe.send(
("kill", sysidFollow, compidFollow))
def __init__(self, state, title):
self.state = state
wx.Frame.__init__(self, None, title=title, size=(800, 300))
self.panel = wx.Panel(self)
self.panel.SetBackgroundColour('white')
state.frame = self
# values for the status bar
self.values = {}
self.menu = None
self.menu_callback = None
self.last_layout_send = time.time()
#array of the names of my MPButtons
self.buttonnames = {}
#array of the MPButtons
self.buttons = []
self.control = wx.TextCtrl(self.panel,
size=(800, 150),
style=wx.TE_MULTILINE | wx.TE_READONLY
| wx.TE_AUTO_URL)
self.vbox = wx.BoxSizer(wx.VERTICAL)
# start with one status row
self.status = [wx.BoxSizer(wx.HORIZONTAL)]
self.vbox.Add(self.status[0], 0, flag=wx.ALIGN_LEFT | wx.TOP)
# place to hold up to 9 buttons
self.buttongridsizer = wx.GridSizer(3, 3, 0)
# for i in range(1, 2):
# btn = "Btn" + str(i)
# self.buttongridsizer.Add(wx.Button(self.panel, label=btn), 0, wx.EXPAND)
self.vbox.Add(self.buttongridsizer, 1, flag=wx.GROW)
self.vbox.Add(self.control, 0, flag=wx.LEFT | wx.BOTTOM | wx.GROW)
self.panel.SetSizer(self.vbox)
self.timer = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.on_timer, self.timer)
self.timer.Start(100)
self.Bind(wx.EVT_IDLE, self.on_idle)
self.Bind(wx.EVT_TEXT_URL, self.on_text_url)
self.Show(True)
self.pending = []
def __init__(self, parent, state):
wx.Panel.__init__(self, parent)
self.frame = parent
self.state = state
self.img = None
self.redraw_timer = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.on_redraw_timer, self.redraw_timer)
self.Bind(wx.EVT_SET_FOCUS, self.on_focus)
self.redraw_timer.Start(100)
self.mouse_down = None
self.drag_step = 10
self.zoom = 1.0
self.menu = None
self.popup_menu = None
self.wx_popup_menu = None
self.popup_pos = None
self.last_size = None
self.done_PIL_warning = False
state.brightness = 1.0
# dragpos is the top left position in image coordinates
self.dragpos = wx.Point(0, 0)
self.need_redraw = True
self.mainSizer = wx.BoxSizer(wx.VERTICAL)
self.SetSizer(self.mainSizer)
# panel for the main image
with warnings.catch_warnings():
warnings.simplefilter('ignore')
self.imagePanel = mp_widgets.ImagePanel(
self, wx.EmptyImage(state.width, state.height))
self.mainSizer.Add(self.imagePanel,
flag=wx.TOP | wx.LEFT | wx.GROW,
border=0)
if state.mouse_events:
self.imagePanel.Bind(wx.EVT_MOUSE_EVENTS, self.on_event)
else:
self.imagePanel.Bind(wx.EVT_MOUSE_EVENTS, self.on_mouse_event)
if state.key_events:
self.imagePanel.Bind(wx.EVT_KEY_DOWN, self.on_event)
else:
self.imagePanel.Bind(wx.EVT_KEY_DOWN, self.on_key_event)
self.imagePanel.Bind(wx.EVT_MOUSEWHEEL, self.on_mouse_wheel)
self.redraw()
state.frame.Fit()
def __init__(self, title, close_event, mlog, timestamp_in_range):
super(MagFitUI, self).__init__(None, title=title, size=(600, 800))
# capture the close event, log and timestamp range function
self.close_event = close_event
self.mlog = mlog
self.timestamp_in_range = timestamp_in_range
# events
self.timer = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.OnTimer, self.timer)
self.timer.Start(100)
self.Bind(wx.EVT_IDLE, self.OnIdle)
# initialise the panels etc.
self.init_ui()
def __init__(self, state):
wx.Frame.__init__(self, None, -1, state.title)
self.state = state
self.data = []
for i in range(len(state.fields)):
self.data.append([])
self.paused = False
self.create_main_panel()
self.Bind(wx.EVT_IDLE, self.on_idle)
self.redraw_timer = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.on_redraw_timer, self.redraw_timer)
self.redraw_timer.Start(1000 * self.state.tickresolution)
self.last_yrange = (None, None)
def __init__(self, state, title):
self.state = state
wx.Frame.__init__(self, None, title=title, size=(800, 300))
# different icons for MAVExplorer and MAVProxy
try:
if title == "MAVExplorer":
self.SetIcon(icon.SimpleIcon("EXPLORER").get_ico())
else:
self.SetIcon(icon.SimpleIcon("CONSOLE").get_ico())
except Exception:
pass
self.panel = wx.Panel(self)
self.panel.SetBackgroundColour('white')
state.frame = self
# values for the status bar
self.values = {}
self.menu = None
self.menu_callback = None
self.last_layout_send = time.time()
self.control = wx.TextCtrl(self.panel,
style=wx.TE_MULTILINE | wx.TE_READONLY
| wx.TE_AUTO_URL)
self.vbox = wx.BoxSizer(wx.VERTICAL)
# start with one status row
self.status = [wx.BoxSizer(wx.HORIZONTAL)]
self.vbox.Add(self.status[0], 0, flag=wx.ALIGN_LEFT | wx.TOP)
self.vbox.Add(self.control, 1, flag=wx.LEFT | wx.BOTTOM | wx.GROW)
self.panel.SetSizer(self.vbox)
self.timer = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.on_timer, self.timer)
self.timer.Start(100)
self.Bind(wx.EVT_IDLE, self.on_idle)
self.Bind(wx.EVT_TEXT_URL, self.on_text_url)
self.Show(True)
self.pending = []
def __init__(self, *k, **kw):
super(GeodesicGrid, self).__init__(*k, **kw)
self.vehicle_wavefront = None
self.dragging = False
self.Bind(wx.EVT_LEFT_DOWN, self.OnLeftDown)
self.Bind(wx.EVT_LEFT_UP, self.OnLeftUp)
self.Bind(wx.EVT_MOTION, self.OnMotion)
self.attitude_timer = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.OnAttitudeTimer, self.attitude_timer)
self.attitude_timer.Start(40)
self.gyro = Vector3(0, 0, 0)
self.mag = Vector3(0, 0, 0)
self.filtered_mag = Vector3(0, 0, 0)
self.attitude_timer_last = 0
self.attitude_timestamp = 0
def __init__(self, state, title):
self.state = state
wx.Frame.__init__(self, None, title=title, size=(800, 300))
self.panel = wx.Panel(self)
self.panel.SetBackgroundColour('white')
state.frame = self
# values for the status bar
self.values = {}
# values for restserver
# self.values_rest = {}
# text for restserver
# self.text_rest = TextList()
self.menu = None
self.menu_callback = None
self.last_layout_send = time.time()
self.control = wx.TextCtrl(self.panel,
style=wx.TE_MULTILINE | wx.TE_READONLY
| wx.TE_AUTO_URL)
self.vbox = wx.BoxSizer(wx.VERTICAL)
# start with one status row
self.status = [wx.BoxSizer(wx.HORIZONTAL)]
self.vbox.Add(self.status[0], 0, flag=wx.ALIGN_LEFT | wx.TOP)
self.vbox.Add(self.control, 1, flag=wx.LEFT | wx.BOTTOM | wx.GROW)
self.panel.SetSizer(self.vbox)
self.timer = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.on_timer, self.timer)
self.timer.Start(100)
self.Bind(wx.EVT_IDLE, self.on_idle)
self.Bind(wx.EVT_TEXT_URL, self.on_text_url)
self.Show(True) # comment out to hide console
self.pending = []
def __init__(self, state):
wx.Frame.__init__(self, None, -1, state.title)
try:
self.SetIcon(icon.SimpleIcon().get_ico())
except Exception:
pass
self.state = state
self.data = []
for i in range(len(state.fields)):
self.data.append([])
self.paused = False
self.create_main_panel()
self.Bind(wx.EVT_IDLE, self.on_idle)
self.redraw_timer = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.on_redraw_timer, self.redraw_timer)
self.redraw_timer.Start(int(1000*self.state.tickresolution))
self.last_yrange = (None, None)
def __init__(self, conn):
super(MagcalFrame, self).__init__(
None,
wx.ID_ANY,
title='Magcal Graph',
)
self.SetMinSize((300, 300))
self._conn = conn
self._main_panel = wx.ScrolledWindow(self, wx.ID_ANY)
self._main_panel.SetScrollbars(1, 1, 1, 1)
self._magcal_panels = {}
self._sizer = wx.BoxSizer(wx.VERTICAL)
self._main_panel.SetSizer(self._sizer)
idle_text = wx.StaticText(self._main_panel, wx.ID_ANY)
idle_text.SetLabelMarkup(
'<i>No calibration messages received yet...</i>')
idle_text.SetForegroundColour('#444444')
self._sizer.AddStretchSpacer()
self._sizer.Add(
idle_text,
proportion=0,
flag=wx.ALIGN_CENTER | wx.ALL,
border=10,
)
self._sizer.AddStretchSpacer()
self._timer = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.timer_callback, self._timer)
self._timer.Start(200)
def initUI(self):
# Create Event Timer and Bindings
self.timer = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.on_timer, self.timer)
self.timer.Start(100)
self.Bind(wx.EVT_IDLE, self.on_idle)
self.Bind(wx.EVT_CHAR_HOOK, self.on_KeyPress)
# Create Panel
self.panel = wx.Panel(self)
self.vertSize = 0.09
self.resized = False
# Create Matplotlib Panel
self.createPlotPanel()
# Fix Axes - vertical is of length 2, horizontal keeps the same lengthscale
self.rescaleX()
self.calcFontScaling()
# Create Horizon Polygons
self.createHorizonPolygons()
# Center Pointer Marker
self.thick = 0.015
self.createCenterPointMarker()
# Pitch Markers
self.dist10deg = 0.2 # Graph distance per 10 deg
self.createPitchMarkers()
# Add Roll, Pitch, Yaw Text
self.createRPYText()
# Add Airspeed, Altitude, Climb Rate Text
self.createAARText()
# Create Heading Pointer
self.createHeadingPointer()
# Create North Pointer
self.createNorthPointer()
# Create Battery Bar
self.batWidth = 0.1
self.batHeight = 0.2
self.rOffset = 0.35
self.createBatteryBar()
# Create Mode & State Text
self.createStateText()
# Create Waypoint Text
self.createWPText()
# Create Waypoint Pointer
self.createWPPointer()
# Create Altitude History Plot
self.createAltHistoryPlot()
# Show Frame
self.Show(True)
self.pending = []
def __init__(self, state, title, size):
super(SailingDashboardFrame, self).__init__(None,
title=title,
size=size)
self._state = state
self._title = title
# control update rate
self._timer = wx.Timer(self)
self._fps = 10.0
self._start_time = time.time()
# events
self.Bind(wx.EVT_TIMER, self.OnTimer, self._timer)
self.Bind(wx.EVT_IDLE, self.OnIdle)
self.Bind(wx.EVT_CHAR_HOOK, self.OnKeyPress)
# restart the timer
self._timer.Start(milliseconds=100)
# create wind meters for true and apparent wind
self._wind_meter1 = WindMeter(self)
self._wind_meter1.SetWindReference(WindReference.RELATIVE)
self._wind_meter1.SetWindSpeedUnit(SpeedUnit.KNOTS)
self._wind_meter1.SetWindAngle(0)
self._wind_meter1.SetWindSpeed(0)
self._wind_meter2 = WindMeter(self)
self._wind_meter2.SetWindReference(WindReference.TRUE)
self._wind_meter2.SetWindSpeedUnit(SpeedUnit.KNOTS)
self._wind_meter2.SetWindAngle(0)
self._wind_meter2.SetWindSpeed(0)
# instrument display
self._instr1 = InstrumentDisplay(self)
self._instr1.label = "AWS"
self._instr1.unit = "kn"
self._instr1.value = 0.0
self._instr2 = InstrumentDisplay(self)
self._instr2.label = "TWS"
self._instr2.unit = "kn"
self._instr2.value = 0.0
self._instr3 = InstrumentDisplay(self)
self._instr3.label = "STW"
self._instr3.unit = "kn"
self._instr3.value = 0.0
self._instr4 = InstrumentDisplay(self)
self._instr4.label = "AWA"
self._instr4.unit = "deg"
self._instr4.value = 0.0
self._instr5 = InstrumentDisplay(self)
self._instr5.label = "TWA"
self._instr5.unit = "deg"
self._instr5.value = 0.0
self._instr6 = InstrumentDisplay(self)
self._instr6.label = "HDT"
self._instr6.unit = "deg"
self._instr3.value = 0.0
# instrument panel sizers
self._instr_sizer1 = wx.BoxSizer(wx.VERTICAL)
self._instr_sizer1.Add(self._instr1, 1, wx.EXPAND)
self._instr_sizer1.Add(self._instr2, 1, wx.EXPAND)
self._instr_sizer1.Add(self._instr3, 1, wx.EXPAND)
self._instr_sizer2 = wx.BoxSizer(wx.VERTICAL)
self._instr_sizer2.Add(self._instr4, 1, wx.EXPAND)
self._instr_sizer2.Add(self._instr5, 1, wx.EXPAND)
self._instr_sizer2.Add(self._instr6, 1, wx.EXPAND)
# top level sizers
self._top_sizer = wx.BoxSizer(wx.HORIZONTAL)
self._top_sizer.Add(self._wind_meter1, 2, wx.EXPAND)
self._top_sizer.Add(self._wind_meter2, 2, wx.EXPAND)
self._top_sizer.Add(self._instr_sizer1, 1, wx.EXPAND)
self._top_sizer.Add(self._instr_sizer2, 1, wx.EXPAND)
# layout sizers
self.SetSizer(self._top_sizer)
self.SetAutoLayout(1)
