def __init__(self):
wx.Frame.__init__(self,
id=-1,
parent=None,
name=u'RCWatchFrame',
size=wx.Size(WIDTH, HEIGHT),
title=u'RC Status')
self.Bind(wx.EVT_CLOSE, self.OnClose)
self.rc_statusText = wx.StaticText(self, -1, "UNKWN")
pygame.mixer.init()
self.alertSound = pygame.mixer.Sound("crossing.wav")
self.alertChannel = pygame.mixer.Channel(False)
self.setFont(self.rc_statusText)
self.notification = pynotify.Notification("RC Link Warning!",
"RC Link status not OK!",
"dialog-warning")
self.rc_status = -1
pynotify.init("RC Status")
sizer = wx.BoxSizer(wx.VERTICAL)
sizer.Add(self.rc_statusText, 1, wx.EXPAND)
self.SetSizer(sizer)
sizer.Layout()
self.interface = IvyMessagesInterface("radiowatchframe")
self.interface.subscribe(self.message_recv)
self.update_timer = wx.CallLater(UPDATE_INTERVAL, self.gui_update)
def main():
# parse arguments
import argparse as ap
argp = ap.ArgumentParser(description="Environment variables provider "
"for Paparazzi simulation from MesoNH data")
argp.add_argument("-t",
"--time-step",
required=True,
type=int,
help="Duration of a time step between MesoNH Files.")
argp.add_argument("-f",
"--files",
required=True,
nargs='+',
help="MesoNH netCDF files, in temporal ordering")
argp.add_argument("-x",
"--origin-x",
required=False,
type=float,
default=0.,
help="Origin translation x.")
argp.add_argument("-y",
"--origin-y",
required=False,
type=float,
default=0.,
help="Origin translation y.")
argp.add_argument("-z",
"--origin-z",
required=False,
type=float,
default=0.,
help="Origin translation z.")
arguments = argp.parse_args()
print(arguments)
# register signal handler for ctrl+c to stop the program
signal.signal(signal.SIGINT, signal_handler)
# origin for translation from paparazzi to mesoNH frame
global origin
origin = np.array(
[0, arguments.origin_z, arguments.origin_x, arguments.origin_y])
# build atmosphere simulation source
global atm
atm = MesoNHAtmosphere(arguments.files, arguments.time_step, tinit=0)
# init ivy and register callback for WORLD_ENV_REQ and NPS_SPEED_POS
global ivy
ivy = IvyMessagesInterface("MesoNH")
ivy.subscribe(worldenv_cb, '(.* WORLD_ENV_REQ .*)')
# wait for ivy to stop
from ivy.std_api import IvyMainLoop
signal.pause()
def __init__(self, parent, frame):
self.parent = parent # we are drawing on our parent, so dc comes from this
self.frame = frame # the frame owns any controls we might need to update
parent.SetDropTarget(TextDropTarget(
self)) # calls self.OnDropText when drag and drop complete
self.width = 800
self.height = 200
self.margin = min(self.height / 10, 20)
self.font = wx.Font(self.margin / 2, wx.DEFAULT, wx.FONTSTYLE_NORMAL,
wx.FONTWEIGHT_NORMAL)
self.pixmap = wx.EmptyBitmap(self.width, self.height)
self.plot_size = self.width
self.max = -1e32
self.min = 1e32
self.plot_interval = 200
self.plots = {}
self.auto_scale = True
self.offset = 0.0
self.scale = 1.0
self.x_axis = None
messages_xml_map.parse_messages()
self.ivy_interface = IvyMessagesInterface(_IVY_APPNAME)
# start the timer
self.timer = wx.FutureCall(self.plot_interval, self.OnTimer)
def __init__(self, _settings):
# Command line arguments
self.settings = _settings
# Statistics
self.data = {'packets': 0, 'bytes': 0}
self.w = WIDTH
self.h = WIDTH
# Frame
wx.Frame.__init__(self,
id=-1,
parent=None,
name=u'Distance Counter',
size=wx.Size(self.w, self.h),
title=u'Distance Counter')
self.Bind(wx.EVT_PAINT, self.OnPaint)
self.Bind(wx.EVT_SIZE, self.OnSize)
self.Bind(wx.EVT_CLOSE, self.OnClose)
# IVY
self.interface = IvyMessagesInterface("DistanceCounter")
self.interface.subscribe(self.message_recv)
self.msg_count = 0
self.distance = 0
self.ins_msg_x = 0
self.ins_msg_y = 0
self.ins_msg_z = 0
self.init = 0
def __init__(self):
self.w = WIDTH
self.h = WIDTH + BARH
self.cfg = wx.Config('svinfo_conf')
if self.cfg.Exists('width'):
self.w = int(self.cfg.Read('width'))
self.h = int(self.cfg.Read('height'))
wx.Frame.__init__(self, id=-1, parent=None, name=u'SVInfoFrame',
size=wx.Size(self.w, self.h), title=u'SV Info')
if self.cfg.Exists('left'):
self.x = int(self.cfg.Read('left'))
self.y = int(self.cfg.Read('top'))
self.SetPosition(wx.Point(self.x,self.y))
self.Bind(wx.EVT_PAINT, self.OnPaint)
self.Bind(wx.EVT_SIZE, self.OnSize)
self.Bind(wx.EVT_MOVE, self.OnMove)
self.Bind(wx.EVT_CLOSE, self.OnClose)
ico = wx.Icon(PPRZ_SRC + "/sw/ground_segment/python/svinfo/svinfo.ico", wx.BITMAP_TYPE_ICO)
self.SetIcon(ico)
self.sv = {}
self.interface = IvyMessagesInterface("svinfoframe")
self.interface.subscribe(self.message_recv)
def __init__(self):
self.w = 900
self.h = 700
self.airspeed = 0
self.amsl = 0
self.qnh = 0
self.qfe = 0
self.alt = 0
#self.hmsl = 0;
self.gspeed = 0
wx.Frame.__init__(self,
id=-1,
parent=None,
name=u'ATC Center',
size=wx.Size(self.w, self.h),
title=u'ATC Center')
self.Bind(wx.EVT_PAINT, self.OnPaint)
self.Bind(wx.EVT_CLOSE, self.OnClose)
ico = wx.Icon(PPRZ_SRC + "/sw/ground_segment/python/atc/atc.ico",
wx.BITMAP_TYPE_ICO)
self.SetIcon(ico)
self.interface = IvyMessagesInterface("ATC-Center")
self.interface.subscribe(self.message_recv)
def __init__(self, ivyBusAddress=None):
if ivyBusAddress is None:
ivyBusAddress = os.getenv('IVY_BUS')
if ivyBusAddress is None:
ivyBusAddress == ""
self.messageInterface = IvyMessagesInterface(ivy_bus=ivyBusAddress)
def __init__(self, ac_id):
wx.Frame.__init__(self, id=-1, parent=None, \
name=u'GVF', size=wx.Size(WIDTH, HEIGHT), \
style=wx.DEFAULT_FRAME_STYLE, title=u'Guidance Vector Field')
# Vehicle variables
self.ac_id = ac_id
self.course = 0
self.yaw = 0
self.XY = np.array([0, 0])
# Desired trajectory
self.timer_traj = 0 # We do not update the traj every time we receive a msg
self.timer_traj_lim = 7 # (7+1) * 0.25secs
self.s = 0
self.ke = 0
self.map_gvf = map2d(np.array([0, 0]), 150000)
self.traj = None
# Frame
self.canvas = FigureCanvas(self, -1, self.map_gvf.fig)
self.Bind(wx.EVT_CLOSE, self.OnClose)
self.redraw_timer = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.OnRedrawTimer, self.redraw_timer)
self.redraw_timer.Start(100)
# Ivy
self.interface = IvyMessagesInterface("GVF")
self.interface.subscribe(self.message_recv)
settings = PaparazziACSettings(ac_id)
def __init__(self):
self.w = WIDTH
self.h = WIDTH + BARH
wx.Frame.__init__(self,
id=-1,
parent=None,
name=u'EnergyMonFrame',
size=wx.Size(self.w, self.h),
title=u'Energy Monitoring')
self.Bind(wx.EVT_PAINT, self.OnPaint)
self.Bind(wx.EVT_SIZE, self.OnSize)
self.Bind(wx.EVT_CLOSE, self.OnClose)
ico = wx.Icon(
PPRZ_SRC + "/sw/ground_segment/python/energy_mon/energy_mon.ico",
wx.BITMAP_TYPE_ICO)
self.SetIcon(ico)
self.bat = {}
self.temp = {}
self.cell = BatteryCell()
self.interface = IvyMessagesInterface("energymonframe")
self.interface.subscribe(self.message_recv)
class Ivy2RedisServer():
def __init__(self, redishost, redisport, verbose=False):
self.verbose = verbose
self.interface = IvyMessagesInterface("Ivy2Redis")
self.interface.subscribe(self.message_recv)
self.r = redis.StrictRedis(host=redishost, port=redisport, db=0)
self.keep_running = True
print("Connected to redis server %s on port %i" %
(redishost, redisport))
def message_recv(self, ac_id, msg):
# if ac_id is not 0 (i.e. telemetry from an aircraft) include it in the key
# don't add it to the key for ground messages
if ac_id:
key = "{0}.{1}.{2}".format(msg.msg_class, msg.name, ac_id)
else:
key = "{0}.{1}".format(msg.msg_class, msg.name)
if self.verbose:
print("received message, key=%s, msg=%s" %
(key, msg.to_json(payload_only=True)))
sys.stdout.flush()
self.r.publish(key, msg.to_json(payload_only=True))
self.r.set(key, msg.to_json(payload_only=True))
def run(self):
while self.keep_running:
time.sleep(0.1)
def stop(self):
self.keep_running = False
self.interface.shutdown()
def __init__(self):
self.w = WIDTH
self.h = WIDTH + BARH
self.cfg = wx.Config('energymon_conf')
if self.cfg.Exists('width'):
self.w = int(self.cfg.Read('width'))
self.h = int(self.cfg.Read('height'))
wx.Frame.__init__(self, id=-1, parent=None, name=u'EnergyMonFrame',
size=wx.Size(self.w, self.h), title=u'Energy Monitoring')
if self.cfg.Exists('left'):
self.x = int(self.cfg.Read('left'))
self.y = int(self.cfg.Read('top'))
self.SetPosition(wx.Point(self.x,self.y), wx.SIZE_USE_EXISTING)
self.Bind(wx.EVT_PAINT, self.OnPaint)
self.Bind(wx.EVT_SIZE, self.OnSize)
self.Bind(wx.EVT_MOVE, self.OnMove)
self.Bind(wx.EVT_CLOSE, self.OnClose)
ico = wx.Icon(PPRZ_SRC + "/sw/ground_segment/python/energy_mon/energy_mon.ico", wx.BITMAP_TYPE_ICO)
self.SetIcon(ico)
self.bat = {}
self.temp = {}
self.cell = BatteryCell()
self.energy_prediction = EnergyPrediction(self.cell)
self.interface = IvyMessagesInterface("energymonframe")
self.interface.subscribe(self.message_recv)
def __init__(self, _settings):
# Command line arguments
self.settings = _settings
# Statistics
self.data = { 'packets': 0, 'bytes': 0}
# Decoder
if (self.settings.decoder == 'jpeg100'):
self.decoder = jpeg100_decoder.ThumbNailFromPayload()
else:
self.decoder = MinimalDecoder()
self.w = WIDTH
self.h = WIDTH
# Socket
self.sock = socket.socket(socket.AF_INET, # Internet
socket.SOCK_DGRAM) # UDP
# Frame
wx.Frame.__init__(self, id=-1, parent=None, name=u'Payload Forwarding',
size=wx.Size(self.w, self.h), title=u'Payload Forwarding')
ico = wx.Icon(os.path.normpath(os.path.join(os.path.dirname(os.path.abspath(__file__)))) + "/payload.ico", wx.BITMAP_TYPE_ICO)
self.SetIcon(ico)
self.Bind(wx.EVT_PAINT, self.OnPaint)
self.Bind(wx.EVT_SIZE, self.OnSize)
self.Bind(wx.EVT_CLOSE, self.OnClose)
# IVY
self.interface = IvyMessagesInterface("PayloadForwarder")
self.interface.subscribe(self.message_recv)
class Ivy2RedisServer():
def __init__(self, redishost, redisport, verbose=False):
self.verbose = verbose
self.interface = IvyMessagesInterface("Ivy2Redis")
self.interface.subscribe(self.message_recv)
self.r = redis.StrictRedis(host=redishost, port=redisport, db=0)
self.keep_running = True
print("Connected to redis server %s on port %i" % (redishost, redisport))
def message_recv(self, ac_id, msg):
# if ac_id is not 0 (i.e. telemetry from an aircraft) include it in the key
# don't add it to the key for ground messages
if ac_id:
key = "{0}.{1}.{2}".format(msg.msg_class, msg.name, ac_id)
else:
key = "{0}.{1}".format(msg.msg_class, msg.name)
if self.verbose:
print("received message, key=%s, msg=%s" % (key, msg.to_json(payload_only=True)))
sys.stdout.flush()
self.r.publish(key, msg.to_json(payload_only=True))
self.r.set(key, msg.to_json(payload_only=True))
def run(self):
while self.keep_running:
time.sleep(0.1)
def stop(self):
self.keep_running = False
self.interface.shutdown()
class Cx10ds2ivy:
def __init__(self, verbose=False):
self.verbose = verbose
self.step = 0.1 # period in seconds
self.button_trim = False
self._cx10 = CX10DS(verbose)
# Start IVY interface
self._interface = IvyMessagesInterface("Cx10ds2ivy")
# bind to JOYSTICK message
def joystick_cb(ac_id, msg):
aileron = int(msg['axis1'])
elevator = int(msg['axis2'])
rudder = int(msg['axis3'])
if int(msg['button1']) == 255:
throttle = int(msg['axis4']) # direct throttle reading
else:
throttle = 128
direction = int(msg['button1'])-1
throttle_incr = self._cx10.valid_range(int(msg['axis4']), 0, 127)
throttle = 128 + direction * throttle_incr # up
mode = int(msg['button2'])
if msg['button4'] == '1' and not self.button_trim:
self._cx10.set_trim()
self.button_trim = (msg['button4'] == '1')
self._cx10.set_cmd(aileron,elevator,rudder,throttle,mode)
if self.verbose:
print("Throttle {0}".format(throttle))
print("Rudder {0}".format(rudder))
print("elevator {0}".format(elevator))
print("aileron {0}".format(aileron))
print("Mode {0}".format(mode))
self._interface.subscribe(joystick_cb, PprzMessage("ground", "JOYSTICK"))
def __del__(self):
self.stop()
def stop(self):
# Stop IVY interface
if self._interface is not None:
self._interface.shutdown()
# main loop
def run(self):
try:
while True:
# TODO: make better frequency managing
self._cx10.send()
sleep(self.step)
except KeyboardInterrupt:
if self.verbose:
print("Exiting..")
self.stop()
def __init__(self, redishost, redisport, verbose=False):
self.verbose = verbose
self.interface = IvyMessagesInterface("Ivy2Redis")
self.interface.subscribe(self.message_recv)
self.r = redis.StrictRedis(host=redishost, port=redisport, db=0)
self.keep_running = True
print("Connected to redis server %s on port %i" %
(redishost, redisport))
def __init__(self, plot_results=True, verbose=False):
self._interface = IvyMessagesInterface("calib_mag")
self.plotter = MagPlot()
self.data = []
self.flt_meas = []
self.p0 = np.array([0, 0, 0, 0, 0, 0])
self.optimization_done = False
self.plot_results = plot_results
def __init__(self, ac_id, plateform_id, tag_id):
# Start a ivy messages listener named PIR DRONE
self._interface = IvyMessagesInterface("PIR", ivy_bus="192.168.1:2010")
self.drone = FC_Rotorcraft(ac_id, tag_id, self._interface)
self.plateform = Platform(plateform_id)
# bind to GROUND_REF message
def ground_ref_cb(ground_id, msg):
ac_id = int(msg['ac_id'])
if ac_id == self.drone.id:
# X and V in NED
self.drone.X_opti[0] = float(msg['pos'][1])
self.drone.X_opti[1] = float(msg['pos'][0])
self.drone.X_opti[2] = -float(msg['pos'][2])
self.drone.V_opti[0] = float(msg['speed'][1])
self.drone.V_opti[1] = float(msg['speed'][0])
self.drone.V_opti[2] = -float(msg['speed'][2])
self.drone.quaternions[0] = float(msg['quat'][0])
self.drone.quaternions[1] = float(msg['quat'][1])
self.drone.quaternions[2] = float(msg['quat'][2])
self.drone.quaternions[3] = float(msg['quat'][3])
self.drone.timeLastUpdate = time.time()
self.drone.initialized = True
if ac_id == self.plateform.id:
# X and V in NED
self.plateform.X[0] = float(msg['pos'][1])
self.plateform.X[1] = float(msg['pos'][0])
self.plateform.X[2] = -float(msg['pos'][2])
self.plateform.V[0] = float(msg['speed'][1])
self.plateform.V[1] = float(msg['speed'][0])
self.plateform.V[2] = -float(msg['speed'][2])
self.plateform.quaternions[0] = float(msg['quat'][0])
self.plateform.quaternions[1] = float(msg['quat'][1])
self.plateform.quaternions[2] = float(msg['quat'][2])
self.plateform.quaternions[3] = float(msg['quat'][3])
self.plateform.timeLastUpdate = time.time()
self.plateform.initialized = True
self._interface.subscribe(ground_ref_cb,
PprzMessage("ground", "GROUND_REF"))
# Recuperation du x et y via l'UWB
def get_xy_uwb(uwb_id, msg):
# X and V in NED
#msg est un tableau contenant : d1corr, d2corr, d3corr, d1vrai, d2vrai, d3vrai, x, y, z, vx, vy, vz
x = float(msg['values'][6])
y = float(msg['values'][7])
z = self.drone.X_opti[3]
psi = cr.getEulerAngles(
self.drone.quaternions)[2] - cr.getEulerAngles(
self.plateform.quaternions)[2]
#self.drone.V_uwb[0] = float(msg['values'][9])
#self.drone.V_uwb[1] = float(msg['values'][10])
self.drone.X_uwb = cr.uwb2pseudoBody(x, y, z)
self._interface.subscribe(get_xy_uwb,
PprzMessage("telemetry", "PAYLOAD_FLOAT"))
class RadioWatchFrame(wx.Frame):
def message_recv(self, ac_id, msg):
if msg.name == "ROTORCRAFT_STATUS":
self.rc_status = int(msg['rc_status'])
if self.rc_status != 0 and not self.alertChannel.get_busy():
self.warn_timer = wx.CallLater(5, self.rclink_alert)
# else:
# self.notification.close()
def gui_update(self):
self.rc_statusText.SetLabel(["OK", "LOST", "REALLY LOST"][self.rc_status])
self.update_timer.Restart(UPDATE_INTERVAL)
def rclink_alert(self):
self.alertChannel.queue(self.alertSound)
self.notification.show()
time.sleep(5)
def setFont(self, control):
font = control.GetFont()
size = font.GetPointSize()
font.SetPointSize(size * 1.4)
control.SetFont(font)
def __init__(self):
wx.Frame.__init__(self, id=-1, parent=None, name=u'RCWatchFrame',
size=wx.Size(WIDTH, HEIGHT), title=u'RC Status')
self.Bind(wx.EVT_CLOSE, self.OnClose)
self.rc_statusText = wx.StaticText(self, -1, "UNKWN")
pygame.mixer.init()
self.alertSound = pygame.mixer.Sound("crossing.wav")
self.alertChannel = pygame.mixer.Channel(False)
self.setFont(self.rc_statusText)
self.notification = pynotify.Notification("RC Link Warning!",
"RC Link status not OK!",
"dialog-warning")
self.rc_status = -1
pynotify.init("RC Status")
sizer = wx.BoxSizer(wx.VERTICAL)
sizer.Add(self.rc_statusText, 1, wx.EXPAND)
self.SetSizer(sizer)
sizer.Layout()
self.interface = IvyMessagesInterface("radiowatchframe")
self.interface.subscribe(self.message_recv)
self.update_timer = wx.CallLater(UPDATE_INTERVAL, self.gui_update)
def OnClose(self, event):
self.interface.shutdown()
self.Destroy()
def __init__(self, config, freq=10., verbose=False):
self.config = config
self.step = 1. / freq
self.verbose = verbose
self.ids = self.config['ids']
self.B = np.array(self.config['topology'])
self.Zdesired = np.array(self.config['desired_intervehicle_angles'])
self.k = np.array(self.config['gain'])
self.radius = np.array(self.config['desired_stationary_radius'])
self.aircraft = [Aircraft(i) for i in self.ids]
self.sigmas = np.zeros(len(self.aircraft))
for ac in self.aircraft:
settings = PaparazziACSettings(ac.id)
list_of_indexes = ['ell_a', 'ell_b']
for setting_ in list_of_indexes:
try:
index = settings.name_lookup[setting_].index
if setting_ == 'ell_a':
ac.a_index = index
if setting_ == 'ell_b':
ac.b_index = index
except Exception as e:
print(e)
print(setting_ + " setting not found, \
have you forgotten to check gvf.xml for your settings?"
)
# Start IVY interface
self._interface = IvyMessagesInterface("Circular Formation")
# bind to NAVIGATION message
def nav_cb(ac_id, msg):
if ac_id in self.ids and msg.name == "NAVIGATION":
ac = self.aircraft[self.ids.index(ac_id)]
ac.XY[0] = float(msg.get_field(2))
ac.XY[1] = float(msg.get_field(3))
ac.initialized_nav = True
self._interface.subscribe(nav_cb, PprzMessage("telemetry",
"NAVIGATION"))
def gvf_cb(ac_id, msg):
if ac_id in self.ids and msg.name == "GVF":
if int(msg.get_field(1)) == 1:
ac = self.aircraft[self.ids.index(ac_id)]
param = msg.get_field(4)
ac.XYc[0] = float(param[0])
ac.XYc[1] = float(param[1])
ac.a = float(param[2])
ac.b = float(param[3])
ac.s = float(msg.get_field(2))
ac.initialized_gvf = True
self._interface.subscribe(gvf_cb, PprzMessage("telemetry", "GVF"))
def __init__(self, config, verbose=False):
self.verbose = verbose
self.config = config
self.ids = np.array(self.config['ids'])
self.B = np.array(self.config['topology'])
self.Zdesired = np.array(self.config['desired_intervehicle_angles'])
self.list_ids = np.ndarray.tolist(self.ids)
# Start IVY interface
self._interface = IvyMessagesInterface("Init DCF tables")
def __init__(self, verbose=False):
from pprzlink.ivy import IvyMessagesInterface
# init Ivy interface
self.pprzivy = IvyMessagesInterface("pyueye")
# init cam related part
uEyePprzlink.__init__(self, verbose)
# bind to message
self.pprzivy.subscribe(self.process_msg,
PprzMessage("telemetry", "DC_SHOT"))
def __init__(self, src):
# Create the video capture device
self.cap = cv2.VideoCapture(src)
# Start the ivy interface
self.ivy = IvyMessagesInterface("RTPviewer", start_ivy=False)
self.ivy.start()
# Create a named window and add a mouse callback
cv2.namedWindow('rtp')
cv2.setMouseCallback('rtp', self.on_mouse)
def example2():
# Usage: ./setting.py <path_var_AC>/settings.xml <ac_id>
ivy = IvyMessagesInterface("DemoSettings")
try:
setting_manager = PprzSettingsManager(sys.argv[1], sys.argv[2], ivy)
while True:
time.sleep(1)
setting_manager["altitude"] = setting_manager["altitude"].value + 2
except KeyboardInterrupt:
ivy.shutdown()
print("Stopping on request")
def __init__(self,
agent_name=None,
start_ivy=True,
verbose=False,
ivy_bus=IVY_BUS):
self.interface = IvyMessagesInterface(agent_name, start_ivy, verbose,
ivy_bus)
RosMessagesInterface.__init__(self)
# only subscribe to telemetry messages eg. starting with AC_ID
self.interface.subscribe(callback=self.to_ros,
regex_or_msg='(^[0-9]+ .*)')
def __init__(self):
# own data
self.count_gs = 0
self.ground_gs_x = [0] * MSG_BUFFER_SIZE
self.ground_gs_y = [0] * MSG_BUFFER_SIZE
self.count_as = 0
self.last_heading = 0
self.airspeed = [0] * MSG_BUFFER_SIZE
self.heading = [0] * MSG_BUFFER_SIZE
# Click
self.click_x = 0
self.click_y = 0
self.click_on = 0
# Window
self.w = WIDTH
self.h = WIDTH + BARH
self.cfg = wx.Config('wind_conf')
if self.cfg.Exists('width'):
self.w = int(self.cfg.Read('width'))
self.h = int(self.cfg.Read('height'))
self.mid = self.w / 2
wx.Frame.__init__(self,
id=-1,
parent=None,
name=u'WindFrame',
size=wx.Size(self.w, self.h),
title=u'Wind Tool')
if self.cfg.Exists('left'):
self.x = int(self.cfg.Read('left'))
self.y = int(self.cfg.Read('top'))
self.SetPosition(wx.Point(self.x, self.y), wx.SIZE_USE_EXISTING)
self.Bind(wx.EVT_PAINT, self.OnPaint)
self.Bind(wx.EVT_SIZE, self.OnSize)
self.Bind(wx.EVT_MOVE, self.OnMove)
self.Bind(wx.EVT_CLOSE, self.OnClose)
self.Bind(wx.EVT_LEFT_DOWN, self.OnClickD)
self.Bind(wx.EVT_MOTION, self.OnClickM)
self.Bind(wx.EVT_LEFT_UP, self.OnClickU)
ico = wx.Icon(PPRZ_SRC + "/sw/ground_segment/python/wind/wind.png",
wx.BITMAP_TYPE_PNG)
self.SetIcon(ico)
self.interface = IvyMessagesInterface("windframe")
self.interface.subscribe(self.message_recv)
class PprzlinkDatastream(AbstractDatastream):
def initialize(self):
name = 'pprzlink'
self._interface = IvyMessagesInterface("pprzlink_morse")
@classproperty
def _type_url(cls):
return "http://docs.paparazziuav.org/latest/paparazzi_messages.html#" + cls._type_name
def finalize(self):
if self._interface is not None:
self._interface.shutdown()
self._interface = None
def __init__(self, ac_id, ground_alt=0):
"""Init PaparazziUAV
Arguments:
ac_id: aircraft id.
ground_alt: ground altitude above sea level.
"""
self.ac_id = ac_id
self.ground_alt = ground_alt
self.east = .0
self.north = .0
self.up = .0
self.phi = .0 # in rad
self.psi = .0 # in rad
self.theta = .0 # in rad
self.voltage = 0. # in V
self.current = 0. # in A
self.power = 0. # in W
self.energy = 0. # in mAh
self.measured_wind_x = 0.
self.measured_wind_y = 0.
self.measured_wind_z = 0.
self.path_queue = Queue.Queue() # format: (time, (x, y, z))
self._last_log = 0
self._log_interval = 1
# initiate ivy message interface to catch all messages
self.ivy_mes = IvyMessagesInterface()
self.ivy_mes.subscribe(self.ivy_callback, PaparazziUAV.BIND_REGEX)
rospy.init_node('paparazziuav')
self.ros_pub_state = rospy.Publisher('uav_state',
UAVState,
queue_size=1)
self.ros_pub_measured_wind = rospy.Publisher('measured_wind',
WindSample,
queue_size=1)
self.ros_pub_energy_consumption = rospy.Publisher('energy_consumption',
EnergyConsumption,
queue_size=1)
rospy.Subscriber("/tick", Clock, self.on_tick_recv, queue_size=10)
rospy.Subscriber('expected_uav_state_sequence', UAVStateSequence,
self.on_exp_uav_state_seq_recv)
def __init__(self, ac_id):
wx.Frame.__init__(self, id=-1, parent=None, \
name=u'GVF', size=wx.Size(WIDTH, HEIGHT), \
style=wx.DEFAULT_FRAME_STYLE, title=u'Guidance Vector Field')
# Vehicle variables
self.ac_id = ac_id
self.course = 0
self.yaw = 0
self.XY = np.array([0, 0])
# Desired trajectory
self.timer_traj = 0 # We do not update the traj every time we receive a msg
self.timer_traj_lim = 7 # (7+1) * 0.25secs
self.s = 0
self.kn = 0
self.ke = 0
self.map_gvf = map2d(np.array([0, 0]), 150000)
self.traj = None
# Frame
self.canvas = FigureCanvas(self, -1, self.map_gvf.fig)
self.Bind(wx.EVT_CLOSE, self.OnClose)
self.redraw_timer = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.OnRedrawTimer, self.redraw_timer)
self.redraw_timer.Start(100)
# Ivy
self.interface = IvyMessagesInterface("GVF")
self.interface.subscribe(self.message_recv)
settings = PaparazziACSettings(ac_id)
self.ke_index = None
self.kn_index = None
self.indexes_are_good = 0
self.list_of_indexes = ['gvf_ke', 'gvf_kn']
for setting_ in self.list_of_indexes:
try:
index = settings.name_lookup[setting_].index
if setting_ == 'gvf_ke':
self.ke_index = index
if setting_ == 'gvf_kn':
self.kn_index = index
self.indexes_are_good = self.indexes_are_good + 1
except Exception as e:
print(e)
print(setting_ + " setting not found, \
have you forgotten gvf.xml in your settings?")
def __init__(self, _settings):
# Command line arguments
self.settings = _settings
# Statistics
self.data = { 'packets': 0, 'bytes': 0}
# Decoder
if (self.settings.decoder is 'jpeg100'):
self.decoder = jpeg100_decoder.ThumbNailFromPayload()
else:
self.decoder = MinimalDecoder()
self.w = WIDTH
self.h = WIDTH
# Socket
self.sock = socket.socket(socket.AF_INET, # Internet
socket.SOCK_DGRAM) # UDP
# Frame
wx.Frame.__init__(self, id=-1, parent=None, name=u'Payload Forwarding',
size=wx.Size(self.w, self.h), title=u'Payload Forwarding')
ico = wx.Icon(os.path.normpath(os.path.join(os.path.dirname(os.path.abspath(__file__)))) + "/payload.ico", wx.BITMAP_TYPE_ICO)
self.SetIcon(ico)
self.Bind(wx.EVT_PAINT, self.OnPaint)
self.Bind(wx.EVT_SIZE, self.OnSize)
self.Bind(wx.EVT_CLOSE, self.OnClose)
# IVY
self.interface = IvyMessagesInterface("PayloadForwarder")
self.interface.subscribe(self.message_recv)
def __init__(self, _settings):
# Command line arguments
self.settings = _settings
# Statistics
self.data = { 'packets': 0, 'bytes': 0}
self.w = WIDTH
self.h = WIDTH
# Frame
wx.Frame.__init__(self, id=-1, parent=None, name=u'Distance Counter',
size=wx.Size(self.w, self.h), title=u'Distance Counter')
self.Bind(wx.EVT_PAINT, self.OnPaint)
self.Bind(wx.EVT_SIZE, self.OnSize)
self.Bind(wx.EVT_CLOSE, self.OnClose)
# IVY
self.interface = IvyMessagesInterface("DistanceCounter")
self.interface.subscribe(self.message_recv)
self.msg_count = 0
self.distance = 0
self.ins_msg_x = 0
self.ins_msg_y = 0
self.ins_msg_z = 0
self.init = 0
def __init__(self):
self.w = WIDTH
self.h = WIDTH + BARH
self.cfg = wx.Config('svinfo_conf')
if self.cfg.Exists('width'):
self.w = int(self.cfg.Read('width'))
self.h = int(self.cfg.Read('height'))
wx.Frame.__init__(self, id=-1, parent=None, name=u'SVInfoFrame',
size=wx.Size(self.w, self.h), title=u'SV Info')
if self.cfg.Exists('left'):
self.x = int(self.cfg.Read('left'))
self.y = int(self.cfg.Read('top'))
self.SetPosition(wx.Point(self.x,self.y), wx.SIZE_USE_EXISTING)
self.Bind(wx.EVT_PAINT, self.OnPaint)
self.Bind(wx.EVT_SIZE, self.OnSize)
self.Bind(wx.EVT_MOVE, self.OnMove)
self.Bind(wx.EVT_CLOSE, self.OnClose)
ico = wx.Icon(PPRZ_SRC + "/sw/ground_segment/python/svinfo/svinfo.ico", wx.BITMAP_TYPE_ICO)
self.SetIcon(ico)
self.sv = {}
self.interface = IvyMessagesInterface("svinfoframe")
self.interface.subscribe(self.message_recv)
def __init__(self, parent, frame):
self.parent = parent # we are drawing on our parent, so dc comes from this
self.frame = frame # the frame owns any controls we might need to update
parent.SetDropTarget(TextDropTarget(self)) # calls self.OnDropText when drag and drop complete
self.width = 800
self.height = 200
self.margin = min(self.height / 10, 20)
self.font = wx.Font(self.margin / 2, wx.DEFAULT, wx.FONTSTYLE_NORMAL, wx.FONTWEIGHT_NORMAL)
self.pixmap = wx.EmptyBitmap(self.width, self.height)
self.plot_size = self.width
self.max = -1e32
self.min = 1e32
self.plot_interval = 200
self.plots = {}
self.auto_scale = True
self.offset = 0.0
self.scale = 1.0
self.x_axis = None
messages_xml_map.parse_messages()
self.ivy_interface = IvyMessagesInterface(_IVY_APPNAME)
# start the timer
self.timer = wx.FutureCall(self.plot_interval, self.OnTimer)
def __init__(self, parent, callback, ivy_interface=None):
wx.Frame.__init__(self, parent, name="MessagePicker", title=u'Message Picker', size=wx.Size(320,640))
self.aircrafts = {}
self.callback = callback
self.tree = wx.TreeCtrl(self)
self.root = self.tree.AddRoot("Telemetry")
self.tree.Bind(wx.EVT_LEFT_DCLICK, self.OnDoubleClick)
self.tree.Bind(wx.EVT_CHAR, self.OnKeyChar)
self.Bind(wx.EVT_CLOSE, self.OnClose)
if ivy_interface is None:
self.message_interface = IvyMessagesInterface("MessagePicker")
else:
self.message_interface = ivy_interface
self.message_interface.subscribe(self.msg_recv)
def __init__(self, ac_id, verbose=False):
self.ac_id = ac_id
self.verbose = verbose
self._interface = None
self.auto2_index = None
try:
settings = PaparazziACSettings(self.ac_id)
except Exception as e:
print(e)
return
try:
self.auto2_index = settings.name_lookup['auto2'].index
except Exception as e:
print(e)
print("auto2 setting not found, mode change not possible.")
self._interface = IvyMessagesInterface("guided mode example")
def __init__(self, redishost, redisport, verbose=False):
self.verbose = verbose
self.interface = IvyMessagesInterface("Ivy2Redis")
self.interface.subscribe(self.message_recv)
self.r = redis.StrictRedis(host=redishost, port=redisport, db=0)
self.keep_running = True
print("Connected to redis server %s on port %i" % (redishost, redisport))
def __init__(self, ac_id):
wx.Frame.__init__(self, id=-1, parent=None, \
name=u'GVF', size=wx.Size(WIDTH, HEIGHT), \
style=wx.DEFAULT_FRAME_STYLE, title=u'Guidance Vector Field')
# Vehicle variables
self.ac_id = ac_id
self.course = 0
self.yaw = 0
self.XY = np.array([0, 0])
# Desired trajectory
self.timer_traj = 0 # We do not update the traj every time we receive a msg
self.timer_traj_lim = 7 # (7+1) * 0.25secs
self.s = 0
self.ke = 0
self.map_gvf = map2d(np.array([0, 0]), 150000)
self.traj = None
# Frame
self.canvas = FigureCanvas(self, -1, self.map_gvf.fig)
self.Bind(wx.EVT_CLOSE, self.OnClose)
self.redraw_timer = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.OnRedrawTimer, self.redraw_timer)
self.redraw_timer.Start(100)
# Ivy
self.interface = IvyMessagesInterface("GVF")
self.interface.subscribe(self.message_recv)
settings = PaparazziACSettings(ac_id)
def __init__(self):
self.w = 900
self.h = 700
self.airspeed = 0;
self.amsl = 0;
self.qnh = 0;
self.qfe = 0;
self.alt = 0;
#self.hmsl = 0;
self.gspeed = 0;
wx.Frame.__init__(self, id=-1, parent=None, name=u'ATC Center',
size=wx.Size(self.w, self.h), title=u'ATC Center')
self.Bind(wx.EVT_PAINT, self.OnPaint)
self.Bind(wx.EVT_CLOSE, self.OnClose)
ico = wx.Icon(PPRZ_SRC + "/sw/ground_segment/python/atc/atc.ico", wx.BITMAP_TYPE_ICO)
self.SetIcon(ico)
self.interface = IvyMessagesInterface("ATC-Center")
self.interface.subscribe(self.message_recv)
def __init__(self):
wx.Frame.__init__(self, id=-1, parent=None, name=u'RCWatchFrame',
size=wx.Size(WIDTH, HEIGHT), title=u'RC Status')
self.Bind(wx.EVT_CLOSE, self.OnClose)
self.rc_statusText = wx.StaticText(self, -1, "UNKWN")
pygame.mixer.init()
self.alertSound = pygame.mixer.Sound("crossing.wav")
self.alertChannel = pygame.mixer.Channel(False)
self.setFont(self.rc_statusText)
self.notification = pynotify.Notification("RC Link Warning!",
"RC Link status not OK!",
"dialog-warning")
self.rc_status = -1
pynotify.init("RC Status")
sizer = wx.BoxSizer(wx.VERTICAL)
sizer.Add(self.rc_statusText, 1, wx.EXPAND)
self.SetSizer(sizer)
sizer.Layout()
self.interface = IvyMessagesInterface("radiowatchframe")
self.interface.subscribe(self.message_recv)
self.update_timer = wx.CallLater(UPDATE_INTERVAL, self.gui_update)
def __init__(self):
self.w = WIDTH
self.h = HEIGHT
self.airspeed = 0
self.amsl = 0
self.qnh = 0
self.qfe = 0
self.alt = 0
#self.hmsl = 0;
self.gspeed = 0
self.callsign = ""
self.safe_to_approach = ""
self.cfg = wx.Config('atc_conf')
if self.cfg.Exists('width'):
self.w = int(self.cfg.Read('width'))
self.h = int(self.cfg.Read('height'))
wx.Frame.__init__(self,
id=-1,
parent=None,
name=u'ATC Center',
size=wx.Size(self.w, self.h),
title=u'ATC Center')
self.Bind(wx.EVT_PAINT, self.OnPaint)
self.Bind(wx.EVT_SIZE, self.OnSize)
self.Bind(wx.EVT_MOVE, self.OnMove)
self.Bind(wx.EVT_CLOSE, self.OnClose)
ico = wx.Icon(PPRZ_SRC + "/sw/ground_segment/python/atc/atc.ico",
wx.BITMAP_TYPE_ICO)
self.SetIcon(ico)
self.interface = IvyMessagesInterface("ATC-Center")
self.interface.subscribe(self.message_recv)
if self.cfg.Exists('left'):
self.x = int(self.cfg.Read('left'))
self.y = int(self.cfg.Read('top'))
self.SetPosition(wx.Point(self.x, self.y), wx.SIZE_USE_EXISTING)
def __init__(self, plot_results=True, verbose=False):
self._interface = IvyMessagesInterface("calib_mag")
self.plotter = MagPlot()
self.data = []
self.flt_meas = []
self.p0 = np.array([0, 0, 0, 0, 0, 0])
self.optimization_done = False
self.plot_results = plot_results
def __init__(self, ac_id, freq=100.):
self.id = ac_id
self.pos = np.array([[0.0], [0.0], [0.0]])
self.attitude = np.array([[0.0], [0.0], [0.0]])
self.vel = np.array([[0.0], [0.0], [0.0]])
self.step = 1. / freq
self._interface = IvyMessagesInterface("Controller 1")
self.target_pos = np.array([[5.0], [7.0], [10.0]])
self.target_vel = np.array([[0.0], [0.0], [0.0]])
self.error_pos = np.array([[0.0], [0.0], [0.0]])
self.error_vel = np.array([[0.0], [0.0], [0.0]])
self.U = np.array([[0.0], [0.0]]) # Accelerations
# Circle
self.e = 0.0
self.grad = np.array([[0.0], [0.0]])
self.hess = np.array([[2.0, 0.0], [0.0, 2.0]])
self.rot = np.array([[0.0, -1.0], [1.0, 0.0]])
self.vel_d = np.array([[0.0], [0.0]])
self.s = 1.
self.c1 = 0.005
self.c2 = 7.
self.c3 = 1.25
def rotorcraft_fp_callback(_id, msg):
if msg.name == "ROTORCRAFT_FP":
field_coefs = msg.fieldcoefs
self.pos[0][0] = float(msg.get_field(0)) * field_coefs[0]
self.pos[1][0] = float(msg.get_field(1)) * field_coefs[1]
self.pos[2][0] = float(msg.get_field(2)) * field_coefs[2]
self.vel[0][0] = float(msg.get_field(3)) * field_coefs[3]
self.vel[1][0] = float(msg.get_field(4)) * field_coefs[4]
self.vel[2][0] = float(msg.get_field(5)) * field_coefs[5]
self.attitude[0][0] = float(msg.get_field(6)) * field_coefs[6]
self.attitude[1][0] = float(msg.get_field(7)) * field_coefs[7]
self.attitude[2][0] = float(msg.get_field(8)) * field_coefs[8]
self._interface.subscribe(rotorcraft_fp_callback,
PprzMessage("telemetry", "ROTORCRAFT_FP"))
def main():
# parse arguments
import argparse as ap
argp = ap.ArgumentParser(description="Environment variables provider "
"for Paparazzi simulation from MesoNH data")
argp.add_argument("-t", "--time-step", required=True, type=int,
help="Duration of a time step between MesoNH Files.")
argp.add_argument("-f", "--files", required=True, nargs='+',
help="MesoNH netCDF files, in temporal ordering")
argp.add_argument("-x", "--origin-x", required=False, type=float,
default=0.,
help="Origin translation x.")
argp.add_argument("-y", "--origin-y", required=False, type=float,
default=0.,
help="Origin translation y.")
argp.add_argument("-z", "--origin-z", required=False, type=float,
default=0.,
help="Origin translation z.")
arguments = argp.parse_args()
print(arguments)
# register signal handler for ctrl+c to stop the program
signal.signal(signal.SIGINT, signal_handler)
# origin for translation from paparazzi to mesoNH frame
global origin
origin = np.array([0, arguments.origin_z, arguments.origin_x, arguments.origin_y])
# build atmosphere simulation source
global atm
atm = MesoNHAtmosphere(arguments.files, arguments.time_step, tinit=0)
# init ivy and register callback for WORLD_ENV_REQ and NPS_SPEED_POS
global ivy
ivy = IvyMessagesInterface("MesoNH");
ivy.subscribe(worldenv_cb,'(.* WORLD_ENV_REQ .*)')
# wait for ivy to stop
from ivy.std_api import IvyMainLoop
signal.pause()
def __init__(self, config, verbose=False):
self.verbose = verbose
self.config = config
self.ids = np.array(self.config['ids'])
self.B = np.array(self.config['topology'])
self.Zdesired = np.array(self.config['desired_intervehicle_angles'])
self.list_ids = np.ndarray.tolist(self.ids)
# Start IVY interface
self._interface = IvyMessagesInterface("Init DCF tables")
def __init__(self, src):
# Create the video capture device
self.cap = cv2.VideoCapture(src)
# Start the ivy interface
self.ivy = IvyMessagesInterface("RTPviewer", start_ivy=False)
self.ivy.start()
# Create a named window and add a mouse callback
cv2.namedWindow('rtp')
cv2.setMouseCallback('rtp', self.on_mouse)
def __init__(self, config, freq=10., verbose=False):
self.config = config
self.step = 1. / freq
self.verbose = verbose
self.ids = self.config['ids']
self.B = np.array(self.config['topology'])
self.Zdesired = np.array(self.config['desired_intervehicle_angles'])
self.k = np.array(self.config['gain'])
self.radius = np.array(self.config['desired_stationary_radius'])
self.aircraft = [Aircraft(i) for i in self.ids]
self.sigmas = np.zeros(len(self.aircraft))
for ac in self.aircraft:
settings = PaparazziACSettings(ac.id)
list_of_indexes = ['ell_a', 'ell_b']
for setting_ in list_of_indexes:
try:
index = settings.name_lookup[setting_].index
if setting_ == 'ell_a':
ac.a_index = index
if setting_ == 'ell_b':
ac.b_index = index
except Exception as e:
print(e)
print(setting_ + " setting not found, \
have you forgotten to check gvf.xml for your settings?")
# Start IVY interface
self._interface = IvyMessagesInterface("Circular Formation")
# bind to NAVIGATION message
def nav_cb(ac_id, msg):
if ac_id in self.ids and msg.name == "NAVIGATION":
ac = self.aircraft[self.ids.index(ac_id)]
ac.XY[0] = float(msg.get_field(2))
ac.XY[1] = float(msg.get_field(3))
ac.initialized_nav = True
self._interface.subscribe(nav_cb, PprzMessage("telemetry", "NAVIGATION"))
def gvf_cb(ac_id, msg):
if ac_id in self.ids and msg.name == "GVF":
if int(msg.get_field(1)) == 1:
ac = self.aircraft[self.ids.index(ac_id)]
param = msg.get_field(4)
ac.XYc[0] = float(param[0])
ac.XYc[1] = float(param[1])
ac.a = float(param[2])
ac.b = float(param[3])
ac.s = float(msg.get_field(2))
ac.initialized_gvf = True
self._interface.subscribe(gvf_cb, PprzMessage("telemetry", "GVF"))
class WaypointMover(object):
def __init__(self, verbose=False):
self.verbose = verbose
self._interface = IvyMessagesInterface("WaypointMover")
def shutdown(self):
print("Shutting down ivy interface...")
self._interface.shutdown()
def __del__(self):
self.shutdown()
def move_waypoint(self, ac_id, wp_id, lat, lon, alt):
msg = PprzMessage("ground", "MOVE_WAYPOINT")
msg['ac_id'] = ac_id
msg['wp_id'] = wp_id
msg['lat'] = lat
msg['long'] = lon
msg['alt'] = alt
print("Sending message: %s" % msg)
self._interface.send(msg)
class IvyRequester(object):
def __init__(self, interface=None):
self._interface = interface
if interface is None:
self._interface = IvyMessagesInterface("ivy requester")
self.ac_list = []
def __del__(self):
self.shutdown()
def shutdown(self):
if self._interface is not None:
print("Shutting down ivy interface...")
self._interface.shutdown()
self._interface = None
def get_aircrafts(self):
def aircrafts_cb(ac_id, msg):
self.ac_list = [int(a) for a in msg['ac_list'].split(',') if a]
print("aircrafts: {}".format(self.ac_list))
self._interface.subscribe(aircrafts_cb, "(.*AIRCRAFTS .*)")
sender = 'get_aircrafts'
request_id = '42_1' # fake request id, should be PID_index
self._interface.send("{} {} AIRCRAFTS_REQ".format(sender, request_id))
# hack: sleep briefly to wait for answer
sleep(0.1)
return self.ac_list
def __init__(self, ac_id):
wx.Frame.__init__(self, id=-1, parent=None, \
name=u'GVF', size=wx.Size(WIDTH, HEIGHT), \
style=wx.DEFAULT_FRAME_STYLE, title=u'Guidance Vector Field')
# Vehicle variables
self.ac_id = ac_id
self.course = 0
self.yaw = 0
self.XY = np.array([0, 0])
# Desired trajectory
self.timer_traj = 0 # We do not update the traj every time we receive a msg
self.timer_traj_lim = 7 # (7+1) * 0.25secs
self.s = 0
self.kn = 0
self.ke = 0
self.map_gvf = map2d(np.array([0, 0]), 150000)
self.traj = None
# Frame
self.canvas = FigureCanvas(self, -1, self.map_gvf.fig)
self.Bind(wx.EVT_CLOSE, self.OnClose)
self.redraw_timer = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.OnRedrawTimer, self.redraw_timer)
self.redraw_timer.Start(100)
# Ivy
self.interface = IvyMessagesInterface("GVF")
self.interface.subscribe(self.message_recv)
settings = PaparazziACSettings(ac_id)
self.ke_index = None
self.kn_index = None
self.indexes_are_good = 0
self.list_of_indexes = ['gvf_ke', 'gvf_kn']
for setting_ in self.list_of_indexes:
try:
index = settings.name_lookup[setting_].index
if setting_ == 'gvf_ke':
self.ke_index = index
if setting_ == 'gvf_kn':
self.kn_index = index
self.indexes_are_good = self.indexes_are_good + 1
except Exception as e:
print(e)
print(setting_ + " setting not found, \
have you forgotten gvf.xml in your settings?")
def __init__(self, msg_class="telemetry"):
wx.Frame.__init__(self, id=-1, parent=None, name=u'MessagesFrame', size=wx.Size(WIDTH, HEIGHT), style=wx.DEFAULT_FRAME_STYLE, title=u'Messages')
self.Bind(wx.EVT_CLOSE, self.OnClose)
self.notebook = wx.Notebook(self)
self.aircrafts = {}
sizer = wx.BoxSizer(wx.HORIZONTAL)
sizer.Add(self.notebook, 1, wx.EXPAND)
self.SetSizer(sizer)
sizer.Layout()
self.timer = threading.Timer(0.1, self.update_leds)
self.timer.start()
self.msg_class = msg_class
self.interface = IvyMessagesInterface("Paparazzi Messages Viewer")
self.interface.subscribe(self.message_recv)
def __init__(self):
# own data
self.count_gs = 0
self.ground_gs_x = [0] * MSG_BUFFER_SIZE
self.ground_gs_y = [0] * MSG_BUFFER_SIZE
self.count_as = 0
self.last_heading = 0;
self.airspeed = [0] * MSG_BUFFER_SIZE
self.heading = [0] * MSG_BUFFER_SIZE
# Click
self.click_x = 0
self.click_y = 0
self.click_on = 0
# Window
self.w = WIDTH
self.h = WIDTH + BARH
self.cfg = wx.Config('wind_conf')
if self.cfg.Exists('width'):
self.w = int(self.cfg.Read('width'))
self.h = int(self.cfg.Read('height'))
self.mid = self.w/2
wx.Frame.__init__(self, id=-1, parent=None, name=u'WindFrame',
size=wx.Size(self.w, self.h), title=u'Wind Tool')
if self.cfg.Exists('left'):
self.x = int(self.cfg.Read('left'))
self.y = int(self.cfg.Read('top'))
self.SetPosition(wx.Point(self.x,self.y), wx.SIZE_USE_EXISTING)
self.Bind(wx.EVT_PAINT, self.OnPaint)
self.Bind(wx.EVT_SIZE, self.OnSize)
self.Bind(wx.EVT_MOVE, self.OnMove)
self.Bind(wx.EVT_CLOSE, self.OnClose)
self.Bind(wx.EVT_LEFT_DOWN, self.OnClickD)
self.Bind(wx.EVT_MOTION, self.OnClickM)
self.Bind(wx.EVT_LEFT_UP, self.OnClickU)
ico = wx.Icon(PPRZ_SRC + "/sw/ground_segment/python/wind/wind.png", wx.BITMAP_TYPE_PNG)
self.SetIcon(ico)
self.interface = IvyMessagesInterface("windframe")
self.interface.subscribe(self.message_recv)
def __init__(self, ac_id, verbose=False):
self.ac_id = ac_id
self.verbose = verbose
self._interface = None
self.auto2_index = None
try:
settings = PaparazziACSettings(self.ac_id)
except Exception as e:
print(e)
return
try:
self.auto2_index = settings.name_lookup["auto2"].index
except Exception as e:
print(e)
print("auto2 setting not found, mode change not possible.")
self._interface = IvyMessagesInterface("guided mode example")
def __init__(self, ac_id, verbose=False):
self.ac_id = ac_id
self.verbose = verbose
self._interface = None
self.ap_mode = None
try:
settings = PaparazziACSettings(self.ac_id)
except Exception as e:
print(e)
return
try:
self.ap_mode = settings.name_lookup['mode'].index
except Exception as e:
print(e)
print("ap_mode setting not found, mode change not possible.")
self._interface = IvyMessagesInterface("gb2ivy")
def __init__(self, period=10., margin=1., timeout=60., verbose=False):
self.period = period
self.margin = margin
self.timeout = timeout
self.last_receive = time()
self.verbose = verbose
self._interface = IvyMessagesInterface("OpenSkyTraffic")
self._opensky = OpenSkyApi()
self.ac_list = {}
self.intruder_list = {}
self.running = False
if self.verbose:
print("Starting opensky interface...")
# subscribe to FLIGHT_PARAM ground message
self._interface.subscribe(self.update_ac, PprzMessage("ground", "FLIGHT_PARAM"))
def __init__(self):
self.w = WIDTH
self.h = WIDTH + BARH
wx.Frame.__init__(self, id=-1, parent=None, name=u'SVInfoFrame',
size=wx.Size(self.w, self.h), title=u'SV Info')
self.Bind(wx.EVT_PAINT, self.OnPaint)
self.Bind(wx.EVT_SIZE, self.OnSize)
self.Bind(wx.EVT_CLOSE, self.OnClose)
ico = wx.Icon(PPRZ_SRC + "/sw/ground_segment/python/svinfo/svinfo.ico", wx.BITMAP_TYPE_ICO)
self.SetIcon(ico)
self.sv = {}
self.interface = IvyMessagesInterface("svinfoframe")
self.interface.subscribe(self.message_recv)
def __init__(self):
self.w = WIDTH
self.h = HEIGHT
self.airspeed = 0;
self.amsl = 0;
self.qnh = 0;
self.qfe = 0;
self.alt = 0;
#self.hmsl = 0;
self.gspeed = 0;
self.callsign = ""
self.safe_to_approach = "";
self.cfg = wx.Config('atc_conf')
if self.cfg.Exists('width'):
self.w = int(self.cfg.Read('width'))
self.h = int(self.cfg.Read('height'))
wx.Frame.__init__(self, id=-1, parent=None, name=u'ATC Center',
size=wx.Size(self.w, self.h), title=u'ATC Center')
self.Bind(wx.EVT_PAINT, self.OnPaint)
self.Bind(wx.EVT_SIZE, self.OnSize)
self.Bind(wx.EVT_MOVE, self.OnMove)
self.Bind(wx.EVT_CLOSE, self.OnClose)
ico = wx.Icon(PPRZ_SRC + "/sw/ground_segment/python/atc/atc.ico", wx.BITMAP_TYPE_ICO)
self.SetIcon(ico)
self.interface = IvyMessagesInterface("ATC-Center")
self.interface.subscribe(self.message_recv)
if self.cfg.Exists('left'):
self.x = int(self.cfg.Read('left'))
self.y = int(self.cfg.Read('top'))
self.SetPosition(wx.Point(self.x,self.y), wx.SIZE_USE_EXISTING)
def __init__(self):
self.w = WIDTH
self.h = WIDTH + BARH
wx.Frame.__init__(self, id=-1, parent=None, name=u'EnergyMonFrame',
size=wx.Size(self.w, self.h), title=u'Energy Monitoring')
self.Bind(wx.EVT_PAINT, self.OnPaint)
self.Bind(wx.EVT_SIZE, self.OnSize)
self.Bind(wx.EVT_CLOSE, self.OnClose)
ico = wx.Icon(PPRZ_SRC + "/sw/ground_segment/python/energy_mon/energy_mon.ico", wx.BITMAP_TYPE_ICO)
self.SetIcon(ico)
self.bat = {}
self.temp = {}
self.cell = BatteryCell();
self.interface = IvyMessagesInterface("energymonframe")
self.interface.subscribe(self.message_recv)
