class SbpRelayView(HasTraits):
"""
Class allows user to specify port, IP address, and message set
to relay over UDP.
"""
running = Bool(False)
_network_info = List()
configured = Bool(False)
broadcasting = Bool(False)
msg_enum = Enum('Observations', 'All')
ip_ad = String(DEFAULT_UDP_ADDRESS)
port = Int(DEFAULT_UDP_PORT)
information = String(
'UDP Streaming\n\nBroadcast SBP information received by'
' the console to other machines or processes over UDP. With the \'Observations\''
' radio button selected, the console will broadcast the necessary information'
' for a rover Piksi to acheive an RTK solution.'
'\n\nThis can be used to stream observations to a remote Piksi through'
' aircraft telemetry via ground control software such as MAVProxy or'
' Mission Planner.')
start = Button(label='Start', toggle=True, width=32)
stop = Button(label='Stop', toggle=True, width=32)
network_refresh_button = SVGButton(
label='Refresh Network Status',
tooltip='Refresh Network Status',
filename=resource_filename('console/images/fontawesome/refresh.svg'),
width=16,
height=16,
aligment='center')
cell_modem_view = Instance(CellModemView)
view = View(
VGroup(
spring,
HGroup(
VGroup(
Item('msg_enum',
label="Messages to broadcast",
style='custom',
enabled_when='not running'),
Item('ip_ad',
label='IP Address',
enabled_when='not running'),
Item('port', label="Port", enabled_when='not running'),
HGroup(
spring,
UItem('start',
enabled_when='not running',
show_label=False),
UItem('stop', enabled_when='running',
show_label=False), spring)),
VGroup(
Item('information',
label="Notes",
height=10,
editor=MultilineTextEditor(
TextEditor(multi_line=True)),
style='readonly',
show_label=False,
resizable=True,
padding=15),
spring,
)), spring,
HGroup(
Item('cell_modem_view', style='custom', show_label=False),
VGroup(Item(
'_network_info',
style='readonly',
editor=TabularEditor(adapter=SimpleNetworkAdapter()),
show_label=False,
),
Item('network_refresh_button',
show_label=False,
width=0.50),
show_border=True,
label="Network"),
)))
def _network_callback(self, m, **metadata):
txstr = sizeof_fmt(m.tx_bytes),
rxstr = sizeof_fmt(m.rx_bytes)
if m.interface_name.startswith(
b'ppp0'): # Hack for ppp tx and rx which doesn't work
txstr = "---"
rxstr = "---"
elif m.interface_name.startswith(b'lo') or m.interface_name.startswith(
b'sit0'):
return
table_row = ((m.interface_name.decode('ascii'),
ip_bytes_to_string(m.ipv4_address),
((m.flags & (1 << 6)) != 0), txstr, rxstr))
exists = False
for i, each in enumerate(self._network_info):
if each[0][0] == table_row[0][0]:
self._network_info[i] = table_row
exists = True
if not exists:
self._network_info.append(table_row)
def __init__(self, link):
"""
Traits tab with UI for UDP broadcast of SBP.
Parameters
----------
link : sbp.client.handler.Handler
Link for SBP transfer to/from Piksi.
device_uid : str
Piksi Device UUID (defaults to None)
whitelist : [int] | None
Piksi Device UUID (defaults to None)
"""
self.link = link
# Whitelist used for UDP broadcast view
self.cell_modem_view = CellModemView(link)
self.msgs = OBS_MSGS
# register a callback when the msg_enum trait changes
self.on_trait_change(self.update_msgs, 'msg_enum')
self.python_console_cmds = {'update': self}
self.cellmodem_interface_name = "ppp0"
self.link.add_callback(self._network_callback,
SBP_MSG_NETWORK_STATE_RESP)
def update_msgs(self):
"""Updates the instance variable msgs which store the msgs that we
will send over UDP.
"""
if self.msg_enum == 'Observations':
self.msgs = OBS_MSGS
elif self.msg_enum == 'All':
self.msgs = [None]
else:
raise NotImplementedError
def _prompt_setting_error(self, text):
"""Nonblocking prompt for a device setting error.
Parameters
----------
text : str
Helpful error message for the user
"""
prompt = CallbackPrompt(title="Setting Error", actions=[close_button])
prompt.text = text
prompt.run(block=False)
def update_network_state(self):
self._network_refresh_button_fired()
def _network_refresh_button_fired(self):
self._network_info = []
self.link(MsgNetworkStateReq())
def _start_fired(self):
"""Handle start udp broadcast button. Registers callbacks on
self.link for each of the self.msgs If self.msgs is None, it
registers one generic callback for all messages.
"""
self.running = True
try:
self.func = UdpLogger(self.ip_ad, self.port)
self.link.add_callback(self.func, self.msgs)
except: # noqa
import traceback
print(traceback.format_exc())
def _stop_fired(self):
"""Handle the stop udp broadcast button. It uses the self.funcs and
self.msgs to remove the callbacks that were registered when the
start button was pressed.
"""
try:
self.link.remove_callback(self.func, self.msgs)
self.func.__exit__()
self.func = None
self.running = False
except: # noqa
import traceback
print(traceback.format_exc())
class ScatterPlot(Template):
#-- Template Traits --------------------------------------------------------
# The plot index data source:
index = TDataSource
# The plot value data source:
value = TDataSource
# The title of the plot:
title = TStr('Scatter Plot')
# The type of marker to use. This is a mapped trait using strings as the
# keys:
marker = marker_trait(template='copy', event='update')
# The pixel size of the marker (doesn't include the thickness of the
# outline):
marker_size = TRange(1, 5, 1, event='update')
# The thickness, in pixels, of the outline to draw around the marker. If
# this is 0, no outline will be drawn.
line_width = TRange(0.0, 5.0, 1.0)
# The fill color of the marker:
color = TColor('red', event='update')
# The color of the outline to draw around the marker
outline_color = TColor('black', event='update')
#-- Derived Traits ---------------------------------------------------------
plot = TDerived # Instance( ScatterPlot )
#-- Traits UI Views --------------------------------------------------------
# The scatter plot view:
template_view = View(VGroup(
Item('title',
show_label=False,
style='readonly',
editor=ThemedTextEditor(theme=Theme('@GBB', alignment='center'))),
Item('plot',
show_label=False,
resizable=True,
editor=EnableEditor(),
item_theme=Theme('@GF5', margins=0))),
resizable=True)
# The scatter plot options view:
options_view = View(
VGroup(
VGroup(Label('Scatter Plot Options',
item_theme=Theme('@GBB', alignment='center')),
show_labels=False),
VGroup(Item('title', editor=TextEditor()),
Item('marker'),
Item('marker_size', editor=ThemedSliderEditor()),
Item('line_width',
label='Line Width',
editor=ThemedSliderEditor()),
Item('color', label='Fill Color'),
Item('outline_color', label='Outline Color'),
group_theme=Theme('@GF5', margins=(-5, -1)),
item_theme=Theme('@G0B', margins=0))))
#-- Default Values ---------------------------------------------------------
def _index_default(self):
""" Returns the default value for the 'index' trait.
"""
return TemplateDataSource(
items=[ValueDataNameItem(name='index', flatten=True)],
description='Scatter Plot Index')
def _value_default(self):
""" Returns the default value for the 'value' trait.
"""
return TemplateDataSource(
items=[ValueDataNameItem(name='value', flatten=True)],
description='Scatter Plot Value')
#-- ITemplate Interface Implementation -------------------------------------
def activate_template(self):
""" Converts all contained 'TDerived' objects to real objects using the
template traits of the object. This method must be overridden in
subclasses.
Returns
-------
None
"""
# If our data sources are still unbound, then just exit; someone must
# have marked them as optional:
if ((self.index.context_data is Undefined)
or (self.value.context_data is Undefined)):
return
# Create a plot data object and give it this data:
pd = ArrayPlotData()
pd.set_data('index', self.index.context_data)
pd.set_data('value', self.value.context_data)
# Create the plot:
self.plot = plot = Plot(pd)
plot.plot(('index', 'value'),
type='scatter',
index_sort='ascending',
marker=self.marker,
color=self.color,
outline_color=self.outline_color,
marker_size=self.marker_size,
line_width=self.line_width,
bgcolor='white')
plot.set(padding_left=50,
padding_right=0,
padding_top=0,
padding_bottom=20)
# Attach some tools to the plot:
plot.tools.append(PanTool(plot, constrain_key='shift'))
zoom = SimpleZoom(component=plot, tool_mode='box', always_on=False)
plot.overlays.append(zoom)
#-- Trait Event Handlers ---------------------------------------------------
def _update_changed(self):
""" Handles a plot option being changed.
"""
self.plot = Undefined
def create_editor(self):
""" Returns the default traits UI editor to use for a trait.
"""
from traitsui.api import TextEditor
return TextEditor()
class TVTKClassChooser(HasTraits):
# The selected object, is None if no valid class_name was made.
object = Property
# The TVTK class name to choose.
class_name = Str('', desc='class name of TVTK class (case sensitive)')
# The string to search for in the class docs -- the search supports
# 'and' and 'or' keywords.
search = Str('', desc='string to search in TVTK class documentation '\
'supports the "and" and "or" keywords. '\
'press <Enter> to start search. '\
'This is case insensitive.')
clear_search = Button
# The class documentation.
doc = Str(_search_help_doc)
# Completions for the choice of class.
completions = List(Str)
# List of available class names as strings.
available = List(TVTK_CLASSES)
########################################
# Private traits.
finder = Instance(DocSearch)
n_completion = Int(25)
########################################
# View related traits.
view = View(Group(
Item(name='class_name', editor=EnumEditor(name='available')),
Item(name='class_name', has_focus=True),
Item(name='search', editor=TextEditor(enter_set=True, auto_set=False)),
Item(name='clear_search', show_label=False), Item('_'),
Item(name='completions',
editor=ListEditor(columns=3),
style='readonly'),
Item(name='doc', resizable=True, label='Documentation',
style='custom')),
id='tvtk_doc',
resizable=True,
width=800,
height=600,
title='TVTK class chooser',
buttons=["OK", "Cancel"])
######################################################################
# `object` interface.
######################################################################
def __init__(self, **traits):
super(TVTKClassChooser, self).__init__(**traits)
self._orig_available = list(self.available)
######################################################################
# Non-public interface.
######################################################################
def _get_object(self):
o = None
if len(self.class_name) > 0:
try:
o = getattr(tvtk, self.class_name)()
except (AttributeError, TypeError):
pass
return o
def _class_name_changed(self, value):
av = self.available
comp = [x for x in av if x.startswith(value)]
self.completions = comp[:self.n_completion]
if len(comp) == 1 and value != comp[0]:
self.class_name = comp[0]
o = self.object
if o is not None:
self.doc = get_tvtk_class_doc(o)
else:
self.doc = _search_help_doc
def _finder_default(self):
return DocSearch()
def _clear_search_fired(self):
self.search = ''
def _search_changed(self, value):
if len(value) < 3:
self.available = self._orig_available
return
f = self.finder
result = f.search(value)
if len(result) == 0:
self.available = self._orig_available
elif len(result) == 1:
self.class_name = result[0]
else:
self.available = result
self.completions = result[:self.n_completion]
