class GCS:
def __init__(self):
# No communications or arming yet
self.comms = None
self.armed = False
# Do basic Tk initialization
self.root = Tk()
self.root.configure(bg=BACKGROUND_COLOR)
self.root.resizable(False, False)
self.root.title('Hackflight Ground Control Station')
left = (self.root.winfo_screenwidth() - DISPLAY_WIDTH) / 2
top = (self.root.winfo_screenheight() - DISPLAY_HEIGHT) / 2
self.root.geometry('%dx%d+%d+%d' % (DISPLAY_WIDTH, DISPLAY_HEIGHT, left, top))
self.frame = Frame(self.root)
self.root.wm_iconbitmap(bitmap = "@media/icon.xbm")
self.root.tk.call('wm', 'iconphoto', self.root._w, PhotoImage('icon.png'))
self.root.protocol('WM_DELETE_WINDOW', self.quit)
# Create panes for two rows of widgets
self.pane1 = self._add_pane()
self.pane2 = self._add_pane()
# Add a buttons
self.button_connect = self._add_button('Connect', self.pane1, self._connect_callback)
self.button_setup = self._add_button('Setup', self.pane2, self._setup_callback)
self.button_motors = self._add_button('Motors', self.pane2, self._motors_button_callback)
self.button_receiver = self._add_button('Receiver', self.pane2, self._receiver_button_callback)
self.button_messages = self._add_button('Messages', self.pane2, self._messages_button_callback)
#self.button_maps = self._add_button('Maps', self.pane2, self._maps_button_callback, disabled=False)
# Prepare for adding ports as they are detected by our timer task
self.portsvar = StringVar(self.root)
self.portsmenu = None
self.connected = False
self.ports = []
# Finalize Tk stuff
self.frame.pack()
self.canvas = Canvas(self.root, width=DISPLAY_WIDTH, height=DISPLAY_HEIGHT, background='black')
self.canvas.pack()
# Add widgets for motor-testing dialog; hide them immediately
self.motors = Motors(self)
self.motors.stop()
# Create receiver dialog
self.receiver = Receiver(self)
# Create messages dialog
self.messages = Messages(self)
# Create setup dialog
self.setup = Setup(self)
self._schedule_connection_task()
# Create a maps dialog
#self.maps = Maps(self, yoffset=-30)
# Create a splash image
self.splashimage = PhotoImage(file='media/splash.png')
self._show_splash()
# Create a message parser
self.parser = MSP_Parser()
# Set up parser's request strings
self.attitude_request = self.parser.serialize_ATTITUDE_Request()
self.rc_request = self.parser.serialize_RC_Request()
# No messages yet
self.yaw_pitch_roll = 0,0,0
self.rxchannels = 0,0,0,0,0
# A hack to support display in Setup dialog
self.active_axis = 0
def quit(self):
self.motors.stop()
self.root.destroy()
def hide(self, widget):
widget.place(x=-9999)
def getChannels(self):
return self.rxchannels
def getYawPitchRoll(self):
# configure button to show connected
self._enable_buttons()
self.button_connect['text'] = 'Disconnect'
self._enable_button(self.button_connect)
return self.yaw_pitch_roll
def checkArmed(self):
if self.armed:
self._show_armed(self.root)
self._show_armed(self.pane1)
self._show_armed(self.pane2)
self._disable_button(self.button_motors)
else:
self._show_disarmed(self.root)
self._show_disarmed(self.pane1)
self._show_disarmed(self.pane2)
def scheduleTask(self, delay_msec, task):
self.root.after(delay_msec, task)
def _add_pane(self):
pane = PanedWindow(self.frame, bg=BACKGROUND_COLOR)
pane.pack(fill=BOTH, expand=1)
return pane
def _add_button(self, label, parent, callback, disabled=True):
button = Button(parent, text=label, command=callback)
button.pack(side=LEFT)
button.config(state = 'disabled' if disabled else 'normal')
return button
# Callback for Setup button
def _setup_callback(self):
self._clear()
self.motors.stop()
self.receiver.stop()
self.messages.stop()
#self.maps.stop()
self.parser.set_ATTITUDE_Handler(self._handle_attitude)
self.setup.start()
def _start(self):
self.parser.set_ATTITUDE_Handler(self._handle_attitude)
self._send_attitude_request()
self.setup.start()
self.parser.set_RC_Handler(self._handle_rc)
self._send_rc_request()
# Sends Attitude request to FC
def _send_attitude_request(self):
self.comms.send_request(self.attitude_request)
# Sends RC request to FC
def _send_rc_request(self):
self.comms.send_request(self.rc_request)
# Callback for Motors button
def _motors_button_callback(self):
self._clear()
self.setup.stop()
self.parser.set_ATTITUDE_Handler(self._handle_attitude)
self.receiver.stop()
self.messages.stop()
#self.maps.stop()
self.motors.start()
def _clear(self):
self.canvas.delete(ALL)
# Callback for Receiver button
def _receiver_button_callback(self):
self._clear()
self.setup.stop()
self.motors.stop()
self.messages.stop()
#self.maps.stop()
self.receiver.start()
# Callback for Messages button
def _messages_button_callback(self):
self._clear()
self.setup.stop()
self.motors.stop()
#self.maps.stop()
self.receiver.stop()
self.messages.start()
def _getting_messages(self):
return self.button_connect['text'] == 'Disconnect'
# Callback for Maps button
def _maps_button_callback(self):
self._clear()
if self._getting_messages():
self.receiver.stop()
self.messages.stop()
self.setup.stop()
self.motors.stop()
#self.maps.start()
# Callback for Connect / Disconnect button
def _connect_callback(self):
if self.connected:
self.setup.stop()
#self.maps.stop()
self.motors.stop()
self.messages.stop()
self.receiver.stop()
if not self.comms is None:
self.comms.stop()
self._clear()
self._disable_buttons()
self.button_connect['text'] = 'Connect'
self._show_splash()
else:
#self.maps.stop()
self.comms = Comms(self)
self.comms.start()
self.button_connect['text'] = 'Connecting ...'
self._disable_button(self.button_connect)
self._hide_splash()
self.scheduleTask(CONNECTION_DELAY_MSEC, self._start)
self.connected = not self.connected
# Gets available ports
def _getports(self):
allports = comports()
ports = []
for port in allports:
portname = port[0]
if 'ttyACM' in portname or 'ttyUSB' in portname or 'COM' in portname:
ports.append(portname)
return ports
# Checks for changes in port status (hot-plugging USB cables)
def _connection_task(self):
ports = self._getports()
if ports != self.ports:
if self.portsmenu is None:
self.portsmenu = OptionMenu(self.pane1, self.portsvar, *ports)
else:
for port in ports:
self.portsmenu['menu'].add_command(label=port)
self.portsmenu.pack(side=LEFT)
if ports == []:
self._disable_button(self.button_connect)
self._disable_buttons()
else:
self.portsvar.set(ports[0]) # default value
self._enable_button(self.button_connect)
self.ports = ports
self._schedule_connection_task()
# Mutually recursive with above
def _schedule_connection_task(self):
self.root.after(USB_UPDATE_MSEC, self._connection_task)
def _disable_buttons(self):
self._disable_button(self.button_setup)
self._disable_button(self.button_motors)
self._disable_button(self.button_receiver)
self._disable_button(self.button_messages)
def _enable_buttons(self):
self._enable_button(self.button_setup)
self._enable_button(self.button_motors)
self._enable_button(self.button_receiver)
self._enable_button(self.button_messages)
def _enable_button(self, button):
button['state'] = 'normal'
def _disable_button(self, button):
button['state'] = 'disabled'
def sendMotorMessage(self, index, value):
values = [1000]*4
values[index-1] = value
self.comms.send_message(self.parser.serialize_SET_MOTOR, values)
def _show_splash(self):
self.splash = self.canvas.create_image((400,250), image=self.splashimage)
def _hide_splash(self):
self.canvas.delete(self.splash)
def _show_armed(self, widget):
widget.configure(bg='red')
def _show_disarmed(self, widget):
widget.configure(bg=BACKGROUND_COLOR)
if self._getting_messages():
self._enable_button(self.button_motors)
def _handle_calibrate_response(self):
self.setup.showCalibrated()
def _handle_params_response(self, pitchroll_kp_percent, yaw_kp_percent):
# Only handle parms from firmware on a fresh connection
if self.newconnect:
self.setup.setParams(pitchroll_kp_percent, yaw_kp_percent)
self.newconnect = False
def _handle_attitude(self, x, y, z):
self.yaw_pitch_roll = z, -y/10., x/10.
self.messages.setCurrentMessage('Yaw/Pitch/Roll: %+3.3f %+3.3f %+3.3f' % self.yaw_pitch_roll)
# As soon as we handle the callback from one request, send another request
self._send_attitude_request()
def _handle_rc(self, c1, c2, c3, c4, c5, c6, c7, c8):
self.rxchannels = c1, c2, c3, c4, c5
# As soon as we handle the callback from one request, send another request
self._send_rc_request()
self.messages.setCurrentMessage('Receiver: %04d %04d %04d %04d %04d' % (c1, c2, c3, c4, c5))
def _handle_arm_status(self, armed):
self.armed = armed
self.messages.setCurrentMessage('ArmStatus: %s' % ('ARMED' if armed else 'Disarmed'))
def _handle_battery_status(self, volts, amps):
self.messages.setCurrentMessage('BatteryStatus: %3.3f volts, %3.3f amps' % (volts, amps))
from sys import argv
if len(argv) < 2:
print('Usage: python3 %s PORT' % argv[0])
print('Example: python3 %s /dev/ttyUSB0' % argv[0])
exit(1)
parser = Parser()
request = serialize_RC_Request()
port = serial.Serial(argv[1], BAUD)
def handler(c1, c2, c3, c4, c5, c6, c7, c8):
print(c1, c2, c3, c4, c5)
port.write(request)
parser.set_RC_Handler(handler)
port.write(request)
while True:
try:
parser.parse(port.read(1))
except KeyboardInterrupt:
break