def poll(self):
'''check for events, returning one event'''
if self.out_queue.qsize() <= 0:
return None
evt = self.out_queue.get()
while isinstance(evt, win_layout.WinLayout):
win_layout.set_layout(evt, self.set_layout)
if self.out_queue.qsize() == 0:
return None
evt = self.out_queue.get()
return evt
def get_event(self):
'''return next event or None'''
if self.event_queue.empty():
return None
evt = self.event_queue.get()
while isinstance(evt, win_layout.WinLayout):
win_layout.set_layout(evt, self.set_layout)
if self.event_queue.empty():
return None
evt = self.event_queue.get()
return evt
def get_event(self):
'''return next event or None'''
if self.event_queue.qsize() == 0:
return None
evt = self.event_queue.get()
while isinstance(evt, win_layout.WinLayout):
win_layout.set_layout(evt, self.set_layout)
if self.event_queue.qsize() == 0:
return None
evt = self.event_queue.get()
return evt
def poll(self):
'''check for events, returning one event'''
if self.out_queue.qsize() <= 0:
return None
evt = self.out_queue.get()
while isinstance(evt, win_layout.WinLayout):
win_layout.set_layout(evt, self.set_layout)
if self.out_queue.qsize() == 0:
return None
evt = self.out_queue.get()
return evt
def watch_thread(self):
'''watch for menu events from child'''
from MAVProxy.modules.lib.mp_settings import MPSetting
try:
while True:
msg = self.parent_pipe_recv.recv()
if isinstance(msg, win_layout.WinLayout):
win_layout.set_layout(msg, self.set_layout)
elif self.menu_callback is not None:
self.menu_callback(msg)
time.sleep(0.1)
except EOFError:
pass
def watch_thread(self):
'''watch for menu events from child'''
from MAVProxy.modules.lib.mp_settings import MPSetting
try:
while True:
msg = self.parent_pipe_recv.recv()
if isinstance(msg, win_layout.WinLayout):
win_layout.set_layout(msg, self.set_layout)
elif self.menu_callback is not None:
self.menu_callback(msg)
time.sleep(0.1)
except EOFError:
pass
def run(self):
while not self.time_to_quit:
queue_access_start_time = time.time()
self.event_queue_lock.acquire()
request_read_after_processing_queue = False
while self.event_queue.qsize() > 0 and (
time.time() - queue_access_start_time) < 0.6:
event = self.event_queue.get()
if isinstance(event, win_layout.WinLayout):
win_layout.set_layout(event, self.mp_misseditor.set_layout)
else:
event_type = event.get_type()
if event_type == me_event.MEE_READ_WPS:
self.module('wp').cmd_wp(['list'])
#list the rally points while I'm add it:
#TODO: DON'T KNOW WHY THIS DOESN'T WORK
#self.module('rally').cmd_rally(['list'])
#means I'm doing a read & don't know how many wps to expect:
self.mp_misseditor.num_wps_expected = -1
self.wps_received = {}
elif event_type == me_event.MEE_TIME_TO_QUIT:
self.time_to_quit = True
elif event_type == me_event.MEE_GET_WP_RAD:
wp_radius = self.module('param').mav_param.get(
'WP_RADIUS')
if (wp_radius is None):
continue
self.mp_misseditor.gui_event_queue_lock.acquire()
self.mp_misseditor.gui_event_queue.put(
MissionEditorEvent(me_event.MEGE_SET_WP_RAD,
wp_rad=wp_radius))
self.mp_misseditor.gui_event_queue_lock.release()
elif event_type == me_event.MEE_SET_WP_RAD:
self.mp_misseditor.param_set('WP_RADIUS',
event.get_arg("rad"))
elif event_type == me_event.MEE_GET_LOIT_RAD:
loiter_radius = self.module('param').mav_param.get(
'WP_LOITER_RAD')
if (loiter_radius is None):
continue
self.mp_misseditor.gui_event_queue_lock.acquire()
self.mp_misseditor.gui_event_queue.put(
MissionEditorEvent(me_event.MEGE_SET_LOIT_RAD,
loit_rad=loiter_radius))
self.mp_misseditor.gui_event_queue_lock.release()
elif event_type == me_event.MEE_SET_LOIT_RAD:
loit_rad = event.get_arg("rad")
if (loit_rad is None):
continue
self.mp_misseditor.param_set('WP_LOITER_RAD', loit_rad)
#need to redraw rally points
# Don't understand why this rally refresh isn't lagging...
# likely same reason why "timeout setting WP_LOITER_RAD"
#comes back:
#TODO: fix timeout issue
self.module('rally').set_last_change(time.time())
elif event_type == me_event.MEE_GET_WP_DEFAULT_ALT:
self.mp_misseditor.gui_event_queue_lock.acquire()
self.mp_misseditor.gui_event_queue.put(
MissionEditorEvent(
me_event.MEGE_SET_WP_DEFAULT_ALT,
def_wp_alt=self.mp_misseditor.mpstate.settings.
wpalt))
self.mp_misseditor.gui_event_queue_lock.release()
elif event_type == me_event.MEE_SET_WP_DEFAULT_ALT:
self.mp_misseditor.mpstate.settings.command(
["wpalt", event.get_arg("alt")])
elif event_type == me_event.MEE_WRITE_WPS:
self.module('wp').wploader.clear()
self.master().waypoint_count_send(
event.get_arg("count"))
self.mp_misseditor.num_wps_expected = event.get_arg(
"count")
self.mp_misseditor.wps_received = {}
elif event_type == me_event.MEE_WRITE_WP_NUM:
w = mavutil.mavlink.MAVLink_mission_item_message(
self.mp_misseditor.mpstate.settings.target_system,
self.mp_misseditor.
mpstate.settings.target_component,
event.get_arg("num"), int(event.get_arg("frame")),
event.get_arg("cmd_id"), 0, 1, event.get_arg("p1"),
event.get_arg("p2"), event.get_arg("p3"),
event.get_arg("p4"), event.get_arg("lat"),
event.get_arg("lon"), event.get_arg("alt"))
self.module('wp').wploader.add(w)
wsend = self.module('wp').wploader.wp(w.seq)
if self.mp_misseditor.mpstate.settings.wp_use_mission_int:
wsend = self.module('wp').wp_to_mission_item_int(w)
self.master().mav.send(wsend)
#tell the wp module to expect some waypoints
self.module('wp').loading_waypoints = True
elif event_type == me_event.MEE_LOAD_WP_FILE:
self.module('wp').cmd_wp(
['load', event.get_arg("path")])
#Wait for the other thread to finish loading waypoints.
#don't let this loop run forever in case we have a lousy
#link to the plane
i = 0
while (i < 10 and self.module('wp').loading_waypoints):
time.sleep(1)
i = i + 1
#don't modify queue while in the middile of processing it:
request_read_after_processing_queue = True
elif event_type == me_event.MEE_SAVE_WP_FILE:
self.module('wp').cmd_wp(
['save', event.get_arg("path")])
self.event_queue_lock.release()
#if event processing operations require a mission referesh in GUI
#(e.g., after a load or a verified-completed write):
if (request_read_after_processing_queue):
self.event_queue_lock.acquire()
self.event_queue.put(MissionEditorEvent(me_event.MEE_READ_WPS))
self.event_queue_lock.release()
#periodically re-request WPs that were never received:
#DON'T NEED TO! -- wp module already doing this
time.sleep(0.2)
def idle_task(self):
'''run on idle'''
# send updated HB stats to GUI every 1 sec
if self.needHBupdate_timer.trigger():
self.gui.updateHB(self.vehicleLastHB)
# do we need to update the GUI?
if self.needGUIupdate_timer.trigger() and self.needGUIupdate:
self.gui.updateLayout(self.vehicleListing)
self.needGUIupdate = False
# do we need to get any vehicle follow sysid params?
# only send param requests 1 per 0.1sec, to avoid link flooding
if self.requestParams_timer.trigger() and len(self.vehParamsToGet) > 0:
(sysid, compid) = self.vehParamsToGet.pop(0)
self.mpstate.foreach_mav(sysid, compid, lambda mav: mav.param_request_read_send(
sysid, compid, parmString("FOLL_SYSID"), -1))
if self.RerequestParams_timer.trigger():
# If any in vehicleListing are missing their FOLL_SYSID, re-request
for veh in self.vehicleListing:
if veh[2] == 0:
self.vehParamsToGet.append(((veh[0], veh[1])))
# execute any commands from GUI via parent_pipe
if self.gui.parent_pipe.poll():
(cmd, sysid, compid) = self.gui.parent_pipe.recv()
if isinstance(cmd, win_layout.WinLayout):
win_layout.set_layout(cmd, self.set_layout)
if cmd == "arm":
self.mpstate.foreach_mav(sysid, compid, lambda mav: mav.command_long_send(
# self.master.mav.command_long_send(
sysid, # target_system
compid,
mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM, # command
0, # confirmation
1, # param1 (1 to indicate arm)
0, # param2 (all other params meaningless)
0, # param3
0, # param4
0, # param5
0, # param6
0)) # param7
elif cmd == "disarm":
self.mpstate.foreach_mav(sysid, compid, lambda mav: mav.command_long_send(
sysid, # target_system
compid,
mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM, # command
0, # confirmation
0, # param1 (1 to indicate arm)
0, # param2 (all other params meaningless)
0, # param3
0, # param4
0, # param5
0, # param6
0)) # param7
elif cmd == "takeoff":
self.mpstate.foreach_mav(sysid, compid, lambda mav: mav.command_long_send(
sysid, # target_system
compid, # target_component
mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, # command
0, # confirmation
0, # param1
0, # param2
0, # param3
0, # param4
0, # param5
0, # param6
self.swarm_settings.takeoffalt)) # param7
elif cmd in ["FOLLOW", "RTL", "AUTO", "GUIDED"]:
mode_mapping = self.master.mode_mapping()
self.mpstate.foreach_mav(sysid, compid, lambda mav: mav.command_long_send(sysid,
compid,
mavutil.mavlink.MAV_CMD_DO_SET_MODE,
0,
mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED,
mode_mapping[cmd],
0,
0,
0,
0,
0))
elif cmd == "kill":
self.mpstate.foreach_mav(sysid, compid, lambda mav: mav.command_long_send(
sysid, # target_system
compid,
mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM, # command
0, # confirmation
0, # param1 (0 to indicate disarm)
21196, # param2 (indicates force disarm)
0, # param3
0, # param4
0, # param5
0, # param6
0)) # param7
elif cmd == 'getoffsets':
# time.sleep(0.1)
for parm in self.parmsToShow:
self.mpstate.foreach_mav(sysid, compid, lambda mav: mav.param_request_read_send(
sysid, compid, parmString(parm), -1))
elif cmd == 'resetLayout':
self.vehicleListing = []
self.vehicleLastHB = {}
self.needGUIupdate = True
# self.gui.updateLayout(self.vehicleListing)
elif cmd == 'getparams':
for (sysid, compid, foll_sysid, veh_type) in self.vehicleListing:
# time.sleep(0.1)
for parm in self.parmsToShow:
self.mpstate.foreach_mav(sysid, compid, lambda mav: mav.param_request_read_send(
sysid, compid, parmString(parm), -1))