class ObstacleAdder(object): def __init__(self, verbose=False): self.verbose = verbose self._interface = IvyMessagesInterface(self.message_recv) def message_recv(self, ac_id, msg): if self.verbose: print("Got msg %s" % msg.name) def shutdown(self): print("Shutting down ivy interface...") self._interface.shutdown() def __del__(self): self.shutdown() def add_obstacle(self, obstacle_id, color, status, lat, lon, radius, alt): msg = PprzMessage("ground", "OBSTACLE") msg['id'] = obstacle_id msg['color'] = color msg['status'] = status msg['lat'] = lat msg['lon'] = lon msg['radius'] = radius msg['alt'] = alt print("Sending message: %s" % msg) self._interface.send(msg)
class WaypointMover(object): def __init__(self, verbose=False): self.verbose = verbose self._interface = IvyMessagesInterface(self.message_recv) def message_recv(self, ac_id, msg): if self.verbose: print("Got msg %s" % msg.name) def shutdown(self): print("Shutting down ivy interface...") self._interface.shutdown() def __del__(self): self.shutdown() def move_waypoint(self, ac_id, wp_id, lat, lon, alt): msg = PprzMessage("ground", "MOVE_WAYPOINT") msg["ac_id"] = ac_id msg["wp_id"] = wp_id msg["lat"] = lat msg["long"] = lon msg["alt"] = alt print("Sending message: %s" % msg) self._interface.send(msg)
class WaypointMover(object): def __init__(self, verbose=False): self.verbose = verbose self._interface = IvyMessagesInterface(self.message_recv) def message_recv(self, ac_id, msg): if self.verbose: print("Got msg %s" % msg.name) def shutdown(self): print("Shutting down ivy interface...") self._interface.shutdown() def __del__(self): self.shutdown() def move_waypoint(self, ac_id, wp_id, lat, lon, alt): msg = PprzMessage("ground", "MOVE_WAYPOINT") msg['ac_id'] = ac_id msg['wp_id'] = wp_id msg['lat'] = lat msg['long'] = lon msg['alt'] = alt print("Sending message: %s" % msg) self._interface.send(msg)
class RadioWatchFrame(wx.Frame): def message_recv(self, ac_id, msg): if msg.name == "ROTORCRAFT_STATUS": self.rc_status = int(msg['rc_status']) if self.rc_status != 0 and not self.alertChannel.get_busy(): self.warn_timer = wx.CallLater(5, self.rclink_alert) # else: # self.notification.close() def gui_update(self): self.rc_statusText.SetLabel(["OK", "LOST", "REALLY LOST"][self.rc_status]) self.update_timer.Restart(UPDATE_INTERVAL) def rclink_alert(self): self.alertChannel.queue(self.alertSound) self.notification.show() time.sleep(5) def setFont(self, control): font = control.GetFont() size = font.GetPointSize() font.SetPointSize(size * 1.4) control.SetFont(font) def __init__(self): wx.Frame.__init__(self, id=-1, parent=None, name=u'RCWatchFrame', size=wx.Size(WIDTH, HEIGHT), title=u'RC Status') self.Bind(wx.EVT_CLOSE, self.OnClose) self.rc_statusText = wx.StaticText(self, -1, "UNKWN") pygame.mixer.init() self.alertSound = pygame.mixer.Sound("crossing.wav") self.alertChannel = pygame.mixer.Channel(False) self.setFont(self.rc_statusText) self.notification = pynotify.Notification("RC Link Warning!", "RC Link status not OK!", "dialog-warning") self.rc_status = -1 pynotify.init("RC Status") sizer = wx.BoxSizer(wx.VERTICAL) sizer.Add(self.rc_statusText, 1, wx.EXPAND) self.SetSizer(sizer) sizer.Layout() self.interface = IvyMessagesInterface(self.message_recv) self.update_timer = wx.CallLater(UPDATE_INTERVAL, self.gui_update) def OnClose(self, event): self.interface.shutdown() self.Destroy()
class Ivy2RedisServer(): def __init__(self, redishost, redisport, verbose=False): self.verbose = verbose self.interface = IvyMessagesInterface(self.message_recv) self.r = redis.StrictRedis(host=redishost, port=redisport, db=0) self.keep_running = True print("Connected to redis server %s on port %i" % (redishost, redisport)) def message_recv(self, msg_class, msg_name, ac_id, values): # if ac_id is not 0 (i.e. telemetry from an aircraft) include it in the key # don't add it to the key for ground messages if ac_id: key = "{0}.{1}.{2}".format(msg_class, msg_name, ac_id) else: key = "{0}.{1}".format(msg_class, msg_name) if self.verbose: print("received message, key=%s, values=%s" % (key, ' '.join(values))) sys.stdout.flush() self.r.publish(key, values) self.r.set(key, values) def run(self): while self.keep_running: time.sleep(0.1) def stop(self): self.keep_running = False self.interface.shutdown()
class Ivy2RedisServer(): def __init__(self, redishost, redisport, verbose=False): self.verbose = verbose self.interface = IvyMessagesInterface("Ivy2Redis") self.interface.subscribe(self.message_recv) self.r = redis.StrictRedis(host=redishost, port=redisport, db=0) self.keep_running = True print("Connected to redis server %s on port %i" % (redishost, redisport)) def message_recv(self, ac_id, msg): # if ac_id is not 0 (i.e. telemetry from an aircraft) include it in the key # don't add it to the key for ground messages if ac_id: key = "{0}.{1}.{2}".format(msg.msg_class, msg.name, ac_id) else: key = "{0}.{1}".format(msg.msg_class, msg.name) if self.verbose: print("received message, key=%s, msg=%s" % (key, msg.to_json(payload_only=True))) sys.stdout.flush() self.r.publish(key, msg.to_json(payload_only=True)) self.r.set(key, msg.to_json(payload_only=True)) def run(self): while self.keep_running: time.sleep(0.1) def stop(self): self.keep_running = False self.interface.shutdown()
class RadioWatchFrame(wx.Frame): def message_recv(self, ac_id, msg): if msg.name == "ROTORCRAFT_STATUS": self.rc_status = int(msg['rc_status']) if self.rc_status != 0 and not self.alertChannel.get_busy(): self.warn_timer = wx.CallLater(5, self.rclink_alert) # else: # self.notification.close() def gui_update(self): self.rc_statusText.SetLabel(["OK", "LOST", "REALLY LOST"][self.rc_status]) self.update_timer.Restart(UPDATE_INTERVAL) def rclink_alert(self): self.alertChannel.queue(self.alertSound) self.notification.show() time.sleep(5) def setFont(self, control): font = control.GetFont() size = font.GetPointSize() font.SetPointSize(size * 1.4) control.SetFont(font) def __init__(self): wx.Frame.__init__(self, id=-1, parent=None, name=u'RCWatchFrame', size=wx.Size(WIDTH, HEIGHT), title=u'RC Status') self.Bind(wx.EVT_CLOSE, self.OnClose) self.rc_statusText = wx.StaticText(self, -1, "UNKWN") pygame.mixer.init() self.alertSound = pygame.mixer.Sound("crossing.wav") self.alertChannel = pygame.mixer.Channel(False) self.setFont(self.rc_statusText) self.notification = pynotify.Notification("RC Link Warning!", "RC Link status not OK!", "dialog-warning") self.rc_status = -1 pynotify.init("RC Status") sizer = wx.BoxSizer(wx.VERTICAL) sizer.Add(self.rc_statusText, 1, wx.EXPAND) self.SetSizer(sizer) sizer.Layout() self.interface = IvyMessagesInterface("radiowatchframe") self.interface.subscribe(self.message_recv) self.update_timer = wx.CallLater(UPDATE_INTERVAL, self.gui_update) def OnClose(self, event): self.interface.shutdown() self.Destroy()
class myQRParser(): def signal_handler(self, signal, frame): print('You pressed Ctrl+C!') self.interface.shutdown() sys.exit(0) def myCrapThread(self): time.sleep(1) myCode.decode_webcam(callback=self.codeRecognized, device='/dev/video0') #print('Finished, please ctrl+c') self.interface.shutdown() sys.exit(0) def __init__(self, ac_id, waypoint_id): self.ac_id = ac_id[0] self.waypoint_id = waypoint_id[0] self.interface = IvyMessagesInterface(self, self.emptyFun) t = threading.Thread(target=self.myCrapThread) t.start() signal.signal(signal.SIGINT, self.signal_handler) print('Press Ctrl+C') signal.pause() self.interface.shutdown() def emptyFun(ac_id, msg): print "Never" def codeRecognized (self, data): print data if data == '1': coords = 1 print "Dropzone 1" elif data == '2': coords = 2 print "Dropzone 2" elif data == '3': coords = 3 print "Dropzone 3" else: print data return print('Going to: ', coords) pprzmsg = PprzMessage("ground", "DL_SETTING") pprzmsg.set_values([self.ac_id, self.waypoint_id, coords]) self.interface.send(pprzmsg) #pprzmsg.set_values([self.ac_id, (self.waypoint_id+1), coords[0], coords[1], 10]) #self.interface.send(pprzmsg) def __call__(a, b, c): print ""
class CommandReader(object): def __init__(self, verbose=False, callback=None): self.verbose = verbose self.callback = callback self._interface = IvyMessagesInterface(self.message_recv) def message_recv(self, ac_id, msg): if (self.verbose and self.callback != None): self.callback(ac_id, msg) def shutdown(self): print("Shutting down ivy interface...") self._interface.shutdown() def __del__(self): self.shutdown()
class WaypointMover(object): def __init__(self, verbose=False): self.verbose = verbose self._interface = IvyMessagesInterface("WaypointMover") def shutdown(self): print("Shutting down ivy interface...") self._interface.shutdown() def __del__(self): self.shutdown() def move_waypoint(self, ac_id, wp_id, lat, lon, alt): msg = PprzMessage("ground", "MOVE_WAYPOINT") msg['ac_id'] = ac_id msg['wp_id'] = wp_id msg['lat'] = lat msg['long'] = lon msg['alt'] = alt print("Sending message: %s" % msg) self._interface.send(msg)
class IntruderAdder(object): def __init__(self, verbose=False): self.verbose = verbose self._interface = IvyMessagesInterface(self.message_recv) def message_recv(self, ac_id, msg): if self.verbose: print("Got msg %s" % msg.name) def shutdown(self): print("Shutting down ivy interface...") self._interface.shutdown() def __del__(self): self.shutdown() def add_intruder(self, intruder_id, name, lat, lon, alt, course, speed, climb, itow): msg = PprzMessage("ground", "INTRUDER") msg['id'] = intruder_id msg['name'] = name msg['lat'] = lat msg['lon'] = lon msg['alt'] = alt msg['course'] = course msg['speed'] = speed msg['climb'] = climb msg['itow'] = 0 print("Sending message: %s" % msg) self._interface.send(msg) def new_intruder(self, intruder_id, name): msg = PprzMessage("ground", "INTRUDER") msg['id'] = intruder_id msg['name'] = name msg['itow'] = 0 print("Sending message: %s" % msg) self._interface.send(msg)
class MessagePicker(wx.Frame): def __init__(self, parent, callback, ivy_interface=None): wx.Frame.__init__(self, parent, name="MessagePicker", title=u"Message Picker", size=wx.Size(320, 640)) self.aircrafts = {} self.callback = callback self.tree = wx.TreeCtrl(self) self.root = self.tree.AddRoot("Telemetry") self.tree.Bind(wx.EVT_LEFT_DCLICK, self.OnDoubleClick) self.tree.Bind(wx.EVT_CHAR, self.OnKeyChar) self.Bind(wx.EVT_CLOSE, self.OnClose) if ivy_interface is None: self.message_interface = IvyMessagesInterface("MessagePicker") else: self.message_interface = ivy_interface self.message_interface.subscribe(self.msg_recv) def OnClose(self, event): # if we have a parent (like the plotpanel) only hide instead of shutdown if self.GetParent() is not None: self.Hide() else: self.message_interface.shutdown() self.Destroy() def msg_recv(self, ac_id, msg): if msg.msg_class != "telemetry": return self.tree.Expand(self.root) if ac_id not in self.aircrafts: ac_node = self.tree.AppendItem(self.root, str(ac_id)) self.aircrafts[ac_id] = Aircraft(ac_id) self.aircrafts[ac_id].messages_book = ac_node aircraft = self.aircrafts[ac_id] ac_node = aircraft.messages_book if msg.name not in aircraft.messages: msg_node = self.tree.AppendItem(ac_node, str(msg.name)) self.tree.SortChildren(ac_node) aircraft.messages[msg.name] = Message("telemetry", msg.name) for field in aircraft.messages[msg.name].fieldnames: item = self.tree.AppendItem(msg_node, field) def OnKeyChar(self, event): if event.GetKeyCode() != 13: return False node = self.tree.GetSelection() field_name = self.tree.GetItemText(node) parent = self.tree.GetItemParent(node) message_name = self.tree.GetItemText(parent) grandparent = self.tree.GetItemParent(parent) ac_id = self.tree.GetItemText(grandparent) if node == self.root or parent == self.root or grandparent == self.root: # if not leaf, double click = expand if self.tree.IsExpanded(node): self.tree.Collapse(node) else: self.tree.Expand(node) return self.callback(int(ac_id), message_name, field_name) def OnDoubleClick(self, event): node = self.tree.GetSelection() field_name = self.tree.GetItemText(node) parent = self.tree.GetItemParent(node) message_name = self.tree.GetItemText(parent) grandparent = self.tree.GetItemParent(parent) ac_id = self.tree.GetItemText(grandparent) if node == self.root or parent == self.root or grandparent == self.root: # if not leaf, double click = expand if self.tree.IsExpanded(node): self.tree.Collapse(node) else: self.tree.Expand(node) return self.callback(int(ac_id), message_name, field_name)
class CommandSender(object): def __init__(self, verbose=False, callback = None): self.verbose = verbose self.callback = callback self._interface = IvyMessagesInterface(self.message_recv) def message_recv(self, ac_id, msg): if (self.verbose and self.callback != None): self.callback(ac_id, msg) def shutdown(self): print("Shutting down ivy interface...") self._interface.shutdown() def __del__(self): self.shutdown() def add_mission_command(self, msg_id = "", ac_id = 5 , insert = "APPEND" , wp_lat = "", wp_lon = "", wp_alt = "", duration = "60", center_lat = "", center_lon = "", center_alt = "", radius = "60",segment_lat_1 = "", segment_lat_2 = "", segment_lon_1 = "", segment_lon_2 = "", segment_alt = "", point_lat_1 = "", point_lon_1 = "", point_lat_2 = "", point_lon_2 = "", point_lat_3 = "", point_lon_3 = "", point_lat_4 = "", point_lon_4 = "", point_lat_5 = "", point_lon_5 = "", path_alt = "", nb = "", survey_lat_1 = "", survey_lon_1 = "", survey_lat_2 = "", survey_lon_2 = "", survey_alt = ""): msg = PprzMessage("datalink", msg_id) msg['ac_id'] = ac_id msg['insert'] = insert msg['duration'] = duration if msg_id == MISSION_GOTO_WP_LLA: msg['wp_lat'] = wp_lat msg['wp_lon'] = wp_lon msg['wp_alt'] = wp_alt elif msg_id == MISSION_CIRCLE_LLA: msg['center_lat'] = center_lat msg['center_lon'] = center_lon msg['center_alt'] = center_alt msg['radius'] = radius elif msg_id == MISSION_SEGMENT_LLA: msg['segment_lat_1'] = segment_lat_1 msg['segment_lon_1'] = segment_lon_1 msg['segment_lat_2'] = segment_lat_2 msg['segment_lon_2'] = segment_lon_2 elif msg_id == MISSION_PATH_LLA: msg['point_lat_1'] = point_lat_1 msg['point_lon_1'] = point_lon_1 msg['point_lat_2'] = point_lat_2 msg['point_lon_2'] = point_lon_2 msg['point_lat_3'] = point_lat_3 msg['point_lon_3'] = point_lon_3 msg['point_lat_4'] = point_lat_4 msg['point_lon_4'] = point_lon_4 msg['point_lat_5'] = point_lat_5 msg['point_lon_5'] = point_lon_5 msg['path_alt'] = path_alt msg['nb'] = nb elif msg_id == MISSION_SURVEY_LLA: msg['survey_lat_1'] = survey_lat_1 msg['survey_lon_1'] = survey_lon_1 msg['survey_lat_2'] = survey_lat_2 msg['survey_lon_2'] = survey_lon_2 msg['survey_alt'] = survey_alt print("Sending message: %s" % msg) self._interface.send(msg) def add_mission_command_dict(self, ac_id, insert, msg_id, msgs): print('hello') msg = PprzMessage("datalink", msg_id) print(msgs) print(msgs.keys) print(msgs.get('duration')) msg['ac_id'] = ac_id msg['insert'] = insert msg['duration'] = msgs.get('duration') if msg_id == 'MISSION_GOTO_WP_LLA': msg['wp_lat'] = msgs.get('wp_lat') msg['wp_lon'] = msgs.get('wp_lon') msg['wp_alt'] = msgs.get('wp_alt') elif msg_id == 'MISSION_CIRCLE_LLA': msg['center_lat'] = msgs.get('center_lat') msg['center_lon'] = msgs.get('center_lon') msg['center_alt'] = msgs.get('center_alt') msg['radius'] = msgs.get('radius') elif msg_id == 'MISSION_SEGMENT_LLA': msg['segment_lat_1'] = msgs.get('segment_lat_1') msg['segment_lon_1'] = msgs.get('segment_lon_1') msg['segment_lat_2'] = msgs.get('segment_lat_2') msg['segment_lon_2'] = msgs.get('segment_lon_2') elif msg_id == 'MISSION_PATH_LLA': msg['point_lat_1'] = msgs.get('point_lat_1') msg['point_lon_1'] = msgs.get('point_lon_1') msg['point_lat_2'] = msgs.get('point_lat_2') msg['point_lon_2'] = msgs.get('point_lon_2') msg['point_lat_3'] = msgs.get('point_lat_3') msg['point_lon_3'] = msgs.get('point_lon_3') msg['point_lat_4'] = msgs.get('point_lat_4') msg['point_lon_4'] = msgs.get('point_lon_4') msg['point_lat_5'] = msgs.get('point_lat_5') msg['point_lon_5'] = msgs.get('point_lon_5') msg['path_alt'] = msgs.get('path_alt') msg['nb'] = msgs.get('nb') elif msg_id == 'MISSION_SURVEY_LLA': msg['survey_lat_1'] = msgs.get('survey_lat_1') msg['survey_lon_1'] = msgs.get('survey_lon_1') msg['survey_lat_2'] = msgs.get('survey_lat_2') msg['survey_lon_2'] = msgs.get('survey_lon_2') msg['survey_alt'] = msgs.get('survey_alt') print("Sending message: %s" % msg) self._interface.send(msg) def add_obstacle(self, obstacle_id, color, status, lat, lon, radius, alt): msg = PprzMessage("ground", "OBSTACLE") msg['id'] = obstacle_id msg['color'] = color msg['status'] = status msg['lat'] = lat msg['lon'] = lon msg['radius'] = radius msg['alt'] = alt print("Sending message: %s" % msg) self._interface.send(msg)
class Guidance(object): def __init__(self, ac_id, verbose=False): self.ac_id = ac_id self.verbose = verbose self._interface = None self.auto2_index = None try: settings = PaparazziACSettings(self.ac_id) except Exception as e: print(e) return try: self.auto2_index = settings.name_lookup["auto2"].index except Exception as e: print(e) print("auto2 setting not found, mode change not possible.") self._interface = IvyMessagesInterface(self.message_recv) def message_recv(self, ac_id, msg): if self.verbose: print("Got msg %s" % msg.name) def shutdown(self): if self._interface is not None: print("Shutting down ivy interface...") self._interface.shutdown() def __del__(self): self.shutdown() def set_guided_mode(self): """ change auto2 mode to GUIDED. """ if self.auto2_index is not None: msg = PprzMessage("ground", "DL_SETTING") msg["ac_id"] = self.ac_id msg["index"] = self.auto2_index msg["value"] = 19 # AP_MODE_GUIDED print("Setting mode to GUIDED: %s" % msg) self._interface.send(msg) def set_nav_mode(self): """ change auto2 mode to NAV. """ if self.auto2_index is not None: msg = PprzMessage("ground", "DL_SETTING") msg["ac_id"] = self.ac_id msg["index"] = self.auto2_index msg["value"] = 13 # AP_MODE_NAV print("Setting mode to NAV: %s" % msg) self._interface.send(msg) def goto_ned(self, north, east, down, heading=0.0): """ goto a local NorthEastDown position in meters (if already in GUIDED mode) """ msg = PprzMessage("datalink", "GUIDED_SETPOINT_NED") msg["ac_id"] = self.ac_id msg["flags"] = 0x00 msg["x"] = north msg["y"] = east msg["z"] = down msg["yaw"] = heading print("goto NED: %s" % msg) # embed the message in RAW_DATALINK so that the server can log it self._interface.send_raw_datalink(msg) def goto_ned_relative(self, north, east, down, yaw=0.0): """ goto a local NorthEastDown position relative to current position in meters (if already in GUIDED mode) """ msg = PprzMessage("datalink", "GUIDED_SETPOINT_NED") msg["ac_id"] = self.ac_id msg["flags"] = 0x01 msg["x"] = north msg["y"] = east msg["z"] = down msg["yaw"] = yaw print("goto NED relative: %s" % msg) self._interface.send_raw_datalink(msg) def goto_body_relative(self, forward, right, down, yaw=0.0): """ goto to a position relative to current position and heading in meters (if already in GUIDED mode) """ msg = PprzMessage("datalink", "GUIDED_SETPOINT_NED") msg["ac_id"] = self.ac_id msg["flags"] = 0x03 msg["x"] = forward msg["y"] = right msg["z"] = down msg["yaw"] = yaw print("goto body relative: %s" % msg) self._interface.send_raw_datalink(msg)
class MessagesFrame(wx.Frame): def message_recv(self, ac_id, msg): """Handle incoming messages Callback function for IvyMessagesInterface :param ac_id: aircraft id :type ac_id: int :param msg: message :type msg: PprzMessage """ # only show messages of the requested class if msg.msg_class != self.msg_class: return if ac_id in self.aircrafts and msg.name in self.aircrafts[ac_id].messages: if time.time() - self.aircrafts[ac_id].messages[msg.name].last_seen < 0.2: return wx.CallAfter(self.gui_update, ac_id, msg) def find_page(self, book, name): if book.GetPageCount() < 1: return 0 start = 0 end = book.GetPageCount() while start < end: if book.GetPageText(start) >= name: return start start += 1 return start def update_leds(self): wx.CallAfter(self.update_leds_real) def update_leds_real(self): for ac_id in self.aircrafts: aircraft = self.aircrafts[ac_id] for msg_str in aircraft.messages: message = aircraft.messages[msg_str] if message.last_seen + 0.2 < time.time(): aircraft.messages_book.SetPageImage(message.index, 0) self.timer = threading.Timer(0.1, self.update_leds) self.timer.start() def setup_image_list(self, notebook): imageList = wx.ImageList(24, 24) image = wx.Image(PPRZ_HOME + "/data/pictures/gray_led24.png") bitmap = wx.BitmapFromImage(image) imageList.Add(bitmap) image = wx.Image(PPRZ_HOME + "/data/pictures/green_led24.png") bitmap = wx.BitmapFromImage(image) imageList.Add(bitmap) notebook.AssignImageList(imageList) def add_new_aircraft(self, ac_id): self.aircrafts[ac_id] = Aircraft(ac_id) ac_panel = wx.Panel(self.notebook, -1) self.notebook.AddPage(ac_panel, str(ac_id)) messages_book = wx.Notebook(ac_panel, style=wx.NB_LEFT) self.setup_image_list(messages_book) sizer = wx.BoxSizer(wx.VERTICAL) sizer.Add(messages_book, 1, wx.EXPAND) ac_panel.SetSizer(sizer) sizer.Layout() self.aircrafts[ac_id].messages_book = messages_book def add_new_message(self, aircraft, msg_class, name): messages_book = aircraft.messages_book aircraft.messages[name] = Message(msg_class, name) field_panel = wx.Panel(messages_book) grid_sizer = wx.FlexGridSizer(len(aircraft.messages[name].fieldnames), 2) index = self.find_page(messages_book, name) messages_book.InsertPage(index, field_panel, name, imageId=1) aircraft.messages[name].index = index # update indexes of pages which are to be moved for message_name in aircraft.messages: aircraft.messages[message_name].index = self.find_page(messages_book, message_name) for field_name in aircraft.messages[name].fieldnames: name_text = wx.StaticText(field_panel, -1, field_name) size = name_text.GetSize() size.x = LABEL_WIDTH name_text.SetMinSize(size) grid_sizer.Add(name_text, 1, wx.ALL, BORDER) value_control = wx.StaticText(field_panel, -1, "42", style=wx.EXPAND) size = value_control.GetSize() size.x = LABEL_WIDTH value_control.SetMinSize(size) grid_sizer.Add(value_control, 1, wx.ALL | wx.EXPAND, BORDER) if wx.MAJOR_VERSION > 2: if grid_sizer.IsColGrowable(1): grid_sizer.AddGrowableCol(1) else: grid_sizer.AddGrowableCol(1) aircraft.messages[name].field_controls.append(value_control) field_panel.SetAutoLayout(True) field_panel.SetSizer(grid_sizer) field_panel.Layout() def gui_update(self, ac_id, msg): if ac_id not in self.aircrafts: self.add_new_aircraft(ac_id) aircraft = self.aircrafts[ac_id] if msg.name not in aircraft.messages: self.add_new_message(aircraft, msg.msg_class, msg.name) aircraft.messages_book.SetPageImage(aircraft.messages[msg.name].index, 1) self.aircrafts[ac_id].messages[msg.name].last_seen = time.time() for index in range(0, len(msg.fieldvalues)): aircraft.messages[msg.name].field_controls[index].SetLabel(msg.get_field(index)) def __init__(self, msg_class="telemetry"): wx.Frame.__init__(self, id=-1, parent=None, name=u'MessagesFrame', size=wx.Size(WIDTH, HEIGHT), style=wx.DEFAULT_FRAME_STYLE, title=u'Messages') self.Bind(wx.EVT_CLOSE, self.OnClose) self.notebook = wx.Notebook(self) self.aircrafts = {} sizer = wx.BoxSizer(wx.HORIZONTAL) sizer.Add(self.notebook, 1, wx.EXPAND) self.SetSizer(sizer) sizer.Layout() self.timer = threading.Timer(0.1, self.update_leds) self.timer.start() self.msg_class = msg_class self.interface = IvyMessagesInterface("Paparazzi Messages Viewer") self.interface.subscribe(self.message_recv) def OnClose(self, event): self.timer.cancel() self.interface.shutdown() self.Destroy()
class Guidance(object): def __init__(self, ac_id, verbose=False): self.ac_id = ac_id self.verbose = verbose self._interface = None self.auto2_index = None try: settings = PaparazziACSettings(self.ac_id) except Exception as e: print(e) return try: self.auto2_index = settings.name_lookup['auto2'].index except Exception as e: print(e) print("auto2 setting not found, mode change not possible.") self._interface = IvyMessagesInterface("guided mode example") def shutdown(self): if self._interface is not None: print("Shutting down ivy interface...") self._interface.shutdown() self._interface = None def __del__(self): self.shutdown() def set_guided_mode(self): """ change auto2 mode to GUIDED. """ if self.auto2_index is not None: msg = PprzMessage("ground", "DL_SETTING") msg['ac_id'] = self.ac_id msg['index'] = self.auto2_index msg['value'] = 19 # AP_MODE_GUIDED print("Setting mode to GUIDED: %s" % msg) self._interface.send(msg) def set_nav_mode(self): """ change auto2 mode to NAV. """ if self.auto2_index is not None: msg = PprzMessage("ground", "DL_SETTING") msg['ac_id'] = self.ac_id msg['index'] = self.auto2_index msg['value'] = 13 # AP_MODE_NAV print("Setting mode to NAV: %s" % msg) self._interface.send(msg) def goto_ned(self, north, east, down, heading=0.0): """ goto a local NorthEastDown position in meters (if already in GUIDED mode) """ msg = PprzMessage("datalink", "GUIDED_SETPOINT_NED") msg['ac_id'] = self.ac_id msg['flags'] = 0x00 msg['x'] = north msg['y'] = east msg['z'] = down msg['yaw'] = heading print("goto NED: %s" % msg) # embed the message in RAW_DATALINK so that the server can log it self._interface.send_raw_datalink(msg) def goto_ned_relative(self, north, east, down, yaw=0.0): """ goto a local NorthEastDown position relative to current position in meters (if already in GUIDED mode) """ msg = PprzMessage("datalink", "GUIDED_SETPOINT_NED") msg['ac_id'] = self.ac_id msg['flags'] = 0x01 msg['x'] = north msg['y'] = east msg['z'] = down msg['yaw'] = yaw print("goto NED relative: %s" % msg) self._interface.send_raw_datalink(msg) def goto_body_relative(self, forward, right, down, yaw=0.0): """ goto to a position relative to current position and heading in meters (if already in GUIDED mode) """ msg = PprzMessage("datalink", "GUIDED_SETPOINT_NED") msg['ac_id'] = self.ac_id msg['flags'] = 0x03 msg['x'] = forward msg['y'] = right msg['z'] = down msg['yaw'] = yaw print("goto body relative: %s" % msg) self._interface.send_raw_datalink(msg) def move_at_vel(self, north=0.0, east=0.0, down=0.0, yaw=0.0): """ move at specified velocity in meters/sec with absolute heading (if already in GUIDED mode) """ msg = PprzMessage("datalink", "GUIDED_SETPOINT_NED") msg['ac_id'] = self.ac_id msg['flags'] = 0x70 msg['x'] = north msg['y'] = east msg['z'] = down msg['yaw'] = yaw print("move at vel NED: %s" % msg) self._interface.send_raw_datalink(msg)
class MessagePicker(wx.Frame): def __init__(self, parent, callback, ivy_interface=None): wx.Frame.__init__(self, parent, name="MessagePicker", title=u'Message Picker', size=wx.Size(320, 640)) self.aircrafts = {} self.callback = callback self.tree = wx.TreeCtrl(self) self.root = self.tree.AddRoot("Telemetry") self.tree.Bind(wx.EVT_LEFT_DCLICK, self.OnDoubleClick) self.tree.Bind(wx.EVT_CHAR, self.OnKeyChar) self.Bind(wx.EVT_CLOSE, self.OnClose) if ivy_interface is None: self.message_interface = IvyMessagesInterface("MessagePicker") else: self.message_interface = ivy_interface self.message_interface.subscribe(self.msg_recv) def OnClose(self, event): # if we have a parent (like the plotpanel) only hide instead of shutdown if self.GetParent() is not None: self.Hide() else: self.message_interface.shutdown() self.Destroy() def msg_recv(self, ac_id, msg): if msg.msg_class != "telemetry": return self.tree.Expand(self.root) if ac_id not in self.aircrafts: ac_node = self.tree.AppendItem(self.root, str(ac_id)) self.aircrafts[ac_id] = Aircraft(ac_id) self.aircrafts[ac_id].messages_book = ac_node aircraft = self.aircrafts[ac_id] ac_node = aircraft.messages_book if msg.name not in aircraft.messages: msg_node = self.tree.AppendItem(ac_node, str(msg.name)) self.tree.SortChildren(ac_node) aircraft.messages[msg.name] = Message("telemetry", msg.name) for field in aircraft.messages[msg.name].fieldnames: item = self.tree.AppendItem(msg_node, field) def OnKeyChar(self, event): if event.GetKeyCode() != 13: return False node = self.tree.GetSelection() field_name = self.tree.GetItemText(node) parent = self.tree.GetItemParent(node) message_name = self.tree.GetItemText(parent) grandparent = self.tree.GetItemParent(parent) ac_id = self.tree.GetItemText(grandparent) if node == self.root or parent == self.root or grandparent == self.root: # if not leaf, double click = expand if self.tree.IsExpanded(node): self.tree.Collapse(node) else: self.tree.Expand(node) return self.callback(int(ac_id), message_name, field_name) def OnDoubleClick(self, event): node = self.tree.GetSelection() field_name = self.tree.GetItemText(node) parent = self.tree.GetItemParent(node) message_name = self.tree.GetItemText(parent) grandparent = self.tree.GetItemParent(parent) ac_id = self.tree.GetItemText(grandparent) if node == self.root or parent == self.root or grandparent == self.root: # if not leaf, double click = expand if self.tree.IsExpanded(node): self.tree.Collapse(node) else: self.tree.Expand(node) return self.callback(int(ac_id), message_name, field_name)
class Guidance(object): def __init__(self, ac_id, verbose=False): self.ac_id = ac_id self.verbose = verbose self._interface = None self.auto2_index = None try: settings = PaparazziACSettings(self.ac_id) except Exception as e: print(e) return try: self.auto2_index = settings.name_lookup['auto2'].index except Exception as e: print(e) print("auto2 setting not found, mode change not possible.") self._interface = IvyMessagesInterface(self.message_recv) def message_recv(self, ac_id, msg): if self.verbose: print("Got msg %s" % msg.name) def shutdown(self): if self._interface is not None: print("Shutting down ivy interface...") self._interface.shutdown() def __del__(self): self.shutdown() def set_guided_mode(self): """ change auto2 mode to GUIDED. """ if self.auto2_index is not None: msg = PprzMessage("ground", "DL_SETTING") msg['ac_id'] = self.ac_id msg['index'] = self.auto2_index msg['value'] = 19 # AP_MODE_GUIDED print("Setting mode to GUIDED: %s" % msg) self._interface.send(msg) def set_nav_mode(self): """ change auto2 mode to NAV. """ if self.auto2_index is not None: msg = PprzMessage("ground", "DL_SETTING") msg['ac_id'] = self.ac_id msg['index'] = self.auto2_index msg['value'] = 13 # AP_MODE_NAV print("Setting mode to NAV: %s" % msg) self._interface.send(msg) def goto_ned(self, north, east, down, heading=0.0): """ goto a local NorthEastDown position in meters (if already in GUIDED mode) """ msg = PprzMessage("datalink", "GUIDED_SETPOINT_NED") msg['ac_id'] = self.ac_id msg['flags'] = 0x00 msg['x'] = north msg['y'] = east msg['z'] = down msg['yaw'] = heading print("goto NED: %s" % msg) # embed the message in RAW_DATALINK so that the server can log it self._interface.send_raw_datalink(msg) def goto_ned_relative(self, north, east, down, yaw=0.0): """ goto a local NorthEastDown position relative to current position in meters (if already in GUIDED mode) """ msg = PprzMessage("datalink", "GUIDED_SETPOINT_NED") msg['ac_id'] = self.ac_id msg['flags'] = 0x01 msg['x'] = north msg['y'] = east msg['z'] = down msg['yaw'] = yaw print("goto NED relative: %s" % msg) self._interface.send_raw_datalink(msg) def goto_body_relative(self, forward, right, down, yaw=0.0): """ goto to a position relative to current position and heading in meters (if already in GUIDED mode) """ msg = PprzMessage("datalink", "GUIDED_SETPOINT_NED") msg['ac_id'] = self.ac_id msg['flags'] = 0x03 msg['x'] = forward msg['y'] = right msg['z'] = down msg['yaw'] = yaw print("goto body relative: %s" % msg) self._interface.send_raw_datalink(msg) def move_at_vel(self, north=0.0, east=0.0, down=0.0, yaw=0.0): """ move at specified velocity in meters/sec with absolute heading (if already in GUIDED mode) """ msg = PprzMessage("datalink", "GUIDED_SETPOINT_NED") msg['ac_id'] = self.ac_id msg['flags'] = 0x70 msg['x'] = north msg['y'] = east msg['z'] = down msg['yaw'] = yaw print("move at vel NED: %s" % msg) self._interface.send_raw_datalink(msg)
class MessagesFrame(wx.Frame): def message_recv(self, ac_id, msg): """Handle incoming messages Callback function for IvyMessagesInterface :param ac_id: aircraft id :type ac_id: int :param msg: message :type msg: PprzMessage """ # only show messages of the requested class if msg.msg_class != self.msg_class: return if ac_id in self.aircrafts and msg.name in self.aircrafts[ ac_id].messages: if time.time() - self.aircrafts[ac_id].messages[ msg.name].last_seen < 0.2: return wx.CallAfter(self.gui_update, ac_id, msg) def find_page(self, book, name): if book.GetPageCount() < 1: return 0 start = 0 end = book.GetPageCount() while start < end: if book.GetPageText(start) >= name: return start start += 1 return start def update_leds(self): wx.CallAfter(self.update_leds_real) def update_leds_real(self): for ac_id in self.aircrafts: aircraft = self.aircrafts[ac_id] for msg_str in aircraft.messages: message = aircraft.messages[msg_str] if message.last_seen + 0.2 < time.time(): aircraft.messages_book.SetPageImage(message.index, 0) self.timer = threading.Timer(0.1, self.update_leds) self.timer.start() def setup_image_list(self, notebook): imageList = wx.ImageList(24, 24) image = wx.Image(PPRZ_HOME + "/data/pictures/gray_led24.png") bitmap = wx.BitmapFromImage(image) imageList.Add(bitmap) image = wx.Image(PPRZ_HOME + "/data/pictures/green_led24.png") bitmap = wx.BitmapFromImage(image) imageList.Add(bitmap) notebook.AssignImageList(imageList) def add_new_aircraft(self, ac_id): self.aircrafts[ac_id] = Aircraft(ac_id) ac_panel = wx.Panel(self.notebook, -1) self.notebook.AddPage(ac_panel, str(ac_id)) messages_book = wx.Notebook(ac_panel, style=wx.NB_LEFT) self.setup_image_list(messages_book) sizer = wx.BoxSizer(wx.VERTICAL) sizer.Add(messages_book, 1, wx.EXPAND) ac_panel.SetSizer(sizer) sizer.Layout() self.aircrafts[ac_id].messages_book = messages_book def add_new_message(self, aircraft, msg_class, name): messages_book = aircraft.messages_book aircraft.messages[name] = Message(msg_class, name) field_panel = wx.Panel(messages_book) grid_sizer = wx.FlexGridSizer(len(aircraft.messages[name].fieldnames), 2) index = self.find_page(messages_book, name) messages_book.InsertPage(index, field_panel, name, imageId=1) aircraft.messages[name].index = index # update indexes of pages which are to be moved for message_name in aircraft.messages: aircraft.messages[message_name].index = self.find_page( messages_book, message_name) for field_name in aircraft.messages[name].fieldnames: name_text = wx.StaticText(field_panel, -1, field_name) size = name_text.GetSize() size.x = LABEL_WIDTH name_text.SetMinSize(size) grid_sizer.Add(name_text, 1, wx.ALL, BORDER) value_control = wx.StaticText(field_panel, -1, "42", style=wx.EXPAND) size = value_control.GetSize() size.x = LABEL_WIDTH value_control.SetMinSize(size) grid_sizer.Add(value_control, 1, wx.ALL | wx.EXPAND, BORDER) if wx.MAJOR_VERSION > 2: if grid_sizer.IsColGrowable(1): grid_sizer.AddGrowableCol(1) else: grid_sizer.AddGrowableCol(1) aircraft.messages[name].field_controls.append(value_control) field_panel.SetAutoLayout(True) field_panel.SetSizer(grid_sizer) field_panel.Layout() def gui_update(self, ac_id, msg): if ac_id not in self.aircrafts: self.add_new_aircraft(ac_id) aircraft = self.aircrafts[ac_id] if msg.name not in aircraft.messages: self.add_new_message(aircraft, msg.msg_class, msg.name) aircraft.messages_book.SetPageImage(aircraft.messages[msg.name].index, 1) self.aircrafts[ac_id].messages[msg.name].last_seen = time.time() for index in range(0, len(msg.fieldvalues)): aircraft.messages[msg.name].field_controls[index].SetLabel( msg.get_field(index)) def __init__(self, msg_class="telemetry"): wx.Frame.__init__(self, id=-1, parent=None, name=u'MessagesFrame', size=wx.Size(WIDTH, HEIGHT), style=wx.DEFAULT_FRAME_STYLE, title=u'Messages') self.Bind(wx.EVT_CLOSE, self.OnClose) self.notebook = wx.Notebook(self) self.aircrafts = {} sizer = wx.BoxSizer(wx.HORIZONTAL) sizer.Add(self.notebook, 1, wx.EXPAND) self.SetSizer(sizer) sizer.Layout() self.timer = threading.Timer(0.1, self.update_leds) self.timer.start() self.msg_class = msg_class self.interface = IvyMessagesInterface(self.message_recv) def OnClose(self, event): self.timer.cancel() self.interface.shutdown() self.Destroy()