class GCS(msppg.Parser):
def __init__(self):
msppg.Parser.__init__(self)
# No communications or arming yet
self.comms = None
self.armed = False
self.gotimu = False
# Do basic Tk initialization
self.root = tk.Tk()
self.root.configure(bg=BACKGROUND_COLOR)
self.root.resizable(False, False)
self.root.title('Hackflight Ground Control Station')
left = (self.root.winfo_screenwidth() - DISPLAY_WIDTH) / 2
top = (self.root.winfo_screenheight() - DISPLAY_HEIGHT) / 2
self.root.geometry('%dx%d+%d+%d' %
(DISPLAY_WIDTH, DISPLAY_HEIGHT, left, top))
self.frame = tk.Frame(self.root)
# Too much hassle on Windows
if 'nt' != os.name:
self.root.tk.call('wm', 'iconphoto', self.root._w,
tk.PhotoImage('icon.xbm'))
self.root.protocol('WM_DELETE_WINDOW', self.quit)
# Create panes for two rows of widgets
self.pane1 = self._add_pane()
self.pane2 = self._add_pane()
# Add a buttons
self.button_connect = self._add_button('Connect', self.pane1,
self._connect_callback)
self.button_imu = self._add_button('IMU', self.pane2,
self._imu_callback)
self.button_motors = self._add_button('Motors', self.pane2,
self._motors_button_callback)
self.button_receiver = self._add_button('Receiver', self.pane2,
self._receiver_button_callback)
#self.button_messages = self._add_button('Messages', self.pane2, self._messages_button_callback)
#self.button_maps = self._add_button('Maps', self.pane2, self._maps_button_callback, disabled=False)
# Prepare for adding ports as they are detected by our timer task
self.portsvar = tk.StringVar(self.root)
self.portsmenu = None
self.connected = False
self.ports = []
# Finalize Tk stuff
self.frame.pack()
self.canvas = tk.Canvas(self.root,
width=DISPLAY_WIDTH,
height=DISPLAY_HEIGHT,
background='black')
self.canvas.pack()
# Set up a text label for reporting errors
errmsg = 'No response from board. Possible reasons:\n\n' + \
' * You connected to the wrong port.\n\n' + \
' * Firmware uses serial receiver\n' + \
' (DSMX, SBUS), but receiver is\n' + \
' not connected.'
self.error_label = tk.Label(self.canvas,
text=errmsg,
bg='black',
fg='red',
font=(None, 24),
justify=tk.LEFT)
self.hide(self.error_label)
# Add widgets for motor-testing dialog; hide them immediately
self.motors = Motors(self)
self.motors.stop()
# Create receiver dialog
self.receiver = Receiver(self)
# Create messages dialog
#self.messages = Messages(self)
# Create IMU dialog
self.imu = IMU(self)
self._schedule_connection_task()
# Create a maps dialog
#self.maps = Maps(self, yoffset=-30)
# Create a splash image
self.splashimage = tk.PhotoImage(file=resource_path('splash.gif'))
self._show_splash()
# Create a message parser
#self.parser = msppg.Parser()
# Set up parser's request strings
self.attitude_request = msppg.serialize_ATTITUDE_RADIANS_Request()
self.rc_request = msppg.serialize_RC_NORMAL_Request()
# No messages yet
self.roll_pitch_yaw = [0] * 3
self.rxchannels = [0] * 6
# A hack to support display in IMU dialog
self.active_axis = 0
def quit(self):
self.motors.stop()
self.root.destroy()
def hide(self, widget):
widget.place(x=-9999)
def getChannels(self):
return self.rxchannels
def getRollPitchYaw(self):
# configure button to show connected
self._enable_buttons()
self.button_connect['text'] = 'Disconnect'
self._enable_button(self.button_connect)
return self.roll_pitch_yaw
def checkArmed(self):
if self.armed:
self._show_armed(self.root)
self._show_armed(self.pane1)
self._show_armed(self.pane2)
self._disable_button(self.button_motors)
else:
self._show_disarmed(self.root)
self._show_disarmed(self.pane1)
self._show_disarmed(self.pane2)
def scheduleTask(self, delay_msec, task):
self.root.after(delay_msec, task)
def handle_RC_NORMAL(self, c1, c2, c3, c4, c5, c6):
# Display throttle as [0,1], other channels as [-1,+1]
self.rxchannels = c1 / 2. + .5, c2, c3, c4, c5, c6
# As soon as we handle the callback from one request, send another request, if receiver dialog is running
if self.receiver.running:
self._send_rc_request()
#self.messages.setCurrentMessage('Receiver: %04d %04d %04d %04d %04d' % (c1, c2, c3, c4, c5))
def handle_ATTITUDE_RADIANS(self, x, y, z):
self.roll_pitch_yaw = x, -y, z
self.gotimu = True
#self.messages.setCurrentMessage('Roll/Pitch/Yaw: %+3.3f %+3.3f %+3.3f' % self.roll_pitch_yaw)
# As soon as we handle the callback from one request, send another request, if IMU dialog is running
if self.imu.running:
self._send_attitude_request()
def _add_pane(self):
pane = tk.PanedWindow(self.frame, bg=BACKGROUND_COLOR)
pane.pack(fill=tk.BOTH, expand=1)
return pane
def _add_button(self, label, parent, callback, disabled=True):
button = tk.Button(parent, text=label, command=callback)
button.pack(side=tk.LEFT)
button.config(state='disabled' if disabled else 'normal')
return button
# Callback for IMU button
def _imu_callback(self):
self._clear()
self.motors.stop()
self.receiver.stop()
#self.messages.stop()
#self.maps.stop()
self._send_attitude_request()
self.imu.start()
def _start(self):
self._send_attitude_request()
self.imu.start()
self.gotimu = False
self.hide(self.error_label)
self.scheduleTask(CONNECTION_DELAY_MSEC, self._checkimu)
def _checkimu(self):
if not self.gotimu:
self.imu.stop()
self.error_label.place(x=50, y=50)
self._disable_button(self.button_imu)
self._disable_button(self.button_motors)
self._disable_button(self.button_receiver)
# Sends Attitude request to FC
def _send_attitude_request(self):
self.comms.send_request(self.attitude_request)
# Sends RC request to FC
def _send_rc_request(self):
self.comms.send_request(self.rc_request)
# Callback for Motors button
def _motors_button_callback(self):
self._clear()
self.imu.stop()
self.receiver.stop()
#self.messages.stop()
#self.maps.stop()
self.motors.start()
def _clear(self):
self.canvas.delete(tk.ALL)
# Callback for Receiver button
def _receiver_button_callback(self):
self._clear()
self.imu.stop()
self.motors.stop()
#self.messages.stop()
#self.maps.stop()
self._send_rc_request()
self.receiver.start()
# Callback for Messages button
def _messages_button_callback(self):
self._clear()
self.imu.stop()
self.motors.stop()
#self.maps.stop()
self.receiver.stop()
self.messages.start()
def _getting_messages(self):
return self.button_connect['text'] == 'Disconnect'
# Callback for Maps button
def _maps_button_callback(self):
self._clear()
if self._getting_messages():
self.receiver.stop()
self.messages.stop()
self.imu.stop()
self.motors.stop()
#self.maps.start()
# Callback for Connect / Disconnect button
def _connect_callback(self):
if self.connected:
self.imu.stop()
#self.maps.stop()
self.motors.stop()
#self.messages.stop()
self.receiver.stop()
if not self.comms is None:
self.comms.stop()
self._clear()
self._disable_buttons()
self.button_connect['text'] = 'Connect'
self.hide(self.error_label)
self._show_splash()
else:
#self.maps.stop()
self.comms = Comms(self)
self.comms.start()
self.button_connect['text'] = 'Connecting ...'
self._disable_button(self.button_connect)
self._hide_splash()
self.scheduleTask(CONNECTION_DELAY_MSEC, self._start)
self.connected = not self.connected
# Gets available ports
def _getports(self):
allports = comports()
ports = []
for port in allports:
portname = port[0]
if 'usbmodem' in portname or 'ttyACM' in portname or 'ttyUSB' in portname or 'COM' in portname:
if not portname in ['COM1', 'COM2']:
ports.append(portname)
return ports
# Checks for changes in port status (hot-plugging USB cables)
def _connection_task(self):
ports = self._getports()
if ports != self.ports:
if self.portsmenu is None:
self.portsmenu = tk.OptionMenu(self.pane1, self.portsvar,
*ports)
else:
for port in ports:
self.portsmenu['menu'].add_command(label=port)
self.portsmenu.pack(side=tk.LEFT)
# Disconnected
if ports == []:
self.portsmenu['menu'].delete(0, 'end')
self.portsvar.set('')
self._disable_button(self.button_connect)
self._disable_buttons()
# Connected
else:
self.portsvar.set(ports[0]) # default value
self._enable_button(self.button_connect)
self.ports = ports
self._schedule_connection_task()
# Mutually recursive with above
def _schedule_connection_task(self):
self.root.after(USB_UPDATE_MSEC, self._connection_task)
def _disable_buttons(self):
self._disable_button(self.button_imu)
self._disable_button(self.button_motors)
self._disable_button(self.button_receiver)
#self._disable_button(self.button_messages)
def _enable_buttons(self):
self._enable_button(self.button_imu)
self._enable_button(self.button_motors)
self._enable_button(self.button_receiver)
#self._enable_button(self.button_messages)
def _enable_button(self, button):
button['state'] = 'normal'
def _disable_button(self, button):
button['state'] = 'disabled'
def sendMotorMessage(self, index, percent):
values = [0] * 4
values[index - 1] = percent / 100.
self.comms.send_message(msppg.serialize_SET_MOTOR_NORMAL, values)
def _show_splash(self):
self.splash = self.canvas.create_image(SPLASH_LOCATION,
image=self.splashimage)
def _hide_splash(self):
self.canvas.delete(self.splash)
def _show_armed(self, widget):
widget.configure(bg='red')
def _show_disarmed(self, widget):
widget.configure(bg=BACKGROUND_COLOR)
if self._getting_messages():
self._enable_button(self.button_motors)
def _handle_calibrate_response(self):
self.imu.showCalibrated()
def _handle_params_response(self, pitchroll_kp_percent, yaw_kp_percent):
# Only handle parms from firmware on a fresh connection
if self.newconnect:
self.imu.setParams(pitchroll_kp_percent, yaw_kp_percent)
self.newconnect = False
def _handle_arm_status(self, armed):
self.armed = armed
#self.messages.setCurrentMessage('ArmStatus: %s' % ('ARMED' if armed else 'Disarmed'))
def _handle_battery_status(self, volts, amps):
return
class GCS(MspParser):
def __init__(self):
MspParser.__init__(self)
# No communications or arming yet
self.comms = None
self.armed = False
self.gotimu = False
# Do basic Tk initialization
self.root = tk.Tk()
self.root.configure(bg=BACKGROUND_COLOR)
self.root.resizable(False, False)
self.root.title('Hackflight Ground Control Station')
left = (self.root.winfo_screenwidth() - DISPLAY_WIDTH) / 2
top = (self.root.winfo_screenheight() - DISPLAY_HEIGHT) / 2
self.root.geometry('%dx%d+%d+%d' %
(DISPLAY_WIDTH, DISPLAY_HEIGHT, left, top))
self.frame = tk.Frame(self.root)
# Too much hassle on Windows
if 'nt' != os.name:
self.root.tk.call('wm', 'iconphoto', self.root._w,
tk.PhotoImage('icon.xbm'))
self.root.protocol('WM_DELETE_WINDOW', self.quit)
# Create panes for two rows of widgets
self.pane1 = self._add_pane()
self.pane2 = self._add_pane()
# Add a buttons
self.button_connect = self._add_button('Connect', self.pane1,
self._connect_callback)
self.button_imu = self._add_button('IMU', self.pane2,
self._imu_callback)
self.button_motors = self._add_button('Motors', self.pane2,
self._motors_button_callback)
self.button_receiver = self._add_button('Receiver', self.pane2,
self._receiver_button_callback)
# Prepare for adding ports as they are detected by our timer task
self.portsvar = tk.StringVar(self.root)
self.portsmenu = None
self.connected = False
self.ports = []
# Finalize Tk stuff
self.frame.pack()
self.canvas = tk.Canvas(self.root,
width=DISPLAY_WIDTH,
height=DISPLAY_HEIGHT,
background='black')
self.canvas.pack()
# Set up a text label for reporting errors
errmsg = ('No response from board. Possible reasons:\n\n' +
' * You connected to the wrong port.\n\n' +
' * IMU is not responding.\n\n')
self.error_label = tk.Label(self.canvas,
text=errmsg,
bg='black',
fg='red',
font=(None, 24),
justify=tk.LEFT)
self.hide(self.error_label)
# Add widgets for motor-testing dialogs; hide them immediately
self.motors_quadxmw = self._add_motor_dialog(MotorsQuadXMW)
self.motors_coaxial = self._add_motor_dialog(MotorsCoaxial)
# Create receiver dialog
self.receiver = Receiver(self)
# Create IMU dialog
self.imu = IMU(self)
self._schedule_connection_task()
# Create a splash image
self.splashimage = tk.PhotoImage(file=resource_path('splash.gif'))
self._show_splash()
# Set up parser's request strings
self.attitude_request = MspParser.serialize_ATTITUDE_Request()
self.rc_request = MspParser.serialize_RC_Request()
# No messages yet
self.roll_pitch_yaw = [0] * 3
self.rxchannels = [0] * 6
def quit(self):
self.motors_quadxmw.stop()
self.motors_coaxial.stop()
self.root.destroy()
def hide(self, widget):
widget.place(x=-9999)
def getChannels(self):
return self.rxchannels
def getRollPitchYaw(self):
# configure button to show connected
self._enable_buttons()
self.button_connect['text'] = 'Disconnect'
self._enable_button(self.button_connect)
return self.roll_pitch_yaw
def checkArmed(self):
if self.armed:
self._show_armed(self.root)
self._show_armed(self.pane1)
self._show_armed(self.pane2)
self._disable_button(self.button_motors)
else:
self._show_disarmed(self.root)
self._show_disarmed(self.pane1)
self._show_disarmed(self.pane2)
def scheduleTask(self, delay_msec, task):
self.root.after(delay_msec, task)
def handle_RC(self, c1, c2, c3, c4, c5, c6):
def norm(x):
MIN = 987
MAX = 2011
return (x - MIN) / (MAX - MIN)
def scale(x):
return 2 * norm(x) - 1
# Scale throttle from [-1,+1] to [0,1]
self.rxchannels = norm(c1), scale(c2), scale(c3), scale(c4), scale(
c5), scale(c6)
# As soon as we handle the callback from one request, send another
# request, if receiver dialog is running
if self.receiver.running:
self._send_rc_request()
def handle_ATTITUDE(self, angx, angy, heading):
self.roll_pitch_yaw = rad(angx / 10), -rad(angy / 10), rad(heading)
self.gotimu = True
# As soon as we handle the callback from one request, send another
# request, if receiver dialog is running
if self.imu.running:
self._send_attitude_request()
def _add_pane(self):
pane = tk.PanedWindow(self.frame, bg=BACKGROUND_COLOR)
pane.pack(fill=tk.BOTH, expand=1)
return pane
def _add_button(self, label, parent, callback, disabled=True):
button = tk.Button(parent, text=label, command=callback)
button.pack(side=tk.LEFT)
button.config(state=('disabled' if disabled else 'normal'))
return button
def _add_motor_dialog(self, dialog):
d = dialog(self)
d.stop()
return d
# unsigned int => signed float conversion
def _float(self, intval):
return intval / 1000 - 2
# Callback for IMU button
def _imu_callback(self):
self._clear()
self.motors_quadxmw.stop()
self.motors_coaxial.stop()
self.receiver.stop()
self._send_attitude_request()
self.imu.start()
def _start(self):
self._send_attitude_request()
self.imu.start()
self.gotimu = False
self.hide(self.error_label)
self.scheduleTask(CONNECTION_DELAY_MSEC, self._checkimu)
def _checkimu(self):
if not self.gotimu:
self.imu.stop()
self.error_label.place(x=50, y=50)
self._disable_button(self.button_imu)
self._disable_button(self.button_motors)
self._disable_button(self.button_receiver)
# Sends state request to FC
def _send_attitude_request(self):
self.comms.send_request(self.attitude_request)
# Sends RC request to FC
def _send_rc_request(self):
self.comms.send_request(self.rc_request)
# Callback for Motors button
def _motors_button_callback(self):
self._clear()
# self.comms.send_request(self.actuator_type_request)
self.imu.stop()
self.receiver.stop()
self.motors_quadxmw.start()
def _clear(self):
self.canvas.delete(tk.ALL)
# Callback for Receiver button
def _receiver_button_callback(self):
self._clear()
self.imu.stop()
self.motors_quadxmw.stop()
self.motors_coaxial.stop()
self._send_rc_request()
self.receiver.start()
# Callback for Connect / Disconnect button
def _connect_callback(self):
if self.connected:
self.imu.stop()
self.motors_quadxmw.stop()
self.motors_coaxial.stop()
self.receiver.stop()
if self.comms is not None:
self.comms.stop()
self._clear()
self._disable_buttons()
self.button_connect['text'] = 'Connect'
self.hide(self.error_label)
self._show_splash()
else:
self.comms = Comms(self)
self.comms.start()
self.button_connect['text'] = 'Connecting ...'
self._disable_button(self.button_connect)
self._hide_splash()
self.scheduleTask(CONNECTION_DELAY_MSEC, self._start)
self.connected = not self.connected
# Gets available ports
def _getports(self):
allports = comports()
ports = []
for port in allports:
portname = port[0]
if any(name in portname
for name in ('usbmodem', 'ttyACM', 'ttyUSB', 'COM')):
if portname not in ('COM1', 'COM2'):
ports.append(portname)
return ports
# Checks for changes in port status (hot-plugging USB cables)
def _connection_task(self):
ports = self._getports()
if ports != self.ports:
if self.portsmenu is None:
self.portsmenu = tk.OptionMenu(self.pane1, self.portsvar,
*ports)
else:
for port in ports:
self.portsmenu['menu'].add_command(label=port)
self.portsmenu.pack(side=tk.LEFT)
# Disconnected
if ports == []:
self.portsmenu['menu'].delete(0, 'end')
self.portsvar.set('')
self._disable_button(self.button_connect)
self._disable_buttons()
# Connected
else:
self.portsvar.set(ports[0]) # default value
self._enable_button(self.button_connect)
self.ports = ports
self._schedule_connection_task()
# Mutually recursive with above
def _schedule_connection_task(self):
self.root.after(USB_UPDATE_MSEC, self._connection_task)
def _disable_buttons(self):
self._disable_button(self.button_imu)
self._disable_button(self.button_motors)
self._disable_button(self.button_receiver)
def _enable_buttons(self):
self._enable_button(self.button_imu)
self._enable_button(self.button_motors)
self._enable_button(self.button_receiver)
def _enable_button(self, button):
button['state'] = 'normal'
def _disable_button(self, button):
button['state'] = 'disabled'
def sendMotorMessage(self, motors):
if self.comms is not None: # Guard at startup
self.comms.send_message(
MspParser.serialize_SET_MOTOR,
(motors[0], motors[1], motors[2], motors[3]))
def _show_splash(self):
self.splash = self.canvas.create_image(SPLASH_LOCATION,
image=self.splashimage)
def _hide_splash(self):
self.canvas.delete(self.splash)
def _show_armed(self, widget):
widget.configure(bg='red')
def _show_disarmed(self, widget):
widget.configure(bg=BACKGROUND_COLOR)
def _handle_calibrate_response(self):
self.imu.showCalibrated()
def _handle_params_response(self, pitchroll_kp_percent, yaw_kp_percent):
# Only handle parms from firmware on a fresh connection
if self.newconnect:
self.imu.setParams(pitchroll_kp_percent, yaw_kp_percent)
self.newconnect = False
def _handle_arm_status(self, armed):
self.armed = armed
def _handle_battery_status(self, volts, amps):
return
