def __init__(self, reader):
# Store the PX4Flow reader
self.reader = reader
# Set up the frame
self.root = tk.Tk()
self.frame = tk.Frame(self.root, borderwidth=4, width=DISPLAY_W, height=DISPLAY_H, relief='sunken')
self.frame.master.title('PX4Flow: Hit ESC to quit')
# Add a canvas for drawing
self.canvas = tk.Canvas(self.frame, width = DISPLAY_W, height = DISPLAY_H, background = 'black')
# Add a text item for reporting acquisition rate
self.rate_label = self.create_label(DISPLAY_W-140, DISPLAY_H-20, color='red')
# Add a gauge for grnd_dist
self.grnd_dist_gauge = VerticalGauge(self.canvas, 40, GAUGE_Y, GAUGE_W, GAUGE_H, 'blue', 'Grnd dist (m)', GRND_DIST_MIN, GRND_DIST_MAX, '%2.1f')
# Add a gauge for quality
self.quality_gauge = VerticalGauge(self.canvas, 200, GAUGE_Y, GAUGE_W, GAUGE_H, 'yellow', ' Quality', 0, 255, '%d')
# Add axes for velocity
self.create_axis_line(-1, 0)
self.create_axis_line(+1, 0)
self.create_axis_line(0, -1)
self.create_axis_line(0, +1)
# Add labels for velocity
self.create_label(VELOCITY_X+120, VELOCITY_Y, 'X m/sec')
self.create_label(VELOCITY_X-30, DISPLAY_H-275, 'Y m/sec')
# Add lines for displaying velocities
self.x_line = self.create_null_line()
self.y_line = self.create_null_line()
# Add widgets for displaying distance traveled
box_lx = DISTANCE_X - DISTANCE_D
box_rx = DISTANCE_X + DISTANCE_D
box_uy = DISTANCE_Y - DISTANCE_D
box_ly = DISTANCE_Y + DISTANCE_D
self.canvas.create_rectangle((box_lx, box_uy, box_rx, box_ly), outline='white')
self.create_label(box_lx+DISTANCE_D/2+30, box_ly+20, 'X (m)')
self.create_label(box_rx+10, DISTANCE_Y, 'Y (m)')
self.create_label(box_rx+10, box_uy-10, '+%d' % DISTANCE_MAX)
self.create_label(box_lx-30, box_ly+10, '-%d' % DISTANCE_MAX)
self.location_circle = self.canvas.create_oval(self.location_to_oval(0, 0), width=1, outline='red')
self.location_pix_prev = None
# Pack the widgets into the canvas
self.canvas.pack(fill=tk.BOTH, expand=1)
# Set up a key event for exit on ESC
self.frame.bind("<Key>", self.key)
self.frame.pack()
# This call gives the frame focus so that it receives input
self.frame.focus_set()
self.failcount = 0
def __init__(self, reader):
# Store the PX4Flow reader
self.reader = reader
# Set up the frame
self.root = tk.Tk()
self.frame = tk.Frame(self.root,
borderwidth=4,
width=DISPLAY_W,
height=DISPLAY_H,
relief='sunken')
self.frame.master.title('PX4Flow: Hit ESC to quit')
# Add a canvas for drawing
self.canvas = tk.Canvas(self.frame,
width=DISPLAY_W,
height=DISPLAY_H,
background='black')
# Add a text item for reporting acquisition rate
self.rate_label = self.create_label(DISPLAY_W - 140,
DISPLAY_H - 20,
color='red')
# Add a gauge for grnd_dist
self.grnd_dist_gauge = VerticalGauge(self.canvas, 40, GAUGE_Y, GAUGE_W,
GAUGE_H, 'blue', 'Grnd dist (m)',
GRND_DIST_MIN, GRND_DIST_MAX,
'%2.1f')
# Add a gauge for quality
self.quality_gauge = VerticalGauge(self.canvas, 200, GAUGE_Y, GAUGE_W,
GAUGE_H, 'yellow', ' Quality', 0,
255, '%d')
# Add axes for velocity
self.create_axis_line(-1, 0)
self.create_axis_line(+1, 0)
self.create_axis_line(0, -1)
self.create_axis_line(0, +1)
# Add labels for velocity
self.create_label(VELOCITY_X + 120, VELOCITY_Y, 'X m/sec')
self.create_label(VELOCITY_X - 30, DISPLAY_H - 275, 'Y m/sec')
# Add lines for displaying velocities
self.x_line = self.create_null_line()
self.y_line = self.create_null_line()
# Add widgets for displaying distance traveled
box_lx = DISTANCE_X - DISTANCE_D
box_rx = DISTANCE_X + DISTANCE_D
box_uy = DISTANCE_Y - DISTANCE_D
box_ly = DISTANCE_Y + DISTANCE_D
self.canvas.create_rectangle((box_lx, box_uy, box_rx, box_ly),
outline='white')
self.create_label(box_lx + DISTANCE_D / 2 + 30, box_ly + 20, 'X (m)')
self.create_label(box_rx + 10, DISTANCE_Y, 'Y (m)')
self.create_label(box_rx + 10, box_uy - 10, '+%d' % DISTANCE_MAX)
self.create_label(box_lx - 30, box_ly + 10, '-%d' % DISTANCE_MAX)
self.location_circle = self.canvas.create_oval(self.location_to_oval(
0, 0),
width=1,
outline='red')
self.location_pix_prev = None
# Pack the widgets into the canvas
self.canvas.pack(fill=tk.BOTH, expand=1)
# Set up a key event for exit on ESC
self.frame.bind("<Key>", self.key)
self.frame.pack()
# This call gives the frame focus so that it receives input
self.frame.focus_set()
self.failcount = 0
class PX4FlowPlotter:
def __init__(self, reader):
# Store the PX4Flow reader
self.reader = reader
# Set up the frame
self.root = tk.Tk()
self.frame = tk.Frame(self.root,
borderwidth=4,
width=DISPLAY_W,
height=DISPLAY_H,
relief='sunken')
self.frame.master.title('PX4Flow: Hit ESC to quit')
# Add a canvas for drawing
self.canvas = tk.Canvas(self.frame,
width=DISPLAY_W,
height=DISPLAY_H,
background='black')
# Add a text item for reporting acquisition rate
self.rate_label = self.create_label(DISPLAY_W - 140,
DISPLAY_H - 20,
color='red')
# Add a gauge for grnd_dist
self.grnd_dist_gauge = VerticalGauge(self.canvas, 40, GAUGE_Y, GAUGE_W,
GAUGE_H, 'blue', 'Grnd dist (m)',
GRND_DIST_MIN, GRND_DIST_MAX,
'%2.1f')
# Add a gauge for quality
self.quality_gauge = VerticalGauge(self.canvas, 200, GAUGE_Y, GAUGE_W,
GAUGE_H, 'yellow', ' Quality', 0,
255, '%d')
# Add axes for velocity
self.create_axis_line(-1, 0)
self.create_axis_line(+1, 0)
self.create_axis_line(0, -1)
self.create_axis_line(0, +1)
# Add labels for velocity
self.create_label(VELOCITY_X + 120, VELOCITY_Y, 'X m/sec')
self.create_label(VELOCITY_X - 30, DISPLAY_H - 275, 'Y m/sec')
# Add lines for displaying velocities
self.x_line = self.create_null_line()
self.y_line = self.create_null_line()
# Add widgets for displaying distance traveled
box_lx = DISTANCE_X - DISTANCE_D
box_rx = DISTANCE_X + DISTANCE_D
box_uy = DISTANCE_Y - DISTANCE_D
box_ly = DISTANCE_Y + DISTANCE_D
self.canvas.create_rectangle((box_lx, box_uy, box_rx, box_ly),
outline='white')
self.create_label(box_lx + DISTANCE_D / 2 + 30, box_ly + 20, 'X (m)')
self.create_label(box_rx + 10, DISTANCE_Y, 'Y (m)')
self.create_label(box_rx + 10, box_uy - 10, '+%d' % DISTANCE_MAX)
self.create_label(box_lx - 30, box_ly + 10, '-%d' % DISTANCE_MAX)
self.location_circle = self.canvas.create_oval(self.location_to_oval(
0, 0),
width=1,
outline='red')
self.location_pix_prev = None
# Pack the widgets into the canvas
self.canvas.pack(fill=tk.BOTH, expand=1)
# Set up a key event for exit on ESC
self.frame.bind("<Key>", self.key)
self.frame.pack()
# This call gives the frame focus so that it receives input
self.frame.focus_set()
self.failcount = 0
def location_to_oval(self, xpix, ypix):
return xpix - DISTANCE_R, ypix - DISTANCE_R, xpix + DISTANCE_R, ypix + DISTANCE_R,
def location_to_pixels(self):
xpix = DISTANCE_X + (self.reader.X_accum / DISTANCE_MAX) * DISTANCE_D
ypix = DISTANCE_Y + (self.reader.Y_accum / DISTANCE_MAX) * DISTANCE_D
return xpix, ypix
def create_null_line(self):
return self.canvas.create_line(VELOCITY_X,
VELOCITY_Y,
VELOCITY_X,
VELOCITY_Y,
width=4)
def create_axis_line(self, dx, dy):
self.canvas.create_line(VELOCITY_X,
VELOCITY_Y,
VELOCITY_X + dx * VELOCITY_D,
VELOCITY_Y + dy * VELOCITY_D,
fill='white')
def create_label(self, x, y, text=None, color='white'):
return self.canvas.create_text(x,
y,
anchor=tk.W,
font=('Helvetica', 12),
fill=color,
text=text)
def run(self):
# Start timing
self.start_sec = time()
# Start the recursive timer-task
self.task()
# Set Tkinter's main loop
self.root.mainloop()
def task(self):
reader = self.reader
# Refresh PX4Flow data
reader.refresh()
# Ground distance will be None on sensor fail
grnd_dist = reader.H
# Update sensor display
if grnd_dist:
xpix, ypix = self.location_to_pixels()
self.canvas.coords(self.location_circle,
self.location_to_oval(xpix, ypix))
if self.location_pix_prev:
self.canvas.create_line(self.location_pix_prev[0],
self.location_pix_prev[1],
xpix,
ypix,
fill='red')
self.location_pix_prev = xpix, ypix
self.grnd_dist_gauge.update(grnd_dist)
self.quality_gauge.update(reader.Quality)
x = VELOCITY_X + 2
y = VELOCITY_Y + 2
self.canvas.coords(
self.x_line,
(x, y, int(VELOCITY_X + reader.X / VELOCITY_MAX * VELOCITY_D),
y))
self.canvas.itemconfigure(self.x_line,
fill='red' if reader.X < 0 else 'green')
self.canvas.coords(
self.y_line,
(x, y, x,
int(VELOCITY_Y + reader.Y / VELOCITY_MAX * VELOCITY_D)))
self.canvas.itemconfigure(self.y_line,
fill='red' if reader.Y < 0 else 'green')
else:
self.failcount += 1
print('Fail %d' % self.failcount)
# Report speed after several seconds
elapsed_sec = time() - self.start_sec
if elapsed_sec > 5:
self.canvas.itemconfigure(self.rate_label, text='%d updates / sec' % \
int(reader.count/elapsed_sec))
# Reschedule this task immediately
self.frame.after(1, self.task)
def click(self, event):
print("Clicked at: ", event.x, event.y)
def key(self, event):
# Make sure the frame is receiving input!
self.frame.focus_force()
if event.keysym == 'Escape':
exit(0)
class PX4FlowPlotter:
def __init__(self, reader):
# Store the PX4Flow reader
self.reader = reader
# Set up the frame
self.root = tk.Tk()
self.frame = tk.Frame(self.root, borderwidth=4, width=DISPLAY_W, height=DISPLAY_H, relief='sunken')
self.frame.master.title('PX4Flow: Hit ESC to quit')
# Add a canvas for drawing
self.canvas = tk.Canvas(self.frame, width = DISPLAY_W, height = DISPLAY_H, background = 'black')
# Add a text item for reporting acquisition rate
self.rate_label = self.create_label(DISPLAY_W-140, DISPLAY_H-20, color='red')
# Add a gauge for grnd_dist
self.grnd_dist_gauge = VerticalGauge(self.canvas, 40, GAUGE_Y, GAUGE_W, GAUGE_H, 'blue', 'Grnd dist (m)', GRND_DIST_MIN, GRND_DIST_MAX, '%2.1f')
# Add a gauge for quality
self.quality_gauge = VerticalGauge(self.canvas, 200, GAUGE_Y, GAUGE_W, GAUGE_H, 'yellow', ' Quality', 0, 255, '%d')
# Add axes for velocity
self.create_axis_line(-1, 0)
self.create_axis_line(+1, 0)
self.create_axis_line(0, -1)
self.create_axis_line(0, +1)
# Add labels for velocity
self.create_label(VELOCITY_X+120, VELOCITY_Y, 'X m/sec')
self.create_label(VELOCITY_X-30, DISPLAY_H-275, 'Y m/sec')
# Add lines for displaying velocities
self.x_line = self.create_null_line()
self.y_line = self.create_null_line()
# Add widgets for displaying distance traveled
box_lx = DISTANCE_X - DISTANCE_D
box_rx = DISTANCE_X + DISTANCE_D
box_uy = DISTANCE_Y - DISTANCE_D
box_ly = DISTANCE_Y + DISTANCE_D
self.canvas.create_rectangle((box_lx, box_uy, box_rx, box_ly), outline='white')
self.create_label(box_lx+DISTANCE_D/2+30, box_ly+20, 'X (m)')
self.create_label(box_rx+10, DISTANCE_Y, 'Y (m)')
self.create_label(box_rx+10, box_uy-10, '+%d' % DISTANCE_MAX)
self.create_label(box_lx-30, box_ly+10, '-%d' % DISTANCE_MAX)
self.location_circle = self.canvas.create_oval(self.location_to_oval(0, 0), width=1, outline='red')
self.location_pix_prev = None
# Pack the widgets into the canvas
self.canvas.pack(fill=tk.BOTH, expand=1)
# Set up a key event for exit on ESC
self.frame.bind("<Key>", self.key)
self.frame.pack()
# This call gives the frame focus so that it receives input
self.frame.focus_set()
self.failcount = 0
def location_to_oval(self, xpix, ypix):
return xpix-DISTANCE_R, ypix-DISTANCE_R, xpix+DISTANCE_R, ypix+DISTANCE_R,
def location_to_pixels(self):
xpix = DISTANCE_X + (self.reader.X_accum/ DISTANCE_MAX) * DISTANCE_D
ypix = DISTANCE_Y + (self.reader.Y_accum/ DISTANCE_MAX) * DISTANCE_D
return xpix, ypix
def create_null_line(self):
return self.canvas.create_line(VELOCITY_X, VELOCITY_Y, VELOCITY_X, VELOCITY_Y, width=4)
def create_axis_line(self, dx, dy):
self.canvas.create_line(VELOCITY_X, VELOCITY_Y, VELOCITY_X+dx*VELOCITY_D, VELOCITY_Y+dy*VELOCITY_D, fill='white')
def create_label(self, x, y, text=None, color='white'):
return self.canvas.create_text(x, y, anchor=tk.W, font=('Helvetica', 12), fill=color, text=text)
def run(self):
# Start timing
self.start_sec = time()
# Start the recursive timer-task
self.task()
# Set Tkinter's main loop
self.root.mainloop()
def task(self):
reader = self.reader
# Refresh PX4Flow data
reader.refresh()
# Ground distance will be None on sensor fail
grnd_dist = reader.H
# Update sensor display
if grnd_dist:
xpix, ypix = self.location_to_pixels()
self.canvas.coords(self.location_circle, self.location_to_oval(xpix, ypix))
if self.location_pix_prev:
self.canvas.create_line(self.location_pix_prev[0], self.location_pix_prev[1], xpix, ypix, fill='red')
self.location_pix_prev = xpix, ypix
self.grnd_dist_gauge.update(grnd_dist)
self.quality_gauge.update(reader.Quality)
x = VELOCITY_X + 2
y = VELOCITY_Y + 2
self.canvas.coords(self.x_line, (x, y, int(VELOCITY_X+reader.X/VELOCITY_MAX*VELOCITY_D), y))
self.canvas.itemconfigure(self.x_line, fill = 'red' if reader.X < 0 else 'green')
self.canvas.coords(self.y_line, (x, y, x, int(VELOCITY_Y+reader.Y/VELOCITY_MAX*VELOCITY_D)))
self.canvas.itemconfigure(self.y_line, fill = 'red' if reader.Y < 0 else 'green')
else:
self.failcount += 1
print('Fail %d' % self.failcount)
# Report speed after several seconds
elapsed_sec = time() - self.start_sec
if elapsed_sec > 5:
self.canvas.itemconfigure(self.rate_label, text='%d updates / sec' % \
int(reader.count/elapsed_sec))
# Reschedule this task immediately
self.frame.after(1, self.task)
def click(self, event):
print("Clicked at: ", event.x, event.y)
def key(self, event):
# Make sure the frame is receiving input!
self.frame.focus_force()
if event.keysym == 'Escape':
exit(0)
