def __init__(self):
msppg.Parser.__init__(self)
# No communications or arming yet
self.comms = None
self.armed = False
self.gotimu = False
# Do basic Tk initialization
self.root = tk.Tk()
self.root.configure(bg=BACKGROUND_COLOR)
self.root.resizable(False, False)
self.root.title('Hackflight Ground Control Station')
left = (self.root.winfo_screenwidth() - DISPLAY_WIDTH) / 2
top = (self.root.winfo_screenheight() - DISPLAY_HEIGHT) / 2
self.root.geometry('%dx%d+%d+%d' %
(DISPLAY_WIDTH, DISPLAY_HEIGHT, left, top))
self.frame = tk.Frame(self.root)
# Too much hassle on Windows
if 'nt' != os.name:
self.root.tk.call('wm', 'iconphoto', self.root._w,
tk.PhotoImage('icon.xbm'))
self.root.protocol('WM_DELETE_WINDOW', self.quit)
# Create panes for two rows of widgets
self.pane1 = self._add_pane()
self.pane2 = self._add_pane()
# Add a buttons
self.button_connect = self._add_button('Connect', self.pane1,
self._connect_callback)
self.button_imu = self._add_button('IMU', self.pane2,
self._imu_callback)
self.button_motors = self._add_button('Motors', self.pane2,
self._motors_button_callback)
self.button_receiver = self._add_button('Receiver', self.pane2,
self._receiver_button_callback)
#self.button_messages = self._add_button('Messages', self.pane2, self._messages_button_callback)
#self.button_maps = self._add_button('Maps', self.pane2, self._maps_button_callback, disabled=False)
# Prepare for adding ports as they are detected by our timer task
self.portsvar = tk.StringVar(self.root)
self.portsmenu = None
self.connected = False
self.ports = []
# Finalize Tk stuff
self.frame.pack()
self.canvas = tk.Canvas(self.root,
width=DISPLAY_WIDTH,
height=DISPLAY_HEIGHT,
background='black')
self.canvas.pack()
# Set up a text label for reporting errors
errmsg = 'No response from board. Possible reasons:\n\n' + \
' * You connected to the wrong port.\n\n' + \
' * Firmware uses serial receiver\n' + \
' (DSMX, SBUS), but receiver is\n' + \
' not connected.'
self.error_label = tk.Label(self.canvas,
text=errmsg,
bg='black',
fg='red',
font=(None, 24),
justify=tk.LEFT)
self.hide(self.error_label)
# Add widgets for motor-testing dialog; hide them immediately
self.motors = Motors(self)
self.motors.stop()
# Create receiver dialog
self.receiver = Receiver(self)
# Create messages dialog
#self.messages = Messages(self)
# Create IMU dialog
self.imu = IMU(self)
self._schedule_connection_task()
# Create a maps dialog
#self.maps = Maps(self, yoffset=-30)
# Create a splash image
self.splashimage = tk.PhotoImage(file=resource_path('splash.gif'))
self._show_splash()
# Create a message parser
#self.parser = msppg.Parser()
# Set up parser's request strings
self.attitude_request = msppg.serialize_ATTITUDE_RADIANS_Request()
self.rc_request = msppg.serialize_RC_NORMAL_Request()
# No messages yet
self.roll_pitch_yaw = [0] * 3
self.rxchannels = [0] * 6
# A hack to support display in IMU dialog
self.active_axis = 0
def getRollPitchYaw(self):
return self.yaw, self.pitch, self.roll
def checkArmed(self):
None
if __name__ == "__main__":
width = 800
height = 800
root = tk.Tk()
root.geometry('%dx%d+%d+%d' % (width, height + 200, 200, 200))
root.title('IMU')
canvas = tk.Canvas(root, width=width, height=height, background='black')
driver = SliderDriver(root, canvas)
canvas.pack()
sim = IMU(driver, simulation=True)
sim.start()
tk.mainloop()