def create_main_panel(self):
import platform
if platform.system() == 'Darwin':
from MAVProxy.modules.lib.MacOS import backend_wxagg
FigCanvas = backend_wxagg.FigureCanvasWxAgg
else:
from matplotlib.backends.backend_wxagg import FigureCanvasWxAgg as FigCanvas
self.panel = wx.Panel(self)
self.init_plot()
self.canvas = FigCanvas(self.panel, -1, self.fig)
self.close_button = wx.Button(self.panel, -1, "Close")
self.Bind(wx.EVT_BUTTON, self.on_close_button, self.close_button)
self.pause_button = wx.Button(self.panel, -1, "Pause")
self.Bind(wx.EVT_BUTTON, self.on_pause_button, self.pause_button)
self.Bind(wx.EVT_UPDATE_UI, self.on_update_pause_button, self.pause_button)
self.hbox1 = wx.BoxSizer(wx.HORIZONTAL)
self.hbox1.Add(self.close_button, border=5, flag=wx.ALL | wx.ALIGN_CENTER_VERTICAL)
self.hbox1.AddSpacer(1)
self.hbox1.Add(self.pause_button, border=5, flag=wx.ALL | wx.ALIGN_CENTER_VERTICAL)
self.vbox = wx.BoxSizer(wx.VERTICAL)
self.vbox.Add(self.canvas, 1, flag=wx.LEFT | wx.TOP | wx.GROW)
self.vbox.Add(self.hbox1, 0, flag=wx.ALIGN_LEFT | wx.TOP)
self.panel.SetSizer(self.vbox)
self.vbox.Fit(self)
def __init__(self, state, title):
self.state = state
wx.Frame.__init__(self,
None,
title=title,
size=(350, 400),
style=wx.DEFAULT_FRAME_STYLE ^ wx.RESIZE_BORDER)
#use tabs for the individual checklists
self.createLists()
self.panel = wx.Panel(self)
self.nb = wx.Choicebook(self.panel, wx.ID_ANY)
#create the tabs
self.createWidgets()
#assign events to the buttons on the tabs
self.createActions()
#add in the pipe from MAVProxy
self.timer = wx.Timer(self)
#self.Bind(wx.EVT_TIMER, self.on_timer, self.timer)
self.Bind(wx.EVT_TIMER,
lambda evt, notebook=self.nb: self.on_timer(evt, notebook),
self.timer)
self.timer.Start(100)
# finally, put the notebook in a sizer for the panel to manage
# the layout
sizer = wx.BoxSizer()
sizer.Add(self.nb, 1, wx.EXPAND)
self.panel.SetSizer(sizer)
self.Show(True)
self.pending = []
def __init__(self, title, graphdef, callback):
wx.Dialog.__init__(self, None, -1, title, size=(900, 400))
self.callback = callback
self.graphdef = graphdef
self.panel = wx.Panel(self, -1)
vbox = wx.BoxSizer(wx.VERTICAL)
# name entry
hbox_name = wx.BoxSizer(wx.HORIZONTAL)
st_name = wx.StaticText(self.panel, -1, 'Name: ')
self.tc_name = wx.TextCtrl(self.panel, -1, size=(400, -1))
self.tc_name.Value = self.graphdef.name
hbox_name.Add(st_name, 0, wx.LEFT, 10)
hbox_name.Add(self.tc_name, 0, wx.LEFT, 35)
vbox.Add(hbox_name, 0, wx.TOP, 10)
# expression entry
st = wx.StaticText(self.panel, -1, 'Expressions: ')
vbox.Add(st, 0, wx.LEFT, 10)
hbox_expressions = wx.BoxSizer(wx.HORIZONTAL)
self.tc_expressions = wx.TextCtrl(self.panel,
-1,
style=wx.TE_MULTILINE | wx.HSCROLL,
size=(800, 80))
elist = []
for e in self.graphdef.expressions:
e = ' '.join(e.split())
elist.append(e)
self.tc_expressions.Value = '\n'.join(elist)
vbox.Add(self.tc_expressions, 0, wx.LEFT, 15)
# description entry
st = wx.StaticText(self.panel, -1, 'Description: ')
vbox.Add(st, 0, wx.LEFT, 10)
self.tc_description = wx.TextCtrl(self.panel,
-1,
style=wx.TE_MULTILINE)
vbox.Add(self.tc_description, 1,
wx.EXPAND | wx.TOP | wx.RIGHT | wx.LEFT, 15)
self.tc_description.Value = self.graphdef.description
# buttons
button_save = wx.Button(self.panel, 1, 'Save')
button_cancel = wx.Button(self.panel, 2, 'Cancel')
button_test = wx.Button(self.panel, 3, 'Test')
hbox_buttons = wx.BoxSizer(wx.HORIZONTAL)
hbox_buttons.Add(button_save, 0, wx.LEFT, 10)
hbox_buttons.Add(button_cancel, 0, wx.LEFT, 10)
hbox_buttons.Add(button_test, 0, wx.LEFT, 10)
vbox.Add(hbox_buttons, 0, wx.TOP, 10)
self.Bind(wx.EVT_BUTTON, self.OnSave, id=1)
self.Bind(wx.EVT_BUTTON, self.OnCancel, id=2)
self.Bind(wx.EVT_BUTTON, self.OnTest, id=3)
self.panel.SetSizer(vbox)
self.Centre()
def legend_panel(*k, **kw):
if MagcalPanel._legend_panel:
return MagcalPanel._legend_panel
p = MagcalPanel._legend_panel = wx.Panel(*k, **kw)
sizer = wx.BoxSizer(wx.HORIZONTAL)
p.SetSizer(sizer)
marker = wx.Panel(p, wx.ID_ANY, size=(10, 10))
marker.SetBackgroundColour(MagcalPanel._empty_color)
sizer.Add(marker, flag=wx.ALIGN_CENTER)
text = wx.StaticText(p, wx.ID_ANY)
text.SetLabel('Sections not hit')
sizer.Add(text, border=4, flag=wx.ALIGN_CENTER | wx.LEFT)
marker = wx.Panel(p, wx.ID_ANY, size=(10, 10))
marker.SetBackgroundColour(MagcalPanel._filled_color)
sizer.Add(marker, border=10, flag=wx.ALIGN_CENTER | wx.LEFT)
text = wx.StaticText(p, wx.ID_ANY)
text.SetLabel('Sections hit')
sizer.Add(text, border=4, flag=wx.ALIGN_CENTER | wx.LEFT)
return p
def __init__(self, state, title):
self.state = state
wx.Frame.__init__(self, None, title=title, size=(800, 300))
self.panel = wx.Panel(self)
self.panel.SetBackgroundColour('white')
state.frame = self
# values for the status bar
self.values = {}
self.menu = None
self.menu_callback = None
self.last_layout_send = time.time()
#array of the names of my MPButtons
self.buttonnames = {}
#array of the MPButtons
self.buttons = []
self.control = wx.TextCtrl(self.panel,
size=(800, 150),
style=wx.TE_MULTILINE | wx.TE_READONLY
| wx.TE_AUTO_URL)
self.vbox = wx.BoxSizer(wx.VERTICAL)
# start with one status row
self.status = [wx.BoxSizer(wx.HORIZONTAL)]
self.vbox.Add(self.status[0], 0, flag=wx.ALIGN_LEFT | wx.TOP)
# place to hold up to 9 buttons
self.buttongridsizer = wx.GridSizer(3, 3, 0)
# for i in range(1, 2):
# btn = "Btn" + str(i)
# self.buttongridsizer.Add(wx.Button(self.panel, label=btn), 0, wx.EXPAND)
self.vbox.Add(self.buttongridsizer, 1, flag=wx.GROW)
self.vbox.Add(self.control, 0, flag=wx.LEFT | wx.BOTTOM | wx.GROW)
self.panel.SetSizer(self.vbox)
self.timer = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.on_timer, self.timer)
self.timer.Start(100)
self.Bind(wx.EVT_IDLE, self.on_idle)
self.Bind(wx.EVT_TEXT_URL, self.on_text_url)
self.Show(True)
self.pending = []
def LoaderProgress(self, parent):
panel = wx.Panel(parent)
panel.SetBackgroundColour(parent.GetBackgroundColour())
font = panel.GetFont()
font.MakeItalic()
panel.SetFont(font)
self.load_progress = wx.Gauge(panel, size=(-1, 10))
self.load_progress_last_time = time.time()
self.load_text = wx.StaticText(panel)
sizer = wx.BoxSizer(wx.VERTICAL)
panel.SetSizer(sizer)
sizer.Add(self.load_progress, border=10, flag=wx.EXPAND | wx.LEFT | wx.RIGHT)
sizer.Add(self.load_text, border=10, flag=wx.LEFT | wx.RIGHT)
return panel
def __init__(self, state, title):
self.state = state
wx.Frame.__init__(self, None, title=title, size=(800, 300))
# different icons for MAVExplorer and MAVProxy
try:
if title == "MAVExplorer":
self.SetIcon(icon.SimpleIcon("EXPLORER").get_ico())
else:
self.SetIcon(icon.SimpleIcon("CONSOLE").get_ico())
except Exception:
pass
self.panel = wx.Panel(self)
self.panel.SetBackgroundColour('white')
state.frame = self
# values for the status bar
self.values = {}
self.menu = None
self.menu_callback = None
self.last_layout_send = time.time()
self.control = wx.TextCtrl(self.panel,
style=wx.TE_MULTILINE | wx.TE_READONLY
| wx.TE_AUTO_URL)
self.vbox = wx.BoxSizer(wx.VERTICAL)
# start with one status row
self.status = [wx.BoxSizer(wx.HORIZONTAL)]
self.vbox.Add(self.status[0], 0, flag=wx.ALIGN_LEFT | wx.TOP)
self.vbox.Add(self.control, 1, flag=wx.LEFT | wx.BOTTOM | wx.GROW)
self.panel.SetSizer(self.vbox)
self.timer = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.on_timer, self.timer)
self.timer.Start(100)
self.Bind(wx.EVT_IDLE, self.on_idle)
self.Bind(wx.EVT_TEXT_URL, self.on_text_url)
self.Show(True)
self.pending = []
def __init__(self, state, title):
self.state = state
wx.Frame.__init__(self, None, title=title, size=(800, 300))
self.panel = wx.Panel(self)
self.panel.SetBackgroundColour('white')
state.frame = self
# values for the status bar
self.values = {}
# values for restserver
# self.values_rest = {}
# text for restserver
# self.text_rest = TextList()
self.menu = None
self.menu_callback = None
self.last_layout_send = time.time()
self.control = wx.TextCtrl(self.panel,
style=wx.TE_MULTILINE | wx.TE_READONLY
| wx.TE_AUTO_URL)
self.vbox = wx.BoxSizer(wx.VERTICAL)
# start with one status row
self.status = [wx.BoxSizer(wx.HORIZONTAL)]
self.vbox.Add(self.status[0], 0, flag=wx.ALIGN_LEFT | wx.TOP)
self.vbox.Add(self.control, 1, flag=wx.LEFT | wx.BOTTOM | wx.GROW)
self.panel.SetSizer(self.vbox)
self.timer = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.on_timer, self.timer)
self.timer.Start(100)
self.Bind(wx.EVT_IDLE, self.on_idle)
self.Bind(wx.EVT_TEXT_URL, self.on_text_url)
self.Show(True) # comment out to hide console
self.pending = []
def __init__(self, tab_names, title='Title', size=wx.DefaultSize):
wx.Dialog.__init__(self,
None,
-1,
title,
style=wx.DEFAULT_DIALOG_STYLE | wx.RESIZE_BORDER)
self.tab_names = tab_names
self.notebook = wx.Notebook(self, -1, size=size)
self.panels = {}
self.sizers = {}
for t in tab_names:
self.panels[t] = wx.Panel(self.notebook)
self.notebook.AddPage(self.panels[t], t)
self.sizers[t] = wx.BoxSizer(wx.VERTICAL)
self.panels[t].SetSizer(self.sizers[t])
self.dialog_sizer = wx.BoxSizer(wx.VERTICAL)
self.dialog_sizer.Add(self.notebook, 1, wx.EXPAND | wx.ALL, 5)
self.controls = {}
self.browse_option_map = {}
self.control_map = {}
self.setting_map = {}
button_box = wx.BoxSizer(wx.HORIZONTAL)
self.button_apply = wx.Button(self, -1, "Apply")
self.button_cancel = wx.Button(self, -1, "Cancel")
self.button_save = wx.Button(self, -1, "Save")
self.button_load = wx.Button(self, -1, "Load")
button_box.Add(self.button_cancel, 0, wx.ALL)
button_box.Add(self.button_apply, 0, wx.ALL)
button_box.Add(self.button_save, 0, wx.ALL)
button_box.Add(self.button_load, 0, wx.ALL)
self.dialog_sizer.Add(button_box, 0,
wx.GROW | wx.ALIGN_CENTER_VERTICAL | wx.ALL, 5)
wx.EVT_BUTTON(self, self.button_cancel.GetId(), self.on_cancel)
wx.EVT_BUTTON(self, self.button_apply.GetId(), self.on_apply)
wx.EVT_BUTTON(self, self.button_save.GetId(), self.on_save)
wx.EVT_BUTTON(self, self.button_load.GetId(), self.on_load)
self.Centre()
def init_ui(self):
'''Initalise the UI elements'''
if not hasattr(self.mlog, 'formats'):
print("Must be DF log")
return
self.panel = wx.Panel(self)
self.vbox = wx.BoxSizer(wx.VERTICAL)
self.vbox.AddStretchSpacer()
self.panel.SetSizer(self.vbox)
self.idmap = {}
self.values = {}
self.controls = {}
self.callbacks = {}
self.row = None
msg_names = self.mlog.name_to_id.keys()
mag_format = self.mlog.formats[self.mlog.name_to_id['MAG']]
if 'I' in mag_format.columns:
mag_choices = ['MAG[0]', 'MAG[1]', 'MAG[2]']
else:
mag_choices = ['MAG', 'MAG2', 'MAG3']
att_choices = ['ATT']
if self.have_msg('NKF1'):
att_choices.append('NKF1')
if self.have_msg('XKF1'):
att_choices.append('XKF1')
# first row, Mag and attitude source
self.StartRow('Source Selection')
self.AddCombo('Magnetometer', mag_choices)
self.AddCombo('Attitude', att_choices)
self.StartRow('Position')
self.AddSpinFloat("Lattitude", -90, 90, 0.000001, 0, digits=8)
self.AddSpinFloat("Longitude", -180, 180, 0.000001, 0, digits=8)
self.StartRow()
self.AddSpinInteger("Reduce", 1, 20, 1)
self.StartRow('Offset Estimation')
self.AddCheckBox("Offsets", default=True)
self.StartRow()
self.AddSpinInteger("OffsetMax", 500, 3000, 1500)
self.StartRow('Scale Factor Estimation')
self.AddSpinFloat("ScaleMin", 0.5, 2.0, 0.01, 1.0)
self.AddSpinFloat("ScaleMax", 0.5, 2.0, 0.01, 1.0)
self.StartRow('Elliptical Estimation')
self.AddCheckBox("Elliptical")
self.StartRow()
self.AddSpinFloat("DiagonalMin", 0.8, 1.0, 0.01, 0.8)
self.AddSpinFloat("DiagonalMax", 1.0, 1.2, 0.01, 1.2)
self.StartRow()
self.AddSpinFloat("OffDiagMin", -0.2, 0.0, 0.01, -0.2)
self.AddSpinFloat("OffDiagMax", 0, 0.2, 0.01, 0.2)
self.StartRow('Motor Interference Estimation')
self.AddCheckBox("CMOT")
self.AddCheckBox("CMOT NoChange")
self.StartRow()
self.AddSpinInteger("BatteryNum", 1, 8, 1)
self.AddSpinFloat("CMOT Max", 1.0, 10, 0.1, 10)
self.StartRow("Processing")
self.AddButton('Run', callback=self.run)
self.AddButton('Close', callback=self.close)
self.EndRow()
self.Center()
def createWidgets(self):
#create the panels for the tabs
PanelAssembly = wx.Panel(self.nb)
boxAssembly = wx.BoxSizer(wx.VERTICAL)
PanelAssembly.SetAutoLayout(True)
PanelAssembly.SetSizer(boxAssembly)
PanelAssembly.Layout()
PanelEngine = wx.Panel(self.nb)
boxEngine = wx.BoxSizer(wx.VERTICAL)
PanelEngine.SetAutoLayout(True)
PanelEngine.SetSizer(boxEngine)
PanelEngine.Layout()
PanelTakeoff = wx.Panel(self.nb)
boxTakeoff = wx.BoxSizer(wx.VERTICAL)
PanelTakeoff.SetAutoLayout(True)
PanelTakeoff.SetSizer(boxTakeoff)
PanelTakeoff.Layout()
PanelCruise = wx.Panel(self.nb)
boxCruise = wx.BoxSizer(wx.VERTICAL)
PanelCruise.SetAutoLayout(True)
PanelCruise.SetSizer(boxCruise)
PanelCruise.Layout()
PanelDrop = wx.Panel(self.nb)
boxDrop = wx.BoxSizer(wx.VERTICAL)
PanelDrop.SetAutoLayout(True)
PanelDrop.SetSizer(boxDrop)
PanelDrop.Layout()
PanelLanding = wx.Panel(self.nb)
boxLanding = wx.BoxSizer(wx.VERTICAL)
PanelLanding.SetAutoLayout(True)
PanelLanding.SetSizer(boxLanding)
PanelLanding.Layout()
PanelShutdown = wx.Panel(self.nb)
boxShutdown = wx.BoxSizer(wx.VERTICAL)
PanelShutdown.SetAutoLayout(True)
PanelShutdown.SetSizer(boxShutdown)
PanelShutdown.Layout()
#add the data to the individual tabs
'''before assembly checklist'''
for key in self.beforeAssemblyList:
if self.beforeAssemblyList[key] == 0:
disCheckBox = wx.CheckBox(PanelAssembly, wx.ID_ANY, key)
disCheckBox.Enable(False)
boxAssembly.Add(disCheckBox)
if self.beforeAssemblyList[key] == 2:
boxAssembly.Add(wx.CheckBox(PanelAssembly, wx.ID_ANY, key))
self.AssemblyButton = wx.Button(PanelAssembly, wx.ID_ANY,
"Close final hatches")
boxAssembly.Add(self.AssemblyButton)
'''before Engine Start checklist'''
for key in self.beforeEngineList:
if self.beforeEngineList[key] == 0:
disCheckBox = wx.CheckBox(PanelEngine, wx.ID_ANY, key)
disCheckBox.Enable(False)
boxEngine.Add(disCheckBox)
if self.beforeEngineList[key] == 2:
boxEngine.Add(wx.CheckBox(PanelEngine, wx.ID_ANY, key))
self.EngineButton = wx.Button(PanelEngine, wx.ID_ANY,
"Ready for Engine start")
boxEngine.Add(self.EngineButton)
'''before takeoff checklist'''
for key in self.beforeTakeoffList:
if self.beforeTakeoffList[key] == 0:
disCheckBox = wx.CheckBox(PanelTakeoff, wx.ID_ANY, key)
disCheckBox.Enable(False)
boxTakeoff.Add(disCheckBox)
if self.beforeTakeoffList[key] == 2:
boxTakeoff.Add(wx.CheckBox(PanelTakeoff, wx.ID_ANY, key))
self.TakeoffButton = wx.Button(PanelTakeoff, wx.ID_ANY,
"Ready for Takeoff")
boxTakeoff.Add(self.TakeoffButton)
'''before cruise/AUTO checklist'''
for key in self.beforeCruiseList:
if self.beforeCruiseList[key] == 0:
disCheckBox = wx.CheckBox(PanelCruise, wx.ID_ANY, key)
disCheckBox.Enable(False)
boxCruise.Add(disCheckBox)
if self.beforeCruiseList[key] == 2:
boxCruise.Add(wx.CheckBox(PanelCruise, wx.ID_ANY, key))
self.CruiseButton = wx.Button(PanelCruise, wx.ID_ANY,
"Ready for Cruise/AUTO")
boxCruise.Add(self.CruiseButton)
'''before bottle drop checklist'''
for key in self.bottleDropList:
if self.bottleDropList[key] == 0:
disCheckBox = wx.CheckBox(PanelDrop, wx.ID_ANY, key)
disCheckBox.Enable(False)
boxDrop.Add(disCheckBox)
if self.bottleDropList[key] == 2:
boxDrop.Add(wx.CheckBox(PanelDrop, wx.ID_ANY, key))
self.DropButton = wx.Button(PanelDrop, wx.ID_ANY,
"Ready for Bottle Drop")
boxDrop.Add(self.DropButton)
'''before landing checklist'''
for key in self.beforeLandingList:
if self.beforeLandingList[key] == 0:
disCheckBox = wx.CheckBox(PanelLanding, wx.ID_ANY, key)
disCheckBox.Enable(False)
boxLanding.Add(disCheckBox)
if self.beforeLandingList[key] == 2:
boxLanding.Add(wx.CheckBox(PanelLanding, wx.ID_ANY, key))
self.LandingButton = wx.Button(PanelLanding, wx.ID_ANY,
"Ready for Landing")
boxLanding.Add(self.LandingButton)
'''before shutdown checklist'''
for key in self.beforeShutdownList:
if self.beforeShutdownList[key] == 0:
disCheckBox = wx.CheckBox(PanelShutdown, wx.ID_ANY, key)
disCheckBox.Enable(False)
boxShutdown.Add(disCheckBox)
if self.beforeShutdownList[key] == 2:
boxShutdown.Add(wx.CheckBox(PanelShutdown, wx.ID_ANY, key))
self.ShutdownButton = wx.Button(PanelShutdown, wx.ID_ANY,
"Ready for Shutdown")
boxShutdown.Add(self.ShutdownButton)
#and add in the tabs
self.nb.AddPage(PanelAssembly, "1. During Assembly")
self.nb.AddPage(PanelEngine, "2. Before Engine Start")
self.nb.AddPage(PanelTakeoff, "3. Before Takeoff")
self.nb.AddPage(PanelCruise, "4. Before Cruise/AUTO")
self.nb.AddPage(PanelDrop, "5. Before Bottle Drop")
self.nb.AddPage(PanelLanding, "6. Before Landing")
self.nb.AddPage(PanelShutdown, "7. Before Shutdown")
def initUI(self):
# Create Event Timer and Bindings
self.timer = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.on_timer, self.timer)
self.timer.Start(100)
self.Bind(wx.EVT_IDLE, self.on_idle)
self.Bind(wx.EVT_CHAR_HOOK, self.on_KeyPress)
# Create Panel
self.panel = wx.Panel(self)
self.vertSize = 0.09
self.resized = False
# Create Matplotlib Panel
self.createPlotPanel()
# Fix Axes - vertical is of length 2, horizontal keeps the same lengthscale
self.rescaleX()
self.calcFontScaling()
# Create Horizon Polygons
self.createHorizonPolygons()
# Center Pointer Marker
self.thick = 0.015
self.createCenterPointMarker()
# Pitch Markers
self.dist10deg = 0.2 # Graph distance per 10 deg
self.createPitchMarkers()
# Add Roll, Pitch, Yaw Text
self.createRPYText()
# Add Airspeed, Altitude, Climb Rate Text
self.createAARText()
# Create Heading Pointer
self.createHeadingPointer()
# Create North Pointer
self.createNorthPointer()
# Create Battery Bar
self.batWidth = 0.1
self.batHeight = 0.2
self.rOffset = 0.35
self.createBatteryBar()
# Create Mode & State Text
self.createStateText()
# Create Waypoint Text
self.createWPText()
# Create Waypoint Pointer
self.createWPPointer()
# Create Altitude History Plot
self.createAltHistoryPlot()
# Show Frame
self.Show(True)
self.pending = []
