def create_tabbed_menu(self):
tabbed_menu = TabbedPanel(size_hint=(None, 1),
size=(200, 0),
pos_hint={
'left': 1,
'top': 1
},
do_default_tab=False,
border=(0, 0, 0, 0),
tab_pos='top_mid',
tab_width=200)
# Color panel
with tabbed_menu.canvas.before:
tabbed_menu.rect = Image(source=BKGD_DCHRC,
allow_stretch=True,
keep_ratio=False,
size_hint=(1, 1))
tabbed_menu.bind(pos=self.update_rect, size=self.update_rect)
tabbed_menu.preset_tab = HoverTab(text='Presets',
background_normal=TAB_DCHRC[0],
background_down=TAB_DCHRC[1])
tabbed_menu.add_widget(tabbed_menu.preset_tab)
self.panel_layout.add_widget(tabbed_menu)
return tabbed_menu
def build(self):
tabbedpanel = TabbedPanel(do_default_tab = False)
tabbedpanel.bind(current_tab = self.on_current_tab)
self.curtab = None
self.filechooser = FileChooser(path = os.path.abspath('.'), on_submit = self.on_file_submit)
self.filechooserheader = TabbedPanelHeader(text = 'Select file', content = self.filechooser)
tabbedpanel.add_widget(self.filechooserheader)
self.qrwidget = QRCode()
self.qrwidget.borderwidth = self.config.getint('settings', 'borderwidth')
self.on_config_change(self.config, 'settings', 'error', self.config.get('settings', 'error'))
self.qrwidget.imagery = self.config.get('settings', 'imagery')
self.qrwidgetheader = TabbedPanelHeader(text = 'Sending', content = self.qrwidget)
tabbedpanel.add_widget(self.qrwidgetheader)
self.readiter = None
self.writefile = None
self.cameraheaders = (
TabbedPanelHeader(text = 'Camera 1'),#, content = Camera(index = 0, play = False)),
TabbedPanelHeader(text = 'Camera 2')#, content = Camera(index = 1, play = False))
)
for cameraheader in self.cameraheaders:
tabbedpanel.add_widget(cameraheader)
#self.camera = Camera(index=1)
#self.camera._camera.bind(on_texture = self.on_camtexture)
#self.camera._camera.widget = self.camera
#pagelayout.add_widget(self.camera)
self.settingsheader = TabbedPanelHeader(text = 'Settings', content = self._app_settings)
tabbedpanel.add_widget(self.settingsheader)
self.tabbedpanel = tabbedpanel
self.settings_cls = SettingsWithNoMenu
# this seems clearer than doing the hack to make dynamic creation work in tabbedpanel
self._app_settings = self.create_settings()
return tabbedpanel
class dashboard(App):
def __init__(self, arg=None):
super(dashboard, self).__init__()
self.arg = arg
self.run()
def build(self):
self.connect()
self.load_sounds()
self.main_tab = TabbedPanel()
self.trim_tab = TrimTab(self.vehicle, self.main_tab)
#self.main_tab.bind(children=self.on_switch)
self.main_tab.bind(current_tab=self.on_switch)
self.update_tab_callbacks()
self.prepare()
self.main_tab.default_tab_text = "Basic"
self.main_tab.default_tab_content = self.dashboard_base_tab()
th = TabbedPanelHeader(text="Speed asist")
th.content = self.dashboard_speed_tab()
self.main_tab.add_widget(th)
th = TabbedPanelHeader(text="Trim")
th.content = self.trim_tab.content()
self.main_tab.add_widget(th)
#self.main_tab.add_widget(self.draw_bottom_line())
self.status_release = -9
self.status_bar = BoxLayout(orientation="horizontal")
self.last_update = Label()
self.last_update.text = "Test..."
self.status_bar.add_widget(self.last_update)
self.status_bar.size_hint = (None, 0.1)
self.window = BoxLayout(orientation="vertical")
self.window.add_widget(self.main_tab)
self.window.add_widget(self.status_bar)
return self.window
def on_switch(self, widget, tab):
#print("Switch to", tab.content.children, self.trim_tab.content)
self.trim_tab.set_active(False)
if tab.content == self.trim_tab.content:
print("Zapinam TrimTab")
self.trim_tab.set_active(True)
def load_sounds(self):
self.sound_ping = SoundLoader.load('media/sounds/short-ping.wav')
self.sound_pop = SoundLoader.load('media/sounds/pop.wav')
def prepare(self):
self.target_speed = 10.0
self.target_airspeed = True
def alert(self, alert):
Logger.info('ALERT:' + alert)
def update_tab_callbacks(self):
Logger.info("Nastavuji callbacky")
self.callback_global = Clock.schedule_interval(self.cb_global, 1 / 10)
self.callback_base = Clock.schedule_interval(self.cb_base, 1 / 10)
self.callback_speed = Clock.schedule_interval(self.cb_speed_asistent,
1 / 10)
self.callback_trim = Clock.schedule_interval(self.trim_tab.update,
1 / 10)
def connect(self, ip="0.0.0.0", port=11000):
self.vehicle = connect("0.0.0.0:11000", status_printer=self.alert)
#self.vehicle = connect("10.42.0.1:14550", status_printer = self.alert)
#self.vehicle = connect("0.0.0.0:14550", status_printer = self.alert)
self.vehicle.initialize()
Logger.info('Connected to vehicle')
self.tts = pyttsx3.init()
def cb_global(self, time):
self.last_update.text = " Last update in: {:.2f}".format(
self.vehicle.last_heartbeat)
def cb_base(self, time):
self.w_base_pitch_value.text = '''
Pitch: {:=+8.2f}
Roll: {:=+8.2f}
Yaw: {:=+8.2f}
'''.format(math.degrees(self.vehicle.attitude.pitch),
math.degrees(self.vehicle.attitude.roll),
math.degrees(self.vehicle.attitude.yaw))
armed = "ARMed" if self.vehicle.armed else "DISARMed"
self.w_base_status_text.text = '''
{}
{}
{}
'''.format(self.vehicle.system_status.state,
self.vehicle.mode.name, armed)
self.w_base_spd_value.text = '''
Aspd: {:5.2f}
Gspd: {:5.2f}
'''.format(self.vehicle.airspeed, self.vehicle.groundspeed)
self.w_base_gps_value.text = '''
FIX: {}
Count: {}
VHDOP: {}\{}
'''.format(self.vehicle.gps_0.fix_type,
self.vehicle.gps_0.satellites_visible,
self.vehicle.gps_0.epv, self.vehicle.gps_0.eph)
def dashboard_base_tab(self):
canvas = GridLayout()
canvas.cols = 3
l = BoxLayout(orientation='vertical')
l.add_widget(Label(text="Status"))
self.w_base_status_text = Label(font_size="20sp", halign="center")
l.add_widget(self.w_base_status_text)
canvas.add_widget(l)
l = BoxLayout(orientation='vertical')
l.add_widget(Label(text="Attitude"))
self.w_base_pitch_value = Label(font_size="25sp", halign="left")
l.add_widget(self.w_base_pitch_value)
canvas.add_widget(l)
l = BoxLayout(orientation='vertical')
l.add_widget(Label(text="Speed"))
self.w_base_spd_value = Label(font_size="25sp", halign="left")
l.add_widget(self.w_base_spd_value)
canvas.add_widget(l)
l = BoxLayout(orientation='vertical')
l.add_widget(Label(text="GPS"))
self.w_base_gps_value = Label(font_size="25sp", halign="left")
l.add_widget(self.w_base_gps_value)
canvas.add_widget(l)
canvas.add_widget(wValue())
return canvas
def cb_speed_asistent(self, time):
#self.w_spd_release_status.text = "Aspd: {:=6.3f}".format(self.vehicle.airspeed)
#self.w_spd_speed_info.text = "Gspd: {:=6.3f}".format(self.vehicle.groundspeed)
#self.w_spd_targetspeed.text = "{}m\s ({})".format(self.target_speed, self.target_speed*3.6)
if self.status_release != round(
(self.vehicle.channels.get('16', 0) - 1500) / 500.0):
self.status_release = round(
(self.vehicle.channels.get('16', 0) - 1500) / 500.0)
self.sound_ping.play()
if self.status_release == -1:
text = "Připojeno"
color = "00ff00"
elif self.status_release == 1:
text = "Odpojeno"
color = "ff0000"
else:
text = "--neznám--"
color = "FFA500"
text = "[b][color={}][size=50]{}[/size][/color][/b]".format(
color, text)
self.w_spd_release_status.text = text
self.w_spd_speed_info.text = "Airspeed:[size=24]\n{:.2f}[/size]\n".format(
self.vehicle.airspeed * 3.6)
self.w_spd_speed_info.text += "Groundspeed: \n [size=24]{:.2f}[/size] \n".format(
self.vehicle.groundspeed * 3.6)
self.w_spd_speed_info.text += "Delta: \n [size=24]{:.2f}[/size] \n".format(
(self.vehicle.groundspeed - self.vehicle.airspeed) * 3.6)
if self.target_airspeed: vspd = self.vehicle.airspeed
else: vspd = self.vehicle.groundspeed
offset = self.target_speed - vspd
if abs(offset) > 8:
color = 'ff0000'
elif abs(offset) > 3:
color = 'ffff00'
else:
color = '00ff00'
self.w_spd_offset.text = """[/size][b][color={}][size=70]{:=+5.0f}[/color][/size][/b]""".format(
color, offset * 3.6)
self.w_spd_range.set_value(50 - offset * 100 / 14)
def cb_set_speed_source(self, instance, value):
if value == 'down':
if instance.id == 'plus':
self.target_speed += 1
elif instance.id == 'minus':
self.target_speed -= 1
elif instance.id == 'gspd':
self.target_airspeed = False
elif instance.id == 'aspd':
self.target_airspeed = True
self.w_spd_targetspeed.text = "{}m\s ({})".format(
self.target_speed, self.target_speed * 3.6)
def dashboard_speed_tab(self):
canvas = BoxLayout(orientation='vertical')
# 1st layer
setup = BoxLayout(orientation='horizontal')
#setup.height = 20
setup.size_hint = (1, None)
btnPlus = Button(text='-', id="minus")
self.w_spd_targetspeed = Label(text='10', font_size="20sp")
btnMinus = Button(text='+', id="plus")
btnAspd = ToggleButton(text='AirSpeed',
id="aspd",
group='speed_source',
state='down')
btnGspd = ToggleButton(text='GndSpeed',
id="gspd",
group='speed_source')
btnAspd.bind(state=self.cb_set_speed_source)
btnGspd.bind(state=self.cb_set_speed_source)
btnPlus.bind(state=self.cb_set_speed_source)
btnMinus.bind(state=self.cb_set_speed_source)
swRead = Switch(active=False)
swRead.bind(active=self.toggle_reading)
setup.add_widget(btnPlus)
setup.add_widget(self.w_spd_targetspeed)
setup.add_widget(btnMinus)
setup.add_widget(btnAspd)
setup.add_widget(btnGspd)
setup.add_widget(swRead)
# zaskrtavatko - hlas, tón, pipani
# Ukazatel
data = BoxLayout(orientation='horizontal')
data_actual = BoxLayout(orientation='vertical')
self.w_spd_release_status = Label(text="--Release--", markup=True)
self.w_spd_speed_info = Label(text="info",
markup=True,
halign="center")
data_actual.add_widget(self.w_spd_release_status)
data_actual.add_widget(self.w_spd_speed_info)
data_offset = BoxLayout(orientation='vertical')
self.w_spd_offset = Label(text="Err", font_size="50sp", markup=True)
data_offset.add_widget(self.w_spd_offset)
self.w_spd_range = Range()
data.add_widget(data_actual)
data.add_widget(data_offset)
data.add_widget(self.w_spd_range)
canvas.add_widget(setup)
canvas.add_widget(data)
return canvas
def toggle_reading(self, widget, state):
if state:
self.reading_timer = Clock.schedule_interval(
self.read_velocity, 1.5)
else:
self.reading_timer.cancel()
def read_velocity(self, time):
print("Rychlost je", self.vehicle.airspeed * 3.6)
self.tts.say("{}".format(round(self.vehicle.airspeed * 3.6)))
self.tts.runAndWait()
