def __init__(self, options):
prefsfile = os.path.abspath(options.preferences)
messagesfile = os.path.abspath(options.messages)
settingsfile = os.path.abspath(options.settings)
plugindir = os.path.abspath(options.plugin_dir)
disable_plugins = options.disable_plugins
if not os.path.exists(messagesfile):
message_dialog("Could not find messages.xml", None, secondary="%s does not exist." % messagesfile)
sys.exit(1)
if not os.path.exists(settingsfile):
message_dialog("Could not find settings.xml", None, secondary="%s does not exist." % settingsfile)
sys.exit(1)
#connect our log buffer to the python logging subsystem
self._logbuffer = LogBuffer()
handler = logging.StreamHandler(self._logbuffer)
defaultFormatter = logging.Formatter(self._logbuffer.FORMAT)
handler.setFormatter(defaultFormatter)
logging.root.addHandler(handler)
LOG.info("Groundstation loading")
LOG.info("Restored preferences: %s" % prefsfile)
LOG.info("Messages file: %s" % messagesfile)
LOG.info("Settings file: %s" % settingsfile)
LOG.info("Installed: %d" % gs.IS_INSTALLED)
LOG.info("Windows: %d" % gs.IS_WINDOWS)
try:
GtkBuilderWidget.__init__(self, "groundstation.ui")
except Exception:
LOG.critical("Error loading ui file", exc_info=True)
sys.exit(1)
icon = get_icon_pixbuf("rocket.svg")
gtk.window_set_default_icon(icon)
self._tried_to_connect = False
self._home_lat = self.CONFIG_LAT_DEFAULT
self._home_lon = self.CONFIG_LON_DEFAULT
self._home_zoom = self.CONFIG_ZOOM_DEFAULT
self.window = self.get_resource("main_window")
self.window.set_title(gs.NAME)
self._config = Config(filename=prefsfile)
ConfigurableIface.__init__(self, self._config)
self._messagesfile = MessagesFile(path=messagesfile, debug=False)
self._messagesfile.parse()
self._settingsfile = SettingsFile(path=settingsfile)
self._source = UAVSource(self._config, self._messagesfile, options)
self._source.connect("source-connected", self._on_source_connected)
self._source.connect("uav-selected", self._on_uav_selected)
#track the UAVs we have got data from
self._source.connect("uav-detected", self._on_uav_detected)
self._uav_detected_model = gtk.ListStore(str,int)
self._uav_detected_model.append( ("All UAVs", wasp.ACID_ALL) )
#track the state of a few key variables received from the plane
self._state = {}
self._source.register_interest(self._on_gps, 2, "GPS_LLH")
#All the menus in the UI. Get them the first time a plugin tries to add a submenu
#to the UI to save startup time.
self._menus = {
"File" : None,
"Window" : None,
"Map" : None,
"UAV" : None,
"Help" : None,
}
self._map = Map(self._config, self._source)
self._msgarea = MsgAreaController()
self._sb = StatusBar(self._source)
self._info = InfoBox(self._source, self._settingsfile)
self._statusicon = StatusIcon(icon, self._source)
#raise the window when the status icon clicked
self._statusicon.connect("activate", lambda si, win: win.present(), self.window)
self.get_resource("main_left_vbox").pack_start(self._info.widget, False, False)
self.get_resource("window_vbox").pack_start(self._msgarea, False, False)
self.get_resource("window_vbox").pack_start(self._sb, False, False)
#The telemetry tab page
self.telemetrycontroller = TelemetryController(self._config, self._source, self._messagesfile, self.window)
self.get_resource("telemetry_hbox").pack_start(self.telemetrycontroller.widget, True, True)
#The settings tab page
self.settingscontroller = SettingsController(self._source, self._settingsfile, self._messagesfile)
self.get_resource("settings_hbox").pack_start(self.settingscontroller.widget, True, True)
#The command and control tab page
self.commandcontroller = CommandController(self._source, self._messagesfile, self._settingsfile)
self.get_resource("command_hbox").pack_start(self.commandcontroller.widget, False, True)
self.controlcontroller = ControlController(self._source, self._messagesfile, self._settingsfile)
self.get_resource("control_hbox").pack_start(self.controlcontroller.widget, True, True)
#Track ok/failed command messages
self._source.connect("command-ok", self._on_command_ok)
self._source.connect("command-fail", self._on_command_fail)
#Track logging of source
self._source.connect("logging-started", self._on_logging_started)
#Lazy initialize the following when first needed
self._plane_view = None
self._horizon_view = None
self._prefs_window = None
#create the map
self.get_resource("map_holder").add(self._map.get_widget())
self._map.connect("notify::auto-center", self.on_map_autocenter_property_change)
self._map.connect("notify::show-trip-history", self.on_map_show_trip_history_property_change)
#initialize the plugins
self._plugin_manager = PluginManager(plugindir)
if not disable_plugins:
self._plugin_manager.initialize_plugins(self._config, self._source, self._messagesfile, self._settingsfile, self)
#Setup those items which are configurable, or depend on configurable
#information, and implement config.ConfigurableIface
self._configurable = [
self,
self._source,
self._map,
self.telemetrycontroller.graphmanager,
]
#Add those plugins that can also be configured
self._configurable += self._plugin_manager.get_plugins_implementing_interface(ConfigurableIface)
for c in self._configurable:
if c:
c.update_state_from_config()
self.get_resource("menu_item_disconnect").set_sensitive(False)
self.get_resource("menu_item_autopilot_disable").set_sensitive(False)
self.builder_connect_signals()
self.window.show_all()
class Groundstation(GtkBuilderWidget, ConfigurableIface):
""" The main groundstation window """
CONFIG_SECTION = "MAIN"
CONFIG_CONNECT_NAME = "Connect_to_UAV_automatically"
CONFIG_CONNECT_DEFAULT = "1"
CONFIG_LAT_DEFAULT = wasp.HOME_LAT
CONFIG_LON_DEFAULT = wasp.HOME_LON
CONFIG_ZOOM_DEFAULT = 12
def __init__(self, options):
prefsfile = os.path.abspath(options.preferences)
messagesfile = os.path.abspath(options.messages)
settingsfile = os.path.abspath(options.settings)
plugindir = os.path.abspath(options.plugin_dir)
disable_plugins = options.disable_plugins
if not os.path.exists(messagesfile):
message_dialog("Could not find messages.xml", None, secondary="%s does not exist." % messagesfile)
sys.exit(1)
if not os.path.exists(settingsfile):
message_dialog("Could not find settings.xml", None, secondary="%s does not exist." % settingsfile)
sys.exit(1)
#connect our log buffer to the python logging subsystem
self._logbuffer = LogBuffer()
handler = logging.StreamHandler(self._logbuffer)
defaultFormatter = logging.Formatter(self._logbuffer.FORMAT)
handler.setFormatter(defaultFormatter)
logging.root.addHandler(handler)
LOG.info("Groundstation loading")
LOG.info("Restored preferences: %s" % prefsfile)
LOG.info("Messages file: %s" % messagesfile)
LOG.info("Settings file: %s" % settingsfile)
LOG.info("Installed: %d" % gs.IS_INSTALLED)
LOG.info("Windows: %d" % gs.IS_WINDOWS)
try:
GtkBuilderWidget.__init__(self, "groundstation.ui")
except Exception:
LOG.critical("Error loading ui file", exc_info=True)
sys.exit(1)
icon = get_icon_pixbuf("rocket.svg")
gtk.window_set_default_icon(icon)
self._tried_to_connect = False
self._home_lat = self.CONFIG_LAT_DEFAULT
self._home_lon = self.CONFIG_LON_DEFAULT
self._home_zoom = self.CONFIG_ZOOM_DEFAULT
self.window = self.get_resource("main_window")
self.window.set_title(gs.NAME)
self._config = Config(filename=prefsfile)
ConfigurableIface.__init__(self, self._config)
self._messagesfile = MessagesFile(path=messagesfile, debug=False)
self._messagesfile.parse()
self._settingsfile = SettingsFile(path=settingsfile)
self._source = UAVSource(self._config, self._messagesfile, options)
self._source.connect("source-connected", self._on_source_connected)
self._source.connect("uav-selected", self._on_uav_selected)
#track the UAVs we have got data from
self._source.connect("uav-detected", self._on_uav_detected)
self._uav_detected_model = gtk.ListStore(str,int)
self._uav_detected_model.append( ("All UAVs", wasp.ACID_ALL) )
#track the state of a few key variables received from the plane
self._state = {}
self._source.register_interest(self._on_gps, 2, "GPS_LLH")
#All the menus in the UI. Get them the first time a plugin tries to add a submenu
#to the UI to save startup time.
self._menus = {
"File" : None,
"Window" : None,
"Map" : None,
"UAV" : None,
"Help" : None,
}
self._map = Map(self._config, self._source)
self._msgarea = MsgAreaController()
self._sb = StatusBar(self._source)
self._info = InfoBox(self._source, self._settingsfile)
self._statusicon = StatusIcon(icon, self._source)
#raise the window when the status icon clicked
self._statusicon.connect("activate", lambda si, win: win.present(), self.window)
self.get_resource("main_left_vbox").pack_start(self._info.widget, False, False)
self.get_resource("window_vbox").pack_start(self._msgarea, False, False)
self.get_resource("window_vbox").pack_start(self._sb, False, False)
#The telemetry tab page
self.telemetrycontroller = TelemetryController(self._config, self._source, self._messagesfile, self.window)
self.get_resource("telemetry_hbox").pack_start(self.telemetrycontroller.widget, True, True)
#The settings tab page
self.settingscontroller = SettingsController(self._source, self._settingsfile, self._messagesfile)
self.get_resource("settings_hbox").pack_start(self.settingscontroller.widget, True, True)
#The command and control tab page
self.commandcontroller = CommandController(self._source, self._messagesfile, self._settingsfile)
self.get_resource("command_hbox").pack_start(self.commandcontroller.widget, False, True)
self.controlcontroller = ControlController(self._source, self._messagesfile, self._settingsfile)
self.get_resource("control_hbox").pack_start(self.controlcontroller.widget, True, True)
#Track ok/failed command messages
self._source.connect("command-ok", self._on_command_ok)
self._source.connect("command-fail", self._on_command_fail)
#Track logging of source
self._source.connect("logging-started", self._on_logging_started)
#Lazy initialize the following when first needed
self._plane_view = None
self._horizon_view = None
self._prefs_window = None
#create the map
self.get_resource("map_holder").add(self._map.get_widget())
self._map.connect("notify::auto-center", self.on_map_autocenter_property_change)
self._map.connect("notify::show-trip-history", self.on_map_show_trip_history_property_change)
#initialize the plugins
self._plugin_manager = PluginManager(plugindir)
if not disable_plugins:
self._plugin_manager.initialize_plugins(self._config, self._source, self._messagesfile, self._settingsfile, self)
#Setup those items which are configurable, or depend on configurable
#information, and implement config.ConfigurableIface
self._configurable = [
self,
self._source,
self._map,
self.telemetrycontroller.graphmanager,
]
#Add those plugins that can also be configured
self._configurable += self._plugin_manager.get_plugins_implementing_interface(ConfigurableIface)
for c in self._configurable:
if c:
c.update_state_from_config()
self.get_resource("menu_item_disconnect").set_sensitive(False)
self.get_resource("menu_item_autopilot_disable").set_sensitive(False)
self.builder_connect_signals()
self.window.show_all()
def _on_command_ok(self, source, msgid):
LOG.debug("COMMAND OK (ID: %d)", msgid)
def _on_command_fail(self, source, msgid, error_msg):
msg = self._messagesfile.get_message_by_id(msgid)
self._msgarea.new_from_text_and_icon(
"Command Error",
"Message %s, %s" % (msg.name, error_msg),
message_type=gtk.MESSAGE_ERROR,
timeout=5).show_all()
def _on_uav_detected(self, source, acid):
self._uav_detected_model.append( ("0x%X" % acid, acid) )
def _on_uav_selected(self, source, acid):
self.window.set_title("%s - UAV: 0x%X" % (gs.NAME, acid))
def _on_gps(self, msg, header, payload):
fix,sv,lat,lon,hsl,hacc,vacc = msg.unpack_scaled_values(payload)
if fix:
self._state["lat"] = lat
self._state["lon"] = lon
#convert from mm to m
self._state["hsl"] = hsl/1000.0
def _on_source_connected(self, source, connected):
conn_menu = self.get_resource("menu_item_connect")
disconn_menu = self.get_resource("menu_item_disconnect")
if connected:
conn_menu.set_sensitive(False)
disconn_menu.set_sensitive(True)
#request UAV info once connected
gobject.timeout_add(500, lambda: self._source.refresh_uav_info())
else:
disconn_menu.set_sensitive(False)
conn_menu.set_sensitive(True)
def _connect(self):
self._tried_to_connect = True
self._source.connect_to_uav()
def _disconnect(self):
self._source.disconnect_from_uav()
def _add_submenu(self, name, parent_menu):
""" adds a submenu of name to parent_menu """
if name not in self._menus:
#add a new menu
menuitem = gtk.MenuItem(name)
parent_menu.append(menuitem)
menu = gtk.Menu()
menuitem.set_submenu(menu)
self._menus[name] = menu
return self._menus[name]
def _get_toplevel_menu(self, name):
""" gets, or creates a toplevel menu of name """
if name in self._menus:
menu = self._menus[name]
if not menu:
menu = self.get_resource("%s_menu" % name.lower())
else:
menu = self._add_submenu(name, self.get_resource("main_menubar"))
return menu
def add_menu_item(self, name, *item):
"""
Adds an item to the main window menubar.
:param name: the name of the top-level menu to add to, e.g. "File".
If a menu of that name does not exist, one is created
:param item: One or more gtk.MenuItem to add
"""
menu = self._get_toplevel_menu(name)
for i in item:
menu.append(i)
def add_submenu_item(self, name, submenu_name, *item):
"""
Adds a submenu and item to the main window menubar.
:param name: the name of the top-level menu to add to, e.g. "File".
If a menu of that name does not exist, one is created
:param submenu_name: the name of the submenu to hold the item
:param item: One or more gtk.MenuItem to add
"""
menu = self._add_submenu(submenu_name, self._get_toplevel_menu(name))
for i in item:
menu.append(i)
def add_control_widget(self, name, control_widget):
"""
Adds a control widget to the Command and Control page
:param name: the name, a string describing the control method,
i.e. 'Joystick'
:param control_widget: a `gs.ui.control.ControlWidgetIface` that gets placed
in the Command and control page of the GUI
"""
self.controlcontroller.add_control_widget(name, control_widget)
def update_state_from_config(self):
self._c = self.config_get(self.CONFIG_CONNECT_NAME, self.CONFIG_CONNECT_DEFAULT)
if self._c == "1" and not self._tried_to_connect:
gobject.timeout_add(2000, self._connect)
try:
self._home_lat = float(self.config_get("home_lat", self.CONFIG_LAT_DEFAULT))
self._home_lon = float(self.config_get("home_lon", self.CONFIG_LON_DEFAULT))
self._home_zoom = float(self.config_get("home_zoom", self.CONFIG_ZOOM_DEFAULT))
except Exception:
LOG.critical("Config error reading home position", exc_info=True)
def update_config_from_state(self):
self.config_set(self.CONFIG_CONNECT_NAME, self._c)
self.config_set("home_lat", self._home_lat)
self.config_set("home_lon", self._home_lon)
self.config_set("home_zoom", self._home_zoom)
def get_preference_widgets(self):
ck = self.build_checkbutton(self.CONFIG_CONNECT_NAME)
e1 = self.build_entry("home_lat")
e2 = self.build_entry("home_lon")
e3 = self.build_entry("home_zoom")
items = [ck, e1, e2, e3]
sg = self.build_sizegroup()
frame = self.build_frame(None, [
ck,
self.build_label("Home Latitude", e1, sg=sg),
self.build_label("Home Longitude", e2, sg=sg),
self.build_label("Home Zoom", e3, sg=sg)
])
return "Main Window", frame, items
def on_window_destroy(self, widget):
for c in self._configurable:
if c:
c.update_config_from_state()
self._config.save()
self._source.quit()
gtk.main_quit()
def on_menu_item_edit_flightplan_activate(self, *args):
self._map.edit_flightplan()
def on_menu_item_uav_mark_home_activate(self, *args):
#get lat, lon from state
try:
lat = self._state["lat"]
lon = self._state["lon"]
hsl = self._state["hsl"]
self._map.mark_home(lat,lon)
self._sb.mark_home(lat, lon)
#tell the UAV where home is
self._source.send_message(
self._messagesfile.get_message_by_name("MARK_HOME"),
(lat,lon,hsl)
)
except KeyError:
msg = self._msgarea.new_from_text_and_icon(
"Mark Home Failed",
"A GPS location has not been received from the UAV yet",
message_type=gtk.MESSAGE_ERROR,
timeout=5)
msg.show_all()
def _on_logging_started(self, source, loggers):
msg = self._msgarea.new_from_text_and_icon(
"Logging Data Enabled",
"Messages will be saved to %s in %s" % (
", ".join(['<a href="file://%s">%s</a>' % (l.logfile,os.path.basename(l.logfile)) for l in loggers]),
'<a href="file://%s">%s</a>' % (os.path.dirname(loggers[0].logfile),os.path.basename(os.path.dirname(loggers[0].logfile)))),
timeout=5)
msg.show_all()
def on_menu_item_log_uav_data_activate(self, *args):
sw = self.get_resource("log_message_scrolledwindow")
tv = MessageTreeView(
self._source.get_rx_message_treestore(),
editable=False, show_dt=False, show_value=False)
tv.get_selection().set_mode(gtk.SELECTION_MULTIPLE)
tv.show()
sw.add(tv)
w = self.get_resource("logdatadialog")
w.set_transient_for(self.window)
w.set_position(gtk.WIN_POS_CENTER_ON_PARENT)
resp = w.run()
w.hide()
if resp == gtk.RESPONSE_OK:
csv = self.get_resource("log_csv_radiobutton")
messages = [m.name for m in tv.get_all_selected_messages()]
if messages:
if csv.get_active():
self._source.register_csv_logger(None, *messages)
else:
self._source.register_sqlite_logger(None, *messages)
else:
msg = self._msgarea.new_from_text_and_icon(
"Logging Data Failed",
"You must select messages to be logged",
message_type=gtk.MESSAGE_ERROR,
timeout=5)
msg.show_all()
sw.remove(tv)
def on_menu_item_export_kml_activate(self, *args):
path = self._map.save_kml()
if path:
msg = self._msgarea.new_from_text_and_icon(
"KML Export Successful",
'The file has been saved to <a href="file://%s">%s</a>' % (path, path),
timeout=5)
else:
msg = self._msgarea.new_from_text_and_icon(
"KML Export Failed",
"You must mark the home position of the flight first.",
message_type=gtk.MESSAGE_ERROR,
timeout=5)
msg.show_all()
def on_menu_item_select_uav_activate(self, *args):
tv = self.get_resource("treeview_select_uav")
tv.set_model(self._uav_detected_model)
dlg = self.get_resource("dialog_select_uav")
dlg.set_transient_for(self.window)
dlg.set_position(gtk.WIN_POS_CENTER_ON_PARENT)
resp = dlg.run()
dlg.hide()
if resp == gtk.RESPONSE_OK:
model, iter_ = tv.get_selection().get_selected()
if iter_:
acid = model.get_value(iter_, 1)
self._source.select_uav(acid)
def on_menu_item_refresh_uav_activate(self, *args):
self._source.refresh_uav_info()
def on_menu_item_request_telemetry_activate(self, *args):
self.telemetrycontroller.request_telemetry()
def on_menu_item_log_activate(self, widget):
w = LogWindow(self._logbuffer)
w.connect("delete-event", gtk.Widget.hide_on_delete)
w.set_transient_for(self.window)
w.set_position(gtk.WIN_POS_CENTER_ON_PARENT)
w.show_all()
def on_menu_item_show_plugins_activate(self, widget):
def make_model(plugins):
m = gtk.ListStore(str, str)
for name,ver in plugins:
m.append((name,ver))
return m
loaded, failed = self._plugin_manager.get_plugin_summary()
ptv = self.get_resource("plugintreeview")
ptv.set_model( make_model(loaded) )
pftv = self.get_resource("pluginfailedtreeview")
pftv.set_model( make_model(failed) )
w = self.get_resource("pluginwindow")
w.connect("delete-event", gtk.Widget.hide_on_delete)
w.set_transient_for(self.window)
w.set_position(gtk.WIN_POS_CENTER_ON_PARENT)
w.show_all()
def on_menu_item_home_activate(self, widget):
self._map.centre(self._home_lat, self._home_lon, self._home_zoom)
def on_menu_item_centre_activate(self, widget):
self._map.centre()
def on_menu_item_zoom_in_activate(self, widget):
self._map.set_zoom(self._map.props.zoom+1)
def on_menu_item_zoom_out_activate(self, widget):
self._map.set_zoom(self._map.props.zoom-1)
def on_menu_item_cache_map_activate(self, widget):
self._map.show_cache_dialog(self._msgarea)
def on_menu_item_preferences_activate(self, widget):
if not self._prefs_window:
self._prefs_window = ConfigWindow(self.window, self._configurable)
resp = self._prefs_window.show(self._config)
#If the user clicked ok to the dialog, update all
#objects which are configuration dependant
if resp == gtk.RESPONSE_ACCEPT:
for obj in self._configurable:
obj.update_state_from_config()
def on_menu_item_connect_activate(self, widget):
self._connect()
def on_menu_item_disconnect_activate(self, widget):
self._disconnect()
def on_autopilot_enable_activate(self, widget):
self.get_resource("menu_item_autopilot_disable").set_sensitive(True)
self.get_resource("menu_item_autopilot_enable").set_sensitive(False)
def on_autopilot_disable_activate(self, widget):
self.get_resource("menu_item_autopilot_disable").set_sensitive(False)
self.get_resource("menu_item_autopilot_enable").set_sensitive(True)
def on_menu_item_about_activate(self, widget):
dlg = gtk.AboutDialog()
dlg.set_name("UAV Groundstation")
dlg.set_authors(("Mark Cottrell", "John Stowers"))
dlg.set_version("0.2")
dlg.run()
dlg.destroy()
def on_menu_item_show_previous_activate(self, widget):
message_dialog("Not Implemented", self.window)
def on_menu_item_plane_view_activate(self, widget):
if self._plane_view == None:
try:
from gs.ui.plane import PlaneView
self._plane_view = PlaneView(self._source)
except:
LOG.warning("Could not initialize plane view", exc_info=True)
return
self._plane_view.show_all()
def on_menu_item_horizon_view_activate(self, widget):
if self._horizon_view == None:
try:
from gs.ui.horizon import HorizonView
self._horizon_view = HorizonView(self._source)
except:
LOG.warning("Could not initialize horizon view", exc_info=True)
return
self._horizon_view.show_all()
def on_menu_item_clear_path_activate(self, widget):
self._map.clear_gps()
def on_menu_item_clear_previous_activate(self, widget):
self._map.clear_tracks()
def on_map_autocenter_property_change(self, osm, *args):
self.get_resource("menu_item_auto_centre").set_active(osm.get_property("auto-center"))
def on_menu_item_auto_centre_toggled(self, widget):
self._map.props.auto_center = widget.get_active()
def on_map_show_trip_history_property_change(self, osm, *args):
self.get_resource("menu_item_show_path").set_active(osm.get_property("show-trip-history"))
def on_menu_item_show_path_toggled(self, widget):
self._map.props.show_trip_history = widget.get_active()
def main(self):
gtk.main()