def __init__(self, filename):
self.root = Tkinter.Tk()
self.filesize = os.path.getsize(filename)
self.filepos = 0.0
self.mlog = mavutil.mavlink_connection(filename, planner_format=opts.planner,
robust_parsing=True)
self.mout = []
for m in opts.out:
self.mout.append(mavutil.mavudp(m, input=False))
self.fgout = []
for f in opts.fgout:
self.fgout.append(mavutil.mavudp(f, input=False))
self.fdm = fgFDM.fgFDM()
self.msg = self.mlog.recv_match(condition=opts.condition)
if self.msg is None:
sys.exit(1)
self.last_timestamp = getattr(self.msg, '_timestamp')
self.paused = False
self.topframe = Tkinter.Frame(self.root)
self.topframe.pack(side=Tkinter.TOP)
self.frame = Tkinter.Frame(self.root)
self.frame.pack(side=Tkinter.LEFT)
self.slider = Tkinter.Scale(self.topframe, from_=0, to=1.0, resolution=0.01,
orient=Tkinter.HORIZONTAL, command=self.slew)
self.slider.pack(side=Tkinter.LEFT)
self.clock = Tkinter.Label(self.topframe,text="")
self.clock.pack(side=Tkinter.RIGHT)
self.playback = Tkinter.Spinbox(self.topframe, from_=0, to=20, increment=0.1, width=3)
self.playback.pack(side=Tkinter.BOTTOM)
self.playback.delete(0, "end")
self.playback.insert(0, 1)
self.buttons = {}
self.button('quit', 'gtk-quit.gif', self.frame.quit)
self.button('pause', 'media-playback-pause.gif', self.pause)
self.button('rewind', 'media-seek-backward.gif', self.rewind)
self.button('forward', 'media-seek-forward.gif', self.forward)
self.button('status', 'Status', self.status)
self.flightmode = Tkinter.Label(self.frame,text="")
self.flightmode.pack(side=Tkinter.RIGHT)
self.next_message()
self.root.mainloop()
def listen_udp(self):
print "listening udp!"
# for now, we'll just accept a UDP stream:
self.m = mavutil.mavudp('localhost:6666', input=True);
self.m.close() # don't listen for stuff yourself, but we'll pass it in later from Qt
#self.m.mav.set_callback(master_callback, self.m)
self.m.linknum = 1
self.m.linkerror = False
self.m.link_delayed = False
self.m.last_heartbeat = 0
self.m.highest_usec = 0
# Qt method:
self.udpSocket = QtNetwork.QUdpSocket(self)
self.udpSocket.bind(QtNetwork.QHostAddress(QtNetwork.QHostAddress.Any),6678);
self.connect(self.udpSocket, QtCore.SIGNAL("readyRead()"),self.read_all_q)
if opts.mav10:
os.environ['MAVLINK10'] = '1'
import mavutil
if len(args) < 1:
parser.print_help()
sys.exit(1)
filename = args[0]
mlog = mavutil.mavlink_connection(filename, planner_format=opts.planner,
robust_parsing=opts.robust)
mout = []
for m in opts.out:
mout.append(mavutil.mavudp(m, input=False))
fgout = []
for f in opts.fgout:
fgout.append(mavutil.mavudp(f, input=False))
fdm = fgFDM.fgFDM()
playpack_speed = 1.0
last_timestamp = None
while True:
msg = mlog.recv_match(condition=opts.condition)
if msg is None:
break