def AddSpinFloat(self,
label,
min_value,
max_value,
increment,
default,
digits=2):
c = wx.SpinCtrlDouble(self.panel, -1)
c.SetRange(min_value, max_value)
c.SetValue(default)
c.SetIncrement(increment)
c.SetDigits(digits)
s1 = "%.*f" % (digits, min_value)
s2 = "%.*f" % (digits, max_value)
if len(s1) > len(s2):
s = s1
else:
s = s2
if hasattr(c, 'GetSizeFromText'):
size = c.GetSizeFromText(s + " ")
c.SetMinSize(size)
self.AddControl(c, label, default)
self.row.Add(wx.StaticText(self.panel, label=label), 0, wx.LEFT, 20)
self.row.Add(c, 0, wx.LEFT, 20)
self.row.Add(wx.StaticText(self.panel, label=""), 0, wx.LEFT, 20)
self.Bind(wx.EVT_SPINCTRLDOUBLE, self.OnValue)
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 AddSpinInteger(self, label, min_value, max_value, default):
c = wx.SpinCtrl(self.panel, -1)
c.SetRange(min_value, max_value)
c.SetValue(default)
self.AddControl(c, label, default)
self.row.Add(wx.StaticText(self.panel, label=label), 0, wx.LEFT, 20)
self.row.Add(c, 0, wx.LEFT, 20)
self.row.Add(wx.StaticText(self.panel, label=""), 0, wx.LEFT, 20)
self.Bind(wx.EVT_SPINCTRL, self.OnValue)
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 not obj.name in self.values:
# create a new status field
value = wx.StaticText(self.panel, -1, obj.text)
# 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(value, border=5)
self.status[obj.row].AddSpacer(20)
self.values[obj.name] = value
value = self.values[obj.name]
value.SetForegroundColour(obj.fg)
value.SetBackgroundColour(obj.bg)
value.SetLabel(obj.text)
self.panel.Layout()
#self.values_rest[obj.name] = {"text": obj.text, "fg": obj.fg, "bg": obj.bg, "row": obj.row}
elif isinstance(obj, Text):
'''request to add text to the console'''
#self.text_rest.add({"text": obj.text, "fg": obj.fg, "bg": obj.bg})
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, win_layout.WinLayout):
win_layout.set_wx_window_layout(self, obj)
def AddCombo(self, label, choices):
c = wx.ComboBox(choices=choices,
parent=self.panel,
style=0,
value=choices[0])
self.AddControl(c, label, choices[0])
c.Bind(wx.EVT_COMBOBOX, self.OnValue)
self.row.Add(wx.StaticText(self.panel, label=label), 0, wx.LEFT, 20)
self.row.Add(c, 0, wx.LEFT, 20)
def InitUI(self):
color = wx.Colour()
color.SetFromString(LIGHT_BACKGROUND)
self.SetBackgroundColour(scale_color(color, 0.95))
font = self.GetFont()
font.SetWeight(wx.FONTWEIGHT_BOLD)
font.SetPointSize(24)
self.SetFont(font)
self.SetMinSize((400, -1))
self.compass_text = wx.StaticText(self)
self.fitness_value_text = wx.StaticText(self)
font.SetWeight(wx.FONTWEIGHT_NORMAL)
self.fitness_value_text.SetFont(font)
self.parameters_sizer = self.CalibrationParameters()
fitness_sizer = wx.BoxSizer(wx.HORIZONTAL)
text = wx.StaticText(self, label='Fitness')
text.SetFont(self.fitness_value_text.GetFont())
fitness_sizer.Add(text, proportion=1, flag=wx.EXPAND)
fitness_sizer.Add(self.fitness_value_text)
sizer = wx.BoxSizer(wx.VERTICAL)
self.SetSizer(sizer)
sizer.AddSpacer(16)
sizer.Add(self.compass_text, border=16, flag=wx.LEFT | wx.RIGHT)
sizer.AddSpacer(16)
sizer.Add(self.StatusPanel(), flag=wx.EXPAND)
sizer.AddSpacer(16)
sizer.Add(fitness_sizer,
border=16,
flag=wx.LEFT | wx.RIGHT | wx.EXPAND)
sizer.AddSpacer(16)
sizer.Add(self.parameters_sizer,
border=16,
flag=wx.LEFT | wx.RIGHT | wx.BOTTOM | wx.EXPAND)
sizer.Hide(self.parameters_sizer)
def StartRow(self, label=None):
if self.row:
self.EndRow()
if label:
self.row = wx.BoxSizer(wx.HORIZONTAL)
text = wx.StaticText(self.panel, label=label)
font = wx.Font(16, wx.DEFAULT, wx.NORMAL, wx.BOLD)
text.SetFont(font)
self.row.Add(text, 0, wx.LEFT, 10)
self.vbox.Add(self.row, 0, wx.TOP, 10)
self.row = wx.BoxSizer(wx.HORIZONTAL)
def legend_panel(*k, **kw):
if MagcalPanel._legend_panel:
return MagcalPanel._legend_panel
p = MagcalPanel._legend_panel = wx.Panel(*k, **kw)
sizer = wx.BoxSizer(wx.HORIZONTAL)
p.SetSizer(sizer)
marker = wx.Panel(p, wx.ID_ANY, size=(10, 10))
marker.SetBackgroundColour(MagcalPanel._empty_color)
sizer.Add(marker, flag=wx.ALIGN_CENTER)
text = wx.StaticText(p, wx.ID_ANY)
text.SetLabel('Sections not hit')
sizer.Add(text, border=4, flag=wx.ALIGN_CENTER | wx.LEFT)
marker = wx.Panel(p, wx.ID_ANY, size=(10, 10))
marker.SetBackgroundColour(MagcalPanel._filled_color)
sizer.Add(marker, border=10, flag=wx.ALIGN_CENTER | wx.LEFT)
text = wx.StaticText(p, wx.ID_ANY)
text.SetLabel('Sections hit')
sizer.Add(text, border=4, flag=wx.ALIGN_CENTER | wx.LEFT)
return p
def __init__(self, *k, **kw):
super(MagcalPanel, self).__init__(*k, **kw)
facecolor = self.GetBackgroundColour().GetAsString(wx.C2S_HTML_SYNTAX)
fig = plt.figure(facecolor=facecolor, figsize=(1, 1))
self._canvas = FigureCanvas(self, wx.ID_ANY, fig)
self._canvas.SetMinSize((300, 300))
self._id_text = wx.StaticText(self, wx.ID_ANY)
self._status_text = wx.StaticText(self, wx.ID_ANY)
self._completion_pct_text = wx.StaticText(self, wx.ID_ANY)
sizer = wx.BoxSizer(wx.VERTICAL)
sizer.Add(self._id_text)
sizer.Add(self._status_text)
sizer.Add(self._completion_pct_text)
sizer.Add(self._canvas, proportion=1, flag=wx.EXPAND)
self.SetSizer(sizer)
ax = fig.add_subplot(111, axis_bgcolor=facecolor, projection='3d')
self.configure_plot(ax)
def Header(self, parent):
header = Panel(parent)
header.SetBackgroundColour(LIGHT_BACKGROUND)
sizer = wx.BoxSizer(wx.VERTICAL)
header.SetSizer(sizer)
font = header.GetFont()
font.SetWeight(wx.FONTWEIGHT_BOLD)
text = wx.StaticText(header)
text.SetLabel('Compass Calibration')
text.SetForegroundColour(PRIMARY_HIGHLIGHT)
font.SetPointSize(26)
text.SetFont(font)
sizer.Add(text, border=16, flag=wx.ALL & ~wx.BOTTOM)
text = wx.StaticText(header)
text.SetLabel('Follow the procedure to calibrate your compass')
font.SetPointSize(14)
text.SetFont(font)
sizer.Add(text, border=16, flag=wx.ALL & ~wx.TOP)
return header
def StatusPanel(self):
panel = Panel(self)
panel.SetBackgroundColour(ReportDialog.light_background)
self.status_icon = ReportDialog.StatusIcon(panel, size=(44, 44))
self.status_text = wx.StaticText(panel)
sizer = wx.BoxSizer(wx.HORIZONTAL)
panel.SetSizer(sizer)
sizer.AddSpacer(16)
sizer.Add(self.status_icon, border=5, flag=wx.TOP | wx.BOTTOM)
sizer.AddSpacer(16)
sizer.Add(self.status_text, flag=wx.ALIGN_CENTER)
sizer.AddSpacer(16)
return panel
def _add_input(self, setting, ctrl, ctrl2=None, value=None):
tab_name = setting.tab
label = setting.label
tab = self.panel(tab_name)
box = wx.BoxSizer(wx.HORIZONTAL)
labelctrl = wx.StaticText(tab, -1, label)
box.Add(labelctrl, 0, wx.ALIGN_CENTRE | wx.ALL, 5)
box.Add(ctrl, 1, wx.ALIGN_CENTRE | wx.ALL, 5)
if ctrl2 is not None:
box.Add(ctrl2, 0, wx.ALIGN_CENTRE | wx.ALL, 5)
self.sizer(tab_name).Add(box, 0, wx.GROW | wx.ALL, 5)
self.controls[label] = ctrl
if value is not None:
ctrl.Value = value
else:
ctrl.Value = str(setting.value)
self.control_map[ctrl.GetId()] = label
self.setting_map[label] = setting
def LoaderProgress(self, parent):
panel = wx.Panel(parent)
panel.SetBackgroundColour(parent.GetBackgroundColour())
font = panel.GetFont()
font.MakeItalic()
panel.SetFont(font)
self.load_progress = wx.Gauge(panel, size=(-1, 10))
self.load_progress_last_time = time.time()
self.load_text = wx.StaticText(panel)
sizer = wx.BoxSizer(wx.VERTICAL)
panel.SetSizer(sizer)
sizer.Add(self.load_progress, border=10, flag=wx.EXPAND | wx.LEFT | wx.RIGHT)
sizer.Add(self.load_text, border=10, flag=wx.LEFT | wx.RIGHT)
return panel
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 ProgressPanel(self, parent):
panel = Panel(parent)
panel.SetBackgroundColour(LIGHT_BACKGROUND)
self.progress = wx.StaticText(panel, label='0%')
font = self.progress.GetFont()
font.SetPointSize(70)
font.SetWeight(wx.FONTWEIGHT_BOLD)
self.progress.SetFont(font)
self.grid = GeodesicGrid(panel)
self.grid.SetMinSize((365, 365))
sizer = wx.BoxSizer(wx.VERTICAL)
panel.SetSizer(sizer)
sizer.AddStretchSpacer()
sizer.Add(self.grid, flag=wx.ALIGN_CENTER)
sizer.AddStretchSpacer()
sizer.AddSpacer(16)
sizer.Add(self.progress, flag=wx.ALIGN_CENTER)
sizer.AddStretchSpacer()
return panel
def CalibrationParameters(self):
self.offsets_texts = tuple(wx.StaticText(self) for _ in range(3))
self.diagonals_texts = tuple(wx.StaticText(self) for _ in range(3))
self.offdiagonals_texts = tuple(
wx.StaticText(self) for _ in range(3))
table = (
('Offsets', self.offsets_texts),
('Diagonals', self.diagonals_texts),
('Off-diagonals', self.offdiagonals_texts),
)
sizer = wx.FlexGridSizer(len(table) + 1, 4, 4, 10)
sizer.AddGrowableCol(0)
font = self.GetFont()
font.SetPointSize(14)
font.MakeItalic()
text = wx.StaticText(self, label='Parameter')
text.SetFont(font)
sizer.Add(text)
for label in ('X', 'Y', 'Z'):
text = wx.StaticText(self, label=label)
text.SetFont(font)
sizer.Add(text, flag=wx.ALIGN_CENTER)
font.SetWeight(wx.FONTWEIGHT_NORMAL)
for label, (x, y, z) in table:
text = wx.StaticText(self)
text.SetLabel(label)
text.SetFont(font)
x.SetFont(font)
y.SetFont(font)
z.SetFont(font)
sizer.Add(text)
sizer.Add(x, flag=wx.ALIGN_RIGHT)
sizer.Add(y, flag=wx.ALIGN_RIGHT)
sizer.Add(z, flag=wx.ALIGN_RIGHT)
return sizer
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 updateLayout(self, layout):
'''Update (recreate) the GUI layout, based on known vehicles'''
leaders = [] # array of (sysid, compid, followid, vehtype)
# create list of leaders, another vehicle has it's sysid as leader
for veh in layout:
for vehL in layout:
if vehL[2] == veh[0] and veh not in leaders:
leaders.append(veh)
# create list of followers
followers = {} # dict of key=leadersysid, (sysid, compid, vehtype)
maxfollowers = 0
for veh in layout:
# don't include leaders in the follower list
if veh[2] != 0:
if veh[2] not in followers.keys():
followers[veh[2]] = [(veh[0], veh[1], veh[3])]
else:
followers[veh[2]].append((veh[0], veh[1], veh[3]))
if len(followers[veh[2]]) > maxfollowers:
maxfollowers = len(followers[veh[2]])
# sort followers by sysid increasing
for fwr in followers.keys():
followers[fwr].sort(key=lambda tup: tup[0])
# Any unassigned vehicles: Leader with 0 followers OR leader not present
# OR vehicles not present in either list (leftovers)
unassignedVeh = [] # (sysid, compid, vehtype)
# Leader with no followers
for index, veh in enumerate(leaders):
if veh[0] not in followers.keys():
del leaders[index]
unassignedVeh.append((veh[0], veh[1], veh[3]))
# Not present in either list
allfollowersflat = []
for fl in followers.items():
for vv in fl[1]:
allfollowersflat.append(vv[0])
for veh in layout:
if (veh not in leaders) and veh[0] not in allfollowersflat:
unassignedVeh.append((veh[0], veh[1], veh[3]))
# Leader not present
for leader in followers.copy().keys():
if leader not in [i[0] for i in leaders]:
for veh in followers[leader]:
unassignedVeh.append(veh)
del followers[leader] # followers.remove(leader)
self.sizer.Clear(True)
colsVeh = max(maxfollowers, len(unassignedVeh))
self.sizer = wx.FlexGridSizer((len(leaders)*2) + 1, colsVeh+1+1, 5, 0)
# start populating the grid
# for each row:
for leader in leaders:
panelLeader = VehiclePanel(
self.state, self.panel, leader[0], leader[1], leader[3], True, followers[leader[0]], self.takeoffalt)
self.sizer.Add(panelLeader)
# add vertical line
line = wx.StaticLine(self.panel, style=wx.LI_VERTICAL)
self.sizer.Add(line, proportion=0, flag=wx.EXPAND |
wx.LEFT | wx.RIGHT, border=5)
for follower in range(colsVeh):
if leader[0] in followers.keys() and len(followers[leader[0]]) > follower:
panelFollower = VehiclePanel(self.state, self.panel, followers[leader[0]][follower][0], followers[
leader[0]][follower][1], followers[leader[0]][follower][2], False, None, self.takeoffalt)
else:
panelFollower = wx.StaticText(self.panel, label="N/A")
self.sizer.Add(panelFollower, flag=wx.EXPAND |
wx.LEFT | wx.RIGHT, border=5)
# add horizontal line, column by column
for follower in range(colsVeh+1+1):
line = wx.StaticLine(self.panel, style=wx.LI_HORIZONTAL)
self.sizer.Add(line, proportion=0,
flag=wx.EXPAND | wx.ALL, border=0)
# add "unassigned" row
panelUnassigned = UnassignedPanel(self.state, self.panel)
self.sizer.Add(panelUnassigned, flag=wx.EXPAND |
wx.LEFT | wx.RIGHT, border=5)
line = wx.StaticLine(self.panel, style=wx.LI_VERTICAL)
self.sizer.Add(line, proportion=0, flag=wx.EXPAND |
wx.LEFT | wx.RIGHT, border=5)
for veh in unassignedVeh:
panelunassigned = VehiclePanel(
self.state, self.panel, veh[0], veh[1], veh[2], False, None, self.takeoffalt)
self.sizer.Add(panelunassigned)
self.panel.SetSizer(self.sizer)
self.panel.Layout()
self.panel.SetupScrolling()
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))
