def DoGetBestSize(self):
dc = wx.ClientDC(self)
dc.SetFont(self.GetFont())
w, h = dc.GetTextExtent(self.GetLabel())
pw, ph = self.GetPadding()
w, h = w + pw, h + ph
border = self.GetBorderWidth()
w, h = w + 2 * border, h + 2 * border
return wx.Size(w, h)
def createPlotPanel(self):
'''Creates the figure and axes for the plotting panel.'''
self.figure = Figure()
self.axes = self.figure.add_subplot(111)
self.canvas = FigureCanvas(self, -1, self.figure)
self.canvas.SetSize(wx.Size(300, 300))
self.axes.axis('off')
self.figure.subplots_adjust(left=0, right=1, top=1, bottom=0)
self.sizer = wx.BoxSizer(wx.VERTICAL)
self.sizer.Add(self.canvas, 1, wx.EXPAND, wx.ALL)
self.SetSizerAndFit(self.sizer)
self.Fit()
def __init__(self, *k, **kw):
if 'style' not in kw:
kw['style'] = wx.BORDER_NONE
super(Button, self).__init__(*k, **kw)
self.border_radius = 0
self.border_width = 0
self.border_color = None
self.padding = wx.Size(0, 0)
self.Bind(wx.EVT_PAINT, self.OnPaint)
self.Bind(wx.EVT_LEFT_UP, self.OnLeftUp)
self.SetCursor(wx.StockCursor(wx.CURSOR_HAND))
def __init__(self, state, parent):
wx.Panel.__init__(self, parent) # , style=wx.BORDER_SIMPLE)
self.state = state
self.sizer = wx.BoxSizer(wx.VERTICAL)
self.titleText = wx.StaticText(
self, label="Unassigned Vehicles -->\n\nTools:")
self.sizer.Add(self.titleText, flag=wx.EXPAND |
wx.LEFT | wx.RIGHT, border=5)
self.getParamsButton = wx.Button(
self, label="Get offsets", size=wx.Size(100, 50))
self.Bind(wx.EVT_BUTTON, self.getParams, self.getParamsButton)
self.resetButton = wx.Button(
self, label="Reset layout", size=wx.Size(100, 50))
self.Bind(wx.EVT_BUTTON, self.reset, self.resetButton)
self.sizer.Add(self.getParamsButton)
self.sizer.Add(self.resetButton)
# Do the sizer layout
self.SetSizer(self.sizer)
def on_redraw_timer(self, event):
'''the redraw timer ensures we show new map tiles as they
are downloaded'''
state = self.state
while state.in_queue.qsize():
try:
obj = state.in_queue.get()
except Exception:
time.sleep(0.05)
return
if isinstance(obj, MPImageData):
with warnings.catch_warnings():
warnings.simplefilter('ignore')
img = wx.EmptyImage(obj.width, obj.height)
img.SetData(obj.data)
self.img = img
self.need_redraw = True
if state.auto_size:
client_area = state.frame.GetClientSize()
total_area = state.frame.GetSize()
bx = max(total_area.x - client_area.x, 0)
by = max(total_area.y - client_area.y, 0)
state.frame.SetSize(
wx.Size(obj.width + bx, obj.height + by))
if isinstance(obj, MPImageTitle):
state.frame.SetTitle(obj.title)
if isinstance(obj, MPImageRecenter):
self.on_recenter(obj.location)
if isinstance(obj, MPImageMenu):
self.set_menu(obj.menu)
if isinstance(obj, MPImagePopupMenu):
self.set_popup_menu(obj.menu)
if isinstance(obj, MPImageBrightness):
state.brightness = obj.brightness
self.need_redraw = True
if isinstance(obj, MPImageFullSize):
self.full_size()
if isinstance(obj, MPImageFitToWindow):
self.fit_to_window()
if isinstance(obj, win_layout.WinLayout):
win_layout.set_wx_window_layout(state.frame, obj)
if self.need_redraw:
self.redraw()
def __init__(self, state, parent, sysid, compid, vehtype, isLeader, listFollowers, takeoffalt):
wx.Panel.__init__(self, parent)
self.state = state
self.sysid = sysid
self.compid = compid
self.listFollowers = listFollowers
self.isLeader = isLeader
self.vehtype = vehtype
self.takeoffalt = takeoffalt
self.inLinkLoss = False
# XYZ offsets. Filled are we get params
self.offsetValues = [None, None, None]
self.sizer = wx.BoxSizer(wx.VERTICAL)
# Status boxes
if self.isLeader:
self.title = wx.StaticText(self, label="Leader {0}:{1} {2}".format(
sysid, compid, get_vehicle_name(vehtype)))
self.offsets = wx.StaticText(self, label="Offset: N/A")
else:
self.title = wx.StaticText(self, label="Veh {0}:{1} {2}".format(
sysid, compid, get_vehicle_name(vehtype)))
self.offsets = wx.StaticText(self, label="Offset: xxxxxx")
self.armmode = wx.StaticText(self, label="armed/mode N/A ")
self.thrAlt = wx.StaticText(
self, label="Alt: {0}m Thr: {1}%".format(0, 0))
self.altRel = wx.StaticText(self, label="Rel Alt: {0}m".format(0))
self.battery = wx.StaticText(self, label="Battery: {0}V".format(0))
self.status = wx.StaticText(self, label="Status: N/A")
self.prearm = wx.StaticText(self, label="Prearm: N/A")
self.statusText = wx.TextCtrl(
self, style=wx.TE_READONLY | wx.TE_MULTILINE, size=wx.Size(140, 100))
# Command buttons
self.doArm = wx.Button(self, label="XXX", size=wx.Size(100, 50))
self.Bind(wx.EVT_BUTTON, self.arm, self.doArm)
if self.isLeader:
self.armSizer = wx.BoxSizer(wx.HORIZONTAL)
self.doArmAll = wx.Button(self, label="ALL", size=wx.Size(70, 50))
self.Bind(wx.EVT_BUTTON, self.armAll, self.doArmAll)
self.doGuided = wx.Button(
self, label="Mode GUIDED", size=wx.Size(100, 50))
self.Bind(wx.EVT_BUTTON, self.guided, self.doGuided)
if self.isLeader:
self.guidedSizer = wx.BoxSizer(wx.HORIZONTAL)
self.doGuidedAll = wx.Button(
self, label="ALL", size=wx.Size(70, 50))
self.Bind(wx.EVT_BUTTON, self.guidedAll, self.doGuidedAll)
if vehtype != mavutil.mavlink.MAV_TYPE_GROUND_ROVER:
self.doGuidedTakeoff = wx.Button(
self, label="GUIDED T/O {0}m".format(self.takeoffalt), size=wx.Size(130, 50))
self.Bind(wx.EVT_BUTTON, self.guidedTakeoff, self.doGuidedTakeoff)
if self.isLeader:
self.takeoffSizer = wx.BoxSizer(wx.HORIZONTAL)
self.doGuidedTakeoffAll = wx.Button(
self, label="ALL".format(self.takeoffalt), size=wx.Size(70, 50))
self.Bind(wx.EVT_BUTTON, self.guidedTakeoffAll,
self.doGuidedTakeoffAll)
self.doRTL = wx.Button(self, label="Mode RTL", size=wx.Size(100, 50))
self.Bind(wx.EVT_BUTTON, self.rtl, self.doRTL)
if self.isLeader:
self.rtlSizer = wx.BoxSizer(wx.HORIZONTAL)
self.doRTLAll = wx.Button(self, label="ALL", size=wx.Size(70, 50))
self.Bind(wx.EVT_BUTTON, self.rtlAll, self.doRTLAll)
self.doKill = wx.Button(self, label="KILL", size=wx.Size(100, 50))
self.killTimer = None
self.Bind(wx.EVT_BUTTON, self.kill, self.doKill)
if self.isLeader:
self.killSizer = wx.BoxSizer(wx.HORIZONTAL)
self.doKillAll = wx.Button(self, label="ALL", size=wx.Size(70, 50))
self.killAllTimer = None
self.Bind(wx.EVT_BUTTON, self.killall, self.doKillAll)
if self.isLeader:
self.doFollowAll = wx.Button(
self, label="All Follow Leader", size=wx.Size(130, 50))
self.Bind(wx.EVT_BUTTON, self.followAll, self.doFollowAll)
self.doAUTO = wx.Button(
self, label="Mode AUTO", size=wx.Size(100, 50))
self.Bind(wx.EVT_BUTTON, self.auto, self.doAUTO)
else:
self.doFollow = wx.Button(
self, label="Mode Follow", size=wx.Size(100, 50))
self.Bind(wx.EVT_BUTTON, self.follow, self.doFollow)
# Do the sizer layout
self.doSizer()
# get offset params. Needs to be after GUI elements are created
time.sleep(0.05)
self.state.child_pipe.send(("getoffsets", self.sysid, self.compid))