def __init__(self, link, update, log_level_filter, skip_settings=False, error=False):
self.console_output = OutputList()
self.console_output.write("Console: starting...")
self.error = error
sys.stdout = self.console_output
if not error:
sys.stderr = self.console_output
self.log_level_filter = log_level_filter
self.console_output.log_level_filter = str_to_log_level(log_level_filter)
try:
self.link = link
self.link.add_callback(self.print_message_callback, SBP_MSG_PRINT_DEP)
self.link.add_callback(self.log_message_callback, SBP_MSG_LOG)
self.link.add_callback(self.ext_event_callback, SBP_MSG_EXT_EVENT)
self.dep_handler = DeprecatedMessageHandler(link)
settings_read_finished_functions = []
self.tracking_view = TrackingView(self.link)
self.solution_view = SolutionView(self.link)
self.baseline_view = BaselineView(self.link)
self.observation_view = ObservationView(self.link, name='Rover', relay=False)
self.observation_view_base = ObservationView(self.link, name='Base', relay=True)
self.system_monitor_view = SystemMonitorView(self.link)
self.update_view = UpdateView(self.link, prompt=update)
settings_read_finished_functions.append(self.update_view.compare_versions)
self.networking_view = SbpRelayView(self.link)
# Once we have received the settings, update device_serial with
# the Piksi serial number which will be displayed in the window
# title. This callback will also update the header route as used
# by the networking view.
def update_serial():
serial_string = self.settings_view.settings['system_info']['serial_number'].value
self.device_serial = 'PK%04d' % int(serial_string)
if serial_string:
self.networking_view.set_route(int(serial_string))
settings_read_finished_functions.append(update_serial)
self.settings_view = SettingsView(self.link,
settings_read_finished_functions,
skip=skip_settings)
self.update_view.settings = self.settings_view.settings
self.python_console_env = { 'send_message': self.link,
'link': self.link, }
self.python_console_env.update(self.tracking_view.python_console_cmds)
self.python_console_env.update(self.solution_view.python_console_cmds)
self.python_console_env.update(self.baseline_view.python_console_cmds)
self.python_console_env.update(self.observation_view.python_console_cmds)
self.python_console_env.update(self.networking_view.python_console_cmds)
self.python_console_env.update(self.system_monitor_view.python_console_cmds)
self.python_console_env.update(self.update_view.python_console_cmds)
self.python_console_env.update(self.settings_view.python_console_cmds)
except:
import traceback
traceback.print_exc()
if self.error:
sys.exit(1)
def __init__(self, link, update, log_level_filter, skip_settings=False, error=False):
self.console_output = OutputList()
self.console_output.write("Console: starting...")
self.error = error
sys.stdout = self.console_output
if not error:
sys.stderr = self.console_output
self.log_level_filter = log_level_filter
self.console_output.log_level_filter = str_to_log_level(log_level_filter)
try:
self.link = link
self.link.add_callback(self.print_message_callback, SBP_MSG_PRINT_DEP)
self.link.add_callback(self.log_message_callback, SBP_MSG_LOG)
self.link.add_callback(self.ext_event_callback, SBP_MSG_EXT_EVENT)
self.dep_handler = DeprecatedMessageHandler(link)
settings_read_finished_functions = []
self.tracking_view = TrackingView(self.link)
self.solution_view = SolutionView(self.link)
self.baseline_view = BaselineView(self.link)
self.observation_view = ObservationView(self.link, name='Rover', relay=False)
self.observation_view_base = ObservationView(self.link, name='Base', relay=True)
self.system_monitor_view = SystemMonitorView(self.link)
self.update_view = UpdateView(self.link, prompt=update)
settings_read_finished_functions.append(self.update_view.compare_versions)
self.networking_view = SbpRelayView(self.link)
# Once we have received the settings, update device_serial with
# the Piksi serial number which will be displayed in the window
# title. This callback will also update the header route as used
# by the networking view.
def update_serial():
serial_string = self.settings_view.settings['system_info']['serial_number'].value
self.device_serial = 'PK%04d' % int(serial_string)
if serial_string:
self.networking_view.set_route(int(serial_string))
settings_read_finished_functions.append(update_serial)
self.settings_view = SettingsView(self.link,
settings_read_finished_functions,
False,
skip=skip_settings)
self.update_view.settings = self.settings_view.settings
self.python_console_env = { 'send_message': self.link,
'link': self.link, }
self.python_console_env.update(self.tracking_view.python_console_cmds)
self.python_console_env.update(self.solution_view.python_console_cmds)
self.python_console_env.update(self.baseline_view.python_console_cmds)
self.python_console_env.update(self.observation_view.python_console_cmds)
self.python_console_env.update(self.networking_view.python_console_cmds)
self.python_console_env.update(self.system_monitor_view.python_console_cmds)
self.python_console_env.update(self.update_view.python_console_cmds)
self.python_console_env.update(self.settings_view.python_console_cmds)
except:
import traceback
traceback.print_exc()
if self.error:
sys.exit(1)
def __init__(self,
link,
update,
log_level_filter,
skip_settings=False,
error=False,
cnx_desc=None,
json_logging=False,
log_dirname=None,
override_filename=None,
log_console=False,
networking=None,
serial_upgrade=False):
self.error = error
self.cnx_desc = cnx_desc
self.dev_id = cnx_desc
self.num_sats = 0
self.mode = ''
self.forwarder = None
self.latency = '--'
# if we have passed a logfile, we set our directory to it
override_filename = override_filename
home = expanduser("~")
swift_path = os.path.normpath(os.path.join(home, 'SwiftNav'))
if log_dirname:
self.directory_name = log_dirname
if override_filename:
override_filename = os.path.join(log_dirname,
override_filename)
else:
self.directory_name = swift_path
# Start swallowing sys.stdout and sys.stderr
self.console_output = OutputList(tfile=log_console,
outdir=self.directory_name)
sys.stdout = self.console_output
self.console_output.write("Console: " + CONSOLE_VERSION +
" starting...")
if not error:
sys.stderr = self.console_output
self.log_level_filter = log_level_filter
self.console_output.log_level_filter = str_to_log_level(
log_level_filter)
try:
self.link = link
self.link.add_callback(self.print_message_callback,
SBP_MSG_PRINT_DEP)
self.link.add_callback(self.log_message_callback, SBP_MSG_LOG)
self.link.add_callback(self.ext_event_callback, SBP_MSG_EXT_EVENT)
self.link.add_callback(self.cmd_resp_callback,
SBP_MSG_COMMAND_RESP)
self.link.add_callback(self.update_on_heartbeat, SBP_MSG_HEARTBEAT)
self.dep_handler = DeprecatedMessageHandler(link)
settings_read_finished_functions = []
self.tracking_view = TrackingView(self.link)
self.solution_view = SolutionView(self.link,
dirname=self.directory_name)
self.baseline_view = BaselineView(self.link,
dirname=self.directory_name)
self.observation_view = ObservationView(
self.link,
name='Local',
relay=False,
dirname=self.directory_name)
self.observation_view_base = ObservationView(
self.link,
name='Remote',
relay=True,
dirname=self.directory_name)
self.system_monitor_view = SystemMonitorView(self.link)
self.update_view = UpdateView(self.link,
download_dir=swift_path,
prompt=update,
serial_upgrade=serial_upgrade)
self.imu_view = IMUView(self.link)
self.spectrum_analyzer_view = SpectrumAnalyzerView(self.link)
settings_read_finished_functions.append(
self.update_view.compare_versions)
if networking:
import yaml
try:
networking_dict = yaml.load(networking)
networking_dict.update({'show_networking': True})
except yaml.YAMLError:
print(
"Unable to interpret networking cmdline argument. It will be ignored."
)
import traceback
print(traceback.format_exc())
networking_dict = {'show_networking': True}
else:
networking_dict = {}
networking_dict.update(
{'whitelist': [SBP_MSG_POS_LLH, SBP_MSG_HEARTBEAT]})
self.networking_view = SbpRelayView(self.link, **networking_dict)
self.json_logging = json_logging
self.csv_logging = False
self.first_json_press = True
if json_logging:
self._start_json_logging(override_filename)
self.json_logging = True
# we set timer interval to 1200 milliseconds because we expect a heartbeat each second
self.timer_cancel = call_repeatedly(1.2, self.check_heartbeat)
# Once we have received the settings, update device_serial with
# the Swift serial number which will be displayed in the window
# title. This callback will also update the header route as used
# by the networking view.
def update_serial():
uuid = None
mfg_id = None
try:
uuid = self.settings_view.settings['system_info'][
'uuid'].value
mfg_id = self.settings_view.settings['system_info'][
'serial_number'].value
except KeyError:
pass
if mfg_id:
self.device_serial = 'PK' + str(mfg_id)[-6:]
self.networking_view.set_route(uuid=uuid, serial_id=mfg_id)
if self.networking_view.connect_when_uuid_received:
self.networking_view._connect_rover_fired()
settings_read_finished_functions.append(update_serial)
self.settings_view = SettingsView(self.link,
settings_read_finished_functions,
skip=skip_settings)
self.update_view.settings = self.settings_view.settings
self.python_console_env = {
'send_message': self.link,
'link': self.link,
}
self.python_console_env.update(
self.tracking_view.python_console_cmds)
self.python_console_env.update(
self.solution_view.python_console_cmds)
self.python_console_env.update(
self.baseline_view.python_console_cmds)
self.python_console_env.update(
self.observation_view.python_console_cmds)
self.python_console_env.update(
self.networking_view.python_console_cmds)
self.python_console_env.update(
self.system_monitor_view.python_console_cmds)
self.python_console_env.update(
self.update_view.python_console_cmds)
self.python_console_env.update(self.imu_view.python_console_cmds)
self.python_console_env.update(
self.settings_view.python_console_cmds)
self.python_console_env.update(
self.spectrum_analyzer_view.python_console_cmds)
except:
import traceback
traceback.print_exc()
if self.error:
sys.exit(1)
class SwiftConsole(HasTraits):
"""Traits-defined Swift Console.
link : object
Serial driver
update : bool
Update the firmware
log_level_filter : str
Syslog string, one of "ERROR", "WARNING", "INFO", "DEBUG".
skip_settings : bool
Don't read the device settings. Set to False when the console is reading
from a network connection only.
"""
link = Instance(sbpc.Handler)
console_output = Instance(OutputList())
python_console_env = Dict
device_serial = Str('')
dev_id = Str('')
tracking_view = Instance(TrackingView)
solution_view = Instance(SolutionView)
baseline_view = Instance(BaselineView)
observation_view = Instance(ObservationView)
networking_view = Instance(SbpRelayView)
observation_view_base = Instance(ObservationView)
system_monitor_view = Instance(SystemMonitorView)
settings_view = Instance(SettingsView)
update_view = Instance(UpdateView)
imu_view = Instance(IMUView)
spectrum_analyzer_view = Instance(SpectrumAnalyzerView)
log_level_filter = Enum(list(SYSLOG_LEVELS.itervalues()))
""""
mode : baseline and solution view - SPP, Fixed or Float
num_sat : baseline and solution view - number of satellites
port : which port is Swift Device is connected to
directory_name : location of logged files
json_logging : enable JSON logging
csv_logging : enable CSV logging
"""
mode = Str('')
num_sats = Int(0)
cnx_desc = Str('')
latency = Str('')
directory_name = Directory
json_logging = Bool(True)
csv_logging = Bool(False)
cnx_icon = Str('')
heartbeat_count = Int()
last_timer_heartbeat = Int()
solid_connection = Bool(False)
csv_logging_button = SVGButton(
toggle=True,
label='CSV log',
tooltip='start CSV logging',
toggle_tooltip='stop CSV logging',
filename=os.path.join(determine_path(), 'images', 'iconic',
'pause.svg'),
toggle_filename=os.path.join(determine_path(), 'images', 'iconic',
'play.svg'),
orientation='vertical',
width=2,
height=2,
)
json_logging_button = SVGButton(
toggle=True,
label='JSON log',
tooltip='start JSON logging',
toggle_tooltip='stop JSON logging',
filename=os.path.join(determine_path(), 'images', 'iconic',
'pause.svg'),
toggle_filename=os.path.join(determine_path(), 'images', 'iconic',
'play.svg'),
orientation='vertical',
width=2,
height=2,
)
paused_button = SVGButton(label='',
tooltip='Pause console update',
toggle_tooltip='Resume console update',
toggle=True,
filename=os.path.join(determine_path(), 'images',
'iconic', 'pause.svg'),
toggle_filename=os.path.join(
determine_path(), 'images', 'iconic',
'play.svg'),
width=8,
height=8)
clear_button = SVGButton(label='',
tooltip='Clear console buffer',
filename=os.path.join(determine_path(), 'images',
'iconic', 'x.svg'),
width=8,
height=8)
view = View(VSplit(
Tabbed(Item('tracking_view', style='custom', label='Tracking'),
Item('solution_view', style='custom', label='Solution'),
Item('baseline_view', style='custom', label='Baseline'),
VSplit(
Item('observation_view', style='custom', show_label=False),
Item('observation_view_base',
style='custom',
show_label=False),
label='Observations',
),
Item('settings_view', style='custom', label='Settings'),
Item('update_view', style='custom', label='Firmware Update'),
Tabbed(Item('system_monitor_view',
style='custom',
label='System Monitor'),
Item('imu_view', style='custom', label='IMU'),
Item('networking_view',
label='Networking',
style='custom',
show_label=False),
Item('spectrum_analyzer_view',
label='Spectrum Analyzer',
style='custom'),
Item('python_console_env',
style='custom',
label='Python Console',
editor=ShellEditor()),
label='Advanced',
show_labels=False),
show_labels=False),
VGroup(
VGroup(
HGroup(
Spring(width=4, springy=False),
Item('paused_button',
show_label=False,
padding=0,
width=8,
height=8),
Item('clear_button', show_label=False, width=8, height=8),
Item('', label='Console Log', emphasized=True),
Item('csv_logging_button',
emphasized=True,
show_label=False,
width=12,
height=-30,
padding=0),
Item('json_logging_button',
emphasized=True,
show_label=False,
width=12,
height=-30,
padding=0),
Item(
'directory_name',
show_label=False,
springy=True,
tooltip=
'Choose location for file logs. Default is home/SwiftNav.',
height=-25,
enabled_when='not(json_logging or csv_logging)',
editor_args={'auto_set': True}),
UItem(
'log_level_filter',
style='simple',
padding=0,
height=8,
show_label=True,
tooltip=
'Show log levels up to and including the selected level of severity.\nThe CONSOLE log level is always visible.'
),
),
Item('console_output',
style='custom',
editor=InstanceEditor(),
height=125,
show_label=False,
full_size=True),
),
HGroup(
Spring(width=4, springy=False),
Item('',
label='Interface:',
emphasized=True,
tooltip='Interface for communicating with Swift device'),
Item('cnx_desc', show_label=False, style='readonly'),
Item('',
label='FIX TYPE:',
emphasized=True,
tooltip='Device Mode: SPS, Float RTK, Fixed RTK'),
Item('mode', show_label=False, style='readonly'),
Item('',
label='#Sats:',
emphasized=True,
tooltip='Number of satellites used in solution'),
Item('num_sats', padding=2, show_label=False,
style='readonly'),
Item('',
label='Base Latency:',
emphasized=True,
tooltip='Corrections latency (-1 means no corrections)'),
Item('latency', padding=2, show_label=False, style='readonly'),
Spring(springy=True),
Item('cnx_icon',
show_label=False,
padding=0,
width=8,
height=8,
visible_when='solid_connection',
springy=False,
editor=ImageEditor(allow_clipping=False,
image=ImageResource(
'arrows_blue.png',
search_path=[
os.path.join(
determine_path(), 'images',
'iconic')
]))),
Item('cnx_icon',
show_label=False,
padding=0,
width=8,
height=8,
visible_when='not solid_connection',
springy=False,
editor=ImageEditor(allow_clipping=False,
image=ImageResource(
'arrows_grey.png',
search_path=[
os.path.join(
determine_path(), 'images',
'iconic')
]))),
Spring(width=4, height=-2, springy=False),
),
Spring(height=1, springy=False),
),
),
icon=icon,
resizable=True,
width=800,
height=600,
handler=ConsoleHandler(),
title=CONSOLE_TITLE)
def print_message_callback(self, sbp_msg, **metadata):
try:
encoded = sbp_msg.payload.encode('ascii', 'ignore')
for eachline in reversed(encoded.split('\n')):
self.console_output.write_level(
eachline, str_to_log_level(eachline.split(':')[0]))
except UnicodeDecodeError:
print("Critical Error encoding the serial stream as ascii.")
def log_message_callback(self, sbp_msg, **metadata):
try:
encoded = sbp_msg.text.encode('ascii', 'ignore')
for eachline in reversed(encoded.split('\n')):
self.console_output.write_level(eachline, sbp_msg.level)
except UnicodeDecodeError:
print("Critical Error encoding the serial stream as ascii.")
def ext_event_callback(self, sbp_msg, **metadata):
e = MsgExtEvent(sbp_msg)
print(
'External event: %s edge on pin %d at wn=%d, tow=%d, time qual=%s'
% ("Rising" if
(e.flags &
(1 << 0)) else "Falling", e.pin, e.wn, e.tow, "good" if
(e.flags & (1 << 1)) else "unknown"))
def cmd_resp_callback(self, sbp_msg, **metadata):
r = MsgCommandResp(sbp_msg)
print("Received a command response message with code {0}".format(
r.code))
def _paused_button_fired(self):
self.console_output.paused = not self.console_output.paused
def _log_level_filter_changed(self):
"""
Takes log level enum and translates into the mapped integer.
Integer stores the current filter value inside OutputList.
"""
self.console_output.log_level_filter = str_to_log_level(
self.log_level_filter)
def _clear_button_fired(self):
self.console_output.clear()
def _directory_name_changed(self):
if self.baseline_view and self.solution_view:
self.baseline_view.directory_name_b = self.directory_name
self.solution_view.directory_name_p = self.directory_name
self.solution_view.directory_name_v = self.directory_name
if self.observation_view and self.observation_view_base:
self.observation_view.dirname = self.directory_name
self.observation_view_base.dirname = self.directory_name
def check_heartbeat(self):
# if our heartbeat hasn't changed since the last timer interval the connection must have dropped
if self.heartbeat_count == self.last_timer_heartbeat:
self.solid_connection = False
else:
self.solid_connection = True
self.last_timer_heartbeat = self.heartbeat_count
def update_on_heartbeat(self, sbp_msg, **metadata):
self.heartbeat_count += 1
# First initialize the state to nothing, if we can't update, it will be none
temp_mode = "None"
temp_num_sats = 0
view = None
if self.baseline_view and self.solution_view:
# If we have a recent baseline update, we use the baseline info
if time.time() - self.baseline_view.last_btime_update < 10:
view = self.baseline_view
# Otherwise, if we have a recent SPP update, we use the SPP
elif time.time() - self.solution_view.last_stime_update < 10:
view = self.solution_view
if view:
if view.last_soln:
# if all is well we update state
temp_mode = mode_dict.get(get_mode(view.last_soln),
EMPTY_STR)
temp_num_sats = view.last_soln.n_sats
self.mode = temp_mode
self.num_sats = temp_num_sats
if self.settings_view: # for auto populating surveyed fields
self.settings_view.lat = self.solution_view.latitude
self.settings_view.lon = self.solution_view.longitude
self.settings_view.alt = self.solution_view.altitude
if self.system_monitor_view:
if self.system_monitor_view.msg_obs_window_latency_ms != -1:
self.latency = "{0} ms".format(
self.system_monitor_view.msg_obs_window_latency_ms)
else:
self.latency = EMPTY_STR
def _csv_logging_button_action(self):
if self.csv_logging and self.baseline_view.logging_b and self.solution_view.logging_p and self.solution_view.logging_v:
print("Stopped CSV logging")
self.csv_logging = False
self.baseline_view.logging_b = False
self.solution_view.logging_p = False
self.solution_view.logging_v = False
else:
print("Started CSV logging at %s" % self.directory_name)
self.csv_logging = True
self.baseline_view.logging_b = True
self.solution_view.logging_p = True
self.solution_view.logging_v = True
def _start_json_logging(self, override_filename=None):
if override_filename:
filename = override_filename
else:
filename = time.strftime("swift-gnss-%Y%m%d-%H%M%S.sbp.json")
filename = os.path.normpath(
os.path.join(self.directory_name, filename))
self.logger = s.get_logger(True, filename)
self.forwarder = sbpc.Forwarder(self.link, self.logger)
self.forwarder.start()
if self.settings_view:
self.settings_view._settings_read_button_fired()
def _stop_json_logging(self):
fwd = self.forwarder
fwd.stop()
self.logger.flush()
self.logger.close()
def _json_logging_button_action(self):
if self.first_json_press and self.json_logging:
print(
"JSON Logging initiated via CMD line. Please press button again to stop logging"
)
elif self.json_logging:
self._stop_json_logging()
self.json_logging = False
print("Stopped JSON logging")
else:
self._start_json_logging()
self.json_logging = True
self.first_json_press = False
def _json_logging_button_fired(self):
if not os.path.exists(self.directory_name) and not self.json_logging:
confirm_prompt = CallbackPrompt(
title="Logging directory creation",
actions=[ok_button],
callback=self._json_logging_button_action)
confirm_prompt.text = "\nThe selected logging directory does not exist and will be created."
confirm_prompt.run(block=False)
else:
self._json_logging_button_action()
def _csv_logging_button_fired(self):
if not os.path.exists(self.directory_name) and not self.csv_logging:
confirm_prompt = CallbackPrompt(
title="Logging directory creation",
actions=[ok_button],
callback=self._csv_logging_button_action)
confirm_prompt.text = "\nThe selected logging directory does not exist and will be created."
confirm_prompt.run(block=False)
else:
self._csv_logging_button_action()
def __enter__(self):
return self
def __exit__(self, exc_type, exc_value, traceback):
self.console_output.close()
def __init__(self,
link,
update,
log_level_filter,
skip_settings=False,
error=False,
cnx_desc=None,
json_logging=False,
log_dirname=None,
override_filename=None,
log_console=False,
networking=None,
serial_upgrade=False):
self.error = error
self.cnx_desc = cnx_desc
self.dev_id = cnx_desc
self.num_sats = 0
self.mode = ''
self.forwarder = None
self.latency = '--'
# if we have passed a logfile, we set our directory to it
override_filename = override_filename
home = expanduser("~")
swift_path = os.path.normpath(os.path.join(home, 'SwiftNav'))
if log_dirname:
self.directory_name = log_dirname
if override_filename:
override_filename = os.path.join(log_dirname,
override_filename)
else:
self.directory_name = swift_path
# Start swallowing sys.stdout and sys.stderr
self.console_output = OutputList(tfile=log_console,
outdir=self.directory_name)
sys.stdout = self.console_output
self.console_output.write("Console: " + CONSOLE_VERSION +
" starting...")
if not error:
sys.stderr = self.console_output
self.log_level_filter = log_level_filter
self.console_output.log_level_filter = str_to_log_level(
log_level_filter)
try:
self.link = link
self.link.add_callback(self.print_message_callback,
SBP_MSG_PRINT_DEP)
self.link.add_callback(self.log_message_callback, SBP_MSG_LOG)
self.link.add_callback(self.ext_event_callback, SBP_MSG_EXT_EVENT)
self.link.add_callback(self.cmd_resp_callback,
SBP_MSG_COMMAND_RESP)
self.link.add_callback(self.update_on_heartbeat, SBP_MSG_HEARTBEAT)
self.dep_handler = DeprecatedMessageHandler(link)
settings_read_finished_functions = []
self.tracking_view = TrackingView(self.link)
self.solution_view = SolutionView(self.link,
dirname=self.directory_name)
self.baseline_view = BaselineView(self.link,
dirname=self.directory_name)
self.observation_view = ObservationView(
self.link,
name='Local',
relay=False,
dirname=self.directory_name)
self.observation_view_base = ObservationView(
self.link,
name='Remote',
relay=True,
dirname=self.directory_name)
self.system_monitor_view = SystemMonitorView(self.link)
self.update_view = UpdateView(self.link,
download_dir=swift_path,
prompt=update,
serial_upgrade=serial_upgrade)
self.imu_view = IMUView(self.link)
self.spectrum_analyzer_view = SpectrumAnalyzerView(self.link)
settings_read_finished_functions.append(
self.update_view.compare_versions)
if networking:
import yaml
try:
networking_dict = yaml.load(networking)
networking_dict.update({'show_networking': True})
except yaml.YAMLError:
print(
"Unable to interpret networking cmdline argument. It will be ignored."
)
import traceback
print(traceback.format_exc())
networking_dict = {'show_networking': True}
else:
networking_dict = {}
networking_dict.update(
{'whitelist': [SBP_MSG_POS_LLH, SBP_MSG_HEARTBEAT]})
self.networking_view = SbpRelayView(self.link, **networking_dict)
self.json_logging = json_logging
self.csv_logging = False
self.first_json_press = True
if json_logging:
self._start_json_logging(override_filename)
self.json_logging = True
# we set timer interval to 1200 milliseconds because we expect a heartbeat each second
self.timer_cancel = call_repeatedly(1.2, self.check_heartbeat)
# Once we have received the settings, update device_serial with
# the Swift serial number which will be displayed in the window
# title. This callback will also update the header route as used
# by the networking view.
def update_serial():
uuid = None
mfg_id = None
try:
uuid = self.settings_view.settings['system_info'][
'uuid'].value
mfg_id = self.settings_view.settings['system_info'][
'serial_number'].value
except KeyError:
pass
if mfg_id:
self.device_serial = 'PK' + str(mfg_id)[-6:]
self.networking_view.set_route(uuid=uuid, serial_id=mfg_id)
if self.networking_view.connect_when_uuid_received:
self.networking_view._connect_rover_fired()
settings_read_finished_functions.append(update_serial)
self.settings_view = SettingsView(self.link,
settings_read_finished_functions,
skip=skip_settings)
self.update_view.settings = self.settings_view.settings
self.python_console_env = {
'send_message': self.link,
'link': self.link,
}
self.python_console_env.update(
self.tracking_view.python_console_cmds)
self.python_console_env.update(
self.solution_view.python_console_cmds)
self.python_console_env.update(
self.baseline_view.python_console_cmds)
self.python_console_env.update(
self.observation_view.python_console_cmds)
self.python_console_env.update(
self.networking_view.python_console_cmds)
self.python_console_env.update(
self.system_monitor_view.python_console_cmds)
self.python_console_env.update(
self.update_view.python_console_cmds)
self.python_console_env.update(self.imu_view.python_console_cmds)
self.python_console_env.update(
self.settings_view.python_console_cmds)
self.python_console_env.update(
self.spectrum_analyzer_view.python_console_cmds)
except:
import traceback
traceback.print_exc()
if self.error:
sys.exit(1)
def __init__(self,
link,
driver,
update,
log_level_filter,
error=False,
cnx_desc=None,
json_logging=False,
log_dirname=None,
override_filename=None,
log_console=False,
connection_info=None,
expand_json=False
):
self.error = error
self.cnx_desc = cnx_desc
self.connection_info = connection_info
self.dev_id = cnx_desc
self.num_sats_str = EMPTY_STR
self.mode = ''
self.ins_status_string = "None"
self.forwarder = None
self.age_of_corrections = '--'
self.expand_json = expand_json
# if we have passed a logfile, we set our directory to it
override_filename = override_filename
self.last_status_update_time = 0
self.last_driver_bytes_read = 0
self.driver = driver
if log_dirname:
self.directory_name = log_dirname
if override_filename:
override_filename = os.path.join(log_dirname,
override_filename)
else:
self.directory_name = swift_path
# Start swallowing sys.stdout and sys.stderr
self.console_output = OutputList(
tfile=log_console, outdir=self.directory_name)
sys.stdout = self.console_output
self.console_output.write("Console: " + CONSOLE_VERSION +
" starting...")
if not error:
sys.stderr = self.console_output
self.log_level_filter = log_level_filter
self.console_output.log_level_filter = str_to_log_level(
log_level_filter)
try:
self.link = link
self.link.add_callback(self.print_message_callback,
SBP_MSG_PRINT_DEP)
self.link.add_callback(self.log_message_callback, SBP_MSG_LOG)
self.link.add_callback(self.ext_event_callback, SBP_MSG_EXT_EVENT)
self.link.add_callback(self.cmd_resp_callback,
SBP_MSG_COMMAND_RESP)
self.link.add_callback(self.update_on_heartbeat, SBP_MSG_HEARTBEAT)
self.dep_handler = DeprecatedMessageHandler(link)
settings_read_finished_functions = []
self.tracking_view = TrackingView(self.link)
self.solution_view = SolutionView(
self.link, dirname=self.directory_name)
self.baseline_view = BaselineView(
self.link, dirname=self.directory_name)
self.skyplot_view = SkyplotView(self.link, self.tracking_view)
self.observation_view = ObservationView(
self.link,
name='Local',
relay=False,
dirname=self.directory_name,
tracking_view=self.tracking_view)
self.observation_view_base = ObservationView(
self.link,
name='Remote',
relay=True,
dirname=self.directory_name)
self.system_monitor_view = SystemMonitorView(self.link)
self.update_view = UpdateView(
self.link,
download_dir=swift_path,
prompt=update,
connection_info=self.connection_info)
self.imu_view = IMUView(self.link)
self.mag_view = MagView(self.link)
self.spectrum_analyzer_view = SpectrumAnalyzerView(self.link)
settings_read_finished_functions.append(
self.update_view.compare_versions)
self.networking_view = SbpRelayView(self.link)
self.json_logging = json_logging
self.csv_logging = False
self.first_json_press = True
if json_logging:
self._start_json_logging(override_filename)
self.json_logging = True
# we set timer interval to 1200 milliseconds because we expect a heartbeat each second
self.timer_cancel = call_repeatedly(1.2, self.check_heartbeat)
# Once we have received the settings, update device_serial with
# the Swift serial number which will be displayed in the window
# title. This callback will also update the header route as used
# by the networking view.
def update_serial():
mfg_id = None
try:
self.uuid = self.settings_view.settings['system_info'][
'uuid'].value
mfg_id = self.settings_view.settings['system_info'][
'serial_number'].value
except KeyError:
pass
if mfg_id:
self.device_serial = 'PK' + str(mfg_id)
skip_settings_read = False
if 'mode' in self.connection_info:
if self.connection_info['mode'] == 'file':
skip_settings_read = True
settings_read_finished_functions.append(update_serial)
self.settings_view = SettingsView(
self.link,
settings_read_finished_functions,
skip_read=skip_settings_read)
self.update_view.settings = self.settings_view.settings
self.python_console_env = {
'send_message': self.link,
'link': self.link,
}
self.python_console_env.update(
self.tracking_view.python_console_cmds)
self.python_console_env.update(
self.solution_view.python_console_cmds)
self.python_console_env.update(
self.baseline_view.python_console_cmds)
self.python_console_env.update(
self.skyplot_view.python_console_cmds)
self.python_console_env.update(
self.observation_view.python_console_cmds)
self.python_console_env.update(
self.networking_view.python_console_cmds)
self.python_console_env.update(
self.system_monitor_view.python_console_cmds)
self.python_console_env.update(
self.update_view.python_console_cmds)
self.python_console_env.update(self.imu_view.python_console_cmds)
self.python_console_env.update(self.mag_view.python_console_cmds)
self.python_console_env.update(
self.settings_view.python_console_cmds)
self.python_console_env.update(
self.spectrum_analyzer_view.python_console_cmds)
except: # noqa
import traceback
traceback.print_exc()
if self.error:
os._exit(1)
class SwiftConsole(HasTraits):
"""Traits-defined Swift Console.
link : object
Serial driver
update : bool
Update the firmware
log_level_filter : str
Syslog string, one of "ERROR", "WARNING", "INFO", "DEBUG".
"""
link = Instance(sbpc.Handler)
console_output = Instance(OutputList())
python_console_env = Dict
device_serial = Str('')
dev_id = Str('')
tracking_view = Instance(TrackingView)
solution_view = Instance(SolutionView)
baseline_view = Instance(BaselineView)
skyplot_view = Instance(SkyplotView)
observation_view = Instance(ObservationView)
networking_view = Instance(SbpRelayView)
observation_view_base = Instance(ObservationView)
system_monitor_view = Instance(SystemMonitorView)
settings_view = Instance(SettingsView)
update_view = Instance(UpdateView)
imu_view = Instance(IMUView)
mag_view = Instance(MagView)
spectrum_analyzer_view = Instance(SpectrumAnalyzerView)
log_level_filter = Enum(list(SYSLOG_LEVELS.values()))
""""
mode : baseline and solution view - SPP, Fixed or Float
num_sat : baseline and solution view - number of satellites
port : which port is Swift Device is connected to
directory_name : location of logged files
json_logging : enable JSON logging
csv_logging : enable CSV logging
"""
mode = Str('')
ins_status_string = Str('')
num_sats_str = Str('')
cnx_desc = Str('')
age_of_corrections = Str('')
uuid = Str('')
directory_name = Directory
json_logging = Bool(True)
csv_logging = Bool(False)
cnx_icon = Str('')
heartbeat_count = Int()
last_timer_heartbeat = Int()
driver_data_rate = Str()
solid_connection = Bool(False)
csv_logging_button = SVGButton(
toggle=True,
label='CSV log',
tooltip='start CSV logging',
toggle_tooltip='stop CSV logging',
filename=resource_filename('console/images/iconic/pause.svg'),
toggle_filename=resource_filename('console/images/iconic/play.svg'),
orientation='vertical',
width=2,
height=2, )
json_logging_button = SVGButton(
toggle=True,
label='JSON log',
tooltip='start JSON logging',
toggle_tooltip='stop JSON logging',
filename=resource_filename('console/images/iconic/pause.svg'),
toggle_filename=resource_filename('console/images/iconic/play.svg'),
orientation='vertical',
width=2,
height=2, )
paused_button = SVGButton(
label='',
tooltip='Pause console update',
toggle_tooltip='Resume console update',
toggle=True,
filename=resource_filename('console/images/iconic/pause.svg'),
toggle_filename=resource_filename('console/images/iconic/play.svg'),
width=8,
height=8)
clear_button = SVGButton(
label='',
tooltip='Clear console buffer',
filename=resource_filename('console/images/iconic/x.svg'),
width=8,
height=8)
view = View(
VSplit(
Tabbed(
Tabbed(
Item('tracking_view', style='custom', label='Signals', show_label=False),
Item('skyplot_view', style='custom', label='Sky Plot', show_label=False),
label="Tracking"),
Item('solution_view', style='custom', label='Solution'),
Item('baseline_view', style='custom', label='Baseline'),
VSplit(
Item('observation_view', style='custom', show_label=False),
Item(
'observation_view_base',
style='custom',
show_label=False),
label='Observations', ),
Item('settings_view', style='custom', label='Settings'),
Item('update_view', style='custom', label='Update'),
Tabbed(
Item(
'system_monitor_view',
style='custom',
label='System Monitor'),
Item('imu_view', style='custom', label='IMU'),
Item('mag_view', style='custom', label='Magnetometer'),
Item(
'networking_view',
label='Networking',
style='custom',
show_label=False),
Item(
'spectrum_analyzer_view',
label='Spectrum Analyzer',
style='custom'),
label='Advanced',
show_labels=False),
show_labels=False),
VGroup(
VGroup(
HGroup(
Spring(width=4, springy=False),
Item(
'paused_button',
show_label=False,
padding=0,
width=8,
height=8),
Item(
'clear_button',
show_label=False,
width=8,
height=8),
Item('', label='Console Log', emphasized=True),
Item(
'csv_logging_button',
emphasized=True,
show_label=False,
width=12,
height=-30,
padding=0),
Item(
'json_logging_button',
emphasized=True,
show_label=False,
width=12,
height=-30,
padding=0),
Item(
'directory_name',
show_label=False,
springy=True,
tooltip='Choose location for file logs. Default is home/SwiftNav.',
height=-25,
enabled_when='not(json_logging or csv_logging)',
editor_args={'auto_set': True}),
UItem(
'log_level_filter',
style='simple',
padding=0,
height=8,
show_label=True,
tooltip='Show log levels up to and including the selected level of severity.\nThe CONSOLE log level is always visible.'
), ),
Item(
'console_output',
style='custom',
editor=InstanceEditor(),
height=125,
show_label=False,
full_size=True), ),
HGroup(
Spring(width=4, springy=False),
Item(
'',
label='Interface:',
emphasized=True,
tooltip='Interface for communicating with Swift device'
),
Item('cnx_desc', show_label=False, style='readonly'),
Item(
'',
label='FIX TYPE:',
emphasized=True,
tooltip='Device Mode: SPS, Float RTK, Fixed RTK'),
Item('mode', show_label=False, style='readonly'),
Item(
'',
label='#Sats:',
emphasized=True,
tooltip='Number of satellites used in solution'),
Item(
'num_sats_str',
padding=2,
show_label=False,
style='readonly'),
Item(
'',
label='Corr Age:',
emphasized=True,
tooltip='Age of corrections (-- means invalid / not present)'
),
Item(
'age_of_corrections',
padding=2,
show_label=False,
style='readonly'),
Item(
'',
label='INS Status:',
emphasized=True,
tooltip='INS Status String'
), Item(
'ins_status_string',
padding=2,
show_label=False,
style='readonly', width=6),
Spring(springy=True),
Item('driver_data_rate',
style='readonly',
show_label=False),
Item(
'cnx_icon',
show_label=False,
padding=0,
width=8,
height=8,
visible_when='solid_connection',
springy=False,
editor=ImageEditor(
allow_clipping=False,
image=ImageResource(resource_filename('console/images/iconic/arrows_blue.png'))
)),
Item(
'cnx_icon',
show_label=False,
padding=0,
width=8,
height=8,
visible_when='not solid_connection',
springy=False,
editor=ImageEditor(
allow_clipping=False,
image=ImageResource(
resource_filename('console/images/iconic/arrows_grey.png')
))),
Spring(width=4, height=-2, springy=False), ),
Spring(height=1, springy=False), ), ),
icon=icon,
resizable=True,
width=800,
height=600,
handler=ConsoleHandler(),
title=CONSOLE_TITLE)
def print_message_callback(self, sbp_msg, **metadata):
try:
encoded = sbp_msg.payload.encode('ascii', 'ignore')
for eachline in reversed(encoded.split('\n')):
self.console_output.write_level(
eachline, str_to_log_level(eachline.split(':')[0]))
except UnicodeDecodeError as e:
print("Error encoding msg_print: {}".format(e))
def log_message_callback(self, sbp_msg, **metadata):
encoded = sbp_msg.text.decode('utf8')
for eachline in reversed(encoded.split('\n')):
self.console_output.write_level(eachline, sbp_msg.level)
def ext_event_callback(self, sbp_msg, **metadata):
e = MsgExtEvent(sbp_msg)
print(
'External event: %s edge on pin %d at wn=%d, tow=%d, time qual=%s'
% ("Rising" if (e.flags & (1 << 0)) else "Falling", e.pin, e.wn,
e.tow, "good" if (e.flags & (1 << 1)) else "unknown"))
def cmd_resp_callback(self, sbp_msg, **metadata):
r = MsgCommandResp(sbp_msg)
print(
"Received a command response message with code {0}".format(r.code))
def _paused_button_fired(self):
self.console_output.paused = not self.console_output.paused
def _log_level_filter_changed(self):
"""
Takes log level enum and translates into the mapped integer.
Integer stores the current filter value inside OutputList.
"""
self.console_output.log_level_filter = str_to_log_level(
self.log_level_filter)
def _clear_button_fired(self):
self.console_output.clear()
def _directory_name_changed(self):
if self.baseline_view and self.solution_view:
self.baseline_view.directory_name_b = self.directory_name
self.solution_view.directory_name_p = self.directory_name
self.solution_view.directory_name_v = self.directory_name
if self.observation_view and self.observation_view_base:
self.observation_view.dirname = self.directory_name
self.observation_view_base.dirname = self.directory_name
def check_heartbeat(self):
# if our heartbeat hasn't changed since the last timer interval the connection must have dropped
if self.heartbeat_count == self.last_timer_heartbeat:
self.solid_connection = False
self.ins_status_string = "None"
self.mode = "None"
self.num_sats_str = EMPTY_STR
else:
self.solid_connection = True
self.last_timer_heartbeat = self.heartbeat_count
total_bytes = self.driver.total_bytes_read
self.driver_data_rate = "{0:.2f} KB/s".format((total_bytes - self.last_driver_bytes_read) / (1.2 * 1024))
self.last_driver_bytes_read = total_bytes
def update_on_heartbeat(self, sbp_msg, **metadata):
self.heartbeat_count += 1
# --- determining which mode, llh or baseline, to show in the status bar ---
llh_display_mode = "None"
llh_num_sats = 0
llh_is_differential = False
baseline_display_mode = "None"
baseline_num_sats = 0
baseline_is_differential = False
# determine the latest llh solution mode
if self.solution_view:
llh_solution_mode = self.solution_view.last_pos_mode
llh_display_mode = mode_dict.get(llh_solution_mode, EMPTY_STR)
if llh_solution_mode > 0 and self.solution_view.last_soln:
llh_num_sats = self.solution_view.last_soln.n_sats
llh_is_differential = (llh_solution_mode in DIFFERENTIAL_MODES)
if getattr(self.solution_view, 'ins_used', False) and llh_solution_mode != DR_MODE:
llh_display_mode += "+INS"
# determine the latest baseline solution mode
if self.baseline_view and self.settings_view and self.settings_view.dgnss_enabled():
baseline_solution_mode = self.baseline_view.last_mode
baseline_display_mode = mode_dict.get(baseline_solution_mode, EMPTY_STR)
if baseline_solution_mode > 0 and self.baseline_view.last_soln:
baseline_num_sats = self.baseline_view.last_soln.n_sats
baseline_is_differential = (baseline_solution_mode in DIFFERENTIAL_MODES)
# determine the latest INS mode
if self.solution_view and (monotonic() -
self.solution_view.last_ins_status_receipt_time) < 1:
ins_flags = self.solution_view.ins_status_flags
ins_mode = ins_flags & 0x7
ins_type = (ins_flags >> 29) & 0x7
odo_status = (ins_flags >> 8) & 0x3
ins_error = (ins_flags >> 4) & 0xF
if ins_error != 0:
ins_status_string = ins_error_dict.get(ins_error, "Unk Error")
else:
ins_status_string = ins_type_dict.get(ins_type, "unk") + "-"
ins_status_string += ins_mode_dict.get(ins_mode, "unk")
if odo_status == 1:
ins_status_string += "+Odo"
self.ins_status_string = ins_status_string
# select the solution mode displayed in the status bar:
# * baseline if it's a differential solution but llh isn't
# * otherwise llh (also if there is no solution, in which both are "None")
if baseline_is_differential and not(llh_is_differential):
self.mode = baseline_display_mode
self.num_sats_str = "{}".format(baseline_num_sats)
else:
self.mode = llh_display_mode
self.num_sats_str = "{}".format(llh_num_sats)
# --- end of status bar mode determination section ---
if self.settings_view: # for auto populating surveyed fields
self.settings_view.lat = self.solution_view.latitude
self.settings_view.lon = self.solution_view.longitude
self.settings_view.alt = self.solution_view.altitude
if self.baseline_view:
if self.baseline_view.age_corrections is not None:
self.age_of_corrections = "{0} s".format(
self.baseline_view.age_corrections)
else:
self.age_of_corrections = EMPTY_STR
def _csv_logging_button_action(self):
if self.csv_logging and self.baseline_view.logging_b and self.solution_view.logging_p and self.solution_view.logging_v:
print("Stopped CSV logging")
self.csv_logging = False
self.baseline_view.logging_b = False
self.solution_view.logging_p = False
self.solution_view.logging_v = False
else:
print("Started CSV logging at %s" % self.directory_name)
self.csv_logging = True
self.baseline_view.logging_b = True
self.solution_view.logging_p = True
self.solution_view.logging_v = True
def _start_json_logging(self, override_filename=None):
if override_filename:
filename = override_filename
else:
filename = time.strftime("swift-gnss-%Y%m%d-%H%M%S.sbp.json")
filename = os.path.normpath(
os.path.join(self.directory_name, filename))
self.logger = s.get_logger(True, filename, self.expand_json)
self.forwarder = sbpc.Forwarder(self.link, self.logger)
self.forwarder.start()
if self.settings_view:
self.settings_view._settings_read_all()
def _stop_json_logging(self):
fwd = self.forwarder
fwd.stop()
self.logger.flush()
self.logger.close()
def _json_logging_button_action(self):
if self.first_json_press and self.json_logging:
print(
"JSON Logging initiated via CMD line. Please press button again to stop logging"
)
elif self.json_logging:
self._stop_json_logging()
self.json_logging = False
print("Stopped JSON logging")
else:
self._start_json_logging()
self.json_logging = True
self.first_json_press = False
def _json_logging_button_fired(self):
if not os.path.exists(self.directory_name) and not self.json_logging:
confirm_prompt = CallbackPrompt(
title="Logging directory creation",
actions=[ok_button],
callback=self._json_logging_button_action)
confirm_prompt.text = "\nThe selected logging directory does not exist and will be created."
confirm_prompt.run(block=False)
else:
self._json_logging_button_action()
def _csv_logging_button_fired(self):
if not os.path.exists(self.directory_name) and not self.csv_logging:
confirm_prompt = CallbackPrompt(
title="Logging directory creation",
actions=[ok_button],
callback=self._csv_logging_button_action)
confirm_prompt.text = "\nThe selected logging directory does not exist and will be created."
confirm_prompt.run(block=False)
else:
self._csv_logging_button_action()
def __enter__(self):
return self
def __exit__(self, exc_type, exc_value, traceback):
self.console_output.close()
def __init__(self,
link,
driver,
update,
log_level_filter,
error=False,
cnx_desc=None,
json_logging=False,
log_dirname=None,
override_filename=None,
log_console=False,
connection_info=None,
expand_json=False
):
self.error = error
self.cnx_desc = cnx_desc
self.connection_info = connection_info
self.dev_id = cnx_desc
self.num_sats_str = EMPTY_STR
self.mode = ''
self.ins_status_string = "None"
self.forwarder = None
self.age_of_corrections = '--'
self.expand_json = expand_json
# if we have passed a logfile, we set our directory to it
override_filename = override_filename
self.last_status_update_time = 0
self.last_driver_bytes_read = 0
self.driver = driver
if log_dirname:
self.directory_name = log_dirname
if override_filename:
override_filename = os.path.join(log_dirname,
override_filename)
else:
self.directory_name = swift_path
# Start swallowing sys.stdout and sys.stderr
self.console_output = OutputList(
tfile=log_console, outdir=self.directory_name)
sys.stdout = self.console_output
self.console_output.write("Console: " + CONSOLE_VERSION +
" starting...")
if not error:
sys.stderr = self.console_output
self.log_level_filter = log_level_filter
self.console_output.log_level_filter = str_to_log_level(
log_level_filter)
try:
self.link = link
self.link.add_callback(self.print_message_callback,
SBP_MSG_PRINT_DEP)
self.link.add_callback(self.log_message_callback, SBP_MSG_LOG)
self.link.add_callback(self.ext_event_callback, SBP_MSG_EXT_EVENT)
self.link.add_callback(self.cmd_resp_callback,
SBP_MSG_COMMAND_RESP)
self.link.add_callback(self.update_on_heartbeat, SBP_MSG_HEARTBEAT)
self.dep_handler = DeprecatedMessageHandler(link)
settings_read_finished_functions = []
self.tracking_view = TrackingView(self.link)
self.solution_view = SolutionView(
self.link, dirname=self.directory_name)
self.baseline_view = BaselineView(
self.link, dirname=self.directory_name)
self.skyplot_view = SkyplotView(self.link, self.tracking_view)
self.observation_view = ObservationView(
self.link,
name='Local',
relay=False,
dirname=self.directory_name,
tracking_view=self.tracking_view)
self.observation_view_base = ObservationView(
self.link,
name='Remote',
relay=True,
dirname=self.directory_name)
self.system_monitor_view = SystemMonitorView(self.link)
self.update_view = UpdateView(
self.link,
download_dir=swift_path,
prompt=update,
connection_info=self.connection_info)
self.imu_view = IMUView(self.link)
self.mag_view = MagView(self.link)
self.spectrum_analyzer_view = SpectrumAnalyzerView(self.link)
settings_read_finished_functions.append(
self.update_view.compare_versions)
self.networking_view = SbpRelayView(self.link)
self.json_logging = json_logging
self.csv_logging = False
self.first_json_press = True
if json_logging:
self._start_json_logging(override_filename)
self.json_logging = True
# we set timer interval to 1200 milliseconds because we expect a heartbeat each second
self.timer_cancel = call_repeatedly(1.2, self.check_heartbeat)
# Once we have received the settings, update device_serial with
# the Swift serial number which will be displayed in the window
# title. This callback will also update the header route as used
# by the networking view.
def update_serial():
mfg_id = None
try:
self.uuid = self.settings_view.settings['system_info'][
'uuid'].value
mfg_id = self.settings_view.settings['system_info'][
'serial_number'].value
except KeyError:
pass
if mfg_id:
self.device_serial = 'PK' + str(mfg_id)
skip_settings_read = False
if 'mode' in self.connection_info:
if self.connection_info['mode'] == 'file':
skip_settings_read = True
settings_read_finished_functions.append(update_serial)
self.settings_view = SettingsView(
self.link,
settings_read_finished_functions,
skip_read=skip_settings_read)
self.update_view.settings = self.settings_view.settings
self.python_console_env = {
'send_message': self.link,
'link': self.link,
}
self.python_console_env.update(
self.tracking_view.python_console_cmds)
self.python_console_env.update(
self.solution_view.python_console_cmds)
self.python_console_env.update(
self.baseline_view.python_console_cmds)
self.python_console_env.update(
self.skyplot_view.python_console_cmds)
self.python_console_env.update(
self.observation_view.python_console_cmds)
self.python_console_env.update(
self.networking_view.python_console_cmds)
self.python_console_env.update(
self.system_monitor_view.python_console_cmds)
self.python_console_env.update(
self.update_view.python_console_cmds)
self.python_console_env.update(self.imu_view.python_console_cmds)
self.python_console_env.update(self.mag_view.python_console_cmds)
self.python_console_env.update(
self.settings_view.python_console_cmds)
self.python_console_env.update(
self.spectrum_analyzer_view.python_console_cmds)
except: # noqa
import traceback
traceback.print_exc()
if self.error:
os._exit(1)
def __init__(self,
link,
update,
log_level_filter,
skip_settings=False,
error=False,
port=None,
json_logging=False,
log_dirname=None):
self.console_output = OutputList()
self.console_output.write("Console: starting...")
self.error = error
sys.stdout = self.console_output
self.port = port
self.num_sats = 0
self.mode = ''
self.forwarder = None
# if we have passed a logfile, we set our directory to it
override_filename = None
swift_path = None
home = expanduser("~")
swift_path = os.path.normpath(os.path.join(home, 'SwiftNav'))
try:
os.makedirs(swift_path)
except OSError:
if not os.path.isdir(swift_path):
raise
if log_dirname:
self.directory_name = log_dirname
else:
self.directory_name = swift_path
if not error:
sys.stderr = self.console_output
self.log_level_filter = log_level_filter
self.console_output.log_level_filter = str_to_log_level(
log_level_filter)
try:
self.link = link
self.link.add_callback(self.print_message_callback,
SBP_MSG_PRINT_DEP)
self.link.add_callback(self.log_message_callback, SBP_MSG_LOG)
self.link.add_callback(self.ext_event_callback, SBP_MSG_EXT_EVENT)
self.link.add_callback(self.update_on_heartbeat, SBP_MSG_HEARTBEAT)
self.dep_handler = DeprecatedMessageHandler(link)
settings_read_finished_functions = []
self.tracking_view = TrackingView(self.link)
self.solution_view = SolutionView(self.link,
dirname=self.directory_name)
self.baseline_view = BaselineView(self.link,
dirname=self.directory_name)
self.observation_view = ObservationView(
self.link,
name='Local',
relay=False,
dirname=self.directory_name)
self.observation_view_base = ObservationView(
self.link,
name='Remote',
relay=True,
dirname=self.directory_name)
self.system_monitor_view = SystemMonitorView(self.link)
self.update_view = UpdateView(self.link, prompt=update)
settings_read_finished_functions.append(
self.update_view.compare_versions)
self.networking_view = SbpRelayView(self.link)
self.json_logging = json_logging
self.csv_logging = False
self.first_json_press = True
if json_logging:
self._start_json_logging(override_filename)
self.json_logging = True
# Once we have received the settings, update device_serial with
# the Piksi serial number which will be displayed in the window
# title. This callback will also update the header route as used
# by the networking view.
def update_serial():
serial_string = self.settings_view.settings['system_info'][
'serial_number'].value
self.device_serial = 'PK%04d' % int(serial_string)
if serial_string:
self.networking_view.set_route(int(serial_string))
settings_read_finished_functions.append(update_serial)
self.settings_view = SettingsView(self.link,
settings_read_finished_functions,
skip=skip_settings)
self.update_view.settings = self.settings_view.settings
self.python_console_env = {
'send_message': self.link,
'link': self.link,
}
self.python_console_env.update(
self.tracking_view.python_console_cmds)
self.python_console_env.update(
self.solution_view.python_console_cmds)
self.python_console_env.update(
self.baseline_view.python_console_cmds)
self.python_console_env.update(
self.observation_view.python_console_cmds)
self.python_console_env.update(
self.networking_view.python_console_cmds)
self.python_console_env.update(
self.system_monitor_view.python_console_cmds)
self.python_console_env.update(
self.update_view.python_console_cmds)
self.python_console_env.update(
self.settings_view.python_console_cmds)
except:
import traceback
traceback.print_exc()
if self.error:
sys.exit(1)
class SwiftConsole(HasTraits):
"""Traits-defined Swift Console.
link : object
Serial driver
update : bool
Update the firmware
log_level_filter : str
Syslog string, one of "ERROR", "WARNING", "INFO", "DEBUG".
skip_settings : bool
Don't read the device settings. Set to False when the console is reading
from a network connection only.
"""
link = Instance(sbpc.Handler)
console_output = Instance(OutputList())
python_console_env = Dict
device_serial = Str('')
a = Int
b = Int
tracking_view = Instance(TrackingView)
solution_view = Instance(SolutionView)
baseline_view = Instance(BaselineView)
observation_view = Instance(ObservationView)
networking_view = Instance(SbpRelayView)
observation_view_base = Instance(ObservationView)
system_monitor_view = Instance(SystemMonitorView)
settings_view = Instance(SettingsView)
update_view = Instance(UpdateView)
log_level_filter = Enum(list(SYSLOG_LEVELS.itervalues()))
""""
mode : baseline and solution view - SPP, Fixed or Float
num_sat : baseline and solution view - number of satellites
port : which port is Piksi connected to
directory_name : location of logged files
json_logging : enable JSON logging
csv_logging : enable CSV logging
is_valid_directory : check to see if chosen directory is valid
"""
mode = Str('')
num_sats = Int(0)
port = Str('')
directory_name = Directory
json_logging = Bool(True)
csv_logging = Bool(False)
is_valid_directory = Bool(True)
csv_logging_button = SVGButton(
toggle=True,
label='CSV log',
tooltip='start CSV logging',
toggle_tooltip='stop CSV logging',
filename=os.path.join(determine_path(), 'images', 'iconic',
'pause.svg'),
toggle_filename=os.path.join(determine_path(), 'images', 'iconic',
'play.svg'),
orientation='vertical',
width=2,
height=2,
)
json_logging_button = SVGButton(
toggle=True,
label='JSON log',
tooltip='start JSON logging',
toggle_tooltip='stop JSON logging',
filename=os.path.join(determine_path(), 'images', 'iconic',
'pause.svg'),
toggle_filename=os.path.join(determine_path(), 'images', 'iconic',
'play.svg'),
orientation='vertical',
width=2,
height=2,
)
paused_button = SVGButton(label='',
tooltip='Pause console update',
toggle_tooltip='Resume console update',
toggle=True,
filename=os.path.join(determine_path(), 'images',
'iconic', 'pause.svg'),
toggle_filename=os.path.join(
determine_path(), 'images', 'iconic',
'play.svg'),
width=8,
height=8)
clear_button = SVGButton(label='',
tooltip='Clear console buffer',
filename=os.path.join(determine_path(), 'images',
'iconic', 'x.svg'),
width=8,
height=8)
view = View(VSplit(
Tabbed(Item('tracking_view', style='custom', label='Tracking'),
Item('solution_view', style='custom', label='Solution'),
Item('baseline_view', style='custom', label='Baseline'),
VSplit(
Item('observation_view', style='custom', show_label=False),
Item('observation_view_base',
style='custom',
show_label=False),
label='Observations',
),
Item('settings_view', style='custom', label='Settings'),
Item('update_view', style='custom', label='Firmware Update'),
Tabbed(Item('system_monitor_view',
style='custom',
label='System Monitor'),
Item('networking_view',
label='Networking',
style='custom',
show_label=False),
Item('python_console_env',
style='custom',
label='Python Console',
editor=ShellEditor()),
label='Advanced',
show_labels=False),
show_labels=False),
VGroup(
VGroup(
HGroup(
Spring(width=4, springy=False),
Item('paused_button',
show_label=False,
padding=0,
width=8,
height=8),
Item('clear_button', show_label=False, width=8, height=8),
Item('', label='Console Log', emphasized=True),
Item('csv_logging_button',
emphasized=True,
show_label=False,
width=12,
height=-30,
padding=0),
Item('json_logging_button',
emphasized=True,
show_label=False,
width=12,
height=-30,
padding=0),
Item(
'directory_name',
show_label=False,
springy=True,
tooltip=
'Choose location for file logs. Default is home/SwiftNav.',
height=-25,
enabled_when='not(json_logging or csv_logging)'),
UItem(
'log_level_filter',
style='simple',
padding=0,
height=8,
show_label=True,
tooltip=
'Show log levels up to and including the selected level of severity.\nThe CONSOLE log level is always visible.'
),
),
Item('console_output',
style='custom',
editor=InstanceEditor(),
height=125,
show_label=False,
full_size=True),
),
HGroup(
Spring(width=4, springy=False),
Item('',
label='PORT:',
emphasized=True,
tooltip='Serial Port that Piksi is connected to'),
Item('port', show_label=False, style='readonly'),
Item('',
label='FIX TYPE:',
emphasized=True,
tooltip='Piksi Mode: SPS, Float RTK, Fixed RTK'),
Item('mode', show_label=False, style='readonly'),
Item('',
label='#SATS:',
emphasized=True,
tooltip='Number of satellites acquired by Piksi'),
Item('num_sats', padding=2, show_label=False,
style='readonly'),
),
Spring(height=1, springy=False),
),
),
icon=icon,
resizable=True,
width=800,
height=600,
handler=ConsoleHandler(),
title=CONSOLE_TITLE)
def print_message_callback(self, sbp_msg, **metadata):
try:
encoded = sbp_msg.payload.encode('ascii', 'ignore')
for eachline in reversed(encoded.split('\n')):
self.console_output.write_level(
eachline, str_to_log_level(eachline.split(':')[0]))
except UnicodeDecodeError:
print "Critical Error encoding the serial stream as ascii."
def log_message_callback(self, sbp_msg, **metadata):
try:
encoded = sbp_msg.text.encode('ascii', 'ignore')
for eachline in reversed(encoded.split('\n')):
self.console_output.write_level(eachline, sbp_msg.level)
except UnicodeDecodeError:
print "Critical Error encoding the serial stream as ascii."
def ext_event_callback(self, sbp_msg, **metadata):
e = MsgExtEvent(sbp_msg)
print 'External event: %s edge on pin %d at wn=%d, tow=%d, time qual=%s' % (
"Rising" if
(e.flags & (1 << 0)) else "Falling", e.pin, e.wn, e.tow, "good" if
(e.flags & (1 << 1)) else "unknown")
def _paused_button_fired(self):
self.console_output.paused = not self.console_output.paused
def _log_level_filter_changed(self):
"""
Takes log level enum and translates into the mapped integer.
Integer stores the current filter value inside OutputList.
"""
self.console_output.log_level_filter = str_to_log_level(
self.log_level_filter)
def _clear_button_fired(self):
self.console_output.clear()
def _directory_name_changed(self):
if os.path.isdir(self.directory_name):
self.is_valid_directory = True
if self.baseline_view and self.solution_view:
self.baseline_view.directory_name_b = self.directory_name
self.solution_view.directory_name_p = self.directory_name
self.solution_view.directory_name_v = self.directory_name
if self.observation_view and self.observation_view_base:
self.observation_view.dirname = self.directory_name
self.observation_view_base.dirname = self.directory_name
else:
print "Please enter a valid directory!"
self.is_valid_directory = False
def update_on_heartbeat(self, sbp_msg, **metadata):
# First initialize the state to nothing, if we can't update, it will be none
temp_mode = "None"
temp_num_sats = 0
view = None
# If we have a recent baseline update, we use the baseline info
if time.time() - self.baseline_view.last_btime_update < 10:
view = self.baseline_view
# Otherwise, if we have a recent SPP update, we use the SPP
elif time.time() - self.solution_view.last_stime_update < 10:
view = self.solution_view
if view:
if view.last_soln:
# if all is well we update state
temp_mode = view.mode_string(view.last_soln)
temp_num_sats = view.last_soln.n_sats
self.mode = temp_mode
self.num_sats = temp_num_sats
if self.settings_view: # for auto populating surveyed fields
self.settings_view.lat = self.solution_view.latitude
self.settings_view.lon = self.solution_view.longitude
self.settings_view.alt = self.solution_view.altitude
def _csv_logging_button_fired(self):
if self.is_valid_directory:
if self.csv_logging and self.baseline_view.logging_b and self.solution_view.logging_p and self.solution_view.logging_v:
print "Stopped CSV logging"
self.csv_logging = False
self.baseline_view.logging_b = False
self.solution_view.logging_p = False
self.solution_view.logging_v = False
else:
print "Started CSV logging at %s" % self.directory_name
self.csv_logging = True
self.baseline_view.logging_b = True
self.solution_view.logging_p = True
self.solution_view.logging_v = True
else:
print "Directory not valid"
def _start_json_logging(self, override_filename=None):
if override_filename:
filename = override_filename
else:
filename = s.logfilename()
filename = os.path.normpath(os.path.join(self.directory_name,
filename))
self.logger = s.get_logger(True, filename)
self.forwarder = sbpc.Forwarder(self.link, self.logger)
self.forwarder.start()
def _stop_json_logging(self):
fwd = self.forwarder
fwd.stop()
self.logger.flush()
self.logger.close()
def _json_logging_button_fired(self):
if self.is_valid_directory:
if self.first_json_press and self.json_logging:
print "JSON Logging initiated via CMD line. Please press button again to stop logging"
elif self.json_logging:
self._stop_json_logging()
self.json_logging = False
print "Stopped JSON logging"
else:
self._start_json_logging()
self.json_logging = True
self.first_json_press = False
else:
print "Directory not valid"
def __init__(self,
link,
update,
log_level_filter,
skip_settings=False,
error=False,
port=None,
json_logging=False,
log_dirname=None):
self.console_output = OutputList()
self.console_output.write("Console: starting...")
self.error = error
sys.stdout = self.console_output
self.port = port
self.num_sats = 0
self.mode = ''
self.forwarder = None
# if we have passed a logfile, we set our directory to it
override_filename = None
swift_path = None
home = expanduser("~")
swift_path = os.path.normpath(os.path.join(home, 'SwiftNav'))
try:
os.makedirs(swift_path)
except OSError:
if not os.path.isdir(swift_path):
raise
if log_dirname:
self.directory_name = log_dirname
else:
self.directory_name = swift_path
if not error:
sys.stderr = self.console_output
self.log_level_filter = log_level_filter
self.console_output.log_level_filter = str_to_log_level(
log_level_filter)
try:
self.link = link
self.link.add_callback(self.print_message_callback,
SBP_MSG_PRINT_DEP)
self.link.add_callback(self.log_message_callback, SBP_MSG_LOG)
self.link.add_callback(self.ext_event_callback, SBP_MSG_EXT_EVENT)
self.link.add_callback(self.update_on_heartbeat, SBP_MSG_HEARTBEAT)
self.dep_handler = DeprecatedMessageHandler(link)
settings_read_finished_functions = []
self.tracking_view = TrackingView(self.link)
self.solution_view = SolutionView(self.link,
dirname=self.directory_name)
self.baseline_view = BaselineView(self.link,
dirname=self.directory_name)
self.observation_view = ObservationView(
self.link,
name='Local',
relay=False,
dirname=self.directory_name)
self.observation_view_base = ObservationView(
self.link,
name='Remote',
relay=True,
dirname=self.directory_name)
self.system_monitor_view = SystemMonitorView(self.link)
self.update_view = UpdateView(self.link, prompt=update)
settings_read_finished_functions.append(
self.update_view.compare_versions)
self.networking_view = SbpRelayView(self.link)
self.json_logging = json_logging
self.csv_logging = False
self.first_json_press = True
if json_logging:
self._start_json_logging(override_filename)
self.json_logging = True
# Once we have received the settings, update device_serial with
# the Piksi serial number which will be displayed in the window
# title. This callback will also update the header route as used
# by the networking view.
def update_serial():
serial_string = self.settings_view.settings['system_info'][
'serial_number'].value
self.device_serial = 'PK%04d' % int(serial_string)
if serial_string:
self.networking_view.set_route(int(serial_string))
settings_read_finished_functions.append(update_serial)
self.settings_view = SettingsView(self.link,
settings_read_finished_functions,
skip=skip_settings)
self.update_view.settings = self.settings_view.settings
self.python_console_env = {
'send_message': self.link,
'link': self.link,
}
self.python_console_env.update(
self.tracking_view.python_console_cmds)
self.python_console_env.update(
self.solution_view.python_console_cmds)
self.python_console_env.update(
self.baseline_view.python_console_cmds)
self.python_console_env.update(
self.observation_view.python_console_cmds)
self.python_console_env.update(
self.networking_view.python_console_cmds)
self.python_console_env.update(
self.system_monitor_view.python_console_cmds)
self.python_console_env.update(
self.update_view.python_console_cmds)
self.python_console_env.update(
self.settings_view.python_console_cmds)
except:
import traceback
traceback.print_exc()
if self.error:
sys.exit(1)
class SwiftConsole(HasTraits):
"""Traits-defined Swift Console.
link : object
Serial driver
update : bool
Update the firmware
log_level_filter : str
Syslog string, one of "ERROR", "WARNING", "INFO", "DEBUG".
skip_settings : bool
Don't read the device settings. Set to False when the console is reading
from a network connection only.
"""
link = Instance(sbpc.Handler)
console_output = Instance(OutputList())
python_console_env = Dict
device_serial = Str('')
a = Int
b = Int
tracking_view = Instance(TrackingView)
solution_view = Instance(SolutionView)
baseline_view = Instance(BaselineView)
observation_view = Instance(ObservationView)
networking_view = Instance(SbpRelayView)
observation_view_base = Instance(ObservationView)
system_monitor_view = Instance(SystemMonitorView)
settings_view = Instance(SettingsView)
update_view = Instance(UpdateView)
log_level_filter = Enum(list(SYSLOG_LEVELS.itervalues()))
paused_button = SVGButton(
label='', tooltip='Pause console update', toggle_tooltip='Resume console update', toggle=True,
filename=os.path.join(determine_path(), 'images', 'iconic', 'pause.svg'),
toggle_filename=os.path.join(determine_path(), 'images', 'iconic', 'play.svg'),
width=8, height=8
)
clear_button = SVGButton(
label='', tooltip='Clear console buffer',
filename=os.path.join(determine_path(), 'images', 'iconic', 'x.svg'),
width=8, height=8
)
view = View(
VSplit(
Tabbed(
Item('tracking_view', style='custom', label='Tracking'),
Item('solution_view', style='custom', label='Solution'),
Item('baseline_view', style='custom', label='Baseline'),
VSplit(
Item('observation_view', style='custom', show_label=False),
Item('observation_view_base', style='custom', show_label=False),
label='Observations',
),
Item('settings_view', style='custom', label='Settings'),
Item('update_view', style='custom', label='Firmware Update'),
Tabbed(
Item('system_monitor_view', style='custom', label='System Monitor'),
Item('networking_view', label='Networking', style='custom', show_label=False),
Item(
'python_console_env', style='custom',
label='Python Console', editor=ShellEditor()),
label='Advanced',
show_labels=False
),
show_labels=False
),
VGroup(
HGroup(
Spring(width=4, springy=False),
Item('paused_button', show_label=False, width=8, height=8),
Item('clear_button', show_label=False, width=8, height=8),
Item('', label='Console Log', emphasized=True),
Spring(),
UItem('log_level_filter', style='simple', padding=0, height=8, show_label=True,
tooltip='Show log levels up to and including the selected level of severity.\nThe CONSOLE log level is always visible.'),
),
Item(
'console_output',
style='custom',
editor=InstanceEditor(),
height=0.3,
show_label=False,
),
)
),
icon = icon,
resizable = True,
width = 1000,
height = 600,
handler = ConsoleHandler(),
title = CONSOLE_TITLE
)
def print_message_callback(self, sbp_msg, **metadata):
try:
encoded = sbp_msg.payload.encode('ascii', 'ignore')
for eachline in reversed(encoded.split('\n')):
self.console_output.write_level(eachline,
str_to_log_level(eachline.split(':')[0]))
except UnicodeDecodeError:
print "Critical Error encoding the serial stream as ascii."
def log_message_callback(self, sbp_msg, **metadata):
try:
encoded = sbp_msg.text.encode('ascii', 'ignore')
for eachline in reversed(encoded.split('\n')):
self.console_output.write_level(eachline, sbp_msg.level)
except UnicodeDecodeError:
print "Critical Error encoding the serial stream as ascii."
def ext_event_callback(self, sbp_msg, **metadata):
e = MsgExtEvent(sbp_msg)
print 'External event: %s edge on pin %d at wn=%d, tow=%d, time qual=%s' % (
"Rising" if (e.flags & (1<<0)) else "Falling", e.pin, e.wn, e.tow,
"good" if (e.flags & (1<<1)) else "unknown")
def _paused_button_fired(self):
self.console_output.paused = not self.console_output.paused
def _log_level_filter_changed(self):
"""
Takes log level enum and translates into the mapped integer.
Integer stores the current filter value inside OutputList.
"""
self.console_output.log_level_filter = str_to_log_level(self.log_level_filter)
def _clear_button_fired(self):
self.console_output.clear()
def __init__(self, link, update, log_level_filter, skip_settings=False):
self.console_output = OutputList()
self.console_output.write("Console: starting...")
sys.stdout = self.console_output
sys.stderr = self.console_output
self.log_level_filter = log_level_filter
self.console_output.log_level_filter = str_to_log_level(log_level_filter)
try:
self.link = link
self.link.add_callback(self.print_message_callback, SBP_MSG_PRINT_DEP)
self.link.add_callback(self.log_message_callback, SBP_MSG_LOG)
self.link.add_callback(self.ext_event_callback, SBP_MSG_EXT_EVENT)
self.dep_handler = DeprecatedMessageHandler(link)
settings_read_finished_functions = []
self.tracking_view = TrackingView(self.link)
self.solution_view = SolutionView(self.link)
self.baseline_view = BaselineView(self.link)
self.observation_view = ObservationView(self.link, name='Rover', relay=False)
self.observation_view_base = ObservationView(self.link, name='Base', relay=True)
self.system_monitor_view = SystemMonitorView(self.link)
self.update_view = UpdateView(self.link, prompt=update)
settings_read_finished_functions.append(self.update_view.compare_versions)
self.networking_view = SbpRelayView(self.link)
# Once we have received the settings, update device_serial with
# the Piksi serial number which will be displayed in the window
# title. This callback will also update the header route as used
# by the networking view.
def update_serial():
serial_string = self.settings_view.settings['system_info']['serial_number'].value
self.device_serial = 'PK%04d' % int(serial_string)
if serial_string:
self.networking_view.set_route(int(serial_string))
settings_read_finished_functions.append(update_serial)
self.settings_view = SettingsView(self.link,
settings_read_finished_functions,
hide_expert=not args.expert,
skip=skip_settings)
self.update_view.settings = self.settings_view.settings
self.python_console_env = { 'send_message': self.link,
'link': self.link, }
self.python_console_env.update(self.tracking_view.python_console_cmds)
self.python_console_env.update(self.solution_view.python_console_cmds)
self.python_console_env.update(self.baseline_view.python_console_cmds)
self.python_console_env.update(self.observation_view.python_console_cmds)
self.python_console_env.update(self.networking_view.python_console_cmds)
self.python_console_env.update(self.system_monitor_view.python_console_cmds)
self.python_console_env.update(self.update_view.python_console_cmds)
self.python_console_env.update(self.settings_view.python_console_cmds)
except:
import traceback
traceback.print_exc()
class SwiftConsole(HasTraits):
"""Traits-defined Swift Console.
link : object
Serial driver
update : bool
Update the firmware
log_level_filter : str
Syslog string, one of "ERROR", "WARNING", "INFO", "DEBUG".
skip_settings : bool
Don't read the device settings. Set to False when the console is reading
from a network connection only.
"""
link = Instance(sbpc.Handler)
console_output = Instance(OutputList())
python_console_env = Dict
device_serial = Str('')
a = Int
b = Int
tracking_view = Instance(TrackingView)
solution_view = Instance(SolutionView)
baseline_view = Instance(BaselineView)
observation_view = Instance(ObservationView)
networking_view = Instance(SbpRelayView)
observation_view_base = Instance(ObservationView)
system_monitor_view = Instance(SystemMonitorView)
settings_view = Instance(SettingsView)
update_view = Instance(UpdateView)
log_level_filter = Enum(list(SYSLOG_LEVELS.itervalues()))
paused_button = SVGButton(
label='', tooltip='Pause console update', toggle_tooltip='Resume console update', toggle=True,
filename=os.path.join(determine_path(), 'images', 'iconic', 'pause.svg'),
toggle_filename=os.path.join(determine_path(), 'images', 'iconic', 'play.svg'),
width=8, height=8
)
clear_button = SVGButton(
label='', tooltip='Clear console buffer',
filename=os.path.join(determine_path(), 'images', 'iconic', 'x.svg'),
width=8, height=8
)
view = View(
VSplit(
Tabbed(
Item('tracking_view', style='custom', label='Tracking'),
Item('solution_view', style='custom', label='Solution'),
Item('baseline_view', style='custom', label='Baseline'),
VSplit(
Item('observation_view', style='custom', show_label=False),
Item('observation_view_base', style='custom', show_label=False),
label='Observations',
),
Item('settings_view', style='custom', label='Settings'),
Item('update_view', style='custom', label='Firmware Update'),
Tabbed(
Item('system_monitor_view', style='custom', label='System Monitor'),
Item('networking_view', label='Networking', style='custom', show_label=False),
Item(
'python_console_env', style='custom',
label='Python Console', editor=ShellEditor()),
label='Advanced',
show_labels=False
),
show_labels=False
),
VGroup(
HGroup(
Spring(width=4, springy=False),
Item('paused_button', show_label=False, width=8, height=8),
Item('clear_button', show_label=False, width=8, height=8),
Item('', label='Console Log', emphasized=True),
Spring(),
UItem('log_level_filter', style='simple', padding=0, height=8, show_label=True,
tooltip='Show log levels up to and including the selected level of severity.\nThe CONSOLE log level is always visible.'),
),
Item(
'console_output',
style='custom',
editor=InstanceEditor(),
height=0.3,
show_label=False,
),
)
),
icon = icon,
resizable = True,
width = 1000,
height = 600,
handler = ConsoleHandler(),
title = CONSOLE_TITLE
)
def print_message_callback(self, sbp_msg, **metadata):
try:
encoded = sbp_msg.payload.encode('ascii', 'ignore')
for eachline in reversed(encoded.split('\n')):
self.console_output.write_level(eachline,
str_to_log_level(eachline.split(':')[0]))
except UnicodeDecodeError:
print "Critical Error encoding the serial stream as ascii."
def log_message_callback(self, sbp_msg, **metadata):
try:
encoded = sbp_msg.text.encode('ascii', 'ignore')
for eachline in reversed(encoded.split('\n')):
self.console_output.write_level(eachline, sbp_msg.level)
except UnicodeDecodeError:
print "Critical Error encoding the serial stream as ascii."
def ext_event_callback(self, sbp_msg, **metadata):
e = MsgExtEvent(sbp_msg)
print 'External event: %s edge on pin %d at wn=%d, tow=%d, time qual=%s' % (
"Rising" if (e.flags & (1<<0)) else "Falling", e.pin, e.wn, e.tow,
"good" if (e.flags & (1<<1)) else "unknown")
def _paused_button_fired(self):
self.console_output.paused = not self.console_output.paused
def _log_level_filter_changed(self):
"""
Takes log level enum and translates into the mapped integer.
Integer stores the current filter value inside OutputList.
"""
self.console_output.log_level_filter = str_to_log_level(self.log_level_filter)
def _clear_button_fired(self):
self.console_output.clear()
def __init__(self, link, update, log_level_filter, skip_settings=False, error=False):
self.console_output = OutputList()
self.console_output.write("Console: starting...")
self.error = error
sys.stdout = self.console_output
if not error:
sys.stderr = self.console_output
self.log_level_filter = log_level_filter
self.console_output.log_level_filter = str_to_log_level(log_level_filter)
try:
self.link = link
self.link.add_callback(self.print_message_callback, SBP_MSG_PRINT_DEP)
self.link.add_callback(self.log_message_callback, SBP_MSG_LOG)
self.link.add_callback(self.ext_event_callback, SBP_MSG_EXT_EVENT)
self.dep_handler = DeprecatedMessageHandler(link)
settings_read_finished_functions = []
self.tracking_view = TrackingView(self.link)
self.solution_view = SolutionView(self.link)
self.baseline_view = BaselineView(self.link)
self.observation_view = ObservationView(self.link, name='Rover', relay=False)
self.observation_view_base = ObservationView(self.link, name='Base', relay=True)
self.system_monitor_view = SystemMonitorView(self.link)
self.update_view = UpdateView(self.link, prompt=update)
settings_read_finished_functions.append(self.update_view.compare_versions)
self.networking_view = SbpRelayView(self.link)
# Once we have received the settings, update device_serial with
# the Piksi serial number which will be displayed in the window
# title. This callback will also update the header route as used
# by the networking view.
def update_serial():
serial_string = self.settings_view.settings['system_info']['serial_number'].value
self.device_serial = 'PK%04d' % int(serial_string)
if serial_string:
self.networking_view.set_route(int(serial_string))
settings_read_finished_functions.append(update_serial)
self.settings_view = SettingsView(self.link,
settings_read_finished_functions,
skip=skip_settings)
self.update_view.settings = self.settings_view.settings
self.python_console_env = { 'send_message': self.link,
'link': self.link, }
self.python_console_env.update(self.tracking_view.python_console_cmds)
self.python_console_env.update(self.solution_view.python_console_cmds)
self.python_console_env.update(self.baseline_view.python_console_cmds)
self.python_console_env.update(self.observation_view.python_console_cmds)
self.python_console_env.update(self.networking_view.python_console_cmds)
self.python_console_env.update(self.system_monitor_view.python_console_cmds)
self.python_console_env.update(self.update_view.python_console_cmds)
self.python_console_env.update(self.settings_view.python_console_cmds)
except:
import traceback
traceback.print_exc()
if self.error:
sys.exit(1)
def __init__(self,
link,
update,
log_level_filter,
error=False,
cnx_desc=None,
json_logging=False,
log_dirname=None,
override_filename=None,
log_console=False,
connection_info=None,
expand_json=False
):
self.error = error
self.cnx_desc = cnx_desc
self.connection_info = connection_info
self.dev_id = cnx_desc
self.num_sats = 0
self.mode = ''
self.forwarder = None
self.age_of_corrections = '--'
self.expand_json = expand_json
# if we have passed a logfile, we set our directory to it
override_filename = override_filename
self.last_status_update_time = 0
if log_dirname:
self.directory_name = log_dirname
if override_filename:
override_filename = os.path.join(log_dirname,
override_filename)
else:
self.directory_name = swift_path
# Start swallowing sys.stdout and sys.stderr
self.console_output = OutputList(
tfile=log_console, outdir=self.directory_name)
sys.stdout = self.console_output
self.console_output.write("Console: " + CONSOLE_VERSION +
" starting...")
if not error:
sys.stderr = self.console_output
self.log_level_filter = log_level_filter
self.console_output.log_level_filter = str_to_log_level(
log_level_filter)
try:
self.link = link
self.link.add_callback(self.print_message_callback,
SBP_MSG_PRINT_DEP)
self.link.add_callback(self.log_message_callback, SBP_MSG_LOG)
self.link.add_callback(self.ext_event_callback, SBP_MSG_EXT_EVENT)
self.link.add_callback(self.cmd_resp_callback,
SBP_MSG_COMMAND_RESP)
self.link.add_callback(self.update_on_heartbeat, SBP_MSG_HEARTBEAT)
self.dep_handler = DeprecatedMessageHandler(link)
settings_read_finished_functions = []
self.tracking_view = TrackingView(self.link)
self.solution_view = SolutionView(
self.link, dirname=self.directory_name)
self.baseline_view = BaselineView(
self.link, dirname=self.directory_name)
self.observation_view = ObservationView(
self.link,
name='Local',
relay=False,
dirname=self.directory_name)
self.observation_view_base = ObservationView(
self.link,
name='Remote',
relay=True,
dirname=self.directory_name)
self.system_monitor_view = SystemMonitorView(self.link)
self.update_view = UpdateView(
self.link,
download_dir=swift_path,
prompt=update,
connection_info=self.connection_info)
self.imu_view = IMUView(self.link)
self.mag_view = MagView(self.link)
self.spectrum_analyzer_view = SpectrumAnalyzerView(self.link)
settings_read_finished_functions.append(
self.update_view.compare_versions)
self.networking_view = SbpRelayView(self.link)
self.json_logging = json_logging
self.csv_logging = False
self.first_json_press = True
if json_logging:
self._start_json_logging(override_filename)
self.json_logging = True
# we set timer interval to 1200 milliseconds because we expect a heartbeat each second
self.timer_cancel = call_repeatedly(1.2, self.check_heartbeat)
# Once we have received the settings, update device_serial with
# the Swift serial number which will be displayed in the window
# title. This callback will also update the header route as used
# by the networking view.
def update_serial():
mfg_id = None
try:
self.uuid = self.settings_view.settings['system_info'][
'uuid'].value
mfg_id = self.settings_view.settings['system_info'][
'serial_number'].value
except KeyError:
pass
if mfg_id:
self.device_serial = 'PK' + str(mfg_id)
skip_settings_read = False
if 'mode' in self.connection_info:
if self.connection_info['mode'] == 'file':
skip_settings_read = True
settings_read_finished_functions.append(update_serial)
self.settings_view = SettingsView(
self.link,
settings_read_finished_functions,
skip_read=skip_settings_read)
self.update_view.settings = self.settings_view.settings
self.python_console_env = {
'send_message': self.link,
'link': self.link,
}
self.python_console_env.update(
self.tracking_view.python_console_cmds)
self.python_console_env.update(
self.solution_view.python_console_cmds)
self.python_console_env.update(
self.baseline_view.python_console_cmds)
self.python_console_env.update(
self.observation_view.python_console_cmds)
self.python_console_env.update(
self.networking_view.python_console_cmds)
self.python_console_env.update(
self.system_monitor_view.python_console_cmds)
self.python_console_env.update(
self.update_view.python_console_cmds)
self.python_console_env.update(self.imu_view.python_console_cmds)
self.python_console_env.update(self.mag_view.python_console_cmds)
self.python_console_env.update(
self.settings_view.python_console_cmds)
self.python_console_env.update(
self.spectrum_analyzer_view.python_console_cmds)
except: # noqa
import traceback
traceback.print_exc()
if self.error:
os._exit(1)
class SwiftConsole(HasTraits):
"""Traits-defined Swift Console.
link : object
Serial driver
update : bool
Update the firmware
log_level_filter : str
Syslog string, one of "ERROR", "WARNING", "INFO", "DEBUG".
"""
link = Instance(sbpc.Handler)
console_output = Instance(OutputList())
python_console_env = Dict
device_serial = Str('')
dev_id = Str('')
tracking_view = Instance(TrackingView)
solution_view = Instance(SolutionView)
baseline_view = Instance(BaselineView)
observation_view = Instance(ObservationView)
networking_view = Instance(SbpRelayView)
observation_view_base = Instance(ObservationView)
system_monitor_view = Instance(SystemMonitorView)
settings_view = Instance(SettingsView)
update_view = Instance(UpdateView)
imu_view = Instance(IMUView)
mag_view = Instance(MagView)
spectrum_analyzer_view = Instance(SpectrumAnalyzerView)
log_level_filter = Enum(list(SYSLOG_LEVELS.values()))
""""
mode : baseline and solution view - SPP, Fixed or Float
num_sat : baseline and solution view - number of satellites
port : which port is Swift Device is connected to
directory_name : location of logged files
json_logging : enable JSON logging
csv_logging : enable CSV logging
"""
mode = Str('')
num_sats = Int(0)
cnx_desc = Str('')
age_of_corrections = Str('')
uuid = Str('')
directory_name = Directory
json_logging = Bool(True)
csv_logging = Bool(False)
cnx_icon = Str('')
heartbeat_count = Int()
last_timer_heartbeat = Int()
solid_connection = Bool(False)
csv_logging_button = SVGButton(
toggle=True,
label='CSV log',
tooltip='start CSV logging',
toggle_tooltip='stop CSV logging',
filename=resource_filename('console/images/iconic/pause.svg'),
toggle_filename=resource_filename('console/images/iconic/play.svg'),
orientation='vertical',
width=2,
height=2, )
json_logging_button = SVGButton(
toggle=True,
label='JSON log',
tooltip='start JSON logging',
toggle_tooltip='stop JSON logging',
filename=resource_filename('console/images/iconic/pause.svg'),
toggle_filename=resource_filename('console/images/iconic/play.svg'),
orientation='vertical',
width=2,
height=2, )
paused_button = SVGButton(
label='',
tooltip='Pause console update',
toggle_tooltip='Resume console update',
toggle=True,
filename=resource_filename('console/images/iconic/pause.svg'),
toggle_filename=resource_filename('console/images/iconic/play.svg'),
width=8,
height=8)
clear_button = SVGButton(
label='',
tooltip='Clear console buffer',
filename=resource_filename('console/images/iconic/x.svg'),
width=8,
height=8)
view = View(
VSplit(
Tabbed(
Item('tracking_view', style='custom', label='Tracking'),
Item('solution_view', style='custom', label='Solution'),
Item('baseline_view', style='custom', label='Baseline'),
VSplit(
Item('observation_view', style='custom', show_label=False),
Item(
'observation_view_base',
style='custom',
show_label=False),
label='Observations', ),
Item('settings_view', style='custom', label='Settings'),
Item('update_view', style='custom', label='Update'),
Tabbed(
Item(
'system_monitor_view',
style='custom',
label='System Monitor'),
Item('imu_view', style='custom', label='IMU'),
Item('mag_view', style='custom', label='Magnetometer'),
Item(
'networking_view',
label='Networking',
style='custom',
show_label=False),
Item(
'spectrum_analyzer_view',
label='Spectrum Analyzer',
style='custom'),
label='Advanced',
show_labels=False),
show_labels=False),
VGroup(
VGroup(
HGroup(
Spring(width=4, springy=False),
Item(
'paused_button',
show_label=False,
padding=0,
width=8,
height=8),
Item(
'clear_button',
show_label=False,
width=8,
height=8),
Item('', label='Console Log', emphasized=True),
Item(
'csv_logging_button',
emphasized=True,
show_label=False,
width=12,
height=-30,
padding=0),
Item(
'json_logging_button',
emphasized=True,
show_label=False,
width=12,
height=-30,
padding=0),
Item(
'directory_name',
show_label=False,
springy=True,
tooltip='Choose location for file logs. Default is home/SwiftNav.',
height=-25,
enabled_when='not(json_logging or csv_logging)',
editor_args={'auto_set': True}),
UItem(
'log_level_filter',
style='simple',
padding=0,
height=8,
show_label=True,
tooltip='Show log levels up to and including the selected level of severity.\nThe CONSOLE log level is always visible.'
), ),
Item(
'console_output',
style='custom',
editor=InstanceEditor(),
height=125,
show_label=False,
full_size=True), ),
HGroup(
Spring(width=4, springy=False),
Item(
'',
label='Interface:',
emphasized=True,
tooltip='Interface for communicating with Swift device'
),
Item('cnx_desc', show_label=False, style='readonly'),
Item(
'',
label='FIX TYPE:',
emphasized=True,
tooltip='Device Mode: SPS, Float RTK, Fixed RTK'),
Item('mode', show_label=False, style='readonly'),
Item(
'',
label='#Sats:',
emphasized=True,
tooltip='Number of satellites used in solution'),
Item(
'num_sats',
padding=2,
show_label=False,
style='readonly'),
Item(
'',
label='Corr Age:',
emphasized=True,
tooltip='Age of corrections (-- means invalid / not present)'
),
Item(
'age_of_corrections',
padding=2,
show_label=False,
style='readonly'),
Item(
'',
label='Device UUID:',
emphasized=True,
tooltip='Universally Unique Device Identifier (UUID)'
), Item(
'uuid',
padding=2,
show_label=False,
style='readonly', width=6),
Spring(springy=True),
Item(
'cnx_icon',
show_label=False,
padding=0,
width=8,
height=8,
visible_when='solid_connection',
springy=False,
editor=ImageEditor(
allow_clipping=False,
image=ImageResource(resource_filename('console/images/iconic/arrows_blue.png'))
)),
Item(
'cnx_icon',
show_label=False,
padding=0,
width=8,
height=8,
visible_when='not solid_connection',
springy=False,
editor=ImageEditor(
allow_clipping=False,
image=ImageResource(
resource_filename('console/images/iconic/arrows_grey.png')
))),
Spring(width=4, height=-2, springy=False), ),
Spring(height=1, springy=False), ), ),
icon=icon,
resizable=True,
width=800,
height=600,
handler=ConsoleHandler(),
title=CONSOLE_TITLE)
def print_message_callback(self, sbp_msg, **metadata):
try:
encoded = sbp_msg.payload.encode('ascii', 'ignore')
for eachline in reversed(encoded.split('\n')):
self.console_output.write_level(
eachline, str_to_log_level(eachline.split(':')[0]))
except UnicodeDecodeError as e:
print("Error encoding msg_print: {}".format(e))
def log_message_callback(self, sbp_msg, **metadata):
encoded = sbp_msg.text.decode('utf8')
for eachline in reversed(encoded.split('\n')):
self.console_output.write_level(eachline, sbp_msg.level)
def ext_event_callback(self, sbp_msg, **metadata):
e = MsgExtEvent(sbp_msg)
print(
'External event: %s edge on pin %d at wn=%d, tow=%d, time qual=%s'
% ("Rising" if (e.flags & (1 << 0)) else "Falling", e.pin, e.wn,
e.tow, "good" if (e.flags & (1 << 1)) else "unknown"))
def cmd_resp_callback(self, sbp_msg, **metadata):
r = MsgCommandResp(sbp_msg)
print(
"Received a command response message with code {0}".format(r.code))
def _paused_button_fired(self):
self.console_output.paused = not self.console_output.paused
def _log_level_filter_changed(self):
"""
Takes log level enum and translates into the mapped integer.
Integer stores the current filter value inside OutputList.
"""
self.console_output.log_level_filter = str_to_log_level(
self.log_level_filter)
def _clear_button_fired(self):
self.console_output.clear()
def _directory_name_changed(self):
if self.baseline_view and self.solution_view:
self.baseline_view.directory_name_b = self.directory_name
self.solution_view.directory_name_p = self.directory_name
self.solution_view.directory_name_v = self.directory_name
if self.observation_view and self.observation_view_base:
self.observation_view.dirname = self.directory_name
self.observation_view_base.dirname = self.directory_name
def check_heartbeat(self):
# if our heartbeat hasn't changed since the last timer interval the connection must have dropped
if self.heartbeat_count == self.last_timer_heartbeat:
self.solid_connection = False
else:
self.solid_connection = True
self.last_timer_heartbeat = self.heartbeat_count
def update_on_heartbeat(self, sbp_msg, **metadata):
self.heartbeat_count += 1
# --- determining which mode, llh or baseline, to show in the status bar ---
llh_display_mode = "None"
llh_num_sats = 0
llh_is_differential = False
baseline_display_mode = "None"
baseline_num_sats = 0
baseline_is_differential = False
# determine the latest llh solution mode
if self.solution_view:
llh_solution_mode = self.solution_view.last_pos_mode
llh_display_mode = mode_dict.get(llh_solution_mode, EMPTY_STR)
if llh_solution_mode > 0 and self.solution_view.last_soln:
llh_num_sats = self.solution_view.last_soln.n_sats
llh_is_differential = (llh_solution_mode in DIFFERENTIAL_MODES)
if getattr(self.solution_view, 'ins_used', False) and llh_solution_mode != DR_MODE:
llh_display_mode += "+INS"
# determine the latest baseline solution mode
if self.baseline_view:
baseline_solution_mode = self.baseline_view.last_mode
baseline_display_mode = mode_dict.get(baseline_solution_mode, EMPTY_STR)
if baseline_solution_mode > 0 and self.baseline_view.last_soln:
baseline_num_sats = self.baseline_view.last_soln.n_sats
baseline_is_differential = (baseline_solution_mode in DIFFERENTIAL_MODES)
# select the solution mode displayed in the status bar:
# * baseline if it's a differential solution but llh isn't
# * otherwise llh (also if there is no solution, in which both are "None")
if baseline_is_differential and not(llh_is_differential):
self.mode = baseline_display_mode
self.num_sats = baseline_num_sats
else:
self.mode = llh_display_mode
self.num_sats = llh_num_sats
# --- end of status bar mode determination section ---
if self.settings_view: # for auto populating surveyed fields
self.settings_view.lat = self.solution_view.latitude
self.settings_view.lon = self.solution_view.longitude
self.settings_view.alt = self.solution_view.altitude
if self.baseline_view:
if self.baseline_view.age_corrections is not None:
self.age_of_corrections = "{0} s".format(
self.baseline_view.age_corrections)
else:
self.age_of_corrections = EMPTY_STR
def _csv_logging_button_action(self):
if self.csv_logging and self.baseline_view.logging_b and self.solution_view.logging_p and self.solution_view.logging_v:
print("Stopped CSV logging")
self.csv_logging = False
self.baseline_view.logging_b = False
self.solution_view.logging_p = False
self.solution_view.logging_v = False
else:
print("Started CSV logging at %s" % self.directory_name)
self.csv_logging = True
self.baseline_view.logging_b = True
self.solution_view.logging_p = True
self.solution_view.logging_v = True
def _start_json_logging(self, override_filename=None):
if override_filename:
filename = override_filename
else:
filename = time.strftime("swift-gnss-%Y%m%d-%H%M%S.sbp.json")
filename = os.path.normpath(
os.path.join(self.directory_name, filename))
self.logger = s.get_logger(True, filename, self.expand_json)
self.forwarder = sbpc.Forwarder(self.link, self.logger)
self.forwarder.start()
if self.settings_view:
self.settings_view._settings_read_by_index()
def _stop_json_logging(self):
fwd = self.forwarder
fwd.stop()
self.logger.flush()
self.logger.close()
def _json_logging_button_action(self):
if self.first_json_press and self.json_logging:
print(
"JSON Logging initiated via CMD line. Please press button again to stop logging"
)
elif self.json_logging:
self._stop_json_logging()
self.json_logging = False
print("Stopped JSON logging")
else:
self._start_json_logging()
self.json_logging = True
self.first_json_press = False
def _json_logging_button_fired(self):
if not os.path.exists(self.directory_name) and not self.json_logging:
confirm_prompt = CallbackPrompt(
title="Logging directory creation",
actions=[ok_button],
callback=self._json_logging_button_action)
confirm_prompt.text = "\nThe selected logging directory does not exist and will be created."
confirm_prompt.run(block=False)
else:
self._json_logging_button_action()
def _csv_logging_button_fired(self):
if not os.path.exists(self.directory_name) and not self.csv_logging:
confirm_prompt = CallbackPrompt(
title="Logging directory creation",
actions=[ok_button],
callback=self._csv_logging_button_action)
confirm_prompt.text = "\nThe selected logging directory does not exist and will be created."
confirm_prompt.run(block=False)
else:
self._csv_logging_button_action()
def __enter__(self):
return self
def __exit__(self, exc_type, exc_value, traceback):
self.console_output.close()
def __init__(self,
link,
update,
log_level_filter,
error=False,
cnx_desc=None,
json_logging=False,
log_dirname=None,
override_filename=None,
log_console=False,
connection_info=None,
expand_json=False
):
self.error = error
self.cnx_desc = cnx_desc
self.connection_info = connection_info
self.dev_id = cnx_desc
self.num_sats = 0
self.mode = ''
self.forwarder = None
self.age_of_corrections = '--'
self.expand_json = expand_json
# if we have passed a logfile, we set our directory to it
override_filename = override_filename
self.last_status_update_time = 0
if log_dirname:
self.directory_name = log_dirname
if override_filename:
override_filename = os.path.join(log_dirname,
override_filename)
else:
self.directory_name = swift_path
# Start swallowing sys.stdout and sys.stderr
self.console_output = OutputList(
tfile=log_console, outdir=self.directory_name)
sys.stdout = self.console_output
self.console_output.write("Console: " + CONSOLE_VERSION +
" starting...")
if not error:
sys.stderr = self.console_output
self.log_level_filter = log_level_filter
self.console_output.log_level_filter = str_to_log_level(
log_level_filter)
try:
self.link = link
self.link.add_callback(self.print_message_callback,
SBP_MSG_PRINT_DEP)
self.link.add_callback(self.log_message_callback, SBP_MSG_LOG)
self.link.add_callback(self.ext_event_callback, SBP_MSG_EXT_EVENT)
self.link.add_callback(self.cmd_resp_callback,
SBP_MSG_COMMAND_RESP)
self.link.add_callback(self.update_on_heartbeat, SBP_MSG_HEARTBEAT)
self.dep_handler = DeprecatedMessageHandler(link)
settings_read_finished_functions = []
self.tracking_view = TrackingView(self.link)
self.solution_view = SolutionView(
self.link, dirname=self.directory_name)
self.baseline_view = BaselineView(
self.link, dirname=self.directory_name)
self.observation_view = ObservationView(
self.link,
name='Local',
relay=False,
dirname=self.directory_name)
self.observation_view_base = ObservationView(
self.link,
name='Remote',
relay=True,
dirname=self.directory_name)
self.system_monitor_view = SystemMonitorView(self.link)
self.update_view = UpdateView(
self.link,
download_dir=swift_path,
prompt=update,
connection_info=self.connection_info)
self.imu_view = IMUView(self.link)
self.mag_view = MagView(self.link)
self.spectrum_analyzer_view = SpectrumAnalyzerView(self.link)
settings_read_finished_functions.append(
self.update_view.compare_versions)
self.networking_view = SbpRelayView(self.link)
self.json_logging = json_logging
self.csv_logging = False
self.first_json_press = True
if json_logging:
self._start_json_logging(override_filename)
self.json_logging = True
# we set timer interval to 1200 milliseconds because we expect a heartbeat each second
self.timer_cancel = call_repeatedly(1.2, self.check_heartbeat)
# Once we have received the settings, update device_serial with
# the Swift serial number which will be displayed in the window
# title. This callback will also update the header route as used
# by the networking view.
def update_serial():
mfg_id = None
try:
self.uuid = self.settings_view.settings['system_info'][
'uuid'].value
mfg_id = self.settings_view.settings['system_info'][
'serial_number'].value
except KeyError:
pass
if mfg_id:
self.device_serial = 'PK' + str(mfg_id)
skip_settings_read = False
if 'mode' in self.connection_info:
if self.connection_info['mode'] == 'file':
skip_settings_read = True
settings_read_finished_functions.append(update_serial)
self.settings_view = SettingsView(
self.link,
settings_read_finished_functions,
skip_read=skip_settings_read)
self.update_view.settings = self.settings_view.settings
self.python_console_env = {
'send_message': self.link,
'link': self.link,
}
self.python_console_env.update(
self.tracking_view.python_console_cmds)
self.python_console_env.update(
self.solution_view.python_console_cmds)
self.python_console_env.update(
self.baseline_view.python_console_cmds)
self.python_console_env.update(
self.observation_view.python_console_cmds)
self.python_console_env.update(
self.networking_view.python_console_cmds)
self.python_console_env.update(
self.system_monitor_view.python_console_cmds)
self.python_console_env.update(
self.update_view.python_console_cmds)
self.python_console_env.update(self.imu_view.python_console_cmds)
self.python_console_env.update(self.mag_view.python_console_cmds)
self.python_console_env.update(
self.settings_view.python_console_cmds)
self.python_console_env.update(
self.spectrum_analyzer_view.python_console_cmds)
except: # noqa
import traceback
traceback.print_exc()
if self.error:
os._exit(1)
def __init__(self,
link,
update,
log_level_filter,
skip_settings=False,
error=False,
cnx_desc=None,
json_logging=False,
log_dirname=None,
override_filename=None,
log_console=False,
networking=None,
serial_upgrade=False):
self.error = error
self.cnx_desc = cnx_desc
self.dev_id = cnx_desc
self.num_sats = 0
self.mode = ''
self.forwarder = None
self.latency = '--'
# if we have passed a logfile, we set our directory to it
override_filename = override_filename
home = expanduser("~")
swift_path = os.path.normpath(os.path.join(home, 'SwiftNav'))
if log_dirname:
self.directory_name = log_dirname
if override_filename:
override_filename = os.path.join(log_dirname,
override_filename)
else:
self.directory_name = swift_path
# Start swallowing sys.stdout and sys.stderr
self.console_output = OutputList(
tfile=log_console, outdir=self.directory_name)
sys.stdout = self.console_output
self.console_output.write("Console: " + CONSOLE_VERSION +
" starting...")
if not error:
sys.stderr = self.console_output
self.log_level_filter = log_level_filter
self.console_output.log_level_filter = str_to_log_level(
log_level_filter)
try:
self.link = link
self.link.add_callback(self.print_message_callback,
SBP_MSG_PRINT_DEP)
self.link.add_callback(self.log_message_callback, SBP_MSG_LOG)
self.link.add_callback(self.ext_event_callback, SBP_MSG_EXT_EVENT)
self.link.add_callback(self.cmd_resp_callback,
SBP_MSG_COMMAND_RESP)
self.link.add_callback(self.update_on_heartbeat, SBP_MSG_HEARTBEAT)
self.dep_handler = DeprecatedMessageHandler(link)
settings_read_finished_functions = []
self.tracking_view = TrackingView(self.link)
self.solution_view = SolutionView(
self.link, dirname=self.directory_name)
self.baseline_view = BaselineView(
self.link, dirname=self.directory_name)
self.observation_view = ObservationView(
self.link,
name='Local',
relay=False,
dirname=self.directory_name)
self.observation_view_base = ObservationView(
self.link,
name='Remote',
relay=True,
dirname=self.directory_name)
self.system_monitor_view = SystemMonitorView(self.link)
self.update_view = UpdateView(
self.link,
download_dir=swift_path,
prompt=update,
serial_upgrade=serial_upgrade)
self.imu_view = IMUView(self.link)
self.spectrum_analyzer_view = SpectrumAnalyzerView(self.link)
settings_read_finished_functions.append(
self.update_view.compare_versions)
if networking:
from ruamel.yaml import YAML
yaml = YAML(typ='safe')
try:
networking_dict = yaml.load(networking)
networking_dict.update({'show_networking': True})
except yaml.YAMLError:
print(
"Unable to interpret networking cmdline argument. It will be ignored."
)
import traceback
print(traceback.format_exc())
networking_dict = {'show_networking': True}
else:
networking_dict = {}
networking_dict.update({
'whitelist': [SBP_MSG_POS_LLH, SBP_MSG_HEARTBEAT]
})
self.networking_view = SbpRelayView(self.link, **networking_dict)
self.json_logging = json_logging
self.csv_logging = False
self.first_json_press = True
if json_logging:
self._start_json_logging(override_filename)
self.json_logging = True
# we set timer interval to 1200 milliseconds because we expect a heartbeat each second
self.timer_cancel = call_repeatedly(1.2, self.check_heartbeat)
# Once we have received the settings, update device_serial with
# the Swift serial number which will be displayed in the window
# title. This callback will also update the header route as used
# by the networking view.
def update_serial():
uuid = None
mfg_id = None
try:
uuid = self.settings_view.settings['system_info'][
'uuid'].value
mfg_id = self.settings_view.settings['system_info'][
'serial_number'].value
except KeyError:
pass
if mfg_id:
self.device_serial = 'PK' + str(mfg_id)[-6:]
self.networking_view.set_route(uuid=uuid, serial_id=mfg_id)
if self.networking_view.connect_when_uuid_received:
self.networking_view._connect_rover_fired()
settings_read_finished_functions.append(update_serial)
self.settings_view = SettingsView(
self.link,
settings_read_finished_functions,
skip=skip_settings)
self.update_view.settings = self.settings_view.settings
self.python_console_env = {
'send_message': self.link,
'link': self.link,
}
self.python_console_env.update(
self.tracking_view.python_console_cmds)
self.python_console_env.update(
self.solution_view.python_console_cmds)
self.python_console_env.update(
self.baseline_view.python_console_cmds)
self.python_console_env.update(
self.observation_view.python_console_cmds)
self.python_console_env.update(
self.networking_view.python_console_cmds)
self.python_console_env.update(
self.system_monitor_view.python_console_cmds)
self.python_console_env.update(
self.update_view.python_console_cmds)
self.python_console_env.update(self.imu_view.python_console_cmds)
self.python_console_env.update(
self.settings_view.python_console_cmds)
self.python_console_env.update(
self.spectrum_analyzer_view.python_console_cmds)
except:
import traceback
traceback.print_exc()
if self.error:
sys.exit(1)
class SwiftConsole(HasTraits):
"""Traits-defined Swift Console.
link : object
Serial driver
update : bool
Update the firmware
log_level_filter : str
Syslog string, one of "ERROR", "WARNING", "INFO", "DEBUG".
skip_settings : bool
Don't read the device settings. Set to False when the console is reading
from a network connection only.
"""
link = Instance(sbpc.Handler)
console_output = Instance(OutputList())
python_console_env = Dict
device_serial = Str('')
dev_id = Str('')
tracking_view = Instance(TrackingView)
solution_view = Instance(SolutionView)
baseline_view = Instance(BaselineView)
observation_view = Instance(ObservationView)
networking_view = Instance(SbpRelayView)
observation_view_base = Instance(ObservationView)
system_monitor_view = Instance(SystemMonitorView)
settings_view = Instance(SettingsView)
update_view = Instance(UpdateView)
imu_view = Instance(IMUView)
spectrum_analyzer_view = Instance(SpectrumAnalyzerView)
log_level_filter = Enum(list(SYSLOG_LEVELS.itervalues()))
""""
mode : baseline and solution view - SPP, Fixed or Float
num_sat : baseline and solution view - number of satellites
port : which port is Swift Device is connected to
directory_name : location of logged files
json_logging : enable JSON logging
csv_logging : enable CSV logging
"""
mode = Str('')
num_sats = Int(0)
cnx_desc = Str('')
latency = Str('')
directory_name = Directory
json_logging = Bool(True)
csv_logging = Bool(False)
cnx_icon = Str('')
heartbeat_count = Int()
last_timer_heartbeat = Int()
solid_connection = Bool(False)
csv_logging_button = SVGButton(
toggle=True,
label='CSV log',
tooltip='start CSV logging',
toggle_tooltip='stop CSV logging',
filename=resource_filename('console/images/iconic/pause.svg'),
toggle_filename=resource_filename('console/images/iconic/play.svg'),
orientation='vertical',
width=2,
height=2, )
json_logging_button = SVGButton(
toggle=True,
label='JSON log',
tooltip='start JSON logging',
toggle_tooltip='stop JSON logging',
filename=resource_filename('console/images/iconic/pause.svg'),
toggle_filename=resource_filename('console/images/iconic/play.svg'),
orientation='vertical',
width=2,
height=2, )
paused_button = SVGButton(
label='',
tooltip='Pause console update',
toggle_tooltip='Resume console update',
toggle=True,
filename=resource_filename('console/images/iconic/pause.svg'),
toggle_filename=resource_filename('console/images/iconic/play.svg'),
width=8,
height=8)
clear_button = SVGButton(
label='',
tooltip='Clear console buffer',
filename=resource_filename('console/images/iconic/x.svg'),
width=8,
height=8)
view = View(
VSplit(
Tabbed(
Item('tracking_view', style='custom', label='Tracking'),
Item('solution_view', style='custom', label='Solution'),
Item('baseline_view', style='custom', label='Baseline'),
VSplit(
Item('observation_view', style='custom', show_label=False),
Item(
'observation_view_base',
style='custom',
show_label=False),
label='Observations', ),
Item('settings_view', style='custom', label='Settings'),
Item('update_view', style='custom', label='Firmware Update'),
Tabbed(
Item(
'system_monitor_view',
style='custom',
label='System Monitor'),
Item('imu_view', style='custom', label='IMU'),
Item(
'networking_view',
label='Networking',
style='custom',
show_label=False),
Item(
'spectrum_analyzer_view',
label='Spectrum Analyzer',
style='custom'),
label='Advanced',
show_labels=False),
show_labels=False),
VGroup(
VGroup(
HGroup(
Spring(width=4, springy=False),
Item(
'paused_button',
show_label=False,
padding=0,
width=8,
height=8),
Item(
'clear_button',
show_label=False,
width=8,
height=8),
Item('', label='Console Log', emphasized=True),
Item(
'csv_logging_button',
emphasized=True,
show_label=False,
width=12,
height=-30,
padding=0),
Item(
'json_logging_button',
emphasized=True,
show_label=False,
width=12,
height=-30,
padding=0),
Item(
'directory_name',
show_label=False,
springy=True,
tooltip='Choose location for file logs. Default is home/SwiftNav.',
height=-25,
enabled_when='not(json_logging or csv_logging)',
editor_args={'auto_set': True}),
UItem(
'log_level_filter',
style='simple',
padding=0,
height=8,
show_label=True,
tooltip='Show log levels up to and including the selected level of severity.\nThe CONSOLE log level is always visible.'
), ),
Item(
'console_output',
style='custom',
editor=InstanceEditor(),
height=125,
show_label=False,
full_size=True), ),
HGroup(
Spring(width=4, springy=False),
Item(
'',
label='Interface:',
emphasized=True,
tooltip='Interface for communicating with Swift device'
),
Item('cnx_desc', show_label=False, style='readonly'),
Item(
'',
label='FIX TYPE:',
emphasized=True,
tooltip='Device Mode: SPS, Float RTK, Fixed RTK'),
Item('mode', show_label=False, style='readonly'),
Item(
'',
label='#Sats:',
emphasized=True,
tooltip='Number of satellites used in solution'),
Item(
'num_sats',
padding=2,
show_label=False,
style='readonly'),
Item(
'',
label='Base Latency:',
emphasized=True,
tooltip='Corrections latency (-1 means no corrections)'
),
Item(
'latency',
padding=2,
show_label=False,
style='readonly'),
Spring(springy=True),
Item(
'cnx_icon',
show_label=False,
padding=0,
width=8,
height=8,
visible_when='solid_connection',
springy=False,
editor=ImageEditor(
allow_clipping=False,
image=ImageResource(resource_filename('console/images/iconic/arrows_blue.png'))
)),
Item(
'cnx_icon',
show_label=False,
padding=0,
width=8,
height=8,
visible_when='not solid_connection',
springy=False,
editor=ImageEditor(
allow_clipping=False,
image=ImageResource(
resource_filename('console/images/iconic/arrows_grey.png')
))),
Spring(width=4, height=-2, springy=False), ),
Spring(height=1, springy=False), ), ),
icon=icon,
resizable=True,
width=800,
height=600,
handler=ConsoleHandler(),
title=CONSOLE_TITLE)
def print_message_callback(self, sbp_msg, **metadata):
try:
encoded = sbp_msg.payload.encode('ascii', 'ignore')
for eachline in reversed(encoded.split('\n')):
self.console_output.write_level(
eachline, str_to_log_level(eachline.split(':')[0]))
except UnicodeDecodeError:
print("Critical Error encoding the serial stream as ascii.")
def log_message_callback(self, sbp_msg, **metadata):
try:
encoded = sbp_msg.text.encode('ascii', 'ignore')
for eachline in reversed(encoded.split('\n')):
self.console_output.write_level(eachline, sbp_msg.level)
except UnicodeDecodeError:
print("Critical Error encoding the serial stream as ascii.")
def ext_event_callback(self, sbp_msg, **metadata):
e = MsgExtEvent(sbp_msg)
print(
'External event: %s edge on pin %d at wn=%d, tow=%d, time qual=%s'
% ("Rising" if (e.flags & (1 << 0)) else "Falling", e.pin, e.wn,
e.tow, "good" if (e.flags & (1 << 1)) else "unknown"))
def cmd_resp_callback(self, sbp_msg, **metadata):
r = MsgCommandResp(sbp_msg)
print(
"Received a command response message with code {0}".format(r.code))
def _paused_button_fired(self):
self.console_output.paused = not self.console_output.paused
def _log_level_filter_changed(self):
"""
Takes log level enum and translates into the mapped integer.
Integer stores the current filter value inside OutputList.
"""
self.console_output.log_level_filter = str_to_log_level(
self.log_level_filter)
def _clear_button_fired(self):
self.console_output.clear()
def _directory_name_changed(self):
if self.baseline_view and self.solution_view:
self.baseline_view.directory_name_b = self.directory_name
self.solution_view.directory_name_p = self.directory_name
self.solution_view.directory_name_v = self.directory_name
if self.observation_view and self.observation_view_base:
self.observation_view.dirname = self.directory_name
self.observation_view_base.dirname = self.directory_name
def check_heartbeat(self):
# if our heartbeat hasn't changed since the last timer interval the connection must have dropped
if self.heartbeat_count == self.last_timer_heartbeat:
self.solid_connection = False
else:
self.solid_connection = True
self.last_timer_heartbeat = self.heartbeat_count
def update_on_heartbeat(self, sbp_msg, **metadata):
self.heartbeat_count += 1
# First initialize the state to nothing, if we can't update, it will be none
temp_mode = "None"
temp_num_sats = 0
view = None
if self.baseline_view and self.solution_view:
# If we have a recent baseline update, we use the baseline info
if time.time() - self.baseline_view.last_btime_update < 10:
view = self.baseline_view
# Otherwise, if we have a recent SPP update, we use the SPP
elif time.time() - self.solution_view.last_stime_update < 10:
view = self.solution_view
if view:
if view.last_soln:
# if all is well we update state
temp_mode = mode_dict.get(
get_mode(view.last_soln), EMPTY_STR)
temp_num_sats = view.last_soln.n_sats
self.mode = temp_mode
self.num_sats = temp_num_sats
if self.settings_view: # for auto populating surveyed fields
self.settings_view.lat = self.solution_view.latitude
self.settings_view.lon = self.solution_view.longitude
self.settings_view.alt = self.solution_view.altitude
if self.system_monitor_view:
if self.system_monitor_view.msg_obs_window_latency_ms != -1:
self.latency = "{0} ms".format(
self.system_monitor_view.msg_obs_window_latency_ms)
else:
self.latency = EMPTY_STR
def _csv_logging_button_action(self):
if self.csv_logging and self.baseline_view.logging_b and self.solution_view.logging_p and self.solution_view.logging_v:
print("Stopped CSV logging")
self.csv_logging = False
self.baseline_view.logging_b = False
self.solution_view.logging_p = False
self.solution_view.logging_v = False
else:
print("Started CSV logging at %s" % self.directory_name)
self.csv_logging = True
self.baseline_view.logging_b = True
self.solution_view.logging_p = True
self.solution_view.logging_v = True
def _start_json_logging(self, override_filename=None):
if override_filename:
filename = override_filename
else:
filename = time.strftime("swift-gnss-%Y%m%d-%H%M%S.sbp.json")
filename = os.path.normpath(
os.path.join(self.directory_name, filename))
self.logger = s.get_logger(True, filename)
self.forwarder = sbpc.Forwarder(self.link, self.logger)
self.forwarder.start()
if self.settings_view:
self.settings_view._settings_read_button_fired()
def _stop_json_logging(self):
fwd = self.forwarder
fwd.stop()
self.logger.flush()
self.logger.close()
def _json_logging_button_action(self):
if self.first_json_press and self.json_logging:
print(
"JSON Logging initiated via CMD line. Please press button again to stop logging"
)
elif self.json_logging:
self._stop_json_logging()
self.json_logging = False
print("Stopped JSON logging")
else:
self._start_json_logging()
self.json_logging = True
self.first_json_press = False
def _json_logging_button_fired(self):
if not os.path.exists(self.directory_name) and not self.json_logging:
confirm_prompt = CallbackPrompt(
title="Logging directory creation",
actions=[ok_button],
callback=self._json_logging_button_action)
confirm_prompt.text = "\nThe selected logging directory does not exist and will be created."
confirm_prompt.run(block=False)
else:
self._json_logging_button_action()
def _csv_logging_button_fired(self):
if not os.path.exists(self.directory_name) and not self.csv_logging:
confirm_prompt = CallbackPrompt(
title="Logging directory creation",
actions=[ok_button],
callback=self._csv_logging_button_action)
confirm_prompt.text = "\nThe selected logging directory does not exist and will be created."
confirm_prompt.run(block=False)
else:
self._csv_logging_button_action()
def __enter__(self):
return self
def __exit__(self, exc_type, exc_value, traceback):
self.console_output.close()
def __init__(self,
link,
update,
log_level_filter,
skip_settings=False,
error=False,
cnx_desc=None,
json_logging=False,
log_dirname=None,
override_filename=None,
log_console=False,
networking=None,
serial_upgrade=False):
self.error = error
self.cnx_desc = cnx_desc
self.dev_id = cnx_desc
self.num_sats = 0
self.mode = ''
self.forwarder = None
self.latency = '--'
# if we have passed a logfile, we set our directory to it
override_filename = override_filename
home = expanduser("~")
swift_path = os.path.normpath(os.path.join(home, 'SwiftNav'))
if log_dirname:
self.directory_name = log_dirname
if override_filename:
override_filename = os.path.join(log_dirname,
override_filename)
else:
self.directory_name = swift_path
# Start swallowing sys.stdout and sys.stderr
self.console_output = OutputList(
tfile=log_console, outdir=self.directory_name)
sys.stdout = self.console_output
self.console_output.write("Console: " + CONSOLE_VERSION +
" starting...")
if not error:
sys.stderr = self.console_output
self.log_level_filter = log_level_filter
self.console_output.log_level_filter = str_to_log_level(
log_level_filter)
try:
self.link = link
self.link.add_callback(self.print_message_callback,
SBP_MSG_PRINT_DEP)
self.link.add_callback(self.log_message_callback, SBP_MSG_LOG)
self.link.add_callback(self.ext_event_callback, SBP_MSG_EXT_EVENT)
self.link.add_callback(self.cmd_resp_callback,
SBP_MSG_COMMAND_RESP)
self.link.add_callback(self.update_on_heartbeat, SBP_MSG_HEARTBEAT)
self.dep_handler = DeprecatedMessageHandler(link)
settings_read_finished_functions = []
self.tracking_view = TrackingView(self.link)
self.solution_view = SolutionView(
self.link, dirname=self.directory_name)
self.baseline_view = BaselineView(
self.link, dirname=self.directory_name)
self.observation_view = ObservationView(
self.link,
name='Local',
relay=False,
dirname=self.directory_name)
self.observation_view_base = ObservationView(
self.link,
name='Remote',
relay=True,
dirname=self.directory_name)
self.system_monitor_view = SystemMonitorView(self.link)
self.update_view = UpdateView(
self.link,
download_dir=swift_path,
prompt=update,
serial_upgrade=serial_upgrade)
self.imu_view = IMUView(self.link)
self.spectrum_analyzer_view = SpectrumAnalyzerView(self.link)
settings_read_finished_functions.append(
self.update_view.compare_versions)
if networking:
from ruamel.yaml import YAML
yaml = YAML(typ='safe')
try:
networking_dict = yaml.load(networking)
networking_dict.update({'show_networking': True})
except yaml.YAMLError:
print(
"Unable to interpret networking cmdline argument. It will be ignored."
)
import traceback
print(traceback.format_exc())
networking_dict = {'show_networking': True}
else:
networking_dict = {}
networking_dict.update({
'whitelist': [SBP_MSG_POS_LLH, SBP_MSG_HEARTBEAT]
})
self.networking_view = SbpRelayView(self.link, **networking_dict)
self.json_logging = json_logging
self.csv_logging = False
self.first_json_press = True
if json_logging:
self._start_json_logging(override_filename)
self.json_logging = True
# we set timer interval to 1200 milliseconds because we expect a heartbeat each second
self.timer_cancel = call_repeatedly(1.2, self.check_heartbeat)
# Once we have received the settings, update device_serial with
# the Swift serial number which will be displayed in the window
# title. This callback will also update the header route as used
# by the networking view.
def update_serial():
uuid = None
mfg_id = None
try:
uuid = self.settings_view.settings['system_info'][
'uuid'].value
mfg_id = self.settings_view.settings['system_info'][
'serial_number'].value
except KeyError:
pass
if mfg_id:
self.device_serial = 'PK' + str(mfg_id)[-6:]
self.networking_view.set_route(uuid=uuid, serial_id=mfg_id)
if self.networking_view.connect_when_uuid_received:
self.networking_view._connect_rover_fired()
settings_read_finished_functions.append(update_serial)
self.settings_view = SettingsView(
self.link,
settings_read_finished_functions,
skip=skip_settings)
self.update_view.settings = self.settings_view.settings
self.python_console_env = {
'send_message': self.link,
'link': self.link,
}
self.python_console_env.update(
self.tracking_view.python_console_cmds)
self.python_console_env.update(
self.solution_view.python_console_cmds)
self.python_console_env.update(
self.baseline_view.python_console_cmds)
self.python_console_env.update(
self.observation_view.python_console_cmds)
self.python_console_env.update(
self.networking_view.python_console_cmds)
self.python_console_env.update(
self.system_monitor_view.python_console_cmds)
self.python_console_env.update(
self.update_view.python_console_cmds)
self.python_console_env.update(self.imu_view.python_console_cmds)
self.python_console_env.update(
self.settings_view.python_console_cmds)
self.python_console_env.update(
self.spectrum_analyzer_view.python_console_cmds)
except:
import traceback
traceback.print_exc()
if self.error:
sys.exit(1)