def load_definitions(self):
self.log('Loading joystick definitions', 1)
self.joydefs = []
search = []
userjoysticks = os.environ.get(
'MAVPROXY_JOYSTICK_DIR',
mp_util.dot_mavproxy('joysticks'))
if userjoysticks is not None and os.path.isdir(userjoysticks):
search.append(userjoysticks)
search.append(pkg_resources.resource_filename(__name__, 'joysticks'))
for path in search:
self.log('Looking for joystick definitions in {}'.format(path),
2)
path = os.path.expanduser(path)
for dirpath, dirnames, filenames in os.walk(path):
for joyfile in filenames:
root, ext = os.path.splitext(joyfile)
if ext[1:] not in ['yml', 'yaml', 'json']:
continue
joypath = os.path.join(dirpath, joyfile)
self.log('Loading definition from {}'.format(joypath), 2)
with open(joypath, 'r') as fd:
joydef = yaml.safe_load(fd)
joydef['path'] = joypath
self.joydefs.append(joydef)
def __init__(self, mpstate):
"""Initialise module"""
super(ublox, self).__init__(mpstate, "ublox", "")
self.auto = True
self.verbose = False
self.api_token = self.read_api_token()
self.auto_failed = None
self.last_auto = 0
self.fix_type = 0
self.time_boot_ms = 0
self.mga_offline_last_check = 0
self.mga_offline_data_uploaded = None
self.state_dir = mp_util.dot_mavproxy('ublox')
self.mga_cachedir = os.path.join(self.state_dir, "mga")
try:
os.makedirs(self.mga_cachedir)
except OSError as e:
if e.errno != 17:
raise e
self.mga_dbd_cachefile = os.path.join(self.mga_cachedir, "dbd.ubx")
self.mga_offline = ub.mga.MGAOfflineCache(cachefile=os.path.join(
self.mga_cachedir, "offline.ubx"),
token=self.api_token)
if self.mga_offline.should_request_fresh_data():
print("Apparently should request fresh data")
# self.mga_offline.start_update_thread()
self.ublox_settings = mp_settings.MPSettings([
('verbose', bool, False),
('auto', bool, False),
])
self.add_command('ublox', self.cmd_ublox, "ublox module",
['status', 'set (AUTO)', 'reset', 'mga'])
def __init__(self, mpstate):
"""Initialise module"""
super(ublox, self).__init__(mpstate, "ublox", "")
self.auto = True
self.verbose = False
self.api_token = self.read_api_token()
self.auto_failed = None
self.last_auto = 0
self.fix_type = 0
self.time_boot_ms = 0
self.mga_offline_last_check = 0
self.mga_offline_data_uploaded = None
self.state_dir = mp_util.dot_mavproxy('ublox')
self.mga_cachedir = os.path.join(self.state_dir, "mga")
try:
os.makedirs(self.mga_cachedir)
except OSError as e:
if e.errno != 17:
raise e
self.mga_dbd_cachefile = os.path.join(self.mga_cachedir, "dbd.ubx")
self.mga_offline = ub.mga.MGAOfflineCache(cachefile=os.path.join(self.mga_cachedir, "offline.ubx"), token=self.api_token)
if self.mga_offline.should_request_fresh_data():
print("Apparently should request fresh data")
# self.mga_offline.start_update_thread()
self.ublox_settings = mp_settings.MPSettings(
[ ('verbose', bool, False),
('auto', bool, False),
])
self.add_command('ublox', self.cmd_ublox, "ublox module", ['status','set (AUTO)', 'reset', 'mga'])
def param_help_download(self):
'''download XML files for parameters'''
import multiprocessing
files = []
for vehicle in ['APMrover2', 'ArduCopter', 'ArduPlane']:
url = 'http://autotest.diydrones.com/Parameters/%s/apm.pdef.xml' % vehicle
path = mp_util.dot_mavproxy("%s.xml" % vehicle)
files.append((url, path))
url = 'http://autotest.diydrones.com/%s-defaults.parm' % vehicle
path = mp_util.dot_mavproxy("%s-defaults.parm" % vehicle)
files.append((url, path))
try:
child = multiprocessing.Process(target=mp_util.download_files, args=(files,))
child.start()
except Exception as e:
print(e)
def load_definitions(self):
self.log('Loading joystick definitions', 1)
self.joydefs = []
search = []
userjoysticks = os.environ.get('MAVPROXY_JOYSTICK_DIR',
mp_util.dot_mavproxy('joysticks'))
if userjoysticks is not None and os.path.isdir(userjoysticks):
search.append(userjoysticks)
search.append(pkg_resources.resource_filename(__name__, 'joysticks'))
for path in search:
self.log('Looking for joystick definitions in {}'.format(path), 2)
path = os.path.expanduser(path)
for dirpath, dirnames, filenames in os.walk(path):
for joyfile in filenames:
root, ext = os.path.splitext(joyfile)
if ext[1:] not in ['yml', 'yaml', 'json']:
continue
joypath = os.path.join(dirpath, joyfile)
self.log('Loading definition from {}'.format(joypath), 2)
with open(joypath, 'r') as fd:
joydef = yaml.safe_load(fd)
joydef['path'] = joypath
self.joydefs.append(joydef)
def param_help(self, args):
'''show help on a parameter'''
if len(args) == 0:
print("Usage: param help PARAMETER_NAME")
return
path = mp_util.dot_mavproxy("%s.xml" % self.vehicle_name)
if not os.path.exists(path):
print("Please run 'param download' first (vehicle_name=%s)" % self.vehicle_name)
return
xml = open(path).read()
from lxml import objectify
objectify.enable_recursive_str()
tree = objectify.fromstring(xml)
htree = {}
for p in tree.vehicles.parameters.param:
n = p.get('name').split(':')[1]
htree[n] = p
for lib in tree.libraries.parameters:
for p in lib.param:
n = p.get('name')
htree[n] = p
for h in args:
if h in htree:
help = htree[h]
print("%s: %s\n" % (h, help.get('humanName')))
print(help.get('documentation'))
try:
vchild = help.getchildren()[0]
print("\nValues: ")
for v in vchild.value:
print("\t%s : %s" % (v.get('code'), str(v)))
except Exception as e:
pass
else:
print("Parameter '%s' not found in documentation" % h)
def param_help_tree(self):
'''return a "help tree", a map between a parameter and its metadata. May return None if help is not available'''
if self.xml_filepath is not None:
print("param: using xml_filepath=%s" % self.xml_filepath)
path = self.xml_filepath
else:
if self.vehicle_name is None:
print("Unknown vehicle type")
return None
path = mp_util.dot_mavproxy("%s.xml" % self.vehicle_name)
if not os.path.exists(path):
print("Please run 'param download' first (vehicle_name=%s)" %
self.vehicle_name)
return None
if not os.path.exists(path):
print("Param XML (%s) does not exist" % path)
return None
xml = open(path, 'rb').read()
from lxml import objectify
objectify.enable_recursive_str()
tree = objectify.fromstring(xml)
htree = {}
for p in tree.vehicles.parameters.param:
n = p.get('name').split(':')[1]
htree[n] = p
for lib in tree.libraries.parameters:
for p in lib.param:
n = p.get('name')
htree[n] = p
return htree
def param_help_tree(self):
'''return a "help tree", a map between a parameter and its metadata. May return None if help is not available'''
if self.xml_filepath is not None:
print("param: using xml_filepath=%s" % self.xml_filepath)
path = self.xml_filepath
else:
if self.vehicle_name is None:
print("Unknown vehicle type")
return None
path = mp_util.dot_mavproxy("%s.xml" % self.vehicle_name)
if not os.path.exists(path):
print("Please run 'param download' first (vehicle_name=%s)" % self.vehicle_name)
return None
if not os.path.exists(path):
print("Param XML (%s) does not exist" % path)
return None
xml = open(path,'rb').read()
from lxml import objectify
objectify.enable_recursive_str()
tree = objectify.fromstring(xml)
htree = {}
for p in tree.vehicles.parameters.param:
n = p.get('name').split(':')[1]
htree[n] = p
for lib in tree.libraries.parameters:
for p in lib.param:
n = p.get('name')
htree[n] = p
return htree
def param_help_download(self):
'''download XML files for parameters'''
import multiprocessing
files = []
for vehicle in ['APMrover2', 'ArduCopter', 'ArduPlane']:
url = 'http://autotest.ardupilot.org/Parameters/%s/apm.pdef.xml' % vehicle
path = mp_util.dot_mavproxy("%s.xml" % vehicle)
files.append((url, path))
url = 'http://autotest.ardupilot.org/%s-defaults.parm' % vehicle
path = mp_util.dot_mavproxy("%s-defaults.parm" % vehicle)
files.append((url, path))
try:
child = multiprocessing.Process(target=mp_util.download_files, args=(files,))
child.start()
except Exception as e:
print(e)
def param_help_download(self):
'''download XML files for parameters'''
files = []
for vehicle in ['Rover', 'ArduCopter', 'ArduPlane', 'ArduSub', 'AntennaTracker']:
url = 'http://autotest.ardupilot.org/Parameters/%s/apm.pdef.xml.gz' % vehicle
path = mp_util.dot_mavproxy("%s.xml" % vehicle)
files.append((url, path))
url = 'http://autotest.ardupilot.org/%s-defaults.parm' % vehicle
if vehicle != 'AntennaTracker':
# defaults not generated for AntennaTracker ATM
path = mp_util.dot_mavproxy("%s-defaults.parm" % vehicle)
files.append((url, path))
try:
child = multiproc.Process(target=mp_util.download_files, args=(files,))
child.start()
except Exception as e:
print(e)
def param_help_download(self):
'''download XML files for parameters'''
files = []
for vehicle in ['APMrover2', 'ArduCopter', 'ArduPlane', 'ArduSub', 'AntennaTracker']:
url = 'http://autotest.ardupilot.org/Parameters/%s/apm.pdef.xml' % vehicle
path = mp_util.dot_mavproxy("%s.xml" % vehicle)
files.append((url, path))
url = 'http://autotest.ardupilot.org/%s-defaults.parm' % vehicle
if vehicle != 'AntennaTracker':
# defaults not generated for AntennaTracker ATM
path = mp_util.dot_mavproxy("%s-defaults.parm" % vehicle)
files.append((url, path))
try:
child = multiproc.Process(target=mp_util.download_files, args=(files,))
child.start()
except Exception as e:
print(e)
def param_help_download():
'''download XML files for parameters'''
for vehicle in ['APMrover2', 'ArduCopter', 'ArduPlane']:
url = 'http://autotest.diydrones.com/Parameters/%s/apm.pdef.xml' % vehicle
path = mp_util.dot_mavproxy("%s.xml" % vehicle)
print("Downloading %s to %s" % (url, path))
xml = mp_util.download_url(url)
try:
open(path, mode='w').write(xml)
except Exception as e:
print("Failed to save %s" % path)
def find_manifests(self):
'''locate manifests and return filepaths thereof'''
manifest_dir = mp_util.dot_mavproxy()
ret = []
for file in os.listdir(manifest_dir):
try:
file.index("manifest")
ret.append(os.path.join(manifest_dir, file))
except ValueError:
pass
return ret
def find_manifests(self):
'''locate manifests and return filepaths thereof'''
manifest_dir = mp_util.dot_mavproxy()
ret = []
for file in os.listdir(manifest_dir):
try:
file.index("manifest")
ret.append(os.path.join(manifest_dir,file))
except ValueError:
pass
return ret
def manifest_download(self):
'''download manifest files'''
if self.downloaders_lock.acquire(False):
if len(self.downloaders):
# there already exist downloader threads
self.downloaders_lock.release()
return
for url in ['http://firmware.ardupilot.org/manifest.json']:
filename = self.make_safe_filename_from_url(url)
path = mp_util.dot_mavproxy("manifest-%s" % filename)
self.downloaders[url] = threading.Thread(target=self.download_url, args=(url, path))
self.downloaders[url].start()
self.downloaders_lock.release()
else:
print("fw: Failed to acquire download lock")
def load_graphs():
'''load graphs from mavgraphs.xml'''
mestate.graphs = []
gfiles = ['mavgraphs.xml']
for dirname, dirnames, filenames in os.walk(mp_util.dot_mavproxy()):
for filename in filenames:
if filename.lower().endswith('.xml'):
gfiles.append(os.path.join(dirname, filename))
for file in gfiles:
if not os.path.exists(file):
continue
# skip parameter files. They specify an encoding, and under
# Python3 this leads to a warning from etree
if os.path.basename(file) in [
"ArduSub.xml", "ArduPlane.xml", "APMrover2.xml",
"ArduCopter.xml", "AntennaTracker.xml"
]:
continue
graphs = load_graph_xml(open(file).read(), file)
if graphs:
mestate.graphs.extend(graphs)
mestate.console.writeln("Loaded %s" % file)
# also load the built in graphs
try:
dlist = pkg_resources.resource_listdir("MAVProxy", "tools/graphs")
for f in dlist:
raw = pkg_resources.resource_stream("MAVProxy",
"tools/graphs/%s" % f).read()
graphs = load_graph_xml(raw, None)
if graphs:
mestate.graphs.extend(graphs)
mestate.console.writeln("Loaded %s" % f)
except Exception:
#we're in a Windows exe, where pkg_resources doesn't work
import pkgutil
for f in [
"ekf3Graphs.xml", "ekfGraphs.xml", "mavgraphs.xml",
"mavgraphs2.xml"
]:
raw = pkgutil.get_data('MAVProxy', 'tools//graphs//' + f)
graphs = load_graph_xml(raw, None)
if graphs:
mestate.graphs.extend(graphs)
mestate.console.writeln("Loaded %s" % f)
mestate.graphs = sorted(mestate.graphs, key=lambda g: g.name)
def manifest_download(self):
'''download manifest files'''
if self.downloaders_lock.acquire(False):
if len(self.downloaders):
# there already exist downloader threads
self.downloaders_lock.release()
return
for url in ['https://firmware.ardupilot.org/manifest.json']:
filename = self.make_safe_filename_from_url(url)
path = mp_util.dot_mavproxy("manifest-%s" % filename)
self.downloaders[url] = threading.Thread(
target=self.download_url, args=(url, path))
self.downloaders[url].start()
self.downloaders_lock.release()
else:
print("fw: Failed to acquire download lock")
def param_help(self, args):
'''show help on a parameter'''
if len(args) == 0:
print("Usage: param help PARAMETER_NAME")
return
if self.vehicle_name is None:
print("Unknown vehicle type")
return
path = mp_util.dot_mavproxy("%s.xml" % self.vehicle_name)
if not os.path.exists(path):
print("Please run 'param download' first (vehicle_name=%s)" %
self.vehicle_name)
return
xml = open(path).read()
from lxml import objectify
objectify.enable_recursive_str()
tree = objectify.fromstring(xml)
htree = {}
for p in tree.vehicles.parameters.param:
n = p.get('name').split(':')[1]
htree[n] = p
for lib in tree.libraries.parameters:
for p in lib.param:
n = p.get('name')
htree[n] = p
for h in args:
if h in htree:
help = htree[h]
print("%s: %s\n" % (h, help.get('humanName')))
print(help.get('documentation'))
try:
print("\n")
for f in help.field:
print("%s : %s" % (f.get('name'), str(f)))
except Exception as e:
pass
try:
vchild = help.getchildren()[0]
print("\nValues: ")
for v in vchild.value:
print("\t%s : %s" % (v.get('code'), str(v)))
except Exception as e:
pass
else:
print("Parameter '%s' not found in documentation" % h)
def save_graph(graphdef):
'''save a graph as XML'''
if graphdef.filename is None:
graphdef.filename = os.path.join(mp_util.dot_mavproxy(),
'mavgraphs.xml')
contents = None
try:
contents = open(graphdef.filename).read()
graphs = load_graph_xml(contents, graphdef.filename, load_all=True)
except Exception as ex:
graphs = []
print(ex)
if contents is not None and len(graphs) == 0:
print("Unable to parse %s" % graphdef.filename)
return
if contents is not None:
try:
open(graphdef.filename + ".bak", 'w').write(contents)
except Exception:
pass
found_name = False
for i in range(len(graphs)):
if graphs[i].name == graphdef.name:
graphs[i] = graphdef
found_name = True
break
if not found_name:
graphs.append(graphdef)
pipe_console_input.send("Saving %u graphs to %s" %
(len(graphs), graphdef.filename))
f = open(graphdef.filename, "w")
f.write("<graphs>\n\n")
for g in graphs:
f.write(" <graph name='%s'>\n" % g.name.strip())
if g.description is None:
g.description = ''
f.write(" <description>%s</description>\n" % g.description.strip())
for e in g.expressions:
e = xml_escape(e)
f.write(" <expression>%s</expression>\n" % e.strip())
f.write(" </graph>\n\n")
f.write("</graphs>\n")
f.close()
def __init__(self, mpstate):
"""Initialise module"""
super(EvJoy, self).__init__(mpstate, 'evjoy',
'A flexible evjoy driver without the pygame baggage.')
self.evjoy = None
self.init_settings()
self.init_commands()
search = []
userdir = os.environ.get('MAVPROXY_EVJOY_DIR')
if userdir is not None and os.path.isdir(userdir):
search.append(userdir)
userdir = mp_util.dot_mavproxy('evjoy')
if userdir is not None and os.path.isdir(userdir):
search.append(userdir)
search.append(pkg_resources.resource_filename(__name__, 'joysticks'))
self.search = search
self.probe()
def param_help_tree(self):
'''return a "help tree", a map between a parameter and its metadata. May return None if help is not available'''
if self.xml_filepath is not None:
path = self.xml_filepath
elif self.vehicle_name is not None:
path = mp_util.dot_mavproxy("%s.xml" % self.vehicle_name)
if not os.path.exists(path):
self.param_help_download()
else:
return
try:
xml = open(path, 'rb').read()
from lxml import objectify
objectify.enable_recursive_str()
tree = objectify.fromstring(xml)
for p in tree.vehicles.parameters.param:
n = p.get('name').split(':')[1]
self.htree[n] = p
for lib in tree.libraries.parameters:
for p in lib.param:
n = p.get('name')
self.htree[n] = p
except Exception as e:
print(e)
def handle_command(self, master, mpstate, args):
'''handle parameter commands'''
param_wildcard = "*"
usage = "Usage: param <fetch|set|show|load|preload|forceload|diff|download|help>"
if len(args) < 1:
print(usage)
return
if args[0] == "fetch":
if len(args) == 1:
master.param_fetch_all()
self.mav_param_set = set()
print("Requested parameter list")
else:
for p in self.mav_param.keys():
if fnmatch.fnmatch(p, args[1].upper()):
master.param_fetch_one(p)
self.fetch_one += 1
print("Requested parameter %s" % p)
elif args[0] == "save":
if len(args) < 2:
print("usage: param save <filename> [wildcard]")
return
if len(args) > 2:
param_wildcard = args[2]
else:
param_wildcard = "*"
self.mav_param.save(args[1], param_wildcard, verbose=True)
elif args[0] == "diff":
wildcard = '*'
if len(args) < 2 or args[1].find('*') != -1:
if self.vehicle_name is None:
print("Unknown vehicle type")
return
filename = mp_util.dot_mavproxy("%s-defaults.parm" %
self.vehicle_name)
if not os.path.exists(filename):
print(
"Please run 'param download' first (vehicle_name=%s)" %
self.vehicle_name)
return
if len(args) >= 2:
wildcard = args[1]
else:
filename = args[1]
if len(args) == 3:
wildcard = args[2]
print("%-16.16s %12.12s %12.12s" %
('Parameter', 'Defaults', 'Current'))
self.mav_param.diff(filename, wildcard=wildcard)
elif args[0] == "set":
if len(args) < 2:
print("Usage: param set PARMNAME VALUE")
return
if len(args) == 2:
self.mav_param.show(args[1])
return
param = args[1]
value = args[2]
if value.startswith('0x'):
value = int(value, base=16)
if not param.upper() in self.mav_param:
print("Unable to find parameter '%s'" % param)
return
self.mav_param.mavset(master, param.upper(), value, retries=3)
print "set ppp"
if (param.upper() == "WP_LOITER_RAD"
or param.upper() == "LAND_BREAK_PATH"):
#need to redraw rally points
mpstate.module('rally').rallyloader.last_change = time.time()
#need to redraw loiter points
mpstate.module('wp').wploader.last_change = time.time()
elif args[0] == "load":
if len(args) < 2:
print("Usage: param load <filename> [wildcard]")
return
if len(args) > 2:
param_wildcard = args[2]
else:
param_wildcard = "*"
self.mav_param.load(args[1], param_wildcard, master)
elif args[0] == "preload":
if len(args) < 2:
print("Usage: param preload <filename>")
return
self.mav_param.load(args[1])
elif args[0] == "forceload":
if len(args) < 2:
print("Usage: param forceload <filename> [wildcard]")
return
if len(args) > 2:
param_wildcard = args[2]
else:
param_wildcard = "*"
self.mav_param.load(args[1], param_wildcard, master, check=False)
elif args[0] == "download":
self.param_help_download()
elif args[0] == "help":
self.param_help(args[1:])
elif args[0] == "show":
if len(args) > 1:
pattern = args[1]
else:
pattern = "*"
self.mav_param.show(pattern)
else:
print(usage)
def cmd_param(self, args):
'''control parameters'''
state = self
param_wildcard = "*"
if len(args) < 1:
print("usage: param <fetch|set|show|diff|download|help>")
return
if args[0] == "fetch":
if len(args) == 1:
self.master.param_fetch_all()
state.mav_param_set = set()
print("Requested parameter list")
else:
for p in self.mav_param.keys():
if fnmatch.fnmatch(p, args[1].upper()):
self.master.param_fetch_one(p)
state.fetch_one += 1
print("Requested parameter %s" % p)
elif args[0] == "save":
if len(args) < 2:
print("usage: param save <filename> [wildcard]")
return
if len(args) > 2:
param_wildcard = args[2]
else:
param_wildcard = "*"
self.mav_param.save(args[1], param_wildcard, verbose=True)
elif args[0] == "diff":
wildcard = '*'
if len(args) < 2 or args[1].find('*') != -1:
filename = mp_util.dot_mavproxy("%s-defaults.parm" % self.vehicle_name)
if not os.path.exists(filename):
print("Please run 'param download' first (vehicle_name=%s)" % self.vehicle_name)
return
if len(args) >= 2:
wildcard = args[1]
else:
filename = args[1]
if len(args) == 3:
wildcard = args[2]
print("%-16.16s %12.12s %12.12s" % ('Parameter', 'Defaults', 'Current'))
self.mav_param.diff(filename, wildcard=wildcard)
elif args[0] == "set":
if len(args) < 2:
print("Usage: param set PARMNAME VALUE")
return
if len(args) == 2:
self.mav_param.show(args[1])
return
param = args[1]
value = args[2]
if not param.upper() in self.mav_param:
print("Unable to find parameter '%s'" % param)
return
self.mpstate.functions.param_set(param, value)
elif args[0] == "load":
if len(args) < 2:
print("Usage: param load <filename> [wildcard]")
return
if len(args) > 2:
param_wildcard = args[2]
else:
param_wildcard = "*"
self.mav_param.load(args[1], param_wildcard, self.master)
elif args[0] == "download":
self.param_help_download()
elif args[0] == "help":
self.param_help(args[1:])
elif args[0] == "show":
if len(args) > 1:
pattern = args[1]
else:
pattern = "*"
self.mav_param.show(pattern)
else:
print("Unknown subcommand '%s' (try 'fetch', 'save', 'set', 'show', 'load', 'help')" % args[0])
def handle_command(self, master, mpstate, args):
'''handle parameter commands'''
param_wildcard = "*"
usage="Usage: param <fetch|save|set|show|load|preload|forceload|diff|download|help>"
if len(args) < 1:
print(usage)
return
if args[0] == "fetch":
if len(args) == 1:
master.param_fetch_all()
self.mav_param_set = set()
print("Requested parameter list")
else:
for p in self.mav_param.keys():
if fnmatch.fnmatch(p, args[1].upper()):
master.param_fetch_one(p)
if p not in self.fetch_one:
self.fetch_one[p] = 0
self.fetch_one[p] += 1
print("Requested parameter %s" % p)
elif args[0] == "save":
if len(args) < 2:
print("usage: param save <filename> [wildcard]")
return
if len(args) > 2:
param_wildcard = args[2]
else:
param_wildcard = "*"
self.mav_param.save(args[1], param_wildcard, verbose=True)
elif args[0] == "diff":
wildcard = '*'
if len(args) < 2 or args[1].find('*') != -1:
if self.vehicle_name is None:
print("Unknown vehicle type")
return
filename = mp_util.dot_mavproxy("%s-defaults.parm" % self.vehicle_name)
if not os.path.exists(filename):
print("Please run 'param download' first (vehicle_name=%s)" % self.vehicle_name)
return
if len(args) >= 2:
wildcard = args[1]
else:
filename = args[1]
if len(args) == 3:
wildcard = args[2]
print("%-16.16s %12.12s %12.12s" % ('Parameter', 'Defaults', 'Current'))
self.mav_param.diff(filename, wildcard=wildcard)
elif args[0] == "set":
if len(args) < 2:
print("Usage: param set PARMNAME VALUE")
return
if len(args) == 2:
self.mav_param.show(args[1])
return
param = args[1]
value = args[2]
if value.startswith('0x'):
value = int(value, base=16)
if not param.upper() in self.mav_param:
print("Unable to find parameter '%s'" % param)
return
self.mav_param.mavset(master, param.upper(), value, retries=3)
if (param.upper() == "WP_LOITER_RAD" or param.upper() == "LAND_BREAK_PATH"):
#need to redraw rally points
mpstate.module('rally').rallyloader.last_change = time.time()
#need to redraw loiter points
mpstate.module('wp').wploader.last_change = time.time()
elif args[0] == "load":
if len(args) < 2:
print("Usage: param load <filename> [wildcard]")
return
if len(args) > 2:
param_wildcard = args[2]
else:
param_wildcard = "*"
self.mav_param.load(args[1], param_wildcard, master)
elif args[0] == "preload":
if len(args) < 2:
print("Usage: param preload <filename>")
return
self.mav_param.load(args[1])
elif args[0] == "forceload":
if len(args) < 2:
print("Usage: param forceload <filename> [wildcard]")
return
if len(args) > 2:
param_wildcard = args[2]
else:
param_wildcard = "*"
self.mav_param.load(args[1], param_wildcard, master, check=False)
elif args[0] == "download":
self.param_help_download()
elif args[0] == "apropos":
self.param_apropos(args[1:])
elif args[0] == "help":
self.param_help(args[1:])
elif args[0] == "show":
if len(args) > 1:
pattern = args[1]
else:
pattern = "*"
self.mav_param.show(pattern)
elif args[0] == "status":
print("Have %u/%u params" % (len(self.mav_param_set), self.mav_param_count))
else:
print(usage)
def cmd_param(args):
'''control parameters'''
state = mpstate.param_state
param_wildcard = "*"
if len(args) < 1:
print("usage: param <fetch|set|show|diff|download|help>")
return
if args[0] == "fetch":
if len(args) == 1:
mpstate.master().param_fetch_all()
state.mav_param_set = set()
print("Requested parameter list")
else:
for p in mpstate.mav_param.keys():
if fnmatch.fnmatch(p, args[1].upper()):
mpstate.master().param_fetch_one(p)
state.fetch_one += 1
print("Requested parameter %s" % p)
elif args[0] == "save":
if len(args) < 2:
print("usage: param save <filename> [wildcard]")
return
if len(args) > 2:
param_wildcard = args[2]
else:
param_wildcard = "*"
mpstate.mav_param.save(args[1], param_wildcard, verbose=True)
elif args[0] == "diff":
wildcard = '*'
if len(args) < 2 or args[1].find('*') != -1:
filename = mp_util.dot_mavproxy("%s-defaults.parm" %
mpstate.vehicle_name)
if not os.path.exists(filename):
print("Please run 'param download' first (vehicle_name=%s)" %
mpstate.vehicle_name)
return
if len(args) >= 2:
wildcard = args[1]
else:
filename = args[1]
if len(args) == 3:
wildcard = args[2]
print("%-16.16s %12.12s %12.12s" %
('Parameter', 'Defaults', 'Current'))
mpstate.mav_param.diff(filename, wildcard=wildcard)
elif args[0] == "set":
if len(args) != 3:
print("Usage: param set PARMNAME VALUE")
return
param = args[1]
value = args[2]
if not param.upper() in mpstate.mav_param:
print("Unable to find parameter '%s'" % param)
return
mpstate.functions.param_set(param, value)
elif args[0] == "load":
if len(args) < 2:
print("Usage: param load <filename> [wildcard]")
return
if len(args) > 2:
param_wildcard = args[2]
else:
param_wildcard = "*"
mpstate.mav_param.load(args[1], param_wildcard, mpstate.master())
elif args[0] == "download":
param_help_download()
elif args[0] == "help":
param_help(args[1:])
elif args[0] == "show":
if len(args) > 1:
pattern = args[1]
else:
pattern = "*"
mpstate.mav_param.show(pattern)
else:
print(
"Unknown subcommand '%s' (try 'fetch', 'save', 'set', 'show', 'load', 'help')"
% args[0])
def token_file(self):
return os.path.join(mp_util.dot_mavproxy('ublox'), "api_token")
def token_file(self):
return os.path.join(mp_util.dot_mavproxy('ublox'), "api_token")
def handle_command(self, master, mpstate, args):
'''handle parameter commands'''
param_wildcard = "*"
usage="Usage: param <fetch|ftp|save|set|show|load|preload|forceload|diff|download|check|help>"
if len(args) < 1:
print(usage)
return
if args[0] == "fetch":
if len(args) == 1:
self.fetch_all(master)
if self.ftp_started:
print("Requested parameter list (ftp)")
else:
print("Requested parameter list")
else:
found = False
pname = args[1].upper()
for p in self.mav_param.keys():
if fnmatch.fnmatch(p, pname):
master.param_fetch_one(p)
if p not in self.fetch_one:
self.fetch_one[p] = 0
self.fetch_one[p] += 1
found = True
print("Requested parameter %s" % p)
if not found and args[1].find('*') == -1:
master.param_fetch_one(pname)
if pname not in self.fetch_one:
self.fetch_one[pname] = 0
self.fetch_one[pname] += 1
print("Requested parameter %s" % pname)
elif args[0] == "ftp":
self.ftp_start()
elif args[0] == "save":
if len(args) < 2:
print("usage: param save <filename> [wildcard]")
return
if len(args) > 2:
param_wildcard = args[2]
else:
param_wildcard = "*"
self.mav_param.save(args[1].strip('"'), param_wildcard, verbose=True)
elif args[0] == "diff":
wildcard = '*'
if len(args) < 2 or args[1].find('*') != -1:
if self.vehicle_name is None:
print("Unknown vehicle type")
return
filename = mp_util.dot_mavproxy("%s-defaults.parm" % self.vehicle_name)
if not os.path.exists(filename):
print("Please run 'param download' first (vehicle_name=%s)" % self.vehicle_name)
return
if len(args) >= 2:
wildcard = args[1]
else:
filename = args[1]
if len(args) == 3:
wildcard = args[2]
print("%-16.16s %12.12s %12.12s" % ('Parameter', 'Defaults', 'Current'))
self.mav_param.diff(filename, wildcard=wildcard)
elif args[0] == "set":
if len(args) < 2:
print("Usage: param set PARMNAME VALUE")
return
if len(args) == 2:
self.mav_param.show(args[1])
return
param = args[1]
value = args[2]
if value.startswith('0x'):
value = int(value, base=16)
if not param.upper() in self.mav_param:
print("Unable to find parameter '%s'" % param)
return
uname = param.upper()
ptype = None
if uname in self.param_types:
ptype = self.param_types[uname]
self.mav_param.mavset(master, uname, value, retries=3, parm_type=ptype)
if (param.upper() == "WP_LOITER_RAD" or param.upper() == "LAND_BREAK_PATH"):
#need to redraw rally points
mpstate.module('rally').set_last_change(time.time())
#need to redraw loiter points
mpstate.module('wp').wploader.last_change = time.time()
elif args[0] == "load":
if len(args) < 2:
print("Usage: param load <filename> [wildcard]")
return
if len(args) > 2:
param_wildcard = args[2]
else:
param_wildcard = "*"
self.mav_param.load(args[1].strip('"'), param_wildcard, master)
elif args[0] == "preload":
if len(args) < 2:
print("Usage: param preload <filename>")
return
self.mav_param.load(args[1].strip('"'))
elif args[0] == "forceload":
if len(args) < 2:
print("Usage: param forceload <filename> [wildcard]")
return
if len(args) > 2:
param_wildcard = args[2]
else:
param_wildcard = "*"
self.mav_param.load(args[1].strip('"'), param_wildcard, master, check=False)
elif args[0] == "download":
self.param_help_download()
elif args[0] == "apropos":
self.param_apropos(args[1:])
elif args[0] == "check":
self.param_check(args[1:])
elif args[0] == "help":
self.param_help(args[1:])
elif args[0] == "set_xml_filepath":
self.param_set_xml_filepath(args[1:])
elif args[0] == "show":
if len(args) > 1:
pattern = args[1]
else:
pattern = "*"
self.mav_param.show(pattern)
elif args[0] == "status":
print("Have %u/%u params" % (len(self.mav_param_set), self.mav_param_count))
else:
print(usage)
def handle_command(self, master, args):
'''handle parameter commands'''
param_wildcard = "*"
usage="Usage: param <fetch|set|show|load|preload|forceload|diff|download|help>"
if len(args) < 1:
print(usage)
return
if args[0] == "fetch":
if len(args) == 1:
master.param_fetch_all()
self.mav_param_set = set()
print("Requested parameter list")
else:
for p in self.mav_param.keys():
if fnmatch.fnmatch(p, args[1].upper()):
master.param_fetch_one(p)
self.fetch_one += 1
print("Requested parameter %s" % p)
elif args[0] == "save":
if len(args) < 2:
print("usage: param save <filename> [wildcard]")
return
if len(args) > 2:
param_wildcard = args[2]
else:
param_wildcard = "*"
self.mav_param.save(args[1], param_wildcard, verbose=True)
elif args[0] == "diff":
wildcard = '*'
if len(args) < 2 or args[1].find('*') != -1:
if self.vehicle_name is None:
print("Unknown vehicle type")
return
filename = mp_util.dot_mavproxy("%s-defaults.parm" % self.vehicle_name)
if not os.path.exists(filename):
print("Please run 'param download' first (vehicle_name=%s)" % self.vehicle_name)
return
if len(args) >= 2:
wildcard = args[1]
else:
filename = args[1]
if len(args) == 3:
wildcard = args[2]
print("%-16.16s %12.12s %12.12s" % ('Parameter', 'Defaults', 'Current'))
self.mav_param.diff(filename, wildcard=wildcard)
elif args[0] == "set":
if len(args) < 2:
print("Usage: param set PARMNAME VALUE")
return
if len(args) == 2:
self.mav_param.show(args[1])
return
param = args[1]
value = args[2]
if not param.upper() in self.mav_param:
print("Unable to find parameter '%s'" % param)
return
self.mav_param.mavset(master, param.upper(), value, retries=3)
elif args[0] == "load":
if len(args) < 2:
print("Usage: param load <filename> [wildcard]")
return
if len(args) > 2:
param_wildcard = args[2]
else:
param_wildcard = "*"
self.mav_param.load(args[1], param_wildcard, master)
elif args[0] == "preload":
if len(args) < 2:
print("Usage: param preload <filename>")
return
self.mav_param.load(args[1])
elif args[0] == "forceload":
if len(args) < 2:
print("Usage: param forceload <filename> [wildcard]")
return
if len(args) > 2:
param_wildcard = args[2]
else:
param_wildcard = "*"
self.mav_param.load(args[1], param_wildcard, master, check=False)
elif args[0] == "download":
self.param_help_download()
elif args[0] == "help":
self.param_help(args[1:])
elif args[0] == "show":
if len(args) > 1:
pattern = args[1]
else:
pattern = "*"
self.mav_param.show(pattern)
else:
print(usage)
mestate.console.write('#')
if __name__ == "__main__":
multiproc.freeze_support()
from argparse import ArgumentParser
parser = ArgumentParser(description=__doc__)
parser.add_argument("--version", action='store_true', help="show version")
parser.add_argument("files", metavar="<FILE>", nargs="?")
args = parser.parse_args()
if args.version:
#pkg_resources doesn't work in the windows exe build, so read the version file
try:
version = pkg_resources.require("mavproxy")[0].version
except Exception as e:
start_script = mp_util.dot_mavproxy("version.txt")
f = open(start_script, 'r')
version = f.readline()
print("MAVExplorer Version: " + version)
sys.exit(1)
mestate = MEState()
setup_file_menu()
mestate.rl = rline.rline("MAV> ", mestate)
#If specified, open the log file
if args.files is not None and len(args.files) != 0:
loadfile(args.files)
# run main loop as a thread
def __init__(self, mpstate):
super(HelpModule, self).__init__(mpstate,
"mavhelp",
"Help and version information",
public=True)
self.enabled = False
self.add_command('mavhelp', self.cmd_help,
"help and version information", "<about|site>")
self.have_list = False
#versioning info
#pkg_resources doesn't work in the windows exe build, so read the version file
try:
import pkg_resources
self.version = pkg_resources.Environment()["mavproxy"][0].version
except:
start_script = mp_util.dot_mavproxy("version.txt")
f = open(start_script, 'r')
self.version = f.readline()
self.host = platform.system() + platform.release()
self.pythonversion = str(platform.python_version())
if mp_util.has_wxpython:
self.wxVersion = str(wx.__version__)
else:
self.wxVersion = ''
#check for updates, if able
pypi = xmlrpclib.ServerProxy('https://pypi.python.org/pypi')
available = None
try:
available = pypi.package_releases('MAVProxy')
except socket.gaierror:
pass
if available:
self.newversion = available[0]
else:
self.newversion = 'Error finding update'
#and format the update string
if not isinstance(self.newversion, basestring):
self.newversion = "Error finding update"
elif re.search('[a-zA-Z]', self.newversion):
self.newversion = "Error finding update: " + self.newversion
elif self.newversion.strip() == self.version.strip():
self.newversion = "Running latest version"
else:
self.newversion = "New version " + self.newversion + " available (currently running " + self.version + ")"
if mp_util.has_wxpython:
self.menu_added_console = False
self.menu = MPMenuSubMenu(
'Help',
items=[
MPMenuItem(
'MAVProxy website',
'MAVProxy website',
'',
handler=MPMenuOpenWeblink(
'https://ardupilot.org/mavproxy/index.html')),
MPMenuItem('Check for Updates',
'Check for Updates',
'',
handler=MPMenuChildMessageDialog(
title="Updates", message=self.newversion)),
MPMenuItem('About',
'About',
'',
handler=MPMenuChildMessageDialog(
title="About MAVProxy",
message=self.about_string()))
])
