def __init__(self, connection, replayMode=False, enableLog=True):
super().__init__()
self.internalHandlerLookup = {}
self.mavStatus = {MavStsKeys.AP_SYS_ID: 1}
self.isConnected = False
# self.paramList = []
self.paramPanel = None
self.txLock = QMutex() # uplink lock
self.txResponseCond = QWaitCondition()
self.txTimeoutTimer = QTimer()
self.finalWPSent = False
self.wpLoader = MAVWPLoader()
self.onboardWPCount = 0
self.numberOfonboardWP = 0
self.onboardWP = []
self.mavlinkLogFile = None
self.lastMessageReceivedTimestamp = 0.0
self.lastMessages = {} # type = (msg, timestamp)
self.param = UserData.getInstance().getUserDataEntry(
UD_TELEMETRY_KEY, {})
self.messageTimeoutThreshold = UserData.getParameterValue(
self.param, UD_TELEMETRY_TIMEOUT_THRESHOLD_KEY,
MAVLinkConnection.DEFAULT_MESSAGE_TIMEOUT_THRESHOLD)
self.txTimeoutmsec = self.messageTimeoutThreshold * 1000000
# timeout for wait initial heartbeat signal
self.initHeartbeatTimeout = UserData.getParameterValue(
self.param, UD_TELEMETRY_HEARTBEAT_TIMEOUT_KEY,
MAVLinkConnection.DEFAULT_HEARTBEAT_TIMEOUT)
self.txMessageQueue = deque()
self.running = True
self.connection = connection
self.replayMode = replayMode
self.enableLog = enableLog
self.uas = None
if replayMode:
self.enableLog = False
connection.replayCompleteSignal.connect(self.requestExit)
self.internalHandlerLookup[
'PARAM_VALUE'] = self.receiveOnboardParameter
self.internalHandlerLookup[
'MISSION_REQUEST'] = self.receiveMissionRequest
self.internalHandlerLookup[
'MISSION_ACK'] = self.receiveMissionAcknowledge
self.internalHandlerLookup[
'MISSION_COUNT'] = self.receiveMissionItemCount
self.internalHandlerLookup['MISSION_ITEM'] = self.receiveMissionItem
self.internalHandlerLookup['DATA_STREAM'] = self.receiveDataStream
self.internalHandlerLookup['PARAM_SET'] = self.receiveParameterSet
self.txTimeoutTimer.timeout.connect(self._timerTimeout)
self.txTimeoutTimer.setSingleShot(True)
def __init__(self, parent):
super().__init__(parent)
self.instrumentOpagueBackground = QBrush(
QColor.fromHsvF(0, 0, 0.3, 1.0))
self.instrumentBackground = QBrush(QColor.fromHsvF(0, 0, 0.3, 0.3))
self.instrumentEdgePen = QPen(QColor.fromHsvF(0, 0, 0.65, 0.5))
self.font = QFont()
self.lineWidth = 2
self.fineLineWidth = 1
self.navigationTargetBearing = PrimaryFlightDisplay.UNKNOWN_ATTITUDE
self.navigationCrosstrackError = 0
self.primaryAltitude = PrimaryFlightDisplay.UNKNOWN_ALTITUDE
self.GPSAltitude = PrimaryFlightDisplay.UNKNOWN_ALTITUDE
self.verticalVelocity = PrimaryFlightDisplay.UNKNOWN_ALTITUDE
self.primarySpeed = PrimaryFlightDisplay.UNKNOWN_SPEED
self.groundspeed = PrimaryFlightDisplay.UNKNOWN_SPEED
self.roll = 0.0
self.pitch = 0.0
self.yaw = 0.0
self.rollspeed = 0.0
self.pitchspeed = 0.0
self.yawspeed = 0.0
self.latitude = 0.0
self.longitude = 0.0
self.additionalParameters = {}
self.param = UserData.getInstance().getUserDataEntry(UD_PFD_KEY, {})
self.isGPSSpeedPrimary = UserData.getParameterValue(
self.param, UD_PFD_PRIMARY_SPEED_SOURCE_KEY) == 'GPS'
self.isGPSAltitudePrimary = UserData.getParameterValue(
self.param, UD_PFD_PRIMARY_ALTITUDE_SOURCE_KEY) == 'GPS'
self.setMinimumSize(480, 320)
self.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
self.smallTestSize = self.SMALL_TEXT_SIZE
self.mediumTextSize = self.MEDIUM_TEXT_SIZE
self.largeTextSize = self.LARGE_TEXT_SIZE
self.uiTimer = QTimer(self)
self.uiTimer.setInterval(40)
self.uiTimer.timeout.connect(self.update)
self.uas = None
def __init__(self, name, parent=None):
super().__init__(name, parent)
self.gpsSrc = UserData.getParameterValue(
self.param, UD_UAS_CONF_GPS_SRC_KEY,
StandardMAVLinkInterface.DEFAULT_GPS_SRC)
def __getLastConnectionParameter(self):
pParam = UserData.getInstance().getUserDataEntry(UD_TELEMETRY_KEY, {})
return UserData.getParameterValue(pParam,
UD_TELEMETRY_LAST_CONNECTION_KEY, {})
def __init__(self, initParams=None, parent=None):
super().__init__(parent)
self.portList = {}
self.autoBaud = None
self.MAVLinkConnectedSignal = parent.MAVLinkConnectedSignal
self.MAVLinkConnectedSignal.connect(self.__recordLastConnection)
self.__autoBaudStartSignal.connect(self.__autoBaud)
self.listSerialPorts()
if initParams == None:
self.params = self.__getLastConnectionParameter()
else:
self.params = initParams
l = QGridLayout()
row = 0
lbl, self.portsDropDown = self._createDropDown(
'Serial Port', self.portList,
UserData.getParameterValue(self.params,
UD_TELEMETRY_LAST_CONNECTION_PORT_KEY))
l.addWidget(lbl, row, 0, 1, 1, Qt.AlignRight)
l.addWidget(self.portsDropDown, row, 1, 1, 3, Qt.AlignLeft)
self.refreshButton = QPushButton(
'\u21BB') # Unicode for clockwise open circle arrow
self.refreshButton.setFixedSize(self.portsDropDown.height(),
self.portsDropDown.height())
l.addWidget(self.refreshButton, row, 4, 1, 1, Qt.AlignLeft)
self.refreshButton.clicked.connect(
lambda: self.listSerialPorts(self.portsDropDown))
row += 1
lbl, self.baudDropDown = self._createDropDown(
'Baud Rate', BAUD_RATES,
UserData.getParameterValue(
self.params, UD_TELEMETRY_LAST_CONNECTION_BAUD_RATE_KEY))
l.addWidget(lbl, row, 0, 1, 1, Qt.AlignRight)
l.addWidget(self.baudDropDown, row, 1, 1, 3, Qt.AlignLeft)
row += 1
lbl, self.flowDropDown = self._createDropDown('Flow Control',
FLOW_CONTROL)
l.addWidget(lbl, row, 0, 1, 1, Qt.AlignRight)
l.addWidget(self.flowDropDown, row, 1, 1, 1, Qt.AlignLeft)
lbl, self.parityDropDown = self._createDropDown('Parity', PARITY)
l.addWidget(lbl, row, 2, 1, 1, Qt.AlignRight)
l.addWidget(self.parityDropDown, row, 3, 1, 1, Qt.AlignLeft)
row += 1
lbl, self.bitsDropDown = self._createDropDown('Data Bits', DATA_BITS)
l.addWidget(lbl, row, 0, 1, 1, Qt.AlignRight)
l.addWidget(self.bitsDropDown, row, 1, 1, 1, Qt.AlignLeft)
lbl, self.stopDropDown = self._createDropDown('Stop Bits', STOP_BITS)
l.addWidget(lbl, row, 2, 1, 1, Qt.AlignRight)
l.addWidget(self.stopDropDown, row, 3, 1, 1, Qt.AlignLeft)
row += 1
self.autoBaudMessageLabel = QLabel('')
l.addWidget(self.autoBaudMessageLabel, row, 0, 1, 3)
row += 1
self.setLayout(l)
