def __init__(self):
self.input_queue = Queue.Queue()
self.rl = None
self.console = wxconsole.MessageConsole(title='MAVExplorer')
self.exit = False
self.status = MEStatus()
self.settings = MPSettings(
[ MPSetting('marker', str, '+', 'data marker', tab='Graph'),
MPSetting('condition', str, None, 'condition'),
MPSetting('xaxis', str, None, 'xaxis'),
MPSetting('linestyle', str, None, 'linestyle'),
MPSetting('show_flightmode', bool, True, 'show flightmode'),
MPSetting('legend', str, 'upper left', 'legend position'),
MPSetting('legend2', str, 'upper right', 'legend2 position')
]
)
self.mlog = None
self.command_map = command_map
self.completions = {
"set" : ["(SETTING)"],
"condition" : ["(VARIABLE)"],
"graph" : ['(VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE)'],
"map" : ['(VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE)']
}
self.aliases = {}
self.graphs = []
self.flightmode_selections = []
self.last_graph = GraphDefinition('Untitled', '', '', [], None)
def init(_mpstate):
'''initialise module'''
global mpstate
mpstate = _mpstate
mpstate.console_state = module_state()
mpstate.console = wxconsole.MessageConsole(title='Console')
# setup some default status information
mpstate.console.set_status('Mode', 'UNKNOWN', row=0, fg='blue')
mpstate.console.set_status('GPS', 'GPS: --', fg='red', row=0)
mpstate.console.set_status('Vcc', 'Vcc: --', fg='red', row=0)
mpstate.console.set_status('Radio', 'Radio: --', row=0)
mpstate.console.set_status('Heading', 'Hdg ---/---', row=2)
mpstate.console.set_status('Alt', 'Alt ---', row=2)
mpstate.console.set_status('AGL', 'AGL ---', row=2)
mpstate.console.set_status('AirSpeed', 'AirSpeed --', row=2)
mpstate.console.set_status('GPSSpeed', 'GPSSpeed --', row=2)
mpstate.console.set_status('Thr', 'Thr ---', row=2)
mpstate.console.set_status('Roll', 'Roll ---', row=2)
mpstate.console.set_status('Pitch', 'Pitch ---', row=2)
mpstate.console.set_status('WP', 'WP --', row=3)
mpstate.console.set_status('WPDist', 'Distance ---', row=3)
mpstate.console.set_status('WPBearing', 'Bearing ---', row=3)
mpstate.console.set_status('AltError', 'AltError --', row=3)
mpstate.console.set_status('AspdError', 'AspdError --', row=3)
mpstate.console.set_status('FlightTime', 'FlightTime --', row=3)
mpstate.console.set_status('ETR', 'ETR --', row=3)
mpstate.console.ElevationMap = mp_elevation.ElevationModel()
def __init__(self, mpstate):
super(ConsoleModule, self).__init__(mpstate, "console", "GUI console", public=True, multi_vehicle=True)
self.in_air = False
self.start_time = 0.0
self.total_time = 0.0
self.speed = 0
self.max_link_num = 0
self.last_sys_status_health = 0
mpstate.console = wxconsole.MessageConsole(title='Console')
# setup some default status information
mpstate.console.set_status('Mode', 'UNKNOWN', row=0, fg='blue')
mpstate.console.set_status('SysID', '', row=0, fg='blue')
mpstate.console.set_status('ARM', 'ARM', fg='grey', row=0)
mpstate.console.set_status('GPS', 'GPS: --', fg='red', row=0)
mpstate.console.set_status('Vcc', 'Vcc: --', fg='red', row=0)
mpstate.console.set_status('Radio', 'Radio: --', row=0)
mpstate.console.set_status('INS', 'INS', fg='grey', row=0)
mpstate.console.set_status('MAG', 'MAG', fg='grey', row=0)
mpstate.console.set_status('AS', 'AS', fg='grey', row=0)
mpstate.console.set_status('RNG', 'RNG', fg='grey', row=0)
mpstate.console.set_status('AHRS', 'AHRS', fg='grey', row=0)
mpstate.console.set_status('EKF', 'EKF', fg='grey', row=0)
mpstate.console.set_status('LOG', 'LOG', fg='grey', row=0)
mpstate.console.set_status('Heading', 'Hdg ---/---', row=2)
mpstate.console.set_status('Alt', 'Alt ---', row=2)
mpstate.console.set_status('AGL', 'AGL ---/---', row=2)
mpstate.console.set_status('AirSpeed', 'AirSpeed --', row=2)
mpstate.console.set_status('GPSSpeed', 'GPSSpeed --', row=2)
mpstate.console.set_status('Thr', 'Thr ---', row=2)
mpstate.console.set_status('Roll', 'Roll ---', row=2)
mpstate.console.set_status('Pitch', 'Pitch ---', row=2)
mpstate.console.set_status('Wind', 'Wind ---/---', row=2)
mpstate.console.set_status('WP', 'WP --', row=3)
mpstate.console.set_status('WPDist', 'Distance ---', row=3)
mpstate.console.set_status('WPBearing', 'Bearing ---', row=3)
mpstate.console.set_status('AltError', 'AltError --', row=3)
mpstate.console.set_status('AspdError', 'AspdError --', row=3)
mpstate.console.set_status('FlightTime', 'FlightTime --', row=3)
mpstate.console.set_status('ETR', 'ETR --', row=3)
mpstate.console.ElevationMap = mp_elevation.ElevationModel()
self.vehicle_list = []
self.vehicle_menu = None
self.vehicle_name_by_sysid = {}
self.component_name = {}
self.last_param_sysid_timestamp = None
# create the main menu
if mp_util.has_wxpython:
self.menu = MPMenuTop([])
self.add_menu(MPMenuSubMenu('MAVProxy',
items=[MPMenuItem('Settings', 'Settings', 'menuSettings'),
MPMenuItem('Map', 'Load Map', '# module load map')]))
self.vehicle_menu = MPMenuSubMenu('Vehicle', items=[])
self.add_menu(self.vehicle_menu)
def __init__(self):
self.input_queue = multiproc.Queue()
self.rl = None
self.console = wxconsole.MessageConsole(title='MAVExplorer')
self.exit = False
self.status = MEStatus()
self.settings = MPSettings([
MPSetting('marker', str, '+', 'data marker', tab='Graph'),
MPSetting('condition', str, None, 'condition'),
MPSetting('xaxis', str, None, 'xaxis'),
MPSetting('linestyle', str, None, 'linestyle'),
MPSetting('show_flightmode', bool, True, 'show flightmode'),
MPSetting('sync_xzoom', bool, True, 'sync X-axis zoom'),
MPSetting('sync_xmap', bool, True, 'sync X-axis zoom for map'),
MPSetting('legend', str, 'upper left', 'legend position'),
MPSetting('legend2', str, 'upper right', 'legend2 position'),
MPSetting('title', str, None, 'Graph title'),
MPSetting('debug', int, 0, 'debug level'),
MPSetting('paramdocs', bool, True, 'show param docs'),
])
self.mlog = None
self.mav_param = None
self.filename = None
self.command_map = command_map
self.completions = {
"set": ["(SETTING)"],
"condition": ["(VARIABLE)"],
"graph": [
'(VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE)'
],
"map": ['(VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE)'],
"param": ['download', 'check', 'help (PARAMETER)'],
}
self.aliases = {}
self.graphs = []
self.flightmode_selections = []
self.last_graph = GraphDefinition(self.settings.title, '', '', [],
None)
#pipe to the wxconsole for any child threads (such as the save dialog box)
self.parent_pipe_recv_console, self.child_pipe_send_console = multiproc.Pipe(
duplex=False)
#pipe for creating graphs (such as from the save dialog box)
self.parent_pipe_recv_graph, self.child_pipe_send_graph = multiproc.Pipe(
duplex=False)
self.param_help = param_help.ParamHelp()
tConsoleWrite = threading.Thread(target=self.pipeRecvConsole)
tConsoleWrite.daemon = True
tConsoleWrite.start()
tGraphWrite = threading.Thread(target=self.pipeRecvGraph)
tGraphWrite.daemon = True
tGraphWrite.start()
def __init__(self, mpstate):
super(ConsoleModule, self).__init__(mpstate,
"console",
"GUI console",
public=True)
self.in_air = False
self.start_time = 0.0
self.total_time = 0.0
self.speed = 0
self.max_link_num = 0
mpstate.console = wxconsole.MessageConsole(title='Console')
# setup some default status information
mpstate.console.set_status('Mode', 'UNKNOWN', row=0, fg='blue')
mpstate.console.set_status('GPS', 'GPS: --', fg='red', row=0)
mpstate.console.set_status('Vcc', 'Vcc: --', fg='red', row=0)
mpstate.console.set_status('Radio', 'Radio: --', row=0)
mpstate.console.set_status('INS', 'INS', fg='grey', row=0)
mpstate.console.set_status('MAG', 'MAG', fg='grey', row=0)
mpstate.console.set_status('AS', 'AS', fg='grey', row=0)
mpstate.console.set_status('RNG', 'RNG', fg='grey', row=0)
mpstate.console.set_status('AHRS', 'AHRS', fg='grey', row=0)
mpstate.console.set_status('Heading', 'Hdg ---/---', row=2)
mpstate.console.set_status('Alt', 'Alt ---', row=2)
mpstate.console.set_status('AGL', 'AGL ---/---', row=2)
mpstate.console.set_status('AirSpeed', 'AirSpeed --', row=2)
mpstate.console.set_status('GPSSpeed', 'GPSSpeed --', row=2)
mpstate.console.set_status('Thr', 'Thr ---', row=2)
mpstate.console.set_status('Roll', 'Roll ---', row=2)
mpstate.console.set_status('Pitch', 'Pitch ---', row=2)
mpstate.console.set_status('Wind', 'Wind ---/---', row=2)
mpstate.console.set_status('WP', 'WP --', row=3)
mpstate.console.set_status('WPDist', 'Distance ---', row=3)
mpstate.console.set_status('WPBearing', 'Bearing ---', row=3)
mpstate.console.set_status('AltError', 'AltError --', row=3)
mpstate.console.set_status('AspdError', 'AspdError --', row=3)
mpstate.console.set_status('FlightTime', 'FlightTime --', row=3)
mpstate.console.set_status('ETR', 'ETR --', row=3)
mpstate.console.ElevationMap = mp_elevation.ElevationModel()
# create the main menu
self.menu = MPMenuTop([])
self.add_menu(
MPMenuSubMenu('MAVProxy',
items=[
MPMenuItem('Settings', 'Settings',
'menuSettings'),
MPMenuItem('Map', 'Load Map',
'# module load map')
]))
def __init__(self):
self.input_queue = queue.Queue()
self.rl = None
self.console = wxconsole.MessageConsole(title='MAVExplorer')
self.exit = False
self.status = MEStatus()
self.settings = MPSettings([
MPSetting('marker', str, '+', 'data marker', tab='Graph'),
MPSetting('condition', str, None, 'condition'),
MPSetting('xaxis', str, None, 'xaxis'),
MPSetting('linestyle', str, None, 'linestyle'),
MPSetting('show_flightmode', bool, True, 'show flightmode'),
MPSetting('legend', str, 'upper left', 'legend position'),
MPSetting('legend2', str, 'upper right', 'legend2 position')
])
self.mlog = None
self.command_map = command_map
self.completions = {
"set": ["(SETTING)"],
"condition": ["(VARIABLE)"],
"graph": [
'(VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE)'
],
"map": ['(VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE)']
}
self.aliases = {}
self.graphs = []
self.flightmode_selections = []
self.last_graph = GraphDefinition('Untitled', '', '', [], None)
#pipe to the wxconsole for any child threads (such as the save dialog box)
self.parent_pipe_recv_console, self.child_pipe_send_console = Pipe(
duplex=False)
#pipe for creating graphs (such as from the save dialog box)
self.parent_pipe_recv_graph, self.child_pipe_send_graph = Pipe(
duplex=False)
tConsoleWrite = threading.Thread(target=self.pipeRecvConsole)
tConsoleWrite.daemon = True
tConsoleWrite.start()
tGraphWrite = threading.Thread(target=self.pipeRecvGraph)
tGraphWrite.daemon = True
tGraphWrite.start()
def __init__(self, mpstate):
super(MDlinkModule, self).__init__(mpstate,
"mdlink",
"GUI mdlink",
public=True)
self.in_air = False
self.start_time = 0.0
self.total_time = 0.0
self.speed = 0
self.max_link_num = 0
mpstate.mdlink = wxconsole.MessageConsole(title='MDlink')
#========================================================================
self.MissionDirector_time_between_hbs = 1
self.MissionDirector_time_of_last_hb = -100
self.current_wp = 0
self.wp_to_loiter_at = 3
self.loiter_command_given = 0
self.time_when_loiter_given = 0.0
self.time_to_loiter_until_returning_home = 60.0
self.return_home_command_given = 0
#========================================================================
# setup some default status information
mpstate.mdlink.set_status('Mode', 'UNKNOWN', row=0, fg='blue')
mpstate.mdlink.set_status('GPS', 'GPS: --', fg='red', row=0)
mpstate.mdlink.set_status('Vcc', 'Vcc: --', fg='red', row=0)
mpstate.mdlink.set_status('Radio', 'Radio: --', row=0)
mpstate.mdlink.set_status('INS', 'INS', fg='grey', row=0)
mpstate.mdlink.set_status('MAG', 'MAG', fg='grey', row=0)
mpstate.mdlink.set_status('AS', 'AS', fg='grey', row=0)
mpstate.mdlink.set_status('RNG', 'RNG', fg='grey', row=0)
mpstate.mdlink.set_status('AHRS', 'AHRS', fg='grey', row=0)
mpstate.mdlink.set_status('Heading', 'Hdg ---/---', row=2)
mpstate.mdlink.set_status('Alt', 'Alt ---', row=2)
mpstate.mdlink.set_status('AGL', 'AGL ---/---', row=2)
mpstate.mdlink.set_status('AirSpeed', 'AirSpeed --', row=2)
mpstate.mdlink.set_status('GPSSpeed', 'GPSSpeed --', row=2)
mpstate.mdlink.set_status('Thr', 'Thr ---', row=2)
mpstate.mdlink.set_status('Roll', 'Roll ---', row=2)
mpstate.mdlink.set_status('Pitch', 'Pitch ---', row=2)
mpstate.mdlink.set_status('Wind', 'Wind ---/---', row=2)
mpstate.mdlink.set_status('WP', 'WP --', row=3)
mpstate.mdlink.set_status('WPDist', 'Distance ---', row=3)
mpstate.mdlink.set_status('WPBearing', 'Bearing ---', row=3)
mpstate.mdlink.set_status('AltError', 'AltError --', row=3)
mpstate.mdlink.set_status('AspdError', 'AspdError --', row=3)
mpstate.mdlink.set_status('FlightTime', 'FlightTime --', row=3)
mpstate.mdlink.set_status('ETR', 'ETR --', row=3)
mpstate.mdlink.ElevationMap = mp_elevation.ElevationModel()
# create the main menu
self.menu = MPMenuTop([])
self.add_menu(
MPMenuSubMenu('MAVProxy',
items=[
MPMenuItem('Settings', 'Settings',
'menuSettings'),
MPMenuItem('Map', 'Load Map',
'# module load map')
]))
def __init__(self, mpstate):
super(ConsoleModule, self).__init__(mpstate,
"console",
"Raven console",
public=True,
multi_vehicle=True)
self.in_air = False
self.start_time = 0.0
self.total_time = 0.0
self.speed = 0
self.max_link_num = 0
self.last_sys_status_health = 0
mpstate.console = wxconsole.MessageConsole(title='Raven Console')
# setup some default status information
mpstate.console.set_status('Mode', 'UNKNOWN', row=0, fg='blue')
mpstate.console.set_status('SysID', '', row=0, fg='blue')
mpstate.console.set_status('ARM', 'ARM', fg='grey', row=0)
mpstate.console.set_status('GPS', 'GPS: --', fg='red', row=0)
mpstate.console.set_status('Vcc', 'Vcc: --', fg='red', row=0)
mpstate.console.set_status('Radio', 'Radio: --', row=0)
mpstate.console.set_status('INS', 'INS', fg='grey', row=0)
mpstate.console.set_status('MAG', 'MAG', fg='grey', row=0)
mpstate.console.set_status('AS', 'AS', fg='grey', row=0)
mpstate.console.set_status('RNG', 'RNG', fg='grey', row=0)
mpstate.console.set_status('AHRS', 'AHRS', fg='grey', row=0)
mpstate.console.set_status('EKF', 'EKF', fg='grey', row=0)
mpstate.console.set_status('LOG', 'LOG', fg='grey', row=0)
mpstate.console.set_status('Heading', 'Head ---/---', row=2)
mpstate.console.set_status('Alt', 'Alt ---', row=2)
mpstate.console.set_status('AGL', 'AGL ---/---', row=2)
mpstate.console.set_status('AirSpeed', 'AirSpeed --', row=2)
mpstate.console.set_status('GPSSpeed', 'GPSSpeed --', row=2)
mpstate.console.set_status('Thr', 'Thr ---', row=2)
mpstate.console.set_status('Roll', 'Roll ---', row=2)
mpstate.console.set_status('Pitch', 'Pitch ---', row=2)
mpstate.console.set_status('Wind', 'Wind ---/---', row=2)
mpstate.console.set_status('WP', 'WP --', row=3)
mpstate.console.set_status('WPDist', 'Distance ---', row=3)
mpstate.console.set_status('WPBearing', 'Bearing ---', row=3)
mpstate.console.set_status('AltError', 'AltError --', row=3)
mpstate.console.set_status('AspdError', 'AspdError --', row=3)
mpstate.console.set_status('FlightTime', 'FlightTime --', row=3)
mpstate.console.set_status('ETR', 'ETR --', row=3)
mpstate.console.ElevationMap = mp_elevation.ElevationModel()
self.vehicle_list = []
self.vehicle_menu = None
self.vehicle_name_by_sysid = {}
self.last_param_sysid_timestamp = None
# create the main menu
if mp_util.has_wxpython:
self.menu = MPMenuTop([])
self.arm_menu = MPMenuSubMenu(
'Arm/Disarm',
items=[
MPMenuItem('Arming', 'Arming', '# arm throttle'),
MPMenuItem('Disarming', 'Disarming', '# disarm')
])
self.graph_menu = MPMenuSubMenu(
'Add Graph',
items=[
MPMenuItem('Ground and Air Speed', 'Ground and Air Speed',
'# graph VFR_HUD.groundspeed VFR_HUD.airspeed'),
MPMenuItem(
'Attitude/Roll and Pitch', 'Attitude/Roll and Pitch',
'# graph degrees(ATTITUDE.roll) degrees(ATTITUDE.pitch)'
),
MPMenuItem('Altitude', 'Altitude', '# graph VFR_HUD.alt')
])
self.add_menu(
MPMenuSubMenu('Main Menu',
items=[
self.arm_menu,
MPMenuItem('Settings', 'Settings',
'menuSettings'),
MPMenuItem('Add Graph Module', 'Load Graph',
'# module load graph'),
MPMenuItem('Add Map Module', 'Load Map',
'# module load map'),
self.graph_menu,
MPMenuItem('Prachute Release',
'Load Parachute',
'# parachute release'),
MPMenuItem('Save Data', 'Save Data',
'# param save data.csv')
]))
