def __init__(self):
super(CalibrationDialog, self).__init__(None)
self.host = ''
if len(sys.argv) > 1:
self.host = sys.argv[1]
self.client = False
self.accel_calibration_plot = calibration_plot.AccelCalibrationPlot()
self.accel_calibration_glContext = wx.glcanvas.GLContext(
self.AccelCalibration)
self.compass_calibration_plot = calibration_plot.CompassCalibrationPlot(
)
self.compass_calibration_glContext = wx.glcanvas.GLContext(
self.CompassCalibration)
self.boat_plot = boatplot.BoatPlot()
self.boat_plot_glContext = wx.glcanvas.GLContext(self.BoatPlot)
self.dsServoMaxCurrent.SetIncrement(.1)
self.dsServoMaxCurrent.SetDigits(1)
self.dsServoMaxCurrent.Bind(wx.EVT_SPINCTRLDOUBLE, self.onMaxCurrent)
self.lastmouse = False
self.alignment_count = 0
self.timer = wx.Timer(self, self.ID_MESSAGES)
self.timer.Start(50)
self.Bind(wx.EVT_TIMER, self.receive_messages, id=self.ID_MESSAGES)
self.heading_offset_timer = wx.Timer(self, self.ID_HEADING_OFFSET)
self.Bind(wx.EVT_TIMER,
lambda e: self.sHeadingOffset.SetValue(
round3(self.signalk_heading_offset)),
id=self.ID_HEADING_OFFSET)
self.servo_timer = wx.Timer(self, self.ID_CALIBRATE_SERVO)
self.Bind(wx.EVT_TIMER,
self.calibrate_servo_timer,
id=self.ID_CALIBRATE_SERVO)
self.servoprocess = False
self.alignmentQ = [1, 0, 0, 0]
self.fusionQPose = [1, 0, 0, 0]
def __init__(self):
super(CalibrationDialog, self).__init__(None)
self.host = ''
if len(sys.argv) > 1:
self.host = sys.argv[1]
self.client = False
self.accel_calibration_plot = calibration_plot.AccelCalibrationPlot()
self.accel_calibration_glContext = wx.glcanvas.GLContext(
self.AccelCalibration)
self.compass_calibration_plot = calibration_plot.CompassCalibrationPlot(
)
self.compass_calibration_glContext = wx.glcanvas.GLContext(
self.CompassCalibration)
self.boat_plot = boatplot.BoatPlot()
self.boat_plot_glContext = wx.glcanvas.GLContext(self.BoatPlot)
self.lastmouse = False
self.alignment_count = 0
self.timer = wx.Timer(self, self.ID_MESSAGES)
self.timer.Start(50)
self.Bind(wx.EVT_TIMER, self.receive_messages, id=self.ID_MESSAGES)
self.heading_offset_timer = wx.Timer(self, self.ID_HEADING_OFFSET)
self.Bind(wx.EVT_TIMER,
lambda e: self.sHeadingOffset.SetValue(
round3(self.signalk_heading_offset)),
id=self.ID_HEADING_OFFSET)
self.have_rudder = False
self.request_msg_timer = wx.Timer(self, self.ID_REQUEST_MSG)
self.Bind(wx.EVT_TIMER, self.request_msg, id=self.ID_REQUEST_MSG)
self.request_msg_timer.Start(250)
self.fusionQPose = [1, 0, 0, 0]
self.controltimes = {}
self.settings = {}
def receive_message(self, msg):
name, data = msg
value = data['value']
self.compass_calibration_plot.read_data(msg)
if name == 'imu.compass':
self.CompassCalibration.Refresh()
if name == 'imu.compass_calibration':
self.stCompassCal.SetLabel(str(round3(value[0])))
self.stCompassCalDeviation.SetLabel('N/A')
elif name == 'imu.compass_calibration_age':
self.stCompassCalAge.SetLabel(str(value))
elif name == 'imu.compass_calibration_locked':
self.cbCompassCalibrationLocked.SetValue(value)
elif name == 'imu.alignmentQ':
self.alignmentQ = value
self.stAlignment.SetLabel(
str(round3(value)) + ' ' +
str(math.degrees(pypilot.quaternion.angle(self.alignmentQ))))
elif name == 'imu.fusionQPose':
if self.cCoords.GetSelection() == 1:
self.boat_plot.Q = pypilot.quaternion.multiply(
self.boat_plot.Q, self.fusionQPose)
self.boat_plot.Q = pypilot.quaternion.multiply(
self.boat_plot.Q, pypilot.quaternion.conjugate(value))
elif self.cCoords.GetSelection() == 2:
ang = pypilot.quaternion.toeuler(
self.fusionQPose)[2] - pypilot.quaternion.toeuler(value)[2]
self.boat_plot.Q = pypilot.quaternion.multiply(
self.boat_plot.Q,
pypilot.quaternion.angvec2quat(ang, [0, 0, 1]))
self.fusionQPose = value
self.BoatPlot.Refresh()
elif name == 'imu.alignmentCounter':
self.gAlignment.SetValue(100 - value)
enable = value == 0
self.bLevel.Enable(enable)
elif name == 'imu.pitch':
self.stPitch.SetLabel(str(round3(value)))
elif name == 'imu.roll':
self.stRoll.SetLabel(str(round3(value)))
elif name == 'imu.heel':
self.stHeel.SetLabel(str(round3(value)))
elif name == 'imu.heading':
self.stHeading.SetLabel(str(round3(value)))
elif name == 'imu.heading_offset':
self.signalk_heading_offset = value
self.heading_offset_timer.Start(1000, True)
elif name == 'servo.calibration':
s = ''
for name in value:
s += name + ' = ' + str(value[name]) + '\n'
self.stServoCalibration.SetLabel(s)
self.SetSize(wx.Size(self.GetSize().x + 1, self.GetSize().y))
elif name == 'servo.calibration/console':
self.stServoCalibrationConsole.SetLabel(
self.stServoCalibrationConsole.GetLabel() + value)
elif name == 'servo.max_current':
self.dsServoMaxCurrent.SetValue(round3(value))
def __init__(self):
super(CalibrationDialog, self).__init__(None)
self.host = ''
if len(sys.argv) > 1:
self.host = sys.argv[1]
self.client = False
self.accel_calibration_plot = calibration_plot.AccelCalibrationPlot()
self.accel_calibration_glContext = wx.glcanvas.GLContext(
self.AccelCalibration)
self.compass_calibration_plot = calibration_plot.CompassCalibrationPlot(
)
self.compass_calibration_glContext = wx.glcanvas.GLContext(
self.CompassCalibration)
self.boat_plot = boatplot.BoatPlot()
self.boat_plot_glContext = wx.glcanvas.GLContext(self.BoatPlot)
self.dsServoMaxCurrent.SetIncrement(.1)
self.dsServoMaxCurrent.SetDigits(1)
self.dsServoMaxCurrent.Bind(wx.EVT_SPINCTRLDOUBLE, self.onMaxCurrent)
self.dsServoMaxControllerTemp.SetRange(45, 100)
self.dsServoMaxControllerTemp.Bind(wx.EVT_SPINCTRL,
self.onMaxControllerTemp)
self.dsServoMaxMotorTemp.SetRange(30, 100)
self.dsServoMaxMotorTemp.Bind(wx.EVT_SPINCTRL, self.onMaxMotorTemp)
self.dsServoCurrentFactor.SetRange(.8, 1.2)
self.dsServoCurrentFactor.SetIncrement(.0016)
self.dsServoCurrentFactor.SetDigits(4)
self.dsServoCurrentFactor.Bind(wx.EVT_SPINCTRLDOUBLE,
self.onCurrentFactor)
self.dsServoCurrentOffset.SetRange(-1.2, 1.2)
self.dsServoCurrentOffset.SetIncrement(.01)
self.dsServoCurrentOffset.SetDigits(2)
self.dsServoCurrentOffset.Bind(wx.EVT_SPINCTRLDOUBLE,
self.onCurrentOffset)
self.dsServoVoltageFactor.SetRange(.8, 1.2)
self.dsServoVoltageFactor.SetIncrement(.0016)
self.dsServoVoltageFactor.SetDigits(4)
self.dsServoVoltageFactor.Bind(wx.EVT_SPINCTRLDOUBLE,
self.onVoltageFactor)
self.dsServoVoltageOffset.SetRange(-1.2, 1.2)
self.dsServoVoltageOffset.SetIncrement(.01)
self.dsServoVoltageOffset.SetDigits(2)
self.dsServoVoltageOffset.Bind(wx.EVT_SPINCTRLDOUBLE,
self.onVoltageOffset)
self.dsServoMaxSlewSpeed.SetRange(0, 100)
self.dsServoMaxSlewSpeed.Bind(wx.EVT_SPINCTRL, self.onMaxSlewSpeed)
self.dsServoMaxSlewSlow.SetRange(0, 100)
self.dsServoMaxSlewSlow.Bind(wx.EVT_SPINCTRL, self.onMaxSlewSlow)
self.dsServoGain.SetIncrement(.1)
self.dsServoGain.SetDigits(1)
self.dsServoGain.Bind(wx.EVT_SPINCTRLDOUBLE, self.onServoGain)
self.lastmouse = False
self.alignment_count = 0
self.timer = wx.Timer(self, self.ID_MESSAGES)
self.timer.Start(50)
self.Bind(wx.EVT_TIMER, self.receive_messages, id=self.ID_MESSAGES)
self.heading_offset_timer = wx.Timer(self, self.ID_HEADING_OFFSET)
self.Bind(wx.EVT_TIMER,
lambda e: self.sHeadingOffset.SetValue(
round3(self.signalk_heading_offset)),
id=self.ID_HEADING_OFFSET)
self.servo_timer = wx.Timer(self, self.ID_CALIBRATE_SERVO)
self.Bind(wx.EVT_TIMER,
self.calibrate_servo_timer,
id=self.ID_CALIBRATE_SERVO)
self.request_msg_timer = wx.Timer(self, self.ID_REQUEST_MSG)
self.Bind(wx.EVT_TIMER, self.request_msg, id=self.ID_REQUEST_MSG)
self.request_msg_timer.Start(200)
self.servoprocess = False
self.alignmentQ = [1, 0, 0, 0]
self.fusionQPose = [1, 0, 0, 0]
def receive_message(self, msg):
name, data = msg
value = data['value']
self.accel_calibration_plot.read_data(msg)
if name == 'imu.accel':
self.AccelCalibration.Refresh()
elif name == 'imu.accel.calibration':
self.stAccelCal.SetLabel(str(round3(value)))
elif name == 'imu.accel.calibration.age':
self.stAccelCalAge.SetLabel(str(value))
elif name == 'imu.accel.calibration.locked':
self.cbAccelCalibrationLocked.SetValue(value)
self.compass_calibration_plot.read_data(msg)
if name == 'imu.compass':
self.CompassCalibration.Refresh()
elif name == 'imu.compass.calibration':
self.stCompassCal.SetLabel(str(round3(value[0])))
elif name == 'imu.compass.calibration.age':
self.stCompassCalAge.SetLabel(str(value))
elif name == 'imu.compass.calibration.locked':
self.cbCompassCalibrationLocked.SetValue(value)
elif name == 'imu.alignmentQ':
self.alignmentQ = value
self.stAlignment.SetLabel(
str(round3(value)) + ' ' +
str(math.degrees(pypilot.quaternion.angle(self.alignmentQ))))
elif name == 'imu.fusionQPose':
if self.cCoords.GetSelection() == 1:
self.boat_plot.Q = pypilot.quaternion.multiply(
self.boat_plot.Q, self.fusionQPose)
self.boat_plot.Q = pypilot.quaternion.multiply(
self.boat_plot.Q, pypilot.quaternion.conjugate(value))
elif self.cCoords.GetSelection() == 2:
ang = pypilot.quaternion.toeuler(
self.fusionQPose)[2] - pypilot.quaternion.toeuler(value)[2]
self.boat_plot.Q = pypilot.quaternion.multiply(
self.boat_plot.Q,
pypilot.quaternion.angvec2quat(ang, [0, 0, 1]))
self.fusionQPose = value
self.BoatPlot.Refresh()
elif name == 'imu.alignmentCounter':
self.gAlignment.SetValue(100 - value)
enable = value == 0
self.bLevel.Enable(enable)
elif name == 'imu.pitch':
self.stPitch.SetLabel(str(round3(value)))
elif name == 'imu.roll':
self.stRoll.SetLabel(str(round3(value)))
elif name == 'imu.heel':
self.stHeel.SetLabel(str(round3(value)))
elif name == 'imu.heading':
self.stHeading.SetLabel(str(round3(value)))
elif name == 'imu.heading_offset':
self.signalk_heading_offset = value
self.heading_offset_timer.Start(1000, True)
elif name == 'servo.rudder':
self.stRudderAngle.SetLabel(str(round3(value)))
self.rudder = value
elif name == 'servo.flags':
self.stServoFlags.SetLabel(value)
elif name == 'servo.rudder.offset':
self.stRudderOffset.SetLabel(str(round3(value)))
self.rudder_offset = value
elif name == 'servo.rudder.scale':
self.rudder_scale = value
elif name == 'servo.rudder.range':
self.sRudderRange.SetValue(value)
self.rudder_range = value
elif name == 'servo.calibration':
s = ''
for name in value:
s += name + ' = ' + str(value[name]) + '\n'
self.stServoCalibration.SetLabel(s)
self.SetSize(wx.Size(self.GetSize().x + 1, self.GetSize().y))
elif name == 'servo.max_current':
self.dsServoMaxCurrent.SetValue(round3(value))
elif name == 'servo.max_controller_temp':
self.dsServoMaxControllerTemp.SetValue(value)
elif name == 'servo.max_motor_temp':
self.dsServoMaxMotorTemp.SetValue(value)
elif name == 'servo.current.factor':
self.dsServoCurrentFactor.SetValue(round(value, 4))
elif name == 'servo.current.offset':
self.dsServoCurrentOffset.SetValue(value)
elif name == 'servo.voltage.factor':
self.dsServoVoltageFactor.SetValue(round(value, 4))
elif name == 'servo.voltage.offset':
self.dsServoVoltageOffset.SetValue(value)
elif name == 'servo.max_slew_speed':
self.dsServoMaxSlewSpeed.SetValue(value)
elif name == 'servo.max_slew_slow':
self.dsServoMaxSlewSlow.SetValue(value)
elif name == 'servo.voltage':
self.m_stServoVoltage.SetLabel(str(round3(value)))
elif name == 'servo.current':
self.m_stServoCurrent.SetLabel(str(round3(value)))
def receive_message(self, msg):
name, data = msg
value = data['value']
if self.m_notebook.GetSelection() == 0:
if name == 'imu.alignmentQ':
self.stAlignment.SetLabel(str(round3(value)) + ' ' + str(math.degrees(pypilot.quaternion.angle(value))))
elif name == 'imu.fusionQPose':
if not value:
return # no imu! show warning?
if self.cCoords.GetSelection() == 1:
self.boat_plot.Q = pypilot.quaternion.multiply(self.boat_plot.Q, self.fusionQPose)
self.boat_plot.Q = pypilot.quaternion.multiply(self.boat_plot.Q, pypilot.quaternion.conjugate(value))
elif self.cCoords.GetSelection() == 2:
ang = pypilot.quaternion.toeuler(self.fusionQPose)[2] - pypilot.quaternion.toeuler(value)[2]
self.boat_plot.Q = pypilot.quaternion.multiply(self.boat_plot.Q, pypilot.quaternion.angvec2quat(ang, [0, 0, 1]))
self.fusionQPose = value
self.BoatPlot.Refresh()
elif name=='imu.alignmentCounter':
self.gAlignment.SetValue(100 - value)
enable = value == 0
self.bLevel.Enable(enable)
elif name == 'imu.pitch':
self.stPitch.SetLabel(str(round3(value)))
elif name == 'imu.roll':
self.stRoll.SetLabel(str(round3(value)))
elif name == 'imu.heel':
self.stHeel.SetLabel(str(round3(value)))
elif name == 'imu.heading':
self.stHeading.SetLabel(str(round3(value)))
elif name == 'imu.heading_offset':
self.signalk_heading_offset = value
self.heading_offset_timer.Start(1000, True)
elif self.m_notebook.GetSelection() == 1:
self.accel_calibration_plot.read_data(msg)
if name == 'imu.accel':
self.AccelCalibration.Refresh()
elif name == 'imu.accel.calibration':
self.stAccelCal.SetLabel(str(round3(value)))
elif name == 'imu.accel.calibration.age':
self.stAccelCalAge.SetLabel(str(value))
elif name == 'imu.accel.calibration.locked':
self.cbAccelCalibrationLocked.SetValue(value)
elif self.m_notebook.GetSelection() == 2:
self.compass_calibration_plot.read_data(msg)
if name == 'imu.compass':
self.CompassCalibration.Refresh()
elif name == 'imu.compass.calibration':
self.stCompassCal.SetLabel(str(round3(value[0])))
elif name == 'imu.compass.calibration.age':
self.stCompassCalAge.SetLabel(str(value))
elif name == 'imu.compass.calibration.locked':
self.cbCompassCalibrationLocked.SetValue(value)
elif self.m_notebook.GetSelection() == 3:
if name == 'rudder.angle':
self.UpdateLabel(self.stRudderAngle, str(round3(value)))
self.have_rudder = type(value) != type(bool)
elif name == 'rudder.offset':
self.UpdateLabel(self.stRudderOffset, str(round3(value)))
elif name == 'rudder.scale':
self.UpdateLabel(self.stRudderScale, (str(round3(value))))
elif name == 'rudder.nonlinearity':
self.UpdateLabel(self.stRudderNonlinearity, str(round3(value)))
elif name == 'rudder.range':
self.UpdatedSpin(self.sRudderRange, value)
elif self.m_notebook.GetSelection() == 4:
for n in self.settings:
if name == n:
self.UpdatedSpin(self.settings[name], value)
break