def init(_mpstate):
'''initialise module'''
global mpstate
mpstate = _mpstate
mpstate.console_state = module_state()
mpstate.console = wxconsole.MessageConsole(title='Console')
# setup some default status information
mpstate.console.set_status('Mode', 'UNKNOWN', row=0, fg='blue')
mpstate.console.set_status('GPS', 'GPS: --', fg='red', row=0)
mpstate.console.set_status('Vcc', 'Vcc: --', fg='red', row=0)
mpstate.console.set_status('Radio', 'Radio: --', row=0)
mpstate.console.set_status('Heading', 'Hdg ---/---', row=2)
mpstate.console.set_status('Alt', 'Alt ---', row=2)
mpstate.console.set_status('AGL', 'AGL ---', row=2)
mpstate.console.set_status('AirSpeed', 'AirSpeed --', row=2)
mpstate.console.set_status('GPSSpeed', 'GPSSpeed --', row=2)
mpstate.console.set_status('Thr', 'Thr ---', row=2)
mpstate.console.set_status('Roll', 'Roll ---', row=2)
mpstate.console.set_status('Pitch', 'Pitch ---', row=2)
mpstate.console.set_status('WP', 'WP --', row=3)
mpstate.console.set_status('WPDist', 'Distance ---', row=3)
mpstate.console.set_status('WPBearing', 'Bearing ---', row=3)
mpstate.console.set_status('AltError', 'AltError --', row=3)
mpstate.console.set_status('AspdError', 'AspdError --', row=3)
mpstate.console.set_status('FlightTime', 'FlightTime --', row=3)
mpstate.console.set_status('ETR', 'ETR --', row=3)
mpstate.console.ElevationMap = mp_elevation.ElevationModel()
def __init__(self, mpstate):
super(TerrainModule, self).__init__(mpstate,
"terrain",
"terrain handling",
public=False)
self.ElevationModel = mp_elevation.ElevationModel()
self.current_request = None
self.sent_mask = 0
self.last_send_time = time.time()
self.requests_received = 0
self.blocks_sent = 0
self.check_lat = 0
self.check_lon = 0
self.add_command('terrain', self.cmd_terrain, "terrain control",
["<status|check>", 'set (TERRAINSETTING)'])
self.terrain_settings = mp_settings.MPSettings([('debug', int, 0),
('enable', int, 1)])
self.add_completion_function('(TERRAINSETTING)',
self.terrain_settings.completion)
def __init__(self, mpstate):
super(CameraViewModule, self).__init__(mpstate, "cameraview")
self.add_command('cameraview', self.cmd_cameraview, "camera view")
self.roll = 0
self.pitch = 0
self.yaw = 0
self.mount_roll = 0
self.mount_pitch = 0
self.mount_yaw = 0
self.height = 0
self.lat = 0
self.lon = 0
self.home_height = 0
self.hdg = 0
self.elevation_model = mp_elevation.ElevationModel()
self.camera_params = CameraParams() # TODO how to get actual camera params
self.view_settings = mp_settings.MPSettings(
[ ('r', float, 0.5),
('g', float, 0.5),
('b', float, 1.0),
])
self.update_col()
def __init__(self, parent, state):
from modules.lib import mp_widgets
wx.Panel.__init__(self, parent)
self.state = state
self.img = None
self.map_img = None
self.redraw_timer = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.on_redraw_timer, self.redraw_timer)
self.Bind(wx.EVT_SET_FOCUS, self.on_focus)
self.redraw_timer.Start(200)
self.mouse_pos = None
self.mouse_down = None
self.click_pos = None
self.last_click_pos = None
if state.elevation:
self.ElevationMap = mp_elevation.ElevationModel()
self.mainSizer = wx.BoxSizer(wx.VERTICAL)
self.SetSizer(self.mainSizer)
# display for lat/lon/elevation
self.position = wx.TextCtrl(self,
style=wx.TE_MULTILINE | wx.TE_READONLY)
if os.name == 'nt':
self.position.SetValue("line 1\nline 2\n")
size = self.position.GetBestSize()
self.position.SetMinSize(size)
self.position.SetValue("")
else:
textsize = tuple(
self.position.GetFullTextExtent('line 1\nline 2\n')[0:2])
self.position.SetMinSize(textsize)
self.mainSizer.AddSpacer(2)
self.mainSizer.Add(self.position,
flag=wx.LEFT | wx.BOTTOM | wx.GROW,
border=0)
self.position.Bind(wx.EVT_SET_FOCUS, self.on_focus)
# a place to put control flags
self.controls = wx.BoxSizer(wx.HORIZONTAL)
self.mainSizer.Add(self.controls,
0,
flag=wx.ALIGN_LEFT | wx.TOP | wx.GROW)
self.mainSizer.AddSpacer(2)
# a place to put information like image details
self.information = wx.BoxSizer(wx.HORIZONTAL)
self.mainSizer.Add(self.information,
0,
flag=wx.ALIGN_LEFT | wx.TOP | wx.GROW)
self.mainSizer.AddSpacer(2)
# panel for the main map image
self.imagePanel = mp_widgets.ImagePanel(
self, np.zeros((state.height, state.width, 3), dtype=np.uint8))
self.mainSizer.Add(self.imagePanel, flag=wx.GROW, border=5)
self.imagePanel.Bind(wx.EVT_MOUSE_EVENTS, self.on_mouse)
self.imagePanel.Bind(wx.EVT_KEY_DOWN, self.on_key_down)
self.imagePanel.Bind(wx.EVT_MOUSEWHEEL, self.on_mouse_wheel)
# a function to convert from (lat,lon) to (px,py) on the map
self.pixmapper = functools.partial(self.pixel_coords)
self.last_view = None
self.redraw_map()
state.frame.Fit()
def __init__(self, mpstate):
super(MapModule, self).__init__(mpstate,
"map",
"map display",
public=True,
multi_instance=True,
multi_vehicle=True)
cmdname = "map"
if self.instance > 1:
cmdname += "%u" % self.instance
# lat/lon per system ID
self.lat_lon = {}
self.wp_change_time = 0
self.fence_change_time = 0
self.rally_change_time = 0
self.have_simstate = False
self.have_vehicle = {}
self.move_wp = -1
self.moving_wp = None
self.moving_fencepoint = None
self.moving_rally = None
self.mission_list = None
self.icon_counter = 0
self.circle_counter = 0
self.draw_line = None
self.draw_callback = None
self.have_global_position = False
self.vehicle_type_by_sysid = {}
self.vehicle_type_name = 'plane'
self.ElevationMap = mp_elevation.ElevationModel()
self.last_unload_check_time = time.time()
self.unload_check_interval = 0.1 # seconds
self.trajectory_layers = set()
self.map_settings = mp_settings.MPSettings([
('showgpspos', int, 1), ('showgps2pos', int, 1),
('showsimpos', int, 0), ('showahrspos', int, 1),
('showahrs2pos', int, 0), ('showahrs3pos', int, 0),
('brightness', float, 1), ('rallycircle', bool, False),
('loitercircle', bool, False), ('showclicktime', int, 2),
('showdirection', bool, False)
])
service = 'MicrosoftHyb'
if 'MAP_SERVICE' in os.environ:
service = os.environ['MAP_SERVICE']
import platform
from modules.mavproxy_map import mp_slipmap
title = "Map"
if self.instance > 1:
title += str(self.instance)
self.map = mp_slipmap.MPSlipMap(service=service,
elevation=True,
title=title)
if self.instance == 1:
self.mpstate.map = self.map
mpstate.map_functions = {'draw_lines': self.draw_lines}
self.map.add_callback(functools.partial(self.map_callback))
self.add_command(
cmdname, self.cmd_map, "map control",
['icon', 'set (MAPSETTING)', 'zoom', 'center', 'follow', 'clear'])
self.add_completion_function('(MAPSETTING)',
self.map_settings.completion)
self.default_popup = MPMenuSubMenu('Popup', items=[])
self.add_menu(
MPMenuItem('Fly To',
'Fly To',
'# guided ',
handler=MPMenuCallTextDialog(
title='Altitude (m)',
default=self.mpstate.settings.guidedalt)))
self.add_menu(MPMenuItem('Set Home', 'Set Home', '# map sethomepos '))
self.add_menu(
MPMenuItem('Set Home (with height)', 'Set Home', '# map sethome '))
self.add_menu(
MPMenuItem('Set Origin', 'Set Origin', '# map setoriginpos '))
self.add_menu(
MPMenuItem('Set Origin (with height)', 'Set Origin',
'# map setorigin '))
self.add_menu(
MPMenuItem('Terrain Check', 'Terrain Check', '# terrain check'))
self.add_menu(
MPMenuItem('Show Position', 'Show Position', 'showPosition'))
self._colour_for_wp_command = {
# takeoff commands
mavutil.mavlink.MAV_CMD_NAV_TAKEOFF: (255, 0, 0),
mavutil.mavlink.MAV_CMD_NAV_TAKEOFF_LOCAL: (255, 0, 0),
mavutil.mavlink.MAV_CMD_NAV_VTOL_TAKEOFF: (255, 0, 0),
# land commands
mavutil.mavlink.MAV_CMD_NAV_LAND_LOCAL: (255, 255, 0),
mavutil.mavlink.MAV_CMD_NAV_LAND: (255, 255, 0),
mavutil.mavlink.MAV_CMD_NAV_VTOL_LAND: (255, 255, 0),
# waypoint commands
mavutil.mavlink.MAV_CMD_NAV_WAYPOINT: (0, 255, 255),
mavutil.mavlink.MAV_CMD_NAV_SPLINE_WAYPOINT: (64, 255, 64),
# other commands
mavutil.mavlink.MAV_CMD_DO_LAND_START: (255, 127, 0),
}
self._label_suffix_for_wp_command = {
mavutil.mavlink.MAV_CMD_NAV_TAKEOFF: "TOff",
mavutil.mavlink.MAV_CMD_DO_LAND_START: "DLS",
mavutil.mavlink.MAV_CMD_NAV_SPLINE_WAYPOINT: "SW",
mavutil.mavlink.MAV_CMD_NAV_VTOL_LAND: "VL",
}
import socket, time, random, math
track_count = 0
# object types
DNFZ_types = {
'Aircraft': 1,
'Weather': 20000,
'BirdMigrating': 30000,
'BirdOfPrey': 40000
}
from modules.mavproxy_map import mp_elevation
ElevationMap = mp_elevation.ElevationModel()
gen_settings = mp_settings.MPSettings([("port", int, 45454), ('debug', int, 0),
('home_lat', float, -27.298440),
('home_lon', float, 151.290775),
('region_width', float, 15000),
('num_aircraft', int, 5),
('num_bird_prey', int, 5),
('num_bird_migratory', int, 5),
('num_weather', int, 5),
('wgs84_to_AMSL', float, -41.2),
('stop', int, 0)])
class DNFZ:
'''a dynamic no-fly zone object'''