class PlotPanel(object):
def __init__(self, parent, frame):
self.parent = parent # we are drawing on our parent, so dc comes from this
self.frame = frame # the frame owns any controls we might need to update
parent.SetDropTarget(TextDropTarget(
self)) # calls self.OnDropText when drag and drop complete
self.width = 800
self.height = 200
self.margin = min(self.height / 10, 20)
self.font = wx.Font(self.margin / 2, wx.DEFAULT, wx.FONTSTYLE_NORMAL,
wx.FONTWEIGHT_NORMAL)
self.pixmap = wx.EmptyBitmap(self.width, self.height)
self.plot_size = self.width
self.max = -1e32
self.min = 1e32
self.plot_interval = 200
self.plots = {}
self.auto_scale = True
self.offset = 0.0
self.scale = 1.0
self.x_axis = None
messages_xml_map.parse_messages()
self.ivy_interface = IvyMessagesInterface(_IVY_APPNAME)
# start the timer
self.timer = wx.FutureCall(self.plot_interval, self.OnTimer)
def SetPlotInterval(self, value):
self.plot_interval = value
self.timer.Restart(self.plot_interval)
self.timer = wx.FutureCall(self.plot_interval, self.OnTimer)
def SetAutoScale(self, value):
self.auto_scale = value
def SetMin(self, value):
self.min = value
def SetMax(self, value):
self.max = value
def Pause(self, pause):
if pause:
self.timer.Stop()
else:
self.timer = wx.FutureCall(self.plot_interval, self.OnTimer)
def ResetScale(self):
self.max = -1e32
self.min = 1e32
def OnClose(self):
self.timer.Stop()
try:
IvyStop()
except IvyIllegalStateError as e:
print(e)
def OnErase(self, event):
pass
def ShowMessagePicker(self, parent):
frame = messagepicker.MessagePicker(parent, self.BindCurve,
self.ivy_interface)
frame.Show()
def OnDropText(self, data):
[ac_id, category, message, field,
scale] = data.encode('ASCII').split(':')
self.BindCurve(int(ac_id), message, field, scale=float(scale))
def OnIvyMsg(self, agent, *larg):
# print(larg[0])
data = larg[0].split(' ')
ac_id = int(data[0])
message = data[1]
if ac_id not in self.plots:
return
if message not in self.plots[ac_id]:
return
for field in self.plots[ac_id][message]:
plot = self.plots[ac_id][message][field]
ix = messages_xml_map.message_dictionary["telemetry"][
message].index(field)
point = float(data[ix + 2])
if self.x_axis is None or self.x_axis.id != plot.id:
if self.auto_scale:
scaled_point = (point + plot.offset) * plot.scale
self.max = max(self.max, scaled_point)
self.min = min(self.min, scaled_point)
if self.x_axis is not None:
plot.index = self.x_axis.index
plot.AddPoint(point, self.x_axis)
def BindCurve(self,
ac_id,
message,
field,
color=None,
use_as_x=False,
scale=1.0):
# -- add this telemetry to our list of things to plot ...
message_string = _IVY_STRING % (ac_id, message)
# print('Binding to %s' % message_string)
if ac_id not in self.plots:
self.plots[ac_id] = {}
if message not in self.plots[ac_id]:
self.plots[ac_id][message] = {}
if field in self.plots[ac_id][message]:
self.plots[ac_id][message][field].color = wx.Color(
random.randint(0, 255), random.randint(0, 255),
random.randint(0, 255))
return
ivy_id = self.ivy_interface.bind_raw(self.OnIvyMsg,
str(message_string))
title = '%i:%s:%s' % (ac_id, message, field)
self.plots[ac_id][message][field] = PlotData(ivy_id, title,
self.plot_size, color,
scale)
self.frame.AddCurve(ivy_id, title, use_as_x)
if use_as_x:
self.x_axis = self.plots[ac_id][message][field]
def CalcMinMax(self, plot):
if not self.auto_scale: return
for x in plot.data:
self.max = max(self.max, x)
self.min = min(self.min, x)
self.frame.SetMinMax(self.min, self.max)
def FindPlotName(self, ivy_id):
for ac_id in self.plots:
for msg in self.plots[ac_id]:
for field in self.plots[ac_id][msg]:
if self.plots[ac_id][msg][field].id == ivy_id:
return (ac_id, msg, field)
return (None, None, None)
def FindPlot(self, ivy_id):
(ac_id, msg, field) = self.FindPlotName(ivy_id)
if ac_id is None:
return None
return self.plots[ac_id][msg][field]
def RemovePlot(self, ivy_id):
(ac_id, msg, field) = self.FindPlotName(ivy_id)
if ac_id is None:
return
if (self.x_axis is not None) and (self.x_axis.id == ivy_id):
self.x_axis = None
self.ivy_interface.unbind(ivy_id)
del self.plots[ac_id][msg][field]
if len(self.plots[ac_id][msg]) == 0:
del self.plots[ac_id][msg]
def OffsetPlot(self, ivy_id, offset):
plot = self.FindPlot(ivy_id)
if plot is None:
return
plot.SetOffset(offset)
print('panel value: %.2f' % value)
CalcMinMax(plot)
def ScalePlot(self, ivy_id, offset):
plot = self.FindPlot(ivy_id)
if plot is None:
return
plot.SetScale(offset)
CalcMinMax(plot)
def SetRealTime(self, ivy_id, value):
plot = self.FindPlot(ivy_id)
if plot is None:
return
plot.SetRealTime(value)
def SetXAxis(self, ivy_id):
plot = self.FindPlot(ivy_id)
if plot is None:
return
self.x_axis = plot
def ClearXAxis(self):
self.x_axis = None
def OnSize(self, size):
(width, height) = size
if self.width == width and self.height == height:
return
self.pixmap = wx.EmptyBitmap(width, height)
self.width = width
self.height = height
self.plot_size = width
self.margin = min(self.height / 10, 20)
self.font = wx.Font(self.margin / 2, wx.DEFAULT, wx.FONTSTYLE_NORMAL,
wx.FONTWEIGHT_NORMAL)
def OnTimer(self):
self.timer.Restart(self.plot_interval)
self.frame.SetMinMax(self.min, self.max)
self.DrawFrame()
def DrawFrame(self):
dc = wx.ClientDC(self.parent)
bdc = wx.BufferedDC(dc, self.pixmap)
bdc.SetBackground(wx.Brush("White"))
bdc.Clear()
self.DrawBackground(bdc, self.width, self.height)
title_y = 2
for ac_id in self.plots:
for message in self.plots[ac_id]:
for field in self.plots[ac_id][message]:
plot = self.plots[ac_id][message][field]
if (self.x_axis is not None) and (self.x_axis.id
== plot.id):
continue
title_height = plot.DrawTitle(bdc, 2, self.width, title_y)
plot.DrawCurve(bdc, self.width, self.height, self.margin,
self.max, self.min, self.x_axis)
title_y += title_height + 2
def DrawBackground(self, dc, width, height):
# Time Graduations
dc.SetFont(self.font)
if self.x_axis is None:
t = self.plot_interval * width
t1 = "0.0s"
t2 = "-%.1fs" % (t / 2000.0)
t3 = "-%.1fs" % (t / 1000.0)
else:
x_max = self.x_axis.x_max
x_min = self.x_axis.x_min
t1 = "%.2f" % x_max
t2 = "%.2f" % (x_min + (x_max - x_min) / 2.0)
t3 = "%.2f" % x_min
(w, h) = dc.GetTextExtent(t1)
dc.DrawText(t1, width - w, height - h)
# (w,h) = dc.GetTextExtent(t2) #save time since h will be the same
dc.DrawText(t2, width / 2, height - h)
# (w,h) = dc.GetTextExtent(t3) #save time since h will be the same
dc.DrawText(t3, 0, height - h)
# Y graduations
if self.max == -1e32:
return
(_min_, _max_) = (self.min, self.max)
if _max_ < _min_: # prevent divide by zero or inversion
(_min_, _max_) = (-1, 1)
if _max_ == _min_:
(_min_, _max_) = (_max_ - 0.5, _max_ + 0.5)
delta = _max_ - _min_
dy = (height - self.margin * 2) / delta
scale = math.log10(delta)
d = math.pow(10.0, math.floor(scale))
u = d
if delta < 2 * d:
u = d / 5
elif delta < 5 * d:
u = d / 2
tick_min = _min_ - math.fmod(_min_, u)
for i in range(int(delta / u) + 1):
tick = tick_min + float(i) * u
s = str(tick)
(w, h) = dc.GetTextExtent(s)
y = height - self.margin - int((tick - _min_) * dy) - h / 2
dc.DrawText(s, 0, y)
class MessageInterface:
"""
MessageInterface
This is an abstraction layer used to simplify the use of paparazzi
message interface, especially for time measurement and casting of
message payload data (which sometimes stays in ascii)
"""
def prettify_message(msg):
"""
Sometimes IvyMessageInterface does not cast data to their binary types.
This function cast all fields to their binary types. (supposed to be
done by PprzMessage.payload_to_binay but does not seem to be working)
It also measure reception time.
"""
timestamp = time.time()
fieldValues = []
for fieldValue, fieldType in zip(msg.fieldvalues, msg.fieldtypes):
if "int" in fieldType:
castType = int
elif "float" in fieldType:
castType = float
elif "string" in fieldType:
castType = str
elif "char" in fieldType:
castType = int
else:
# Could not indentify type, leave field as is
fieldValues.append(fieldValue)
# Checking if is a list
if '[' in fieldType:
fieldValues.append([castType(value) for value in fieldValue])
else:
fieldValues.append(castType(fieldValue))
msg.set_values(fieldValues)
msg.timestamp = timestamp
return msg
def parse_pprz_msg(msg):
"""
Alias to IvyMessageInterface.parse_pprz_msg, but with prettify_message
called at the end to ensure all data are in binary format.
"""
class Catcher:
"""
This is a type specifically to catch result from
IvyMessageInterface.parse_pprz_msg which only outputs result via a
callback.
"""
def set_message(self, aircraftId, message):
self.message = message
self.aircraftId = str(aircraftId)
catcher = Catcher()
IvyMessagesInterface.parse_pprz_msg(catcher.set_message, msg)
return [MessageInterface.prettify_message(catcher.message),
catcher.aircraftId]
def __init__(self, ivyBusAddress=None):
if ivyBusAddress is None:
ivyBusAddress = os.getenv('IVY_BUS')
if ivyBusAddress is None:
ivyBusAddress == ""
self.messageInterface = IvyMessagesInterface(ivy_bus=ivyBusAddress)
def bind(self, callback, ivyRegex):
return self.messageInterface.subscribe(
lambda sender, msg: callback(MessageInterface.prettify_message(msg)),
ivyRegex)
def bind_raw(self, callback, ivyRegex):
return self.messageInterface.bind_raw(callback, ivyRegex)
def unbind(self, bindId):
self.messageInterface.unbind(bindId)
def send(self, msg):
return self.messageInterface.send(msg)
class PlotPanel(object):
def __init__(self, parent, frame):
self.parent = parent # we are drawing on our parent, so dc comes from this
self.frame = frame # the frame owns any controls we might need to update
parent.SetDropTarget(TextDropTarget(self)) # calls self.OnDropText when drag and drop complete
self.width = 800
self.height = 200
self.margin = min(self.height / 10, 20)
self.font = wx.Font(self.margin / 2, wx.DEFAULT, wx.FONTSTYLE_NORMAL, wx.FONTWEIGHT_NORMAL)
self.pixmap = wx.EmptyBitmap(self.width, self.height)
self.plot_size = self.width
self.max = -1e32
self.min = 1e32
self.plot_interval = 200
self.plots = {}
self.auto_scale = True
self.offset = 0.0
self.scale = 1.0
self.x_axis = None
messages_xml_map.parse_messages()
self.ivy_interface = IvyMessagesInterface(_IVY_APPNAME)
# start the timer
self.timer = wx.FutureCall(self.plot_interval, self.OnTimer)
def SetPlotInterval(self, value):
self.plot_interval = value
self.timer.Restart(self.plot_interval)
self.timer = wx.FutureCall(self.plot_interval, self.OnTimer)
def SetAutoScale(self, value):
self.auto_scale = value
def SetMin(self, value):
self.min = value
def SetMax(self, value):
self.max = value
def Pause(self, pause):
if pause:
self.timer.Stop()
else:
self.timer = wx.FutureCall(self.plot_interval, self.OnTimer)
def ResetScale(self):
self.max = -1e32
self.min = 1e32
def OnClose(self):
self.timer.Stop()
try:
IvyStop()
except IvyIllegalStateError as e:
print(e)
def OnErase(self, event):
pass
def ShowMessagePicker(self, parent):
frame = messagepicker.MessagePicker(parent, self.BindCurve, self.ivy_interface)
frame.Show()
def OnDropText(self, data):
[ac_id, category, message, field, scale] = data.encode('ASCII').split(':')
self.BindCurve(int(ac_id), message, field, scale=float(scale))
def OnIvyMsg(self, agent, *larg):
# print(larg[0])
data = larg[0].split(' ')
ac_id = int(data[0])
message = data[1]
if ac_id not in self.plots:
return
if message not in self.plots[ac_id]:
return
for field in self.plots[ac_id][message]:
plot = self.plots[ac_id][message][field]
ix = messages_xml_map.message_dictionary["telemetry"][message].index(field)
point = float(data[ix + 2])
if self.x_axis is None or self.x_axis.id != plot.id:
if self.auto_scale:
scaled_point = (point + plot.offset) * plot.scale
self.max = max(self.max, scaled_point)
self.min = min(self.min, scaled_point)
if self.x_axis is not None:
plot.index = self.x_axis.index
plot.AddPoint(point, self.x_axis)
def BindCurve(self, ac_id, message, field, color=None, use_as_x=False, scale=1.0):
# -- add this telemetry to our list of things to plot ...
message_string = _IVY_STRING % (ac_id, message)
# print('Binding to %s' % message_string)
if ac_id not in self.plots:
self.plots[ac_id] = {}
if message not in self.plots[ac_id]:
self.plots[ac_id][message] = {}
if field in self.plots[ac_id][message]:
self.plots[ac_id][message][field].color = wx.Color(random.randint(0, 255), random.randint(0, 255),
random.randint(0, 255))
return
ivy_id = self.ivy_interface.bind_raw(self.OnIvyMsg, str(message_string))
title = '%i:%s:%s' % (ac_id, message, field)
self.plots[ac_id][message][field] = PlotData(ivy_id, title, self.plot_size, color, scale)
self.frame.AddCurve(ivy_id, title, use_as_x)
if use_as_x:
self.x_axis = self.plots[ac_id][message][field]
def CalcMinMax(self, plot):
if not self.auto_scale: return
for x in plot.data:
self.max = max(self.max, x)
self.min = min(self.min, x)
self.frame.SetMinMax(self.min, self.max)
def FindPlotName(self, ivy_id):
for ac_id in self.plots:
for msg in self.plots[ac_id]:
for field in self.plots[ac_id][msg]:
if self.plots[ac_id][msg][field].id == ivy_id:
return (ac_id, msg, field)
return (None, None, None)
def FindPlot(self, ivy_id):
(ac_id, msg, field) = self.FindPlotName(ivy_id)
if ac_id is None:
return None
return self.plots[ac_id][msg][field]
def RemovePlot(self, ivy_id):
(ac_id, msg, field) = self.FindPlotName(ivy_id)
if ac_id is None:
return
if (self.x_axis is not None) and (self.x_axis.id == ivy_id):
self.x_axis = None
self.ivy_interface.unbind(ivy_id)
del self.plots[ac_id][msg][field]
if len(self.plots[ac_id][msg]) == 0:
del self.plots[ac_id][msg]
def OffsetPlot(self, ivy_id, offset):
plot = self.FindPlot(ivy_id)
if plot is None:
return
plot.SetOffset(offset)
print('panel value: %.2f' % value)
CalcMinMax(plot)
def ScalePlot(self, ivy_id, offset):
plot = self.FindPlot(ivy_id)
if plot is None:
return
plot.SetScale(offset)
CalcMinMax(plot)
def SetRealTime(self, ivy_id, value):
plot = self.FindPlot(ivy_id)
if plot is None:
return
plot.SetRealTime(value)
def SetXAxis(self, ivy_id):
plot = self.FindPlot(ivy_id)
if plot is None:
return
self.x_axis = plot
def ClearXAxis(self):
self.x_axis = None
def OnSize(self, size):
(width, height) = size
if self.width == width and self.height == height:
return
self.pixmap = wx.EmptyBitmap(width, height)
self.width = width
self.height = height
self.plot_size = width
self.margin = min(self.height / 10, 20)
self.font = wx.Font(self.margin / 2, wx.DEFAULT, wx.FONTSTYLE_NORMAL, wx.FONTWEIGHT_NORMAL)
def OnTimer(self):
self.timer.Restart(self.plot_interval)
self.frame.SetMinMax(self.min, self.max)
self.DrawFrame()
def DrawFrame(self):
dc = wx.ClientDC(self.parent)
bdc = wx.BufferedDC(dc, self.pixmap)
bdc.SetBackground(wx.Brush("White"))
bdc.Clear()
self.DrawBackground(bdc, self.width, self.height)
title_y = 2
for ac_id in self.plots:
for message in self.plots[ac_id]:
for field in self.plots[ac_id][message]:
plot = self.plots[ac_id][message][field]
if (self.x_axis is not None) and (self.x_axis.id == plot.id):
continue
title_height = plot.DrawTitle(bdc, 2, self.width, title_y)
plot.DrawCurve(bdc, self.width, self.height, self.margin, self.max, self.min, self.x_axis)
title_y += title_height + 2
def DrawBackground(self, dc, width, height):
# Time Graduations
dc.SetFont(self.font)
if self.x_axis is None:
t = self.plot_interval * width
t1 = "0.0s"
t2 = "-%.1fs" % (t / 2000.0)
t3 = "-%.1fs" % (t / 1000.0)
else:
x_max = self.x_axis.x_max
x_min = self.x_axis.x_min
t1 = "%.2f" % x_max
t2 = "%.2f" % (x_min + (x_max - x_min) / 2.0)
t3 = "%.2f" % x_min
(w, h) = dc.GetTextExtent(t1)
dc.DrawText(t1, width - w, height - h)
# (w,h) = dc.GetTextExtent(t2) #save time since h will be the same
dc.DrawText(t2, width / 2, height - h)
# (w,h) = dc.GetTextExtent(t3) #save time since h will be the same
dc.DrawText(t3, 0, height - h)
# Y graduations
if self.max == -1e32:
return
(_min_, _max_) = (self.min, self.max)
if _max_ < _min_: # prevent divide by zero or inversion
(_min_, _max_) = (-1, 1)
if _max_ == _min_:
(_min_, _max_) = (_max_ - 0.5, _max_ + 0.5)
delta = _max_ - _min_
dy = (height - self.margin * 2) / delta
scale = math.log10(delta)
d = math.pow(10.0, math.floor(scale))
u = d
if delta < 2 * d:
u = d / 5
elif delta < 5 * d:
u = d / 2
tick_min = _min_ - math.fmod(_min_, u)
for i in range(int(delta / u) + 1):
tick = tick_min + float(i) * u
s = str(tick)
(w, h) = dc.GetTextExtent(s)
y = height - self.margin - int((tick - _min_) * dy) - h / 2
dc.DrawText(s, 0, y)
