pax_global_header00006660000000000000000000000064150432451500014511gustar00rootroot0000000000000052 comment=932f6945cfc7fbc6579e166667d43e327fe44f2d MAVProxy-1.8.74/000077500000000000000000000000001504324515000132775ustar00rootroot00000000000000MAVProxy-1.8.74/.flake8000066400000000000000000000006561504324515000144610ustar00rootroot00000000000000[flake8] ignore = # H301: one import per line H301, # H306: imports not in alphabetical order (time, os) H306, # E226: missing whitespace around arithmetic operator E226, # E261 at least two spaces before inline comment E261, # W504 line break after binary operator W504, # E203 whitespace before ':' E203, # E221 multiple spaces before operator E221 max-line-length = 127 MAVProxy-1.8.74/.github/000077500000000000000000000000001504324515000146375ustar00rootroot00000000000000MAVProxy-1.8.74/.github/dependabot.yml000066400000000000000000000011031504324515000174620ustar00rootroot00000000000000# Keep GitHub Actions up to date with GitHub's Dependabot... # https://docs.github.com/en/code-security/dependabot/working-with-dependabot/keeping-your-actions-up-to-date-with-dependabot # https://docs.github.com/en/code-security/dependabot/dependabot-version-updates/configuration-options-for-the-dependabot.yml-file#package-ecosystem version: 2 updates: - package-ecosystem: github-actions directory: / groups: github-actions: patterns: - "*" # Group all Actions updates into a single larger pull request schedule: interval: weekly MAVProxy-1.8.74/.github/workflows/000077500000000000000000000000001504324515000166745ustar00rootroot00000000000000MAVProxy-1.8.74/.github/workflows/python-cleanliness.yml000066400000000000000000000010121504324515000232300ustar00rootroot00000000000000name: test Python cleanliness on: [push, pull_request, workflow_dispatch] concurrency: group: ci-${{github.workflow}}-${{ github.ref }} cancel-in-progress: true jobs: build: runs-on: ubuntu-22.04 steps: # git checkout the PR - uses: actions/checkout@v4 with: submodules: 'recursive' - name: Install dependencies run: | python -m pip install -U flake8 - name: Check Python with Flake8 run: | scripts/run_flake8.py MAVProxy MAVProxy-1.8.74/.github/workflows/python-publish.yml000066400000000000000000000017321504324515000224070ustar00rootroot00000000000000# This workflow will upload a Python Package using Twine when a release is created # For more information see: https://help.github.com/en/actions/language-and-framework-guides/using-python-with-github-actions#publishing-to-package-registries name: Upload MAVProxy Package on: release: types: [published] jobs: deploy: runs-on: ubuntu-latest steps: - uses: actions/checkout@v4 - name: Set up Python uses: actions/setup-python@v5 with: python-version: '3.10' - name: Install dependencies run: | python -m pip install -U pip python -m pip install -U wheel python -m pip install -U pymavlink pip install build pip install -U . git submodule update --recursive --init - name: Build package run: python -m build - name: Publish package uses: pypa/gh-action-pypi-publish@release/v1 with: user: __token__ password: ${{ secrets.PYPI_API_TOKEN }} MAVProxy-1.8.74/.github/workflows/windows_build.yml000066400000000000000000000065201504324515000222730ustar00rootroot00000000000000name: Windows Build on: [push, pull_request, workflow_dispatch] concurrency: group: ci-${{github.workflow}}-${{ github.ref }} cancel-in-progress: true jobs: build: runs-on: 'windows-latest' strategy: matrix: python-version: ['3.10'] steps: - uses: actions/checkout@v4 with: submodules: 'recursive' - uses: actions/checkout@v4 - name: Set up Python ${{ matrix.python-version }} uses: actions/setup-python@v5 with: python-version: ${{ matrix.python-version }} - name: Install dependencies run: | python3 -m pip install -U wheel setuptools pip python3 -m pip install -U pywin32 lxml pymavlink numpy matplotlib pyserial opencv-python PyYAML Pygame Pillow wxpython prompt-toolkit scipy python3 -m pip install -U openai pyaudio python3 -m pip install -U pyinstaller==6.7.0 packaging - name: Download Inno Setup installer run: curl -L -o installer.exe http://files.jrsoftware.org/is/6/innosetup-6.3.1.exe - name: Install Inno Setup run: ./installer.exe /verysilent /allusers /dir=inst - name: Build MAVProxy run: | python3 -m pip install .[recommended] --user python3 -m pip list - name: Prepare installer run: | cd MAVProxy copy ..\\windows\\mavproxy.spec pyinstaller --clean mavproxy.spec del mavproxy.spec - name: Download parameters run: | mkdir Parameters $wc = New-Object System.Net.WebClient $wc.DownloadFile('https://autotest.ardupilot.org/Parameters/Rover/apm.pdef.xml', 'Parameters\Rover.xml') $wc.DownloadFile('https://autotest.ardupilot.org/Parameters/Copter/apm.pdef.xml', 'Parameters\Copter.xml') $wc.DownloadFile('https://autotest.ardupilot.org/Parameters/Plane/apm.pdef.xml', 'Parameters\Plane.xml') $wc.DownloadFile('https://autotest.ardupilot.org/Parameters/Sub/apm.pdef.xml', 'Parameters\Sub.xml') $wc.DownloadFile('https://autotest.ardupilot.org/Parameters/AntennaTracker/apm.pdef.xml', 'Parameters\AntennaTracker.xml') $wc.DownloadFile('https://autotest.ardupilot.org/Parameters/Heli/apm.pdef.xml', 'Parameters\Heli.xml') $wc.DownloadFile('https://autotest.ardupilot.org/Parameters/Blimp/apm.pdef.xml', 'Parameters\Blimp.xml') - name: Build installer run: | cd windows $env:VERSION=$(python returnVersion.py) python3 returnVersion.py > version.txt ISCC.exe /dMyAppVersion=$env:VERSION mavproxy.iss ls Output - name: Archive build uses: actions/upload-artifact@v4 with: name: MAVProxyInstaller path: windows/Output retention-days: 7 - name: Pre Release uses: "softprops/action-gh-release@v2" if: github.ref == 'refs/heads/master' with: prerelease: true name: "Development Build" tag_name: "latest" files: windows/Output/*.* token: "${{ secrets.GITHUB_TOKEN }}" - name: Release uses: "softprops/action-gh-release@v2" if: startsWith(github.ref, 'refs/tags/v') with: prerelease: false files: windows/Output/*.* token: "${{ secrets.GITHUB_TOKEN }}" MAVProxy-1.8.74/.gitignore000066400000000000000000000002151504324515000152650ustar00rootroot00000000000000mavproxy *~ *.o *.pyc *.log camera/ build/ dist/ gtest/ *.tlog *.raw MANIFEST *.egg-info .DS_Store *.bak *.orig windows/version.txt /.vscode MAVProxy-1.8.74/.gitmodules000066400000000000000000000002121504324515000154470ustar00rootroot00000000000000[submodule "MAVProxy/modules/mavproxy_cesium"] path = MAVProxy/modules/mavproxy_cesium url = https://github.com/ArduPilot/MAVCesium.git MAVProxy-1.8.74/ANDROID.md000066400000000000000000000041311504324515000147000ustar00rootroot00000000000000## install MAVProxy on Android ? Yes, it's possible to install MAVProxy on Android, totally unsupported, no guarantees, good luck, but here goes. ### install/load Termux Android app from .apk on github see https://github.com/termux/termux-app for more. eg: https://github.com/termux/termux-app/releases/download/v0.118.0/termux-app_v0.118.0+github-debug_armeabi-v7a.apk tip: do NOT install from play store, its a really old version. Once installed, in the termux console run these commands: ``` pkg upgrade ``` [ answer 'y' to all questions.] ``` pkg install python ``` [3.10.x at time of testing] ``` pkg install libxml2* ``` [ for -dev pkg ] ``` pkg install libxslt* ``` [ for -dev pkg ] ``` pkg install python-* ``` [ for python-dev , be sure to include the '-' here.] ``` pip install --upgrade pip ``` pip is needed for the next few packages ``` pip install wheel pip install pymavlink ``` wheel isn't installed automatically in some cases, so we install it manually first #https://superuser.com/questions/1724176/why-pip-throwing-an-error-when-installing-numpy-in-termux ``` MATHLIB="m" pip3 install numpy ``` numpy doesnt install without this extra prefix on android , so we do it first as well. ``` pip install mavproxy ``` finally we install mavproxy! ``` pkg install mlocate updatedb ``` optionally other things that might be helpful ``` locate mavproxy.py ``` where is it? ``` mavproxy.py mavproxy.py --master=udp:1.2.3.4:14550 ``` a few different ways to run it! eg: if u have udp mavlink data being forward to your phone over wifi, then 1.2.3.4 should be your PHONE's ip address, and it will receive the data. known issues: * --console and all the GUI parts of mavproxy don't work, as the 'WX' package isn't available for android. * no idea if using a usb/serial connecton works, but UDP-over-wifi definitely does! * totally unsupported, may break at any time and stop working. please do a pull-request to edit this file if you find these instructions no longer work. 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Copyright (C) This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see . Also add information on how to contact you by electronic and paper mail. If the program does terminal interaction, make it output a short notice like this when it starts in an interactive mode: Copyright (C) This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. This is free software, and you are welcome to redistribute it under certain conditions; type `show c' for details. The hypothetical commands `show w' and `show c' should show the appropriate parts of the General Public License. Of course, your program's commands might be different; for a GUI interface, you would use an "about box". You should also get your employer (if you work as a programmer) or school, if any, to sign a "copyright disclaimer" for the program, if necessary. For more information on this, and how to apply and follow the GNU GPL, see . The GNU General Public License does not permit incorporating your program into proprietary programs. If your program is a subroutine library, you may consider it more useful to permit linking proprietary applications with the library. If this is what you want to do, use the GNU Lesser General Public License instead of this License. But first, please read . MAVProxy-1.8.74/MAVProxy/000077500000000000000000000000001504324515000147645ustar00rootroot00000000000000MAVProxy-1.8.74/MAVProxy/MAVLink.xml000066400000000000000000000054761504324515000167630ustar00rootroot00000000000000 true aileron double /controls/flight/aileron elevator double /controls/flight/elevator rudder double /controls/flight/rudder throttle double /controls/engines/engine[0]/throttle true magic,0x4c56414d latitude double /position/latitude-deg longitude double /position/longitude-deg altitude double /position/altitude-ft heading double /orientation/heading-deg speed - north double /velocities/speed-north-fps speed - east double /velocities/speed-east-fps x-accel double /accelerations/pilot/x-accel-fps_sec y-accel double /accelerations/pilot/y-accel-fps_sec z-accel double /accelerations/pilot/z-accel-fps_sec roll-rate double /orientation/roll-rate-degps pitch-rate double /orientation/pitch-rate-degps yaw-rate double /orientation/yaw-rate-degps roll-deg double /orientation/roll-deg pitch-deg double /orientation/pitch-deg yaw-deg double /orientation/yaw-deg airspeed-kt double /velocities/airspeed-kt MAVProxy-1.8.74/MAVProxy/MAVProxyWinLAN.bat000066400000000000000000000002071504324515000201510ustar00rootroot00000000000000cd ..\ python.exe -m pip install --upgrade build . --user python.exe .\MAVProxy\mavproxy.py --master=0.0.0.0:14550 --console pause MAVProxy-1.8.74/MAVProxy/MAVProxyWinUSB.bat000066400000000000000000000001561504324515000201730ustar00rootroot00000000000000cd ..\ python.exe -m pip install --upgrade build . --user python.exe .\MAVProxy\mavproxy.py --console pauseMAVProxy-1.8.74/MAVProxy/__init__.py000066400000000000000000000000601504324515000170710ustar00rootroot00000000000000'''MAVProxy MAVLink ground station libraries''' MAVProxy-1.8.74/MAVProxy/mavproxy.py000077500000000000000000001700671504324515000172410ustar00rootroot00000000000000#!/usr/bin/env python3 ''' mavproxy - a MAVLink proxy program Copyright Andrew Tridgell 2011 Released under the GNU GPL version 3 or later AP_FLAKE8_CLEAN ''' import fnmatch import glob import json import os import platform import select import serial import shlex import signal import socket import struct import sys import threading import time import traceback try: reload except NameError: try: from importlib import reload except ImportError: from imp import reload from pymavlink import mavutil from MAVProxy.modules.lib import textconsole from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import rline from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_substitute from MAVProxy.modules.lib import multiproc from MAVProxy.modules.mavproxy_link import preferred_ports # adding all this allows pyinstaller to build a working windows executable # note that using --hidden-import does not work for these modules try: multiproc.freeze_support() from pymavlink import mavwp # noqa import matplotlib # noqa import HTMLParser # noqa except Exception: pass # screensaver dbus syntax swiped from # https://stackoverflow.com/questions/10885337/inhibit-screensaver-with-python screensaver_interface = None screensaver_cookie = None try: import atexit import dbus bus = dbus.SessionBus() saver = bus.get_object('org.freedesktop.ScreenSaver', '/ScreenSaver') screensaver_interface = dbus.Interface(saver, dbus_interface='org.freedesktop.ScreenSaver') if screensaver_cookie is not None: atexit.register(screensaver_interface.UnInhibit, [screensaver_cookie]) except Exception: pass if __name__ == '__main__': multiproc.freeze_support() # The MAVLink version being used (None, "1.0", "2.0") mavversion = None mpstate = None class MPStatus(object): '''hold status information about the mavproxy''' def __init__(self): self.gps = None self.msgs = {} self.msg_count = {} self.counters = {'MasterIn' : [], 'MasterOut' : 0, 'FGearIn' : 0, 'FGearOut' : 0, 'Slave' : 0} self.bytecounters = {'MasterIn': []} self.setup_mode = opts.setup self.mav_error = 0 self.altitude = 0 self.last_distance_announce = 0.0 self.exit = False self.flightmode = 'MAV' self.last_mode_announce = 0 self.last_mode_announced = 'MAV' self.logdir = None self.last_heartbeat = 0 self.last_message = 0 self.heartbeat_error = False self.last_apm_msg = None self.last_apm_msg_time = 0 self.statustexts_by_sysidcompid = {} self.highest_msec = {} self.have_gps_lock = False self.lost_gps_lock = False self.last_gps_lock = 0 self.watch = None self.watch_verbose = False self.last_streamrate1 = -1 self.last_streamrate2 = -1 self.last_seq = 0 self.armed = False self.last_bytecounter_calc = 0 class ByteCounter(object): def __init__(self): self.total_count = 0 self.current_count = 0 self.buckets = [] self.max_buckets = 10 # 10 seconds def update(self, bytecount): self.total_count += bytecount self.current_count += bytecount def rotate(self): '''move current count into a bucket, zero count''' # huge assumption made that we're called rapidly enough to # not need to rotate multiple buckets. self.buckets.append(self.current_count) self.current_count = 0 if len(self.buckets) > self.max_buckets: self.buckets = self.buckets[-self.max_buckets:] def rate(self): if len(self.buckets) == 0: return 0 total = 0 for bucket in self.buckets: total += bucket return total/float(len(self.buckets)) def total(self): return self.total_count def update_bytecounters(self): '''rotate bytecounter buckets if required''' now = time.time() time_delta = now - self.last_bytecounter_calc if time_delta < 1: return self.last_bytecounter_calc = now for counter in self.bytecounters['MasterIn']: counter.rotate() def show(self, f, pattern=None, verbose=False): '''write status to status.txt''' if pattern is None: f.write('Counters: ') for c in self.counters: f.write('%s:%s ' % (c, self.counters[c])) f.write('\n') f.write('MAV Errors: %u\n' % self.mav_error) f.write(str(self.gps)+'\n') for m in sorted(self.msgs.keys()): if pattern is not None: if not fnmatch.fnmatch(str(m).upper(), pattern.upper()): continue if getattr(self.msgs[m], '_instance_field', None) is not None and m.find('[') == -1 and pattern.find('*') != -1: # noqa:E501 # only show instance versions for patterns continue msg = None sysid = mpstate.settings.target_system for mav in mpstate.mav_master: if sysid not in mav.sysid_state: continue if m not in mav.sysid_state[sysid].messages: continue msg2 = mav.sysid_state[sysid].messages[m] if msg is None or msg2._timestamp > msg._timestamp: msg = msg2 if msg is None: continue if verbose: try: mavutil.dump_message_verbose(f, msg) f.write("\n") except AttributeError as e: if "has no attribute 'dump_message_verbose'" in str(e): print("pymavlink update required for --verbose") else: raise e else: f.write("%u: %s\n" % (self.msg_count[m], str(msg))) def write(self): '''write status to status.txt''' f = open('status.txt', mode='w') self.show(f) f.close() def say_text(text, priority='important'): '''text output - default function for say()''' mpstate.console.writeln(text) def say(text, priority='important'): '''text and/or speech output''' mpstate.functions.say(text, priority) def add_input(cmd, immediate=False): '''add some command input to be processed''' if immediate: process_stdin(cmd) else: mpstate.input_queue.put(cmd) class MAVFunctions(object): '''core functions available in modules''' def __init__(self): self.process_stdin = add_input self.param_set = param_set self.get_mav_param = get_mav_param self.say = say_text # input handler can be overridden by a module self.input_handler = None class MPState(object): '''holds state of mavproxy''' def __init__(self): self.console = textconsole.SimpleConsole() self.command_map = None self.map = None self.map_functions = {} self.click_location = None self.click_time = None self.vehicle_type = None self.vehicle_name = None self.aircraft_dir = None self.logqueue_raw = None self.logqueue = None self.rl = None self.input_queue = None self.input_count = None self.empty_input_count = None from MAVProxy.modules.lib.mp_settings import MPSettings, MPSetting self.settings = MPSettings([ MPSetting('link', int, 1, 'Primary Link', tab='Link', range=(0, 100), increment=1), MPSetting('streamrate', int, 4, 'Stream rate link1', range=(-1, 500), increment=1), MPSetting('streamrate2', int, 4, 'Stream rate link2', range=(-1, 500), increment=1), MPSetting('heartbeat', float, 1, 'Heartbeat rate (Hz)', range=(0, 100), increment=0.1), MPSetting('mavfwd', bool, True, 'Allow forwarded control'), MPSetting('mavfwd_disarmed', bool, True, 'Allow forwarded control when disarmed'), MPSetting('mavfwd_rate', bool, False, 'Allow forwarded rate control'), MPSetting('mavfwd_link', int, -1, 'Forward to a specific link'), MPSetting('mavfwd_signing', bool, True, 'Sign forwarded messages'), MPSetting('shownoise', bool, True, 'Show non-MAVLink data'), MPSetting('baudrate', int, opts.baudrate, 'baudrate for new links', range=(0, 10000000), increment=1), MPSetting('rtscts', bool, opts.rtscts, 'enable flow control'), MPSetting('select_timeout', float, 0.01, 'select timeout'), MPSetting('altreadout', int, 10, 'Altitude Readout', range=(0, 100), increment=1, tab='Announcements'), MPSetting('distreadout', int, 200, 'Distance Readout', range=(0, 10000), increment=1), MPSetting('moddebug', int, opts.moddebug, 'Module Debug Level', range=(0, 4), increment=1, tab='Debug'), MPSetting('script_fatal', bool, False, 'fatal error on bad script', tab='Debug'), MPSetting('compdebug', int, 0, 'Computation Debug Mask', range=(0, 3), tab='Debug'), MPSetting('flushlogs', bool, False, 'Flush logs on every packet'), MPSetting('requireexit', bool, False, 'Require exit command'), MPSetting('wpupdates', bool, True, 'Announce waypoint updates'), MPSetting('wpterrainadjust', bool, True, 'Adjust alt of moved wp using terrain'), MPSetting('wp_use_mission_int', bool, True, 'use MISSION_ITEM_INT messages'), MPSetting('wp_use_waypoint_set_current', bool, False, 'use deprecated WAYPOINT_SET_CURRENT message'), MPSetting('basealt', int, 0, 'Base Altitude', range=(0, 30000), increment=1, tab='Altitude'), MPSetting('wpalt', int, 100, 'Default WP Altitude', range=(0, 10000), increment=1), MPSetting('rallyalt', int, 90, 'Default Rally Altitude', range=(0, 10000), increment=1), MPSetting('terrainalt', str, 'Auto', 'Use terrain altitudes', choice=['Auto', 'True', 'False']), MPSetting('guidedalt', int, 100, 'Default "Fly To" Altitude', range=(0, 10000), increment=1), MPSetting('guided_use_reposition', bool, True, 'Use MAV_CMD_DO_REPOSITION for guided fly-to'), MPSetting('rally_breakalt', int, 40, 'Default Rally Break Altitude', range=(0, 10000), increment=1), MPSetting('rally_flags', int, 0, 'Default Rally Flags', range=(0, 10000), increment=1), MPSetting('source_system', int, 255, 'MAVLink Source system', range=(0, 255), increment=1, tab='MAVLink'), MPSetting('source_component', int, 230, 'MAVLink Source component', range=(0, 255), increment=1), MPSetting('target_system', int, 0, 'MAVLink target system', range=(0, 255), increment=1), MPSetting('target_component', int, 0, 'MAVLink target component', range=(0, 255), increment=1), MPSetting('state_basedir', str, None, 'base directory for logs and aircraft directories'), MPSetting('allow_unsigned', bool, True, 'whether unsigned packets will be accepted'), MPSetting('dist_unit', str, 'm', 'distance unit', choice=['m', 'nm', 'miles'], tab='Units'), MPSetting('height_unit', str, 'm', 'height unit', choice=['m', 'feet']), MPSetting('speed_unit', str, 'm/s', 'height unit', choice=['m/s', 'knots', 'mph']), MPSetting('flytoframe', str, 'AboveHome', 'frame for FlyTo', choice=['AboveHome', 'AGL', 'AMSL']), MPSetting('fwdpos', bool, False, 'Forward GLOBAL_POSITION_INT on all links'), MPSetting('checkdelay', bool, True, 'check for link delay'), MPSetting('param_ftp', bool, True, 'try ftp for parameter download'), MPSetting('param_docs', bool, True, 'show help for parameters'), MPSetting('vehicle_name', str, '', 'Vehicle Name', tab='Vehicle'), MPSetting('sys_status_error_warn_interval', int, 30, 'interval to warn of autopilot software failure'), MPSetting('inhibit_screensaver_when_armed', bool, False, 'inhibit screensaver while vehicle armed'), MPSetting('timeout', int, 5, 'Number of seconds with no packets for a link to considered down', range=(0, 255), increment=1), # noqa ]) self.completions = { "script" : ["(FILENAME)"], "set" : ["(SETTING)"], "status" : ["(VARIABLE)"], "module" : ["list", "load (AVAILMODULES)", " (LOADEDMODULES)"] } self.status = MPStatus() # master mavlink device self.mav_master = None # mavlink outputs self.mav_outputs = [] self.sysid_outputs = {} # Mapping of all detected sysid's to links # Key is link id, value is all detected sysid's/compid's in that link # Dict of self.vehicle_link_map[linknumber] = set([(sysid1,compid1), (sysid2,compid2), ...]) self.vehicle_link_map = {} # SITL output self.sitl_output = None self.mav_param_by_sysid = {} self.mav_param_by_sysid[(self.settings.target_system, self.settings.target_component)] = mavparm.MAVParmDict() self.modules = [] self.public_modules = {} self.functions = MAVFunctions() self.select_extra = {} self.continue_mode = False self.aliases = {} import platform self.system = platform.system() self.multi_instance = {} self.instance_count = {} self.is_sitl = False self.start_time_s = time.time() self.attitude_time_s = 0 self.position = None @property def mav_param(self): '''map mav_param onto the current target system parameters''' compid = self.settings.target_component if compid == 0: compid = 1 sysid = (self.settings.target_system, compid) if sysid not in self.mav_param_by_sysid: self.mav_param_by_sysid[sysid] = mavparm.MAVParmDict() return self.mav_param_by_sysid[sysid] def module(self, name): '''Find a public module (most modules are private)''' if name in self.public_modules: return self.public_modules[name] return None def load_module(self, modname, quiet=False, **kwargs): '''load a module''' modpaths = ['MAVProxy.modules.mavproxy_%s' % modname, modname] for (m, pm) in mpstate.modules: if m.name == modname and modname not in mpstate.multi_instance: if not quiet: print("module %s already loaded" % modname) # don't report an error return True ex = None for modpath in modpaths: try: m = import_package(modpath) reload(m) module = m.init(mpstate, **kwargs) if isinstance(module, mp_module.MPModule): mpstate.modules.append((module, m)) if not quiet: if kwargs: print("Loaded module %s with kwargs = %s" % (modname, kwargs)) else: print("Loaded module %s" % (modname,)) return True else: ex = "%s.init did not return a MPModule instance" % modname break except ImportError as msg: ex = msg if mpstate.settings.moddebug > 1: print(get_exception_stacktrace(ex)) help_traceback = "" if mpstate.settings.moddebug < 3: help_traceback = " Use 'set moddebug 3' in the MAVProxy console to enable traceback" print("Failed to load module: %s.%s" % (ex, help_traceback)) return False def unload_module(self, modname): '''unload a module''' for (m, pm) in mpstate.modules: if m.name == modname: if hasattr(m, 'unload'): t = threading.Thread(target=lambda : m.unload(), name="unload %s" % modname) t.start() t.join(timeout=5) if t.is_alive(): print("unload on module %s did not complete" % m.name) mpstate.modules.remove((m, pm)) return False mpstate.modules.remove((m, pm)) if modname in mpstate.public_modules: del mpstate.public_modules[modname] print("Unloaded module %s" % modname) return True print("Unable to find module %s" % modname) return False def master(self, target_sysid=-1): '''return the currently chosen mavlink master object''' if len(self.mav_master) == 0: return None if self.settings.link > len(self.mav_master): self.settings.link = 1 if target_sysid != -1: # if we're looking for a specific system ID then try to find best # link for that best_link = None best_timestamp = 0 for m in self.mav_master: try: tstamp = m.sysid_state[target_sysid].messages['HEARTBEAT']._timestamp except Exception: continue if tstamp > best_timestamp: best_link = m best_timestamp = tstamp if best_link is not None: return best_link # try to use one with no link error if not self.mav_master[self.settings.link-1].linkerror: return self.mav_master[self.settings.link-1] for m in self.mav_master: if not m.linkerror: return m return self.mav_master[self.settings.link-1] def foreach_mav(self, sysid, compid, closure): # Send mavlink message only on all links that contain vehicle (sysid, compid) # More efficient than just blasting all links, when sending targetted messages # Also useful for sending messages to non-selected vehicles for linkNumber, vehicleList in self.vehicle_link_map.items(): if (sysid, compid) not in vehicleList: continue closure(self.mav_master[linkNumber].mav) def notify_click(self): notify_mods = ['map', 'misseditor'] for modname in notify_mods: mod = self.module(modname) if mod is not None: mod.click_updated() def click(self, latlng): if latlng is None: self.click_location = None self.click_time = None self.notify_click() return (lat, lng) = latlng if lat is None: print("Bad Lat") return if lng is None: print("Bad lng") return self.click_location = (lat, lng) self.click_time = time.time() self.notify_click() def get_mav_param(param, default=None): '''return a EEPROM parameter value''' return mpstate.mav_param.get(param, default) def param_set(name, value, retries=3): '''set a parameter''' name = name.upper() return mpstate.mav_param.mavset(mpstate.master(), name, value, retries=retries) def cmd_script(args): '''run a script''' if len(args) < 1: print("usage: script ") return run_script(args[0]) def cmd_set(args): '''control mavproxy options''' mpstate.settings.command(args) def cmd_status(args): '''show status''' verbose = False if "--verbose" in args: verbose = True args = list(filter(lambda x : x != "--verbose", args)) if len(args) == 0: mpstate.status.show(sys.stdout, pattern=None, verbose=verbose) else: for pattern in args: mpstate.status.show(sys.stdout, pattern=pattern, verbose=verbose) def cmd_setup(args): mpstate.status.setup_mode = True mpstate.rl.set_prompt("") def cmd_reset(args): print("Resetting master") mpstate.master().reset() def cmd_click(args): '''synthesise click at lat/lon; no arguments is "unclick"''' usage = "click " if len(args) == 0: mpstate.click(None) return if len(args) < 1: print(usage) return if args[0] == "show": print("%.8f %.8f" % mpstate.click_location) return if len(args) < 2: print(usage) return lat = mavutil.evaluate_expression(args[0], mpstate.master().messages) lng = mavutil.evaluate_expression(args[1], mpstate.master().messages) mpstate.click((lat, lng)) def cmd_watch(args): '''watch a mavlink packet pattern''' if len(args) == 0: mpstate.status.watch = None mpstate.status.watch_verbose = False return if "--verbose" in args: mpstate.status.watch_verbose = True args.remove('--verbose') else: mpstate.status.watch_verbose = False mpstate.status.watch = args print("Watching %s" % mpstate.status.watch) def generate_kwargs(args): kwargs = {} module_components = args.split(":{", 1) module_name = module_components[0] if (len(module_components) == 2 and module_components[1].endswith("}")): # assume json try: module_args = "{"+module_components[1] kwargs = json.loads(module_args) except ValueError as e: print('Invalid JSON argument: {0} ({1})'.format(module_args, repr(e))) return (module_name, kwargs) def get_exception_stacktrace(e): if sys.version_info[0] >= 3: ret = "%s\n" % e ret += ''.join(traceback.format_exception(type(e), e, tb=e.__traceback__)) return ret return traceback.format_exc(e) def cmd_module(args): '''module commands''' usage = "usage: module " if len(args) < 1: print(usage) return if args[0] == "list": mods = [] for (m, pm) in mpstate.modules: mods.append(m) mods = sorted(mods, key=lambda m : m.name) for m in mods: print("%s: %s" % (m.name, m.description)) elif args[0] == "load": if len(args) < 2: print("usage: module load ") return (modname, kwargs) = generate_kwargs(args[1]) try: mpstate.load_module(modname, **kwargs) except TypeError as ex: print(ex) print("%s module does not support keyword arguments" % modname) return elif args[0] == "reload": if len(args) < 2: print("usage: module reload ") return (modname, kwargs) = generate_kwargs(args[1]) pmodule = None for (m, pm) in mpstate.modules: if m.name == modname: pmodule = pm if pmodule is None: print("Module %s not loaded" % modname) return if mpstate.unload_module(modname): try: reload(pmodule) except ImportError: clear_zipimport_cache() reload(pmodule) try: if mpstate.load_module(modname, quiet=True, **kwargs): print("Reloaded module %s" % modname) except TypeError: print("%s module does not support keyword arguments" % modname) elif args[0] == "unload": if len(args) < 2: print("usage: module unload ") return modname = os.path.basename(args[1]) mpstate.unload_module(modname) else: print(usage) def cmd_alias(args): '''alias commands''' usage = "usage: alias " if len(args) < 1 or args[0] == "list": if len(args) >= 2: wildcard = args[1].upper() else: wildcard = '*' for a in sorted(mpstate.aliases.keys()): if fnmatch.fnmatch(a.upper(), wildcard): print("%-15s : %s" % (a, mpstate.aliases[a])) elif args[0] == "add": if len(args) < 3: print(usage) return a = args[1] mpstate.aliases[a] = ' '.join(args[2:]) elif args[0] == "remove": if len(args) != 2: print(usage) return a = args[1] if a in mpstate.aliases: mpstate.aliases.pop(a) else: print("no alias %s" % a) else: print(usage) return def clear_zipimport_cache(): """Clear out cached entries from _zip_directory_cache. See http://www.digi.com/wiki/developer/index.php/Error_messages""" import sys import zipimport syspath_backup = list(sys.path) zipimport._zip_directory_cache.clear() # load back items onto sys.path sys.path = syspath_backup # add this too: see https://mail.python.org/pipermail/python-list/2005-May/353229.html sys.path_importer_cache.clear() # http://stackoverflow.com/questions/211100/pythons-import-doesnt-work-as-expected # has info on why this is necessary. def import_package(name): """Given a package name like 'foo.bar.quux', imports the package and returns the desired module.""" try: mod = __import__(name) except ImportError: clear_zipimport_cache() mod = __import__(name) components = name.split('.') for comp in components[1:]: mod = getattr(mod, comp) return mod command_map = { 'script' : (cmd_script, 'run a script of MAVProxy commands'), # noqa:E241 'setup' : (cmd_setup, 'go into setup mode'), # noqa:E241 'reset' : (cmd_reset, 'reopen the connection to the MAVLink master'), # noqa:E241 'click' : (cmd_click, 'set click location'), # noqa:E241 'status' : (cmd_status, 'show status'), # noqa:E241 'set' : (cmd_set, 'mavproxy settings'), # noqa:E241 'watch' : (cmd_watch, 'watch a MAVLink pattern'), # noqa:E241 'module' : (cmd_module, 'module commands'), # noqa:E241 'alias' : (cmd_alias, 'command aliases') # noqa:E241 } def shlex_quotes(value): '''see http://stackoverflow.com/questions/6868382/python-shlex-split-ignore-single-quotes''' lex = shlex.shlex(value) lex.quotes = '"' lex.whitespace_split = True lex.commenters = '' return list(lex) def process_stdin(line): '''handle commands from user''' if line is None: sys.exit(0) # allow for modules to override input handling if mpstate.functions.input_handler is not None: mpstate.functions.input_handler(line) return line = line.strip() if mpstate.status.setup_mode: # in setup mode we send strings straight to the master if line == '.': mpstate.status.setup_mode = False mpstate.status.flightmode = "MAV" mpstate.rl.set_prompt("MAV> ") return if line != '+++': line += '\r' for c in line: time.sleep(0.01) if sys.version_info.major >= 3: mpstate.master().write(bytes(c, "ascii")) else: mpstate.master().write(c) return if not line: return try: args = shlex_quotes(line) except Exception as e: print("Caught shlex exception: %s" % str(e)) return # strip surrounding quotes - shlex leaves them in place new_args = [] for arg in args: new_arg = arg for q in "'", '"': if arg.startswith(q) and arg.endswith(q): new_arg = arg[1:-1] break new_args.append(new_arg) args = new_args cmd = args[0] while cmd in mpstate.aliases: line = mpstate.aliases[cmd] args = shlex.split(line) + args[1:] cmd = args[0] if cmd == 'help': k = command_map.keys() k = sorted(k) for cmd in k: (fn, help) = command_map[cmd] print("%-15s : %s" % (cmd, help)) return if cmd == 'exit' and mpstate.settings.requireexit: mpstate.status.exit = True return if cmd not in command_map: for (m, pm) in mpstate.modules: if hasattr(m, 'unknown_command'): try: if m.unknown_command(args): return except Exception as e: print("ERROR in command: %s" % str(e)) print("Unknown command '%s'" % line) return (fn, help) = command_map[cmd] try: fn(args[1:]) except Exception as e: print("ERROR in command %s: %s" % (args[1:], str(e))) if mpstate.settings.moddebug > 1: traceback.print_exc() def process_master(m): '''process packets from the MAVLink master''' try: s = m.recv(16*1024) except Exception: time.sleep(0.1) return # prevent a dead serial port from causing the CPU to spin. The user hitting enter will # cause it to try and reconnect if len(s) == 0: time.sleep(0.1) return mpstate.status.bytecounters['MasterIn'][m.linknum].update(len(s)) if (mpstate.settings.compdebug & 1) != 0: return if mpstate.logqueue_raw: mpstate.logqueue_raw.put(bytearray(s)) if mpstate.status.setup_mode: if mpstate.system == 'Windows': # strip nsh ansi codes s = s.replace("\033[K", "") if sys.version_info.major >= 3: sys.stdout.write(str(s, "ascii", "ignore")) else: sys.stdout.write(str(s)) sys.stdout.flush() return if m.first_byte and mavversion is None: m.auto_mavlink_version(s) msgs = m.mav.parse_buffer(s) if msgs: for msg in msgs: sysid = msg.get_srcSystem() if sysid in mpstate.sysid_outputs: # the message has been handled by a specialised # handler for this system continue if getattr(m, '_timestamp', None) is None: m.post_message(msg) if msg.get_type() == "BAD_DATA": if opts.show_errors: mpstate.console.writeln("MAV error: %s" % msg) mpstate.status.mav_error += 1 def process_mavlink(slave): '''process packets from MAVLink slaves, forwarding to the master''' try: buf = slave.recv() except socket.error: return try: if slave.first_byte and mavversion is None: slave.auto_mavlink_version(buf) msgs = slave.mav.parse_buffer(buf) except mavutil.mavlink.MAVError as e: mpstate.console.error("Bad MAVLink slave message from %s: %s" % (slave.address, e.message)) return if msgs is None: return allow_fwd = mpstate.settings.mavfwd if not allow_fwd and mpstate.settings.mavfwd_disarmed and not mpstate.master(-1).motors_armed(): allow_fwd = True if mpstate.status.setup_mode: allow_fwd = False if allow_fwd: for m in msgs: target_sysid = getattr(m, 'target_system', -1) if mpstate.settings.mavfwd_link > 0 and mpstate.settings.mavfwd_link <= len(mpstate.mav_master): output = mpstate.mav_master[mpstate.settings.mavfwd_link-1] else: # find best link by sysid output = mpstate.master(target_sysid) if (mpstate.settings.mavfwd_signing and output.mav.signing.sign_outgoing and (m._header.incompat_flags & mavutil.mavlink.MAVLINK_IFLAG_SIGNED) == 0): # repack the message if this is a signed link and not already signed m.pack(output.mav) output.write(m.get_msgbuf()) if mpstate.logqueue: usec = int(time.time() * 1.0e6) mpstate.logqueue.put(bytearray(struct.pack('>Q', usec) + m.get_msgbuf())) if mpstate.status.watch: for msg_type in mpstate.status.watch: if fnmatch.fnmatch(m.get_type().upper(), msg_type.upper()): mpstate.console.writeln('> ' + str(m)) break mpstate.status.counters['Slave'] += 1 def mkdir_p(dir): '''like mkdir -p''' if not dir: return if dir.endswith("/"): mkdir_p(dir[:-1]) return if os.path.isdir(dir): return mkdir_p(os.path.dirname(dir)) os.mkdir(dir) def log_writer(): '''log writing thread''' while not mpstate.status.exit: mpstate.logfile_raw.write(bytearray(mpstate.logqueue_raw.get())) timeout = time.time() + 10 while not mpstate.logqueue_raw.empty() and time.time() < timeout: mpstate.logfile_raw.write(mpstate.logqueue_raw.get()) while not mpstate.logqueue.empty() and time.time() < timeout: mpstate.logfile.write(mpstate.logqueue.get()) if mpstate.settings.flushlogs or time.time() >= timeout: mpstate.logfile.flush() mpstate.logfile_raw.flush() # If state_basedir is NOT set then paths for logs and aircraft # directories are relative to mavproxy's cwd def log_paths(): '''Returns tuple (logdir, telemetry_log_filepath, raw_telemetry_log_filepath)''' if opts.aircraft is not None: dirname = "" if opts.mission is not None: print(opts.mission) dirname += "%s/logs/%s/Mission%s" % (opts.aircraft, time.strftime("%Y-%m-%d"), opts.mission) else: dirname += "%s/logs/%s" % (opts.aircraft, time.strftime("%Y-%m-%d")) # dirname is currently relative. Possibly add state_basedir: if mpstate.settings.state_basedir is not None: dirname = os.path.join(mpstate.settings.state_basedir, dirname) mkdir_p(dirname) highest = None for i in range(1, 10000): fdir = os.path.join(dirname, 'flight%u' % i) if not os.path.exists(fdir): break highest = fdir if mpstate.continue_mode and highest is not None: fdir = highest elif os.path.exists(fdir): print("Flight logs full") sys.exit(1) logname = 'flight.tlog' logdir = fdir else: logname = os.path.basename(opts.logfile) dir_path = os.path.dirname(opts.logfile) if not os.path.isabs(dir_path) and mpstate.settings.state_basedir is not None: dir_path = os.path.join(mpstate.settings.state_basedir, dir_path) logdir = dir_path mkdir_p(logdir) return (logdir, os.path.join(logdir, logname), os.path.join(logdir, logname + '.raw')) def open_telemetry_logs(logpath_telem, logpath_telem_raw): '''open log files''' if opts.append_log or opts.continue_mode: mode = 'ab' else: mode = 'wb' try: mpstate.logfile = open(logpath_telem, mode=mode) mpstate.logfile_raw = open(logpath_telem_raw, mode=mode) print("Log Directory: %s" % mpstate.status.logdir) print("Telemetry log: %s" % logpath_telem) # make sure there's enough free disk space for the logfile (>200Mb) # statvfs doesn't work in Windows if platform.system() != 'Windows': stat = os.statvfs(logpath_telem) if stat.f_bfree*stat.f_bsize < 209715200: print("ERROR: Not enough free disk space for logfile") mpstate.status.exit = True return # use a separate thread for writing to the logfile to prevent # delays during disk writes (important as delays can be long if camera # app is running) t = threading.Thread(target=log_writer, name='log_writer') t.daemon = True t.start() except Exception as e: print("ERROR: opening log file for writing: %s" % e) mpstate.status.exit = True return def set_stream_rates(): '''set mavlink stream rates''' if (not msg_period.trigger() and mpstate.status.last_streamrate1 == mpstate.settings.streamrate and mpstate.status.last_streamrate2 == mpstate.settings.streamrate2): return mpstate.status.last_streamrate1 = mpstate.settings.streamrate mpstate.status.last_streamrate2 = mpstate.settings.streamrate2 for master in mpstate.mav_master: if master.linknum == 0: rate = mpstate.settings.streamrate else: rate = mpstate.settings.streamrate2 if rate != -1 and mpstate.settings.streamrate != -1: # Send to all detected vehicles in this link for (sysid, compid) in mpstate.vehicle_link_map[master.linknum]: master.mav.request_data_stream_send(sysid, compid, mavutil.mavlink.MAV_DATA_STREAM_ALL, rate, 1) def check_link_status(): '''check status of master links''' tnow = time.time() if mpstate.status.last_message != 0 and tnow > mpstate.status.last_message + mpstate.settings.timeout: say("no link") mpstate.status.heartbeat_error = True for master in mpstate.mav_master: if not master.linkerror and (tnow > master.last_message + mpstate.settings.timeout or master.portdead): say("link %s down" % (mp_module.MPModule.link_label(master))) master.linkerror = True def send_heartbeat(master): if master.mavlink10(): master.mav.heartbeat_send(mavutil.mavlink.MAV_TYPE_GCS, mavutil.mavlink.MAV_AUTOPILOT_INVALID, 0, 0, 0) else: MAV_GROUND = 5 MAV_AUTOPILOT_NONE = 4 master.mav.heartbeat_send(MAV_GROUND, MAV_AUTOPILOT_NONE) def periodic_tasks(): '''run periodic checks''' if mpstate.status.setup_mode: return if (mpstate.settings.compdebug & 2) != 0: return if mpstate.settings.heartbeat != 0: heartbeat_period.frequency = mpstate.settings.heartbeat if heartbeat_period.trigger() and mpstate.settings.heartbeat != 0: mpstate.status.counters['MasterOut'] += 1 for master in mpstate.mav_master: send_heartbeat(master) if heartbeat_check_period.trigger(): check_link_status() set_stream_rates() mpstate.status.update_bytecounters() # call optional module idle tasks. These are called at several hundred Hz for (m, pm) in mpstate.modules: if hasattr(m, 'idle_task'): try: m.idle_task() except Exception as msg: if mpstate.settings.moddebug == 1: print(msg) elif mpstate.settings.moddebug > 1: print(get_exception_stacktrace(msg)) # also see if the module should be unloaded: if m.needs_unloading: mpstate.unload_module(m.name) def main_loop(): '''main processing loop''' global screensaver_cookie if not mpstate.status.setup_mode and not opts.nowait: for master in mpstate.mav_master: if master.linknum != 0: break print("Waiting for heartbeat from %s" % master.address) send_heartbeat(master) master.wait_heartbeat(timeout=0.1) set_stream_rates() while True: if mpstate is None or mpstate.status.exit: return # enable or disable screensaver: if (mpstate.settings.inhibit_screensaver_when_armed and screensaver_interface is not None): if mpstate.status.armed and screensaver_cookie is None: # now we can inhibit the screensaver screensaver_cookie = screensaver_interface.Inhibit("MAVProxy", "Vehicle is armed") elif not mpstate.status.armed and screensaver_cookie is not None: # we can also restore it screensaver_interface.UnInhibit(screensaver_cookie) screensaver_cookie = None while not mpstate.input_queue.empty(): line = mpstate.input_queue.get() mpstate.input_count += 1 cmds = line.split(';') if len(cmds) == 1 and cmds[0] == "": mpstate.empty_input_count += 1 for c in cmds: process_stdin(c) for master in mpstate.mav_master: if master.fd is None: try: if master.port.inWaiting() > 0: process_master(master) except serial.SerialException: pass periodic_tasks() rin = [] for master in mpstate.mav_master: if master.fd is not None and not master.portdead: rin.append(master.fd) for m in mpstate.mav_outputs: if m.fd is not None: rin.append(m.fd) for sysid in mpstate.sysid_outputs: m = mpstate.sysid_outputs[sysid] if m.fd is not None: rin.append(m.fd) if rin == []: time.sleep(0.0001) continue for fd in mpstate.select_extra: if fd is not None: rin.append(fd) try: (rin, win, xin) = select.select(rin, [], [], mpstate.settings.select_timeout) except select.error: continue if mpstate is None: return for fd in rin: if mpstate is None: return for master in mpstate.mav_master: if fd == master.fd: process_master(master) if mpstate is None: return continue for m in mpstate.mav_outputs: if fd == m.fd: process_mavlink(m) if mpstate is None: return continue for sysid in mpstate.sysid_outputs: m = mpstate.sysid_outputs[sysid] if fd == m.fd: process_mavlink(m) if mpstate is None: return continue # this allow modules to register their own file descriptors # for the main select loop if fd in mpstate.select_extra: try: # call the registered read function (fn, args) = mpstate.select_extra[fd] fn(args) except Exception as msg: if mpstate.settings.moddebug == 1: print(msg) # on an exception, remove it from the select list mpstate.select_extra.pop(fd) def input_loop(): '''wait for user input''' while mpstate.status.exit is not True: try: line = mpstate.rl.input() mpstate.input_queue.put(line) except (EOFError, IOError): mpstate.status.exit = True def run_script(scriptfile): '''run a script file''' try: f = open(scriptfile, mode='r') except Exception: return mpstate.console.writeln("Running script %s" % scriptfile) sub = mp_substitute.MAVSubstitute() for line in f: line = line.strip() if line == "" or line.startswith('#'): continue try: line = sub.substitute(line, os.environ) except mp_substitute.MAVSubstituteError as ex: print("Bad variable: %s" % str(ex)) if mpstate.settings.script_fatal: sys.exit(1) continue if line.startswith('@'): line = line[1:] else: mpstate.console.writeln("-> %s" % line) process_stdin(line) f.close() def set_mav_version(mav10, mav20, autoProtocol, mavversionArg): '''Set the Mavlink version based on commandline options''' # if(mav10 == True or mav20 == True or autoProtocol == True): # print("Warning: Using deprecated --mav10, --mav20 or --auto-protocol options. Use --mavversion instead") # sanity check the options if (mav10 or mav20) and autoProtocol: print("Error: Can't have [--mav10, --mav20] and --auto-protocol both True") sys.exit(1) if mav10 and mav20: print("Error: Can't have --mav10 and --mav20 both True") sys.exit(1) if mavversionArg is not None and (mav10 or mav20 or autoProtocol): print("Error: Can't use --mavversion with legacy (--mav10, --mav20 or --auto-protocol) options") sys.exit(1) # and set the specific mavlink version (False = autodetect) global mavversion if mavversionArg == "1.0" or mav10: os.environ['MAVLINK09'] = '1' mavversion = "1" else: os.environ['MAVLINK20'] = '1' mavversion = "2" def run_startup_scripts(): start_scripts = [] if not opts.setup: if 'HOME' in os.environ: start_scripts.append(os.path.join(os.environ['HOME'], ".mavinit.scr")) start_script = mp_util.dot_mavproxy("mavinit.scr") start_scripts.append(start_script) if (mpstate.settings.state_basedir is not None and opts.aircraft is not None): start_script = os.path.join(mpstate.aircraft_dir, "mavinit.scr") start_scripts.append(start_script) for start_script in start_scripts: if os.path.exists(start_script): print("Running script (%s)" % (start_script)) run_script(start_script) if opts.aircraft is not None: start_script = os.path.join(opts.aircraft, "mavinit.scr") if os.path.exists(start_script): run_script(start_script) else: print("no script %s" % start_script) if __name__ == '__main__': from optparse import OptionParser parser = OptionParser("mavproxy.py [options]") parser.add_option("--master", dest="master", action='append', metavar="DEVICE[,BAUD]", help="MAVLink master port and optional baud rate", default=[]) parser.add_option("", "--force-connected", dest="force_connected", help="Use master even if initial connection fails", action='store_true', default=False) parser.add_option("--out", dest="output", action='append', metavar="DEVICE[,BAUD]", help="MAVLink output port and optional baud rate", default=[]) parser.add_option("--baudrate", dest="baudrate", type='int', help="default serial baud rate", default=57600) parser.add_option("--sitl", dest="sitl", default=None, help="SITL output port") parser.add_option("--streamrate", dest="streamrate", default=4, type='int', help="MAVLink stream rate") parser.add_option("--source-system", dest='SOURCE_SYSTEM', type='int', default=255, help='MAVLink source system for this GCS') parser.add_option("--source-component", dest='SOURCE_COMPONENT', type='int', default=230, help='MAVLink source component for this GCS') parser.add_option("--target-system", dest='TARGET_SYSTEM', type='int', default=0, help='MAVLink target master system') parser.add_option("--target-component", dest='TARGET_COMPONENT', type='int', default=0, help='MAVLink target master component') parser.add_option("--logfile", dest="logfile", help="MAVLink master logfile", default='mav.tlog') parser.add_option("-a", "--append-log", dest="append_log", help="Append to log files", action='store_true', default=False) parser.add_option("--quadcopter", dest="quadcopter", help="use quadcopter controls", action='store_true', default=False) parser.add_option("--setup", dest="setup", help="start in setup mode", action='store_true', default=False) parser.add_option("--nodtr", dest="nodtr", help="disable DTR drop on close", action='store_true', default=False) parser.add_option("--show-errors", dest="show_errors", help="show MAVLink error packets", action='store_true', default=False) parser.add_option("--speech", dest="speech", help="use text to speech", action='store_true', default=False) parser.add_option("--aircraft", dest="aircraft", help="aircraft name", default=None) parser.add_option("--cmd", dest="cmd", help="initial commands", default=None, action='append') parser.add_option("--console", action='store_true', help="use GUI console") parser.add_option("--heartbeat-rate", dest="heartbeat", default=1, type='float', help="MAVLink HEARTBEAT rate") if platform.system() == 'Windows': parser.add_option("--no-console", action='store_true', help="don't use GUI console") parser.add_option("--map", action='store_true', help="load map module") parser.add_option( '--load-module', action='append', default=[], help='Load the specified module. Can be used multiple times, or with a comma separated list') parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0") parser.add_option("--mav20", action='store_true', default=False, help="Use MAVLink protocol 2.0") parser.add_option("--auto-protocol", action='store_true', default=False, help="Auto detect MAVLink protocol version") parser.add_option("--mavversion", type='choice', choices=['1.0', '2.0'] , help="Force MAVLink Version (1.0, 2.0). Otherwise autodetect version") # noqa:E501 parser.add_option("--nowait", action='store_true', default=False, help="don't wait for HEARTBEAT on startup") parser.add_option("-c", "--continue", dest='continue_mode', action='store_true', default=False, help="continue logs") parser.add_option("--dialect", default="all", help="MAVLink dialect") parser.add_option("--rtscts", action='store_true', help="enable hardware RTS/CTS flow control") parser.add_option("--moddebug", type=int, help="module debug level", default=0) parser.add_option("--mission", dest="mission", help="mission name", default=None) parser.add_option("--daemon", action='store_true', help="run in daemon mode, do not start interactive shell") parser.add_option("--non-interactive", action='store_true', help="do not start interactive shell") parser.add_option("--profile", action='store_true', help="run the Yappi python profiler") parser.add_option("--state-basedir", default=None, help="base directory for logs and aircraft directories") parser.add_option("--no-state", action='store_true', default=False, help="Don't save logs and other state to disk. Useful for read-only filesystems or long-running systems.") # noqa:E501 parser.add_option("--version", action='store_true', help="version information") parser.add_option("--default-modules", default="log,signing,wp,rally,fence,ftp,param,relay,tuneopt,arm,mode,calibration,rc,auxopt,misc,cmdlong,battery,terrain,output,adsb,layout", help='default module list') # noqa:E501 parser.add_option("--udp-timeout", dest="udp_timeout", default=0.0, type='float', help="Timeout for udp clients in seconds") # noqa:E501 parser.add_option("--retries", type=int, help="number of times to retry connection", default=3) (opts, args) = parser.parse_args() if len(args) != 0: print("ERROR: mavproxy takes no position arguments; got (%s)" % str(args)) sys.exit(1) # warn people about ModemManager which interferes badly with APM and Pixhawk if os.path.exists("/usr/sbin/ModemManager"): print("WARNING: You should uninstall ModemManager as it conflicts with APM and Pixhawk") # set the Mavlink version, if required set_mav_version(opts.mav10, opts.mav20, opts.auto_protocol, opts.mavversion) from pymavlink import mavparm mavutil.set_dialect(opts.dialect) # version information if opts.version: # pkg_resources doesn't work in the windows exe build, so read the version file try: import pkg_resources version = pkg_resources.require("mavproxy")[0].version except Exception: start_script = mp_util.dot_mavproxy("version.txt") f = open(start_script, 'r') version = f.readline() print("MAVProxy is a modular ground station using the mavlink protocol") print("MAVProxy Version: " + version) sys.exit(0) # global mavproxy state mpstate = MPState() mpstate.status.exit = False mpstate.command_map = command_map mpstate.continue_mode = opts.continue_mode # queues for logging if not opts.no_state: mpstate.logqueue = multiproc.Queue() mpstate.logqueue_raw = multiproc.Queue() else: mpstate.logqueue = None mpstate.logqueue_raw = None if opts.speech: # start the speech-dispatcher early, so it doesn't inherit any ports from # modules/mavutil mpstate.load_module('speech') serial_list = mavutil.auto_detect_serial(preferred_list=preferred_ports) serial_list.sort(key=lambda x: x.device) # remove OTG2 ports for dual CDC if len(serial_list) == 2 and serial_list[0].device.startswith("/dev/serial/by-id"): if serial_list[0].device[:-1] == serial_list[1].device[0:-1]: serial_list.pop(1) if not opts.master: print('Auto-detected serial ports are:') for port in serial_list: print("%s" % port) # container for status information mpstate.settings.target_system = opts.TARGET_SYSTEM mpstate.settings.target_component = opts.TARGET_COMPONENT mpstate.mav_master = [] mpstate.rl = rline.rline("MAV> ", mpstate) def quit_handler(signum=None, frame=None): # print('Signal handler called with signal', signum) if mpstate.status.exit: print('Clean shutdown impossible, forcing an exit') sys.exit(0) else: mpstate.status.exit = True # Listen for kill signals to cleanly shutdown modules fatalsignals = [signal.SIGTERM] try: fatalsignals.append(signal.SIGQUIT) signal.signal(signal.SIGHUP, signal.SIG_IGN) except Exception: pass if opts.daemon or opts.non_interactive: # SIGINT breaks readline parsing - if we are interactive, just let things die fatalsignals.append(signal.SIGINT) for sig in fatalsignals: signal.signal(sig, quit_handler) mpstate.load_module('link', quiet=True) # load signing early to allow for use of ~/.mavproxy/signing.keys standard_modules = opts.default_modules.split(',') if 'signing' in standard_modules: mpstate.load_module('signing', quiet=True) mpstate.settings.source_system = opts.SOURCE_SYSTEM mpstate.settings.source_component = opts.SOURCE_COMPONENT # open master link for mdev in opts.master: if mdev.find('?') != -1 or mdev.find('*') != -1: for m in glob.glob(mdev): if not mpstate.module('link').link_add(m, force_connected=opts.force_connected, retries=opts.retries): sys.exit(1) elif not mpstate.module('link').link_add(mdev, force_connected=opts.force_connected, retries=opts.retries): sys.exit(1) if not opts.master and len(serial_list) == 1: print("Connecting to %s" % serial_list[0]) mpstate.module('link').link_add(serial_list[0].device) elif not opts.master and len(serial_list) > 1: print("Warning: multiple possible serial ports. Use console GUI or 'link add' to add port, or restart using --master to select a single port") # noqa:E501 # if no display, assume running CLI mode and exit if platform.system() != 'Windows' and "DISPLAY" not in os.environ: sys.exit(1) elif not opts.master: wifi_device = '0.0.0.0:14550' mpstate.module('link').link_add(wifi_device) # open any mavlink output ports for port in opts.output: # cope with older pymavlink if opts.udp_timeout > 0: mpstate.mav_outputs.append(mavutil.mavlink_connection( port, baud=int(opts.baudrate), input=False, udp_timeout=opts.udp_timeout, autoreconnect=True )) else: mpstate.mav_outputs.append(mavutil.mavlink_connection(port, baud=int(opts.baudrate), input=False, autoreconnect=True)) if opts.sitl: mpstate.sitl_output = mavutil.mavudp(opts.sitl, input=False) mpstate.settings.streamrate = opts.streamrate mpstate.settings.streamrate2 = opts.streamrate mpstate.settings.heartbeat = opts.heartbeat if opts.state_basedir is not None: mpstate.settings.state_basedir = opts.state_basedir msg_period = mavutil.periodic_event(1.0/15) heartbeat_period = mavutil.periodic_event(1) heartbeat_check_period = mavutil.periodic_event(0.33) mpstate.input_queue = multiproc.Queue() mpstate.input_count = 0 mpstate.empty_input_count = 0 if opts.setup: mpstate.rl.set_prompt("") # call this early so that logdir is setup based on --aircraft if not opts.no_state: (mpstate.status.logdir, logpath_telem, logpath_telem_raw) = log_paths() for module in opts.load_module: modlist = module.split(',') for mod in modlist: process_stdin('module load %s' % (mod)) if not opts.setup: # some core functionality is in modules for m in standard_modules: if m: mpstate.load_module(m, quiet=True) if platform.system() != 'Windows': if opts.console: process_stdin('module load console') else: # default to having console on windows if opts.console or not opts.no_console: process_stdin('module load console') if opts.map: process_stdin('module load map') if (mpstate.settings.state_basedir is not None and opts.aircraft is not None): mpstate.aircraft_dir = os.path.join(mpstate.settings.state_basedir, opts.aircraft) elif opts.aircraft is not None: mpstate.aircraft_dir = opts.aircraft run_startup_scripts() if opts.cmd is not None: for cstr in opts.cmd: cmds = cstr.split(';') for c in cmds: process_stdin(c) if opts.profile: import yappi # We do the import here so that we won't barf if run normally and yappi not available yappi.start() # log all packets from the master, for later replay if not opts.no_state: open_telemetry_logs(logpath_telem, logpath_telem_raw) else: print("Note: Not saving telemetry logs") # run main loop as a thread mpstate.status.thread = threading.Thread(target=main_loop, name='main_loop') mpstate.status.thread.daemon = True mpstate.status.thread.start() # use main program for input. This ensures the terminal cleans # up on exit while (mpstate.status.exit is not True): try: if opts.daemon or opts.non_interactive: time.sleep(0.1) else: input_loop() except KeyboardInterrupt: if mpstate.settings.requireexit: print("Interrupt caught. Use 'exit' to quit MAVProxy.") # Just lost the map and console, get them back: for (m, pm) in mpstate.modules: if m.name in ["map", "console"]: if hasattr(m, 'unload'): try: m.unload() except Exception: pass reload(m) m.init(mpstate) else: mpstate.status.exit = True sys.exit(1) if opts.profile: yappi.get_func_stats().print_all() yappi.get_thread_stats().print_all() # this loop executes after leaving the above loop and is for cleanup on exit for (m, pm) in mpstate.modules: if hasattr(m, 'unload'): print("Unloading module %s" % m.name) m.unload() sys.exit(1) MAVProxy-1.8.74/MAVProxy/modules/000077500000000000000000000000001504324515000164345ustar00rootroot00000000000000MAVProxy-1.8.74/MAVProxy/modules/__init__.py000066400000000000000000000000201504324515000205350ustar00rootroot00000000000000# Allow imports MAVProxy-1.8.74/MAVProxy/modules/lib/000077500000000000000000000000001504324515000172025ustar00rootroot00000000000000MAVProxy-1.8.74/MAVProxy/modules/lib/ANUGA/000077500000000000000000000000001504324515000200355ustar00rootroot00000000000000MAVProxy-1.8.74/MAVProxy/modules/lib/ANUGA/README.txt000066400000000000000000000002001504324515000215230ustar00rootroot00000000000000 This module adapted from ANUGA: https://anuga.anu.edu.au/ Many thanks to ANUGA for making this code available under the GPL! MAVProxy-1.8.74/MAVProxy/modules/lib/ANUGA/__init__.py000066400000000000000000000000001504324515000221340ustar00rootroot00000000000000MAVProxy-1.8.74/MAVProxy/modules/lib/ANUGA/geo_reference.py000066400000000000000000000403121504324515000231770ustar00rootroot00000000000000""" This module adapted ANUGA https://anuga.anu.edu.au/ """ #FIXME: Ensure that all attributes of a georef are treated everywhere #and unit test import types, sys import copy import numpy as num DEFAULT_ZONE = -1 TITLE = '#geo reference' + "\n" # this title is referred to in the test format DEFAULT_PROJECTION = 'UTM' DEFAULT_DATUM = 'wgs84' DEFAULT_UNITS = 'm' DEFAULT_FALSE_EASTING = 500000 DEFAULT_FALSE_NORTHING = 10000000 # Default for southern hemisphere ## # @brief A class for ... class Geo_reference: """ Attributes of the Geo_reference class: .zone The UTM zone (default is -1) .false_easting ?? .false_northing ?? .datum The Datum used (default is wgs84) .projection The projection used (default is 'UTM') .units The units of measure used (default metres) .xllcorner The X coord of origin (default is 0.0 wrt UTM grid) .yllcorner The y coord of origin (default is 0.0 wrt UTM grid) .is_absolute ?? """ ## # @brief Instantiate an instance of class Geo_reference. # @param zone The UTM zone. # @param xllcorner X coord of origin of georef. # @param yllcorner Y coord of origin of georef. # @param datum ?? # @param projection The projection used (default UTM). # @param units Units used in measuring distance (default m). # @param false_easting ?? # @param false_northing ?? # @param NetCDFObject NetCDF file *handle* to write to. # @param ASCIIFile ASCII text file *handle* to write to. # @param read_title Title of the georeference text. def __init__(self, zone=DEFAULT_ZONE, xllcorner=0.0, yllcorner=0.0, datum=DEFAULT_DATUM, projection=DEFAULT_PROJECTION, units=DEFAULT_UNITS, false_easting=DEFAULT_FALSE_EASTING, false_northing=DEFAULT_FALSE_NORTHING, NetCDFObject=None, ASCIIFile=None, read_title=None): """ input: NetCDFObject - a handle to the netCDF file to be written to ASCIIFile - a handle to the text file read_title - the title of the georeference text, if it was read in. If the function that calls this has already read the title line, it can't unread it, so this info has to be passed. If you know of a way to unread this info, then tell us. Note, the text file only saves a sub set of the info the points file does. Currently the info not written in text must be the default info, since ANUGA assumes it isn't changing. """ if zone is None: zone = DEFAULT_ZONE self.false_easting = int(false_easting) self.false_northing = int(false_northing) self.datum = datum self.projection = projection self.zone = int(zone) self.units = units self.xllcorner = float(xllcorner) self.yllcorner = float(yllcorner) if NetCDFObject is not None: self.read_NetCDF(NetCDFObject) if ASCIIFile is not None: self.read_ASCII(ASCIIFile, read_title=read_title) # Set flag for absolute points (used by get_absolute) self.absolute = num.allclose([self.xllcorner, self.yllcorner], 0) def get_xllcorner(self): return self.xllcorner ## # @brief Get the Y coordinate of the origin of this georef. def get_yllcorner(self): return self.yllcorner ## # @brief Get the zone of this georef. def get_zone(self): return self.zone ## # @brief Write to an open NetCDF file. # @param outfile Handle to open NetCDF file. def write_NetCDF(self, outfile): outfile.xllcorner = self.xllcorner outfile.yllcorner = self.yllcorner outfile.zone = self.zone outfile.false_easting = self.false_easting outfile.false_northing = self.false_northing outfile.datum = self.datum outfile.projection = self.projection outfile.units = self.units ## # @brief Read data from an open NetCDF file. # @param infile Handle to open NetCDF file. def read_NetCDF(self, infile): self.xllcorner = float(infile.xllcorner[0]) self.yllcorner = float(infile.yllcorner[0]) self.zone = int(infile.zone[0]) try: self.false_easting = int(infile.false_easting[0]) self.false_northing = int(infile.false_northing[0]) self.datum = infile.datum self.projection = infile.projection self.units = infile.units except: pass if self.false_easting != DEFAULT_FALSE_EASTING: print("WARNING: False easting of %f specified." % self.false_easting) print("Default false easting is %f." % DEFAULT_FALSE_EASTING) print("ANUGA does not correct for differences in False Eastings.") if self.false_northing != DEFAULT_FALSE_NORTHING: print("WARNING: False northing of %f specified." % self.false_northing) print("Default false northing is %f." % DEFAULT_FALSE_NORTHING) print("ANUGA does not correct for differences in False Northings.") if self.datum.upper() != DEFAULT_DATUM.upper(): print("WARNING: Datum of %s specified." % self.datum) print("Default Datum is %s." % DEFAULT_DATUM) print("ANUGA does not correct for differences in datums.") if self.projection.upper() != DEFAULT_PROJECTION.upper(): print("WARNING: Projection of %s specified." % self.projection) print("Default Projection is %s." % DEFAULT_PROJECTION) print("ANUGA does not correct for differences in Projection.") if self.units.upper() != DEFAULT_UNITS.upper(): print("WARNING: Units of %s specified." % self.units) print("Default units is %s." % DEFAULT_UNITS) print("ANUGA does not correct for differences in units.") ################################################################################ # ASCII files with geo-refs are currently not used ################################################################################ ## # @brief Write georef data to an open text file. # @param fd Handle to open text file. def write_ASCII(self, fd): fd.write(TITLE) fd.write(str(self.zone) + "\n") fd.write(str(self.xllcorner) + "\n") fd.write(str(self.yllcorner) + "\n") ## # @brief Read georef data from an open text file. # @param fd Handle to open text file. def read_ASCII(self, fd, read_title=None): try: if read_title is None: read_title = fd.readline() # remove the title line if read_title[0:2].upper() != TITLE[0:2].upper(): msg = ('File error. Expecting line: %s. Got this line: %s' % (TITLE, read_title)) raise ValueError(msg) self.zone = int(fd.readline()) self.xllcorner = float(fd.readline()) self.yllcorner = float(fd.readline()) except SyntaxError: msg = 'File error. Got syntax error while parsing geo reference' raise ValueError(msg) # Fix some assertion failures if isinstance(self.zone, num.ndarray) and self.zone.shape == (): self.zone = self.zone[0] if (isinstance(self.xllcorner, num.ndarray) and self.xllcorner.shape == ()): self.xllcorner = self.xllcorner[0] if (isinstance(self.yllcorner, num.ndarray) and self.yllcorner.shape == ()): self.yllcorner = self.yllcorner[0] assert (type(self.xllcorner) == types.FloatType) assert (type(self.yllcorner) == types.FloatType) assert (type(self.zone) == types.IntType) ################################################################################ ## # @brief Change points to be absolute wrt new georef 'points_geo_ref'. # @param points The points to change. # @param points_geo_ref The new georef to make points absolute wrt. # @return The changed points. # @note If 'points' is a list then a changed list is returned. def change_points_geo_ref(self, points, points_geo_ref=None): """Change the geo reference of a list or numeric array of points to be this reference.(The reference used for this object) If the points do not have a geo ref, assume 'absolute' values """ import copy # remember if we got a list is_list = isinstance(points, list) points = ensure_numeric(points, num.float) # sanity checks if len(points.shape) == 1: #One point has been passed msg = 'Single point must have two elements' assert len(points) == 2, msg points = num.reshape(points, (1,2)) msg = 'Points array must be two dimensional.\n' msg += 'I got %d dimensions' %len(points.shape) assert len(points.shape) == 2, msg msg = 'Input must be an N x 2 array or list of (x,y) values. ' msg += 'I got an %d x %d array' %points.shape assert points.shape[1] == 2, msg # FIXME (Ole): Could also check if zone, xllcorner, yllcorner # are identical in the two geo refs. if points_geo_ref is not self: # If georeferences are different points = copy.copy(points) # Don't destroy input if not points_geo_ref is None: # Convert points to absolute coordinates points[:,0] += points_geo_ref.xllcorner points[:,1] += points_geo_ref.yllcorner # Make points relative to primary geo reference points[:,0] -= self.xllcorner points[:,1] -= self.yllcorner if is_list: points = points.tolist() return points def is_absolute(self): """Return True if xllcorner==yllcorner==0 indicating that points in question are absolute. """ # FIXME(Ole): It is unfortunate that decision about whether points # are absolute or not lies with the georeference object. Ross pointed this out. # Moreover, this little function is responsible for a large fraction of the time # using in data fitting (something in like 40 - 50%. # This was due to the repeated calls to allclose. # With the flag method fitting is much faster (18 Mar 2009). # FIXME(Ole): HACK to be able to reuse data already cached (18 Mar 2009). # Remove at some point if not hasattr(self, 'absolute'): self.absolute = num.allclose([self.xllcorner, self.yllcorner], 0) # Return absolute flag return self.absolute def get_absolute(self, points): """Given a set of points geo referenced to this instance, return the points as absolute values. """ # remember if we got a list is_list = isinstance(points, list) points = ensure_numeric(points, num.float) if len(points.shape) == 1: # One point has been passed msg = 'Single point must have two elements' if not len(points) == 2: raise ValueError(msg) msg = 'Input must be an N x 2 array or list of (x,y) values. ' msg += 'I got an %d x %d array' %points.shape if not points.shape[1] == 2: raise ValueError(msg) # Add geo ref to points if not self.is_absolute(): points = copy.copy(points) # Don't destroy input points[:,0] += self.xllcorner points[:,1] += self.yllcorner if is_list: points = points.tolist() return points ## # @brief Convert points to relative measurement. # @param points Points to convert to relative measurements. # @return A set of points relative to the geo_reference instance. def get_relative(self, points): """Given a set of points in absolute UTM coordinates, make them relative to this geo_reference instance, return the points as relative values. This is the inverse of get_absolute. """ # remember if we got a list is_list = isinstance(points, list) points = ensure_numeric(points, num.float) if len(points.shape) == 1: #One point has been passed msg = 'Single point must have two elements' if not len(points) == 2: raise ValueError(msg) if not points.shape[1] == 2: msg = ('Input must be an N x 2 array or list of (x,y) values. ' 'I got an %d x %d array' % points.shape) raise ValueError(msg) # Subtract geo ref from points if not self.is_absolute(): points = copy.copy(points) # Don't destroy input points[:,0] -= self.xllcorner points[:,1] -= self.yllcorner if is_list: points = points.tolist() return points ## # @brief ?? # @param other ?? def reconcile_zones(self, other): if other is None: other = Geo_reference() if (self.zone == other.zone or self.zone == DEFAULT_ZONE and other.zone == DEFAULT_ZONE): pass elif self.zone == DEFAULT_ZONE: self.zone = other.zone elif other.zone == DEFAULT_ZONE: other.zone = self.zone else: msg = ('Geospatial data must be in the same ' 'ZONE to allow reconciliation. I got zone %d and %d' % (self.zone, other.zone)) raise ValueError(msg) #def easting_northing2geo_reffed_point(self, x, y): # return [x-self.xllcorner, y - self.xllcorner] #def easting_northing2geo_reffed_points(self, x, y): # return [x-self.xllcorner, y - self.xllcorner] ## # @brief Get origin of this geo_reference. # @return (zone, xllcorner, yllcorner). def get_origin(self): return (self.zone, self.xllcorner, self.yllcorner) ## # @brief Get a string representation of this geo_reference instance. def __repr__(self): return ('(zone=%i easting=%f, northing=%f)' % (self.zone, self.xllcorner, self.yllcorner)) ## # @brief Compare two geo_reference instances. # @param self This geo_reference instance. # @param other Another geo_reference instance to compare against. # @return 0 if instances have the same attributes, else 1. # @note Attributes are: zone, xllcorner, yllcorner. def __cmp__(self, other): # FIXME (DSG) add a tolerance if other is None: return 1 cmp = 0 if not (self.xllcorner == self.xllcorner): cmp = 1 if not (self.yllcorner == self.yllcorner): cmp = 1 if not (self.zone == self.zone): cmp = 1 return cmp ## # @brief Write a geo_reference to a NetCDF file (usually SWW). # @param origin A georef instance or parameters to create a georef instance. # @param outfile Path to file to write. # @return A normalized geo_reference. def write_NetCDF_georeference(origin, outfile): """Write georeference info to a netcdf file, usually sww. The origin can be a georef instance or parameters for a geo_ref instance outfile is the name of the file to be written to. """ geo_ref = ensure_geo_reference(origin) geo_ref.write_NetCDF(outfile) return geo_ref ## # @brief Convert an object to a georeference instance. # @param origin A georef instance or (zone, xllcorner, yllcorner) # @return A georef object, or None if 'origin' was None. def ensure_geo_reference(origin): """ Given a list/tuple of zone, xllcorner and yllcorner of a geo-ref object, return a geo ref object. If the origin is None, return None, so calling this function doesn't effect code logic """ if isinstance(origin, Geo_reference): geo_ref = origin elif origin is None: geo_ref = None else: geo_ref = apply(Geo_reference, origin) return geo_ref #----------------------------------------------------------------------- if __name__ == "__main__": pass MAVProxy-1.8.74/MAVProxy/modules/lib/ANUGA/lat_long_UTM_conversion.py000066400000000000000000000233201504324515000252000ustar00rootroot00000000000000#!/usr/bin/env python3 # Lat Long - UTM, UTM - Lat Long conversions # # see http://www.pygps.org # from math import pi, sin, cos, tan, sqrt #LatLong- UTM conversion..h #definitions for lat/long to UTM and UTM to lat/lng conversions #include _deg2rad = pi / 180.0 _rad2deg = 180.0 / pi _EquatorialRadius = 2 _eccentricitySquared = 3 _ellipsoid = [ # id, Ellipsoid name, Equatorial Radius, square of eccentricity # first once is a placeholder only, To allow array indices to match id numbers [ -1, "Placeholder", 0, 0], [ 1, "Airy", 6377563, 0.00667054], [ 2, "Australian National", 6378160, 0.006694542], [ 3, "Bessel 1841", 6377397, 0.006674372], [ 4, "Bessel 1841 (Nambia] ", 6377484, 0.006674372], [ 5, "Clarke 1866", 6378206, 0.006768658], [ 6, "Clarke 1880", 6378249, 0.006803511], [ 7, "Everest", 6377276, 0.006637847], [ 8, "Fischer 1960 (Mercury] ", 6378166, 0.006693422], [ 9, "Fischer 1968", 6378150, 0.006693422], [ 10, "GRS 1967", 6378160, 0.006694605], [ 11, "GRS 1980", 6378137, 0.00669438], [ 12, "Helmert 1906", 6378200, 0.006693422], [ 13, "Hough", 6378270, 0.00672267], [ 14, "International", 6378388, 0.00672267], [ 15, "Krassovsky", 6378245, 0.006693422], [ 16, "Modified Airy", 6377340, 0.00667054], [ 17, "Modified Everest", 6377304, 0.006637847], [ 18, "Modified Fischer 1960", 6378155, 0.006693422], [ 19, "South American 1969", 6378160, 0.006694542], [ 20, "WGS 60", 6378165, 0.006693422], [ 21, "WGS 66", 6378145, 0.006694542], [ 22, "WGS-72", 6378135, 0.006694318], [ 23, "WGS-84", 6378137, 0.00669438] ] #Reference ellipsoids derived from Peter H. Dana's website- #http://www.utexas.edu/depts/grg/gcraft/notes/datum/elist.html #Department of Geography, University of Texas at Austin #Internet: pdana@mail.utexas.edu #3/22/95 #Source #Defense Mapping Agency. 1987b. DMA Technical Report: Supplement to Department of Defense World Geodetic System #1984 Technical Report. Part I and II. Washington, DC: Defense Mapping Agency #def LLtoUTM(int ReferenceEllipsoid, const double Lat, const double Long, # double &UTMNorthing, double &UTMEasting, char* UTMZone) def LLtoUTM( Lat, Long, ReferenceEllipsoid=23): """ converts lat/long to UTM coords. Equations from USGS Bulletin 1532 East Longitudes are positive, West longitudes are negative. North latitudes are positive, South latitudes are negative Lat and Long are in decimal degrees Written by Chuck Gantz- chuck.gantz@globalstar.com """ a = _ellipsoid[ReferenceEllipsoid][_EquatorialRadius] eccSquared = _ellipsoid[ReferenceEllipsoid][_eccentricitySquared] k0 = 0.9996 #Make sure the longitude is between -180.00 .. 179.9 LongTemp = (Long+180)-int((Long+180)/360)*360-180 # -180.00 .. 179.9 LatRad = Lat*_deg2rad LongRad = LongTemp*_deg2rad ZoneNumber = int((LongTemp + 180)/6) + 1 if Lat >= 56.0 and Lat < 64.0 and LongTemp >= 3.0 and LongTemp < 12.0: ZoneNumber = 32 # Special zones for Svalbard if Lat >= 72.0 and Lat < 84.0: if LongTemp >= 0.0 and LongTemp < 9.0:ZoneNumber = 31 elif LongTemp >= 9.0 and LongTemp < 21.0: ZoneNumber = 33 elif LongTemp >= 21.0 and LongTemp < 33.0: ZoneNumber = 35 elif LongTemp >= 33.0 and LongTemp < 42.0: ZoneNumber = 37 LongOrigin = (ZoneNumber - 1)*6 - 180 + 3 #+3 puts origin in middle of zone LongOriginRad = LongOrigin * _deg2rad #compute the UTM Zone from the latitude and longitude UTMZone = "%d%c" % (ZoneNumber, _UTMLetterDesignator(Lat)) eccPrimeSquared = (eccSquared)/(1-eccSquared) N = a/sqrt(1-eccSquared*sin(LatRad)*sin(LatRad)) T = tan(LatRad)*tan(LatRad) C = eccPrimeSquared*cos(LatRad)*cos(LatRad) A = cos(LatRad)*(LongRad-LongOriginRad) M = a*((1 - eccSquared/4 - 3*eccSquared*eccSquared/64 - 5*eccSquared*eccSquared*eccSquared/256)*LatRad - (3*eccSquared/8 + 3*eccSquared*eccSquared/32 + 45*eccSquared*eccSquared*eccSquared/1024)*sin(2*LatRad) + (15*eccSquared*eccSquared/256 + 45*eccSquared*eccSquared*eccSquared/1024)*sin(4*LatRad) - (35*eccSquared*eccSquared*eccSquared/3072)*sin(6*LatRad)) UTMEasting = (k0*N*(A+(1-T+C)*A*A*A/6 + (5-18*T+T*T+72*C-58*eccPrimeSquared)*A*A*A*A*A/120) + 500000.0) UTMNorthing = (k0*(M+N*tan(LatRad)*(A*A/2+(5-T+9*C+4*C*C)*A*A*A*A/24 + (61 -58*T +T*T +600*C -330*eccPrimeSquared)*A*A*A*A*A*A/720))) if Lat < 0: UTMNorthing = UTMNorthing + 10000000.0; #10000000 meter offset for southern hemisphere #UTMZone was originally returned here. I don't know what the #letter at the end was for. #print("UTMZone", UTMZone) return (ZoneNumber, UTMEasting, UTMNorthing) def _UTMLetterDesignator(Lat): #This routine determines the correct UTM letter designator for the given latitude #returns 'Z' if latitude is outside the UTM limits of 84N to 80S #Written by Chuck Gantz- chuck.gantz@globalstar.com if 84 >= Lat >= 72: return 'X' elif 72 > Lat >= 64: return 'W' elif 64 > Lat >= 56: return 'V' elif 56 > Lat >= 48: return 'U' elif 48 > Lat >= 40: return 'T' elif 40 > Lat >= 32: return 'S' elif 32 > Lat >= 24: return 'R' elif 24 > Lat >= 16: return 'Q' elif 16 > Lat >= 8: return 'P' elif 8 > Lat >= 0: return 'N' elif 0 > Lat >= -8: return 'M' elif -8> Lat >= -16: return 'L' elif -16 > Lat >= -24: return 'K' elif -24 > Lat >= -32: return 'J' elif -32 > Lat >= -40: return 'H' elif -40 > Lat >= -48: return 'G' elif -48 > Lat >= -56: return 'F' elif -56 > Lat >= -64: return 'E' elif -64 > Lat >= -72: return 'D' elif -72 > Lat >= -80: return 'C' else: return 'Z' # if the Latitude is outside the UTM limits #void UTMtoLL(int ReferenceEllipsoid, const double UTMNorthing, const double UTMEasting, const char* UTMZone, # double& Lat, double& Long ) def UTMtoLL(northing, easting, zone, isSouthernHemisphere=True, ReferenceEllipsoid=23): """ converts UTM coords to lat/long. Equations from USGS Bulletin 1532 East Longitudes are positive, West longitudes are negative. North latitudes are positive, South latitudes are negative Lat and Long are in decimal degrees. Written by Chuck Gantz- chuck.gantz@globalstar.com Converted to Python by Russ Nelson FIXME: This is set up to work for the Southern Hemisphere. Using http://www.ga.gov.au/geodesy/datums/redfearn_geo_to_grid.jsp Site Name: GDA-MGA: (UTM with GRS80 ellipsoid) Zone: 36 Easting: 511669.521 Northing: 19328195.112 Latitude: 84 0 ' 0.00000 '' Longitude: 34 0 ' 0.00000 '' Grid Convergence: 0 -59 ' 40.28 '' Point Scale: 0.99960166 ____________ Site Name: GDA-MGA: (UTM with GRS80 ellipsoid) Zone: 36 Easting: 519384.803 Northing: 1118247.585 Latitude: -80 0 ' 0.00000 '' Longitude: 34 0 ' 0.00000 '' Grid Convergence: 0 59 ' 5.32 '' Point Scale: 0.99960459 ___________ Site Name: GDA-MGA: (UTM with GRS80 ellipsoid) Zone: 36 Easting: 611263.812 Northing: 10110547.106 Latitude: 1 0 ' 0.00000 '' Longitude: 34 0 ' 0.00000 '' Grid Convergence: 0 -1 ' 2.84 '' Point Scale: 0.99975325 ______________ Site Name: GDA-MGA: (UTM with GRS80 ellipsoid) Zone: 36 Easting: 611263.812 Northing: 9889452.894 Latitude: -1 0 ' 0.00000 '' Longitude: 34 0 ' 0.00000 '' Grid Convergence: 0 1 ' 2.84 '' Point Scale: 0.99975325 So this uses a false northing of 10000000 in the both hemispheres. ArcGIS used a false northing of 0 in the northern hem though. Therefore it is difficult to actually know what hemisphere you are in. """ k0 = 0.9996 a = _ellipsoid[ReferenceEllipsoid][_EquatorialRadius] eccSquared = _ellipsoid[ReferenceEllipsoid][_eccentricitySquared] e1 = (1-sqrt(1-eccSquared))/(1+sqrt(1-eccSquared)) x = easting - 500000.0 #remove 500,000 meter offset for longitude y = northing ZoneNumber = int(zone) if isSouthernHemisphere: y -= 10000000.0 # remove 10,000,000 meter offset used # for southern hemisphere LongOrigin = (ZoneNumber - 1)*6 - 180 + 3 # +3 puts origin in middle of zone eccPrimeSquared = (eccSquared)/(1-eccSquared) M = y / k0 mu = M/(a*(1-eccSquared/4-3*eccSquared*eccSquared/64-5*eccSquared*eccSquared*eccSquared/256)) phi1Rad = (mu + (3*e1/2-27*e1*e1*e1/32)*sin(2*mu) + (21*e1*e1/16-55*e1*e1*e1*e1/32)*sin(4*mu) +(151*e1*e1*e1/96)*sin(6*mu)) phi1 = phi1Rad*_rad2deg; N1 = a/sqrt(1-eccSquared*sin(phi1Rad)*sin(phi1Rad)) T1 = tan(phi1Rad)*tan(phi1Rad) C1 = eccPrimeSquared*cos(phi1Rad)*cos(phi1Rad) R1 = a*(1-eccSquared)/pow(1-eccSquared*sin(phi1Rad)*sin(phi1Rad), 1.5) D = x/(N1*k0) Lat = phi1Rad - (N1*tan(phi1Rad)/R1)*(D*D/2-(5+3*T1+10*C1-4*C1*C1-9*eccPrimeSquared)*D*D*D*D/24 +(61+90*T1+298*C1+45*T1*T1-252*eccPrimeSquared-3*C1*C1)*D*D*D*D*D*D/720) Lat = Lat * _rad2deg Long = (D-(1+2*T1+C1)*D*D*D/6+(5-2*C1+28*T1-3*C1*C1+8*eccPrimeSquared+24*T1*T1) *D*D*D*D*D/120)/cos(phi1Rad) Long = LongOrigin + Long * _rad2deg return (Lat, Long) if __name__ == '__main__': (z, e, n) = LLtoUTM(45.00, -75.00, 23) print(z, e, n) (lat, lon) = UTMtoLL(n, e, z, 23) print(lat, lon) MAVProxy-1.8.74/MAVProxy/modules/lib/ANUGA/redfearn.py000066400000000000000000000144331504324515000222020ustar00rootroot00000000000000""" This module adapted ANUGA https://anuga.anu.edu.au/ ------------ Implementation of Redfearn's formula to compute UTM projections from latitude and longitude Based in part on spreadsheet www.icsm.gov.au/gda/gdatm/redfearn.xls downloaded from INTERGOVERNMENTAL COMMITTEE ON SURVEYING & MAPPING (ICSM) http://www.icsm.gov.au/icsm/ """ from MAVProxy.modules.lib.ANUGA.geo_reference import Geo_reference, DEFAULT_ZONE def degminsec2decimal_degrees(dd,mm,ss): assert abs(mm) == mm assert abs(ss) == ss if dd < 0: sign = -1 else: sign = 1 return sign * (abs(dd) + mm/60. + ss/3600.) def decimal_degrees2degminsec(dec): if dec < 0: sign = -1 else: sign = 1 dec = abs(dec) dd = int(dec) f = dec-dd mm = int(f*60) ss = (f*60-mm)*60 return sign*dd, mm, ss def redfearn(lat, lon, false_easting=None, false_northing=None, zone=None, central_meridian=None, scale_factor=None): """Compute UTM projection using Redfearn's formula lat, lon is latitude and longitude in decimal degrees If false easting and northing are specified they will override the standard If zone is specified reproject lat and long to specified zone instead of standard zone If meridian is specified, reproject lat and lon to that instead of zone. In this case zone will be set to -1 to indicate non-UTM projection Note that zone and meridian cannot both be specifed """ from math import pi, sqrt, sin, cos, tan #GDA Specifications a = 6378137.0 #Semi major axis inverse_flattening = 298.257222101 #1/f if scale_factor is None: K0 = 0.9996 #Central scale factor else: K0 = scale_factor #print('scale', K0) zone_width = 6 #Degrees longitude_of_central_meridian_zone0 = -183 longitude_of_western_edge_zone0 = -186 if false_easting is None: false_easting = 500000 if false_northing is None: if lat < 0: false_northing = 10000000 #Southern hemisphere else: false_northing = 0 #Northern hemisphere) #Derived constants f = 1.0/inverse_flattening b = a*(1-f) #Semi minor axis e2 = 2*f - f*f# = f*(2-f) = (a^2-b^2/a^2 #Eccentricity e = sqrt(e2) e2_ = e2/(1-e2) # = (a^2-b^2)/b^2 #Second eccentricity e_ = sqrt(e2_) e4 = e2*e2 e6 = e2*e4 #Foot point latitude n = (a-b)/(a+b) #Same as e2 - why ? n2 = n*n n3 = n*n2 n4 = n2*n2 G = a*(1-n)*(1-n2)*(1+9*n2/4+225*n4/64)*pi/180 phi = lat*pi/180 #Convert latitude to radians sinphi = sin(phi) sin2phi = sin(2*phi) sin4phi = sin(4*phi) sin6phi = sin(6*phi) cosphi = cos(phi) cosphi2 = cosphi*cosphi cosphi3 = cosphi*cosphi2 cosphi4 = cosphi2*cosphi2 cosphi5 = cosphi*cosphi4 cosphi6 = cosphi2*cosphi4 cosphi7 = cosphi*cosphi6 cosphi8 = cosphi4*cosphi4 t = tan(phi) t2 = t*t t4 = t2*t2 t6 = t2*t4 #Radius of Curvature rho = a*(1-e2)/(1-e2*sinphi*sinphi)**1.5 nu = a/(1-e2*sinphi*sinphi)**0.5 psi = nu/rho psi2 = psi*psi psi3 = psi*psi2 psi4 = psi2*psi2 #Meridian distance A0 = 1 - e2/4 - 3*e4/64 - 5*e6/256 A2 = 3.0/8*(e2+e4/4+15*e6/128) A4 = 15.0/256*(e4+3*e6/4) A6 = 35*e6/3072 term1 = a*A0*phi term2 = -a*A2*sin2phi term3 = a*A4*sin4phi term4 = -a*A6*sin6phi m = term1 + term2 + term3 + term4 #OK if zone is not None and central_meridian is not None: msg = 'You specified both zone and central_meridian. Provide only one of them' raise ValueError(msg) # Zone if zone is None: zone = int((lon - longitude_of_western_edge_zone0)/zone_width) # Central meridian if central_meridian is None: central_meridian = zone*zone_width+longitude_of_central_meridian_zone0 else: zone = -1 omega = (lon-central_meridian)*pi/180 #Relative longitude (radians) omega2 = omega*omega omega3 = omega*omega2 omega4 = omega2*omega2 omega5 = omega*omega4 omega6 = omega3*omega3 omega7 = omega*omega6 omega8 = omega4*omega4 #Northing term1 = nu*sinphi*cosphi*omega2/2 term2 = nu*sinphi*cosphi3*(4*psi2+psi-t2)*omega4/24 term3 = nu*sinphi*cosphi5*\ (8*psi4*(11-24*t2)-28*psi3*(1-6*t2)+\ psi2*(1-32*t2)-psi*2*t2+t4-t2)*omega6/720 term4 = nu*sinphi*cosphi7*(1385-3111*t2+543*t4-t6)*omega8/40320 northing = false_northing + K0*(m + term1 + term2 + term3 + term4) #Easting term1 = nu*omega*cosphi term2 = nu*cosphi3*(psi-t2)*omega3/6 term3 = nu*cosphi5*(4*psi3*(1-6*t2)+psi2*(1+8*t2)-2*psi*t2+t4)*omega5/120 term4 = nu*cosphi7*(61-479*t2+179*t4-t6)*omega7/5040 easting = false_easting + K0*(term1 + term2 + term3 + term4) return zone, easting, northing def convert_from_latlon_to_utm(points=None, latitudes=None, longitudes=None, false_easting=None, false_northing=None): """Convert latitude and longitude data to UTM as a list of coordinates. Input points: list of points given in decimal degrees (latitude, longitude) or latitudes: list of latitudes and longitudes: list of longitudes false_easting (optional) false_northing (optional) Output points: List of converted points zone: Common UTM zone for converted points Notes Assume the false_easting and false_northing are the same for each list. If points end up in different UTM zones, an ANUGAerror is thrown. """ old_geo = Geo_reference() utm_points = [] if points is None: assert len(latitudes) == len(longitudes) points = map(None, latitudes, longitudes) for point in points: zone, easting, northing = redfearn(float(point[0]), float(point[1]), false_easting=false_easting, false_northing=false_northing) new_geo = Geo_reference(zone) old_geo.reconcile_zones(new_geo) utm_points.append([easting, northing]) return utm_points, old_geo.get_zone() MAVProxy-1.8.74/MAVProxy/modules/lib/LowPassFilter2p.py000066400000000000000000000030211504324515000225500ustar00rootroot00000000000000#!/usr/bin/env python3 from math import * class LowPassFilter2p: def __init__(self, sample_freq, cutoff_freq): self.cutoff_freq = cutoff_freq self.sample_freq = sample_freq self.a1 = 0.0 self.a2 = 0.0 self.b0 = 0.0 self.b1 = 0.0 self.b2 = 0.0 self.delay_element_1 = None self.delay_element_2 = None self.set_cutoff_frequency(sample_freq, cutoff_freq) def set_cutoff_frequency(self, sample_freq, cutoff_freq): self.cutoff_freq = cutoff_freq if self.cutoff_freq <= 0.0: return fr = self.sample_freq/self.cutoff_freq ohm = tan(pi/fr) c = 1.0+2.0*cos(pi/4.0)*ohm + ohm*ohm self.b0 = ohm*ohm/c self.b1 = 2.0*self.b0 self.b2 = self.b0 self.a1 = 2.0*(ohm*ohm-1.0)/c self.a2 = (1.0-2.0*cos(pi/4.0)*ohm+ohm*ohm)/c def apply(self, sample): if self.delay_element_1 is None: self.delay_element_1 = sample self.delay_element_2 = sample delay_element_0 = sample - (self.delay_element_1 * self.a1) - (self.delay_element_2 * self.a2) output = (delay_element_0 * self.b0) + (self.delay_element_1 * self.b1) + (self.delay_element_2 * self.b2) self.delay_element_2 = self.delay_element_1 self.delay_element_1 = delay_element_0 return output if __name__ == "__main__": from pymavlink.rotmat import Vector3 filter = LowPassFilter2p(1000.0, 98.0) v2 = filter.apply(Vector3(1,2,3)) print(v2) MAVProxy-1.8.74/MAVProxy/modules/lib/MacOS/000077500000000000000000000000001504324515000201445ustar00rootroot00000000000000MAVProxy-1.8.74/MAVProxy/modules/lib/MacOS/__init__.py000066400000000000000000000000761504324515000222600ustar00rootroot00000000000000# version of matplotlib backends modified to work with MacOS MAVProxy-1.8.74/MAVProxy/modules/lib/MacOS/backend_agg.py000066400000000000000000000450251504324515000227310ustar00rootroot00000000000000""" An agg http://antigrain.com/ backend Features that are implemented * capstyles and join styles * dashes * linewidth * lines, rectangles, ellipses * clipping to a rectangle * output to RGBA and PNG * alpha blending * DPI scaling properly - everything scales properly (dashes, linewidths, etc) * draw polygon * freetype2 w/ ft2font TODO: * integrate screen dpi w/ ppi and text """ from __future__ import division import threading import numpy as np from matplotlib import verbose, rcParams from matplotlib.backend_bases import RendererBase,\ FigureManagerBase, FigureCanvasBase from matplotlib.cbook import is_string_like, maxdict from matplotlib.figure import Figure from matplotlib.font_manager import findfont from matplotlib.ft2font import FT2Font, LOAD_FORCE_AUTOHINT, LOAD_NO_HINTING, \ LOAD_DEFAULT, LOAD_NO_AUTOHINT from matplotlib.mathtext import MathTextParser from matplotlib.path import Path from matplotlib.transforms import Bbox, BboxBase from matplotlib.backends._backend_agg import RendererAgg as _RendererAgg from matplotlib import _png backend_version = 'v2.2' def get_hinting_flag(): mapping = { True: LOAD_FORCE_AUTOHINT, False: LOAD_NO_HINTING, 'either': LOAD_DEFAULT, 'native': LOAD_NO_AUTOHINT, 'auto': LOAD_FORCE_AUTOHINT, 'none': LOAD_NO_HINTING } return mapping[rcParams['text.hinting']] class RendererAgg(RendererBase): """ The renderer handles all the drawing primitives using a graphics context instance that controls the colors/styles """ debug=1 # we want to cache the fonts at the class level so that when # multiple figures are created we can reuse them. This helps with # a bug on windows where the creation of too many figures leads to # too many open file handles. However, storing them at the class # level is not thread safe. The solution here is to let the # FigureCanvas acquire a lock on the fontd at the start of the # draw, and release it when it is done. This allows multiple # renderers to share the cached fonts, but only one figure can # draw at at time and so the font cache is used by only one # renderer at a time lock = threading.RLock() _fontd = maxdict(50) def __init__(self, width, height, dpi): if __debug__: verbose.report('RendererAgg.__init__', 'debug-annoying') RendererBase.__init__(self) self.texd = maxdict(50) # a cache of tex image rasters self.dpi = dpi self.width = width self.height = height if __debug__: verbose.report('RendererAgg.__init__ width=%s, height=%s'%(width, height), 'debug-annoying') self._renderer = _RendererAgg(int(width), int(height), dpi, debug=False) self._filter_renderers = [] if __debug__: verbose.report('RendererAgg.__init__ _RendererAgg done', 'debug-annoying') self._update_methods() self.mathtext_parser = MathTextParser('Agg') self.bbox = Bbox.from_bounds(0, 0, self.width, self.height) if __debug__: verbose.report('RendererAgg.__init__ done', 'debug-annoying') def _get_hinting_flag(self): if rcParams['text.hinting']: return LOAD_FORCE_AUTOHINT else: return LOAD_NO_HINTING # for filtering to work with rasterization, methods needs to be wrapped. # maybe there is better way to do it. def draw_markers(self, *kl, **kw): return self._renderer.draw_markers(*kl, **kw) def draw_path_collection(self, *kl, **kw): return self._renderer.draw_path_collection(*kl, **kw) def _update_methods(self): #self.draw_path = self._renderer.draw_path # see below #self.draw_markers = self._renderer.draw_markers #self.draw_path_collection = self._renderer.draw_path_collection self.draw_quad_mesh = self._renderer.draw_quad_mesh self.draw_gouraud_triangle = self._renderer.draw_gouraud_triangle self.draw_gouraud_triangles = self._renderer.draw_gouraud_triangles self.draw_image = self._renderer.draw_image self.copy_from_bbox = self._renderer.copy_from_bbox def tostring_rgba_minimized(self): extents = self._renderer.get_content_extents() bbox = [[extents[0], self.height - (extents[1] + extents[3])], [extents[0] + extents[2], self.height - extents[1]]] region = self._renderer.copy_from_bbox(bbox) return np.array(region), extents def draw_path(self, gc, path, transform, rgbFace=None): """ Draw the path """ nmax = rcParams['agg.path.chunksize'] # here at least for testing npts = path.vertices.shape[0] if (nmax > 100 and npts > nmax and path.should_simplify and rgbFace is None and gc.get_hatch() is None): nch = np.ceil(npts/float(nmax)) chsize = int(np.ceil(npts/nch)) i0 = np.arange(0, npts, chsize) i1 = np.zeros_like(i0) i1[:-1] = i0[1:] - 1 i1[-1] = npts for ii0, ii1 in zip(i0, i1): v = path.vertices[ii0:ii1,:] c = path.codes if c is not None: c = c[ii0:ii1] c[0] = Path.MOVETO # move to end of last chunk p = Path(v, c) self._renderer.draw_path(gc, p, transform, rgbFace) else: self._renderer.draw_path(gc, path, transform, rgbFace) def draw_mathtext(self, gc, x, y, s, prop, angle): """ Draw the math text using matplotlib.mathtext """ if __debug__: verbose.report('RendererAgg.draw_mathtext', 'debug-annoying') ox, oy, width, height, descent, font_image, used_characters = \ self.mathtext_parser.parse(s, self.dpi, prop) xd = descent * np.sin(np.deg2rad(angle)) yd = descent * np.cos(np.deg2rad(angle)) x = np.round(x + ox + xd) y = np.round(y - oy + yd) self._renderer.draw_text_image(font_image, x, y + 1, angle, gc) def draw_text(self, gc, x, y, s, prop, angle, ismath=False, mtext=None): """ Render the text """ if __debug__: verbose.report('RendererAgg.draw_text', 'debug-annoying') if ismath: return self.draw_mathtext(gc, x, y, s, prop, angle) flags = get_hinting_flag() font = self._get_agg_font(prop) if font is None: return None if len(s) == 1 and ord(s) > 127: font.load_char(ord(s), flags=flags) else: # We pass '0' for angle here, since it will be rotated (in raster # space) in the following call to draw_text_image). font.set_text(s, 0, flags=flags) font.draw_glyphs_to_bitmap(antialiased=rcParams['text.antialiased']) d = font.get_descent() / 64.0 # The descent needs to be adjusted for the angle xd = -d * np.sin(np.deg2rad(angle)) yd = d * np.cos(np.deg2rad(angle)) #print x, y, int(x), int(y), s self._renderer.draw_text_image( font.get_image(), np.round(x - xd), np.round(y + yd) + 1, angle, gc) def get_text_width_height_descent(self, s, prop, ismath): """ get the width and height in display coords of the string s with FontPropertry prop # passing rgb is a little hack to make cacheing in the # texmanager more efficient. It is not meant to be used # outside the backend """ if rcParams['text.usetex']: # todo: handle props size = prop.get_size_in_points() texmanager = self.get_texmanager() fontsize = prop.get_size_in_points() w, h, d = texmanager.get_text_width_height_descent(s, fontsize, renderer=self) return w, h, d if ismath: ox, oy, width, height, descent, fonts, used_characters = \ self.mathtext_parser.parse(s, self.dpi, prop) return width, height, descent flags = get_hinting_flag() font = self._get_agg_font(prop) font.set_text(s, 0.0, flags=flags) # the width and height of unrotated string w, h = font.get_width_height() d = font.get_descent() w /= 64.0 # convert from subpixels h /= 64.0 d /= 64.0 return w, h, d def draw_tex(self, gc, x, y, s, prop, angle, ismath='TeX!', mtext=None): # todo, handle props, angle, origins size = prop.get_size_in_points() texmanager = self.get_texmanager() key = s, size, self.dpi, angle, texmanager.get_font_config() im = self.texd.get(key) if im is None: Z = texmanager.get_grey(s, size, self.dpi) Z = np.array(Z * 255.0, np.uint8) w, h, d = self.get_text_width_height_descent(s, prop, ismath) xd = d * np.sin(np.deg2rad(angle)) yd = d * np.cos(np.deg2rad(angle)) x = np.round(x + xd) y = np.round(y + yd) self._renderer.draw_text_image(Z, x, y, angle, gc) def get_canvas_width_height(self): 'return the canvas width and height in display coords' return self.width, self.height def _get_agg_font(self, prop): """ Get the font for text instance t, cacheing for efficiency """ if __debug__: verbose.report('RendererAgg._get_agg_font', 'debug-annoying') key = hash(prop) font = RendererAgg._fontd.get(key) if font is None: fname = findfont(prop) font = RendererAgg._fontd.get(fname) if font is None: font = FT2Font( str(fname), hinting_factor=rcParams['text.hinting_factor']) RendererAgg._fontd[fname] = font RendererAgg._fontd[key] = font font.clear() size = prop.get_size_in_points() font.set_size(size, self.dpi) return font def points_to_pixels(self, points): """ convert point measures to pixes using dpi and the pixels per inch of the display """ if __debug__: verbose.report('RendererAgg.points_to_pixels', 'debug-annoying') return points*self.dpi/72.0 def tostring_rgb(self): if __debug__: verbose.report('RendererAgg.tostring_rgb', 'debug-annoying') return self._renderer.tostring_rgb() def tostring_argb(self): if __debug__: verbose.report('RendererAgg.tostring_argb', 'debug-annoying') return self._renderer.tostring_argb() def buffer_rgba(self): if __debug__: verbose.report('RendererAgg.buffer_rgba', 'debug-annoying') return self._renderer.buffer_rgba() def clear(self): self._renderer.clear() def option_image_nocomposite(self): # It is generally faster to composite each image directly to # the Figure, and there's no file size benefit to compositing # with the Agg backend return True def option_scale_image(self): """ agg backend support arbitrary scaling of image. """ return True def restore_region(self, region, bbox=None, xy=None): """ Restore the saved region. If bbox (instance of BboxBase, or its extents) is given, only the region specified by the bbox will be restored. *xy* (a tuple of two floasts) optionally specifies the new position (the LLC of the original region, not the LLC of the bbox) where the region will be restored. >>> region = renderer.copy_from_bbox() >>> x1, y1, x2, y2 = region.get_extents() >>> renderer.restore_region(region, bbox=(x1+dx, y1, x2, y2), ... xy=(x1-dx, y1)) """ if bbox is not None or xy is not None: if bbox is None: x1, y1, x2, y2 = region.get_extents() elif isinstance(bbox, BboxBase): x1, y1, x2, y2 = bbox.extents else: x1, y1, x2, y2 = bbox if xy is None: ox, oy = x1, y1 else: ox, oy = xy self._renderer.restore_region2(region, x1, y1, x2, y2, ox, oy) else: self._renderer.restore_region(region) def start_filter(self): """ Start filtering. It simply create a new canvas (the old one is saved). """ self._filter_renderers.append(self._renderer) self._renderer = _RendererAgg(int(self.width), int(self.height), self.dpi) self._update_methods() def stop_filter(self, post_processing): """ Save the plot in the current canvas as a image and apply the *post_processing* function. def post_processing(image, dpi): # ny, nx, depth = image.shape # image (numpy array) has RGBA channels and has a depth of 4. ... # create a new_image (numpy array of 4 channels, size can be # different). The resulting image may have offsets from # lower-left corner of the original image return new_image, offset_x, offset_y The saved renderer is restored and the returned image from post_processing is plotted (using draw_image) on it. """ # WARNING. # For agg_filter to work, the rendere's method need # to overridden in the class. See draw_markers, and draw_path_collections from matplotlib._image import fromarray width, height = int(self.width), int(self.height) buffer, bounds = self._renderer.tostring_rgba_minimized() l, b, w, h = bounds self._renderer = self._filter_renderers.pop() self._update_methods() if w > 0 and h > 0: img = np.fromstring(buffer, np.uint8) img, ox, oy = post_processing(img.reshape((h, w, 4)) / 255., self.dpi) image = fromarray(img, 1) image.flipud_out() gc = self.new_gc() self._renderer.draw_image(gc, l+ox, height - b - h +oy, image) def new_figure_manager(num, *args, **kwargs): """ Create a new figure manager instance """ if __debug__: verbose.report('backend_agg.new_figure_manager', 'debug-annoying') FigureClass = kwargs.pop('FigureClass', Figure) thisFig = FigureClass(*args, **kwargs) return new_figure_manager_given_figure(num, thisFig) def new_figure_manager_given_figure(num, figure): """ Create a new figure manager instance for the given figure. """ canvas = FigureCanvasAgg(figure) manager = FigureManagerBase(canvas, num) return manager class FigureCanvasAgg(FigureCanvasBase): """ The canvas the figure renders into. Calls the draw and print fig methods, creates the renderers, etc... Public attribute figure - A Figure instance """ def copy_from_bbox(self, bbox): renderer = self.get_renderer() return renderer.copy_from_bbox(bbox) def restore_region(self, region, bbox=None, xy=None): renderer = self.get_renderer() return renderer.restore_region(region, bbox, xy) def draw(self): """ Draw the figure using the renderer """ if __debug__: verbose.report('FigureCanvasAgg.draw', 'debug-annoying') self.renderer = self.get_renderer(cleared=True) # acquire a lock on the shared font cache RendererAgg.lock.acquire() try: self.figure.draw(self.renderer) finally: RendererAgg.lock.release() def get_renderer(self, cleared=False): l, b, w, h = self.figure.bbox.bounds key = w, h, self.figure.dpi try: self._lastKey, self.renderer except AttributeError: need_new_renderer = True else: need_new_renderer = (self._lastKey != key) if need_new_renderer: self.renderer = RendererAgg(w, h, self.figure.dpi) self._lastKey = key elif cleared: self.renderer.clear() return self.renderer def tostring_rgb(self): if __debug__: verbose.report('FigureCanvasAgg.tostring_rgb', 'debug-annoying') return self.renderer.tostring_rgb() def tostring_argb(self): if __debug__: verbose.report('FigureCanvasAgg.tostring_argb', 'debug-annoying') return self.renderer.tostring_argb() def buffer_rgba(self): if __debug__: verbose.report('FigureCanvasAgg.buffer_rgba', 'debug-annoying') return self.renderer.buffer_rgba() def print_raw(self, filename_or_obj, *args, **kwargs): FigureCanvasAgg.draw(self) renderer = self.get_renderer() original_dpi = renderer.dpi renderer.dpi = self.figure.dpi if is_string_like(filename_or_obj): filename_or_obj = open(filename_or_obj, 'wb') close = True else: close = False try: renderer._renderer.write_rgba(filename_or_obj) finally: if close: filename_or_obj.close() renderer.dpi = original_dpi print_rgba = print_raw def print_png(self, filename_or_obj, *args, **kwargs): FigureCanvasAgg.draw(self) renderer = self.get_renderer() original_dpi = renderer.dpi renderer.dpi = self.figure.dpi if is_string_like(filename_or_obj): filename_or_obj = open(filename_or_obj, 'wb') close = True else: close = False try: _png.write_png(renderer._renderer.buffer_rgba(), renderer.width, renderer.height, filename_or_obj, self.figure.dpi) finally: if close: filename_or_obj.close() renderer.dpi = original_dpi def print_to_buffer(self): FigureCanvasAgg.draw(self) renderer = self.get_renderer() original_dpi = renderer.dpi renderer.dpi = self.figure.dpi result = (renderer._renderer.buffer_rgba(), (int(renderer.width), int(renderer.height))) renderer.dpi = original_dpi return result MAVProxy-1.8.74/MAVProxy/modules/lib/MacOS/backend_wx.py000066400000000000000000002157411504324515000226350ustar00rootroot00000000000000from __future__ import division, print_function """ A wxPython backend for matplotlib, based (very heavily) on backend_template.py and backend_gtk.py Author: Jeremy O'Donoghue (jeremy@o-donoghue.com) Derived from original copyright work by John Hunter (jdhunter@ace.bsd.uchicago.edu) Copyright (C) Jeremy O'Donoghue & John Hunter, 2003-4 License: This work is licensed under a PSF compatible license. A copy should be included with this source code. """ import sys import os import os.path import math import StringIO import weakref import warnings import numpy as np from matplotlib.cbook import mplDeprecation # Debugging settings here... # Debug level set here. If the debug level is less than 5, information # messages (progressively more info for lower value) are printed. In addition, # traceback is performed, and pdb activated, for all uncaught exceptions in # this case _DEBUG = 5 if _DEBUG < 5: import traceback, pdb _DEBUG_lvls = {1 : 'Low ', 2 : 'Med ', 3 : 'High', 4 : 'Error' } if sys.version_info[0] >= 3: warnings.warn( "The wx and wxagg backends have not been tested with Python 3.x", ImportWarning) missingwx = "Matplotlib backend_wx and backend_wxagg require wxPython >=2.8" missingwxversion = ("Matplotlib backend_wx and backend_wxagg " "require wxversion, which was not found.") if not hasattr(sys, 'frozen'): # i.e., not py2exe try: import wxversion except ImportError: raise ImportError(missingwxversion) # Some early versions of wxversion lack AlreadyImportedError. # It was added around 2.8.4? try: _wx_ensure_failed = wxversion.AlreadyImportedError except AttributeError: _wx_ensure_failed = wxversion.VersionError try: wxversion.ensureMinimal('2.8') except _wx_ensure_failed: pass # We don't really want to pass in case of VersionError, but when # AlreadyImportedError is not available, we have to. try: import wx backend_version = wx.VERSION_STRING except ImportError: raise ImportError(missingwx) # Extra version check in case wxversion lacks AlreadyImportedError; # then VersionError might have been raised and ignored when # there really *is* a problem with the version. major, minor = [int(n) for n in backend_version.split('.')[:2]] if major < 2 or (major < 3 and minor < 8): print(" wxPython version %s was imported." % backend_version) raise ImportError(missingwx) #!!! this is the call that is causing the exception swallowing !!! #wx.InitAllImageHandlers() def DEBUG_MSG(string, lvl=3, o=None): if lvl >= _DEBUG: cls = o.__class__ # Jeremy, often times the commented line won't print but the # one below does. I think WX is redefining stderr, damned # beast #print >>sys.stderr, "%s- %s in %s" % (_DEBUG_lvls[lvl], string, cls) print("%s- %s in %s" % (_DEBUG_lvls[lvl], string, cls)) def debug_on_error(type, value, tb): """Code due to Thomas Heller - published in Python Cookbook (O'Reilley)""" traceback.print_exc(type, value, tb) print() pdb.pm() # jdh uncomment class fake_stderr: """Wx does strange things with stderr, as it makes the assumption that there is probably no console. This redirects stderr to the console, since we know that there is one!""" def write(self, msg): print("Stderr: %s\n\r" % msg) #if _DEBUG < 5: # sys.excepthook = debug_on_error # WxLogger =wx.LogStderr() # sys.stderr = fake_stderr # Event binding code changed after version 2.5 if wx.VERSION_STRING >= '2.5': def bind(actor,event,action,**kw): actor.Bind(event,action,**kw) else: def bind(actor,event,action,id=None): if id is not None: event(actor, id, action) else: event(actor,action) import matplotlib from matplotlib import verbose from matplotlib.backend_bases import RendererBase, GraphicsContextBase,\ FigureCanvasBase, FigureManagerBase, NavigationToolbar2, \ cursors, TimerBase from matplotlib.backend_bases import ShowBase from matplotlib.backend_bases import _has_pil from matplotlib._pylab_helpers import Gcf from matplotlib.artist import Artist from matplotlib.cbook import exception_to_str, is_string_like, is_writable_file_like from matplotlib.figure import Figure from matplotlib.path import Path from matplotlib.text import _process_text_args, Text from matplotlib.transforms import Affine2D from matplotlib.widgets import SubplotTool from matplotlib import rcParams # the True dots per inch on the screen; should be display dependent # see http://groups.google.com/groups?q=screen+dpi+x11&hl=en&lr=&ie=UTF-8&oe=UTF-8&safe=off&selm=7077.26e81ad5%40swift.cs.tcd.ie&rnum=5 for some info about screen dpi PIXELS_PER_INCH = 75 # Delay time for idle checks IDLE_DELAY = 5 def error_msg_wx(msg, parent=None): """ Signal an error condition -- in a GUI, popup a error dialog """ dialog =wx.MessageDialog(parent = parent, message = msg, caption = 'Matplotlib backend_wx error', style=wx.OK | wx.CENTRE) dialog.ShowModal() dialog.Destroy() return None def raise_msg_to_str(msg): """msg is a return arg from a raise. Join with new lines""" if not is_string_like(msg): msg = '\n'.join(map(str, msg)) return msg class TimerWx(TimerBase): ''' Subclass of :class:`backend_bases.TimerBase` that uses WxTimer events. Attributes: * interval: The time between timer events in milliseconds. Default is 1000 ms. * single_shot: Boolean flag indicating whether this timer should operate as single shot (run once and then stop). Defaults to False. * callbacks: Stores list of (func, args) tuples that will be called upon timer events. This list can be manipulated directly, or the functions add_callback and remove_callback can be used. ''' def __init__(self, parent, *args, **kwargs): TimerBase.__init__(self, *args, **kwargs) # Create a new timer and connect the timer event to our handler. # For WX, the events have to use a widget for binding. self.parent = parent self._timer = wx.Timer(self.parent, wx.NewId()) self.parent.Bind(wx.EVT_TIMER, self._on_timer, self._timer) # Unbinding causes Wx to stop for some reason. Disabling for now. # def __del__(self): # TimerBase.__del__(self) # self.parent.Bind(wx.EVT_TIMER, None, self._timer) def _timer_start(self): self._timer.Start(self._interval, self._single) def _timer_stop(self): self._timer.Stop() def _timer_set_interval(self): self._timer_start() def _timer_set_single_shot(self): self._timer.start() def _on_timer(self, *args): TimerBase._on_timer(self) class RendererWx(RendererBase): """ The renderer handles all the drawing primitives using a graphics context instance that controls the colors/styles. It acts as the 'renderer' instance used by many classes in the hierarchy. """ #In wxPython, drawing is performed on a wxDC instance, which will #generally be mapped to the client aread of the window displaying #the plot. Under wxPython, the wxDC instance has a wx.Pen which #describes the colour and weight of any lines drawn, and a wxBrush #which describes the fill colour of any closed polygon. fontweights = { 100 : wx.LIGHT, 200 : wx.LIGHT, 300 : wx.LIGHT, 400 : wx.NORMAL, 500 : wx.NORMAL, 600 : wx.NORMAL, 700 : wx.BOLD, 800 : wx.BOLD, 900 : wx.BOLD, 'ultralight' : wx.LIGHT, 'light' : wx.LIGHT, 'normal' : wx.NORMAL, 'medium' : wx.NORMAL, 'semibold' : wx.NORMAL, 'bold' : wx.BOLD, 'heavy' : wx.BOLD, 'ultrabold' : wx.BOLD, 'black' : wx.BOLD } fontangles = { 'italic' : wx.ITALIC, 'normal' : wx.NORMAL, 'oblique' : wx.SLANT } # wxPython allows for portable font styles, choosing them appropriately # for the target platform. Map some standard font names to the portable # styles # QUESTION: Is it be wise to agree standard fontnames across all backends? fontnames = { 'Sans' : wx.SWISS, 'Roman' : wx.ROMAN, 'Script' : wx.SCRIPT, 'Decorative' : wx.DECORATIVE, 'Modern' : wx.MODERN, 'Courier' : wx.MODERN, 'courier' : wx.MODERN } def __init__(self, bitmap, dpi): """ Initialise a wxWindows renderer instance. """ RendererBase.__init__(self) DEBUG_MSG("__init__()", 1, self) if wx.VERSION_STRING < "2.8": raise RuntimeError("matplotlib no longer supports wxPython < 2.8 for the Wx backend.\nYou may, however, use the WxAgg backend.") self.width = bitmap.GetWidth() self.height = bitmap.GetHeight() self.bitmap = bitmap self.fontd = {} self.dpi = dpi self.gc = None def flipy(self): return True def offset_text_height(self): return True def get_text_width_height_descent(self, s, prop, ismath): """ get the width and height in display coords of the string s with FontPropertry prop """ #return 1, 1 if ismath: s = self.strip_math(s) if self.gc is None: gc = self.new_gc() else: gc = self.gc gfx_ctx = gc.gfx_ctx font = self.get_wx_font(s, prop) gfx_ctx.SetFont(font, wx.BLACK) w, h, descent, leading = gfx_ctx.GetFullTextExtent(s) return w, h, descent def get_canvas_width_height(self): 'return the canvas width and height in display coords' return self.width, self.height def handle_clip_rectangle(self, gc): new_bounds = gc.get_clip_rectangle() if new_bounds is not None: new_bounds = new_bounds.bounds gfx_ctx = gc.gfx_ctx if gfx_ctx._lastcliprect != new_bounds: gfx_ctx._lastcliprect = new_bounds if new_bounds is None: gfx_ctx.ResetClip() else: gfx_ctx.Clip(new_bounds[0], self.height - new_bounds[1] - new_bounds[3], new_bounds[2], new_bounds[3]) @staticmethod def convert_path(gfx_ctx, path, transform): wxpath = gfx_ctx.CreatePath() for points, code in path.iter_segments(transform): if code == Path.MOVETO: wxpath.MoveToPoint(*points) elif code == Path.LINETO: wxpath.AddLineToPoint(*points) elif code == Path.CURVE3: wxpath.AddQuadCurveToPoint(*points) elif code == Path.CURVE4: wxpath.AddCurveToPoint(*points) elif code == Path.CLOSEPOLY: wxpath.CloseSubpath() return wxpath def draw_path(self, gc, path, transform, rgbFace=None): gc.select() self.handle_clip_rectangle(gc) gfx_ctx = gc.gfx_ctx transform = transform + Affine2D().scale(1.0, -1.0).translate(0.0, self.height) wxpath = self.convert_path(gfx_ctx, path, transform) if rgbFace is not None: gfx_ctx.SetBrush(wx.Brush(gc.get_wxcolour(rgbFace))) gfx_ctx.DrawPath(wxpath) else: gfx_ctx.StrokePath(wxpath) gc.unselect() def draw_image(self, gc, x, y, im): bbox = gc.get_clip_rectangle() if bbox != None: l,b,w,h = bbox.bounds else: l=0 b=0, w=self.width h=self.height rows, cols, image_str = im.as_rgba_str() image_array = np.fromstring(image_str, np.uint8) image_array.shape = rows, cols, 4 bitmap = wx.BitmapFromBufferRGBA(cols,rows,image_array) gc = self.get_gc() gc.select() gc.gfx_ctx.DrawBitmap(bitmap,int(l),int(self.height-b),int(w),int(-h)) gc.unselect() def draw_text(self, gc, x, y, s, prop, angle, ismath=False, mtext=None): if ismath: s = self.strip_math(s) DEBUG_MSG("draw_text()", 1, self) gc.select() self.handle_clip_rectangle(gc) gfx_ctx = gc.gfx_ctx font = self.get_wx_font(s, prop) color = gc.get_wxcolour(gc.get_rgb()) gfx_ctx.SetFont(font, color) w, h, d = self.get_text_width_height_descent(s, prop, ismath) x = int(x) y = int(y-h) if angle == 0.0: gfx_ctx.DrawText(s, x, y) else: rads = angle / 180.0 * math.pi xo = h * math.sin(rads) yo = h * math.cos(rads) gfx_ctx.DrawRotatedText(s, x - xo, y - yo, rads) gc.unselect() def new_gc(self): """ Return an instance of a GraphicsContextWx, and sets the current gc copy """ DEBUG_MSG('new_gc()', 2, self) self.gc = GraphicsContextWx(self.bitmap, self) self.gc.select() self.gc.unselect() return self.gc def get_gc(self): """ Fetch the locally cached gc. """ # This is a dirty hack to allow anything with access to a renderer to # access the current graphics context assert self.gc != None, "gc must be defined" return self.gc def get_wx_font(self, s, prop): """ Return a wx font. Cache instances in a font dictionary for efficiency """ DEBUG_MSG("get_wx_font()", 1, self) key = hash(prop) fontprop = prop fontname = fontprop.get_name() font = self.fontd.get(key) if font is not None: return font # Allow use of platform independent and dependent font names wxFontname = self.fontnames.get(fontname, wx.ROMAN) wxFacename = '' # Empty => wxPython chooses based on wx_fontname # Font colour is determined by the active wx.Pen # TODO: It may be wise to cache font information size = self.points_to_pixels(fontprop.get_size_in_points()) font =wx.Font(int(size+0.5), # Size wxFontname, # 'Generic' name self.fontangles[fontprop.get_style()], # Angle self.fontweights[fontprop.get_weight()], # Weight False, # Underline wxFacename) # Platform font name # cache the font and gc and return it self.fontd[key] = font return font def points_to_pixels(self, points): """ convert point measures to pixes using dpi and the pixels per inch of the display """ return points*(PIXELS_PER_INCH/72.0*self.dpi/72.0) class GraphicsContextWx(GraphicsContextBase): """ The graphics context provides the color, line styles, etc... This class stores a reference to a wxMemoryDC, and a wxGraphicsContext that draws to it. Creating a wxGraphicsContext seems to be fairly heavy, so these objects are cached based on the bitmap object that is passed in. The base GraphicsContext stores colors as a RGB tuple on the unit interval, eg, (0.5, 0.0, 1.0). wxPython uses an int interval, but since wxPython colour management is rather simple, I have not chosen to implement a separate colour manager class. """ _capd = { 'butt': wx.CAP_BUTT, 'projecting': wx.CAP_PROJECTING, 'round': wx.CAP_ROUND } _joind = { 'bevel': wx.JOIN_BEVEL, 'miter': wx.JOIN_MITER, 'round': wx.JOIN_ROUND } _dashd_wx = { 'solid': wx.SOLID, 'dashed': wx.SHORT_DASH, 'dashdot': wx.DOT_DASH, 'dotted': wx.DOT } _cache = weakref.WeakKeyDictionary() def __init__(self, bitmap, renderer): GraphicsContextBase.__init__(self) #assert self.Ok(), "wxMemoryDC not OK to use" DEBUG_MSG("__init__()", 1, self) dc, gfx_ctx = self._cache.get(bitmap, (None, None)) if dc is None: dc = wx.MemoryDC() dc.SelectObject(bitmap) gfx_ctx = wx.GraphicsContext.Create(dc) gfx_ctx._lastcliprect = None self._cache[bitmap] = dc, gfx_ctx self.bitmap = bitmap self.dc = dc self.gfx_ctx = gfx_ctx self._pen = wx.Pen('BLACK', 1, wx.SOLID) gfx_ctx.SetPen(self._pen) self._style = wx.SOLID self.renderer = renderer def select(self): """ Select the current bitmap into this wxDC instance """ if sys.platform=='win32': self.dc.SelectObject(self.bitmap) self.IsSelected = True def unselect(self): """ Select a Null bitmasp into this wxDC instance """ if sys.platform=='win32': self.dc.SelectObject(wx.NullBitmap) self.IsSelected = False def set_foreground(self, fg, isRGBA=None): """ Set the foreground color. fg can be a matlab format string, a html hex color string, an rgb unit tuple, or a float between 0 and 1. In the latter case, grayscale is used. """ # Implementation note: wxPython has a separate concept of pen and # brush - the brush fills any outline trace left by the pen. # Here we set both to the same colour - if a figure is not to be # filled, the renderer will set the brush to be transparent # Same goes for text foreground... DEBUG_MSG("set_foreground()", 1, self) self.select() GraphicsContextBase.set_foreground(self, fg, isRGBA) self._pen.SetColour(self.get_wxcolour(self.get_rgb())) self.gfx_ctx.SetPen(self._pen) self.unselect() def set_graylevel(self, frac): """ Set the foreground color. fg can be a matlab format string, a html hex color string, an rgb unit tuple, or a float between 0 and 1. In the latter case, grayscale is used. """ DEBUG_MSG("set_graylevel()", 1, self) self.select() GraphicsContextBase.set_graylevel(self, frac) self._pen.SetColour(self.get_wxcolour(self.get_rgb())) self.gfx_ctx.SetPen(self._pen) self.unselect() def set_linewidth(self, w): """ Set the line width. """ DEBUG_MSG("set_linewidth()", 1, self) self.select() if w>0 and w<1: w = 1 GraphicsContextBase.set_linewidth(self, w) lw = int(self.renderer.points_to_pixels(self._linewidth)) if lw==0: lw = 1 self._pen.SetWidth(lw) self.gfx_ctx.SetPen(self._pen) self.unselect() def set_capstyle(self, cs): """ Set the capstyle as a string in ('butt', 'round', 'projecting') """ DEBUG_MSG("set_capstyle()", 1, self) self.select() GraphicsContextBase.set_capstyle(self, cs) self._pen.SetCap(GraphicsContextWx._capd[self._capstyle]) self.gfx_ctx.SetPen(self._pen) self.unselect() def set_joinstyle(self, js): """ Set the join style to be one of ('miter', 'round', 'bevel') """ DEBUG_MSG("set_joinstyle()", 1, self) self.select() GraphicsContextBase.set_joinstyle(self, js) self._pen.SetJoin(GraphicsContextWx._joind[self._joinstyle]) self.gfx_ctx.SetPen(self._pen) self.unselect() def set_linestyle(self, ls): """ Set the line style to be one of """ DEBUG_MSG("set_linestyle()", 1, self) self.select() GraphicsContextBase.set_linestyle(self, ls) try: self._style = GraphicsContextWx._dashd_wx[ls] except KeyError: self._style = wx.LONG_DASH# Style not used elsewhere... # On MS Windows platform, only line width of 1 allowed for dash lines if wx.Platform == '__WXMSW__': self.set_linewidth(1) self._pen.SetStyle(self._style) self.gfx_ctx.SetPen(self._pen) self.unselect() def get_wxcolour(self, color): """return a wx.Colour from RGB format""" DEBUG_MSG("get_wx_color()", 1, self) if len(color) == 3: r, g, b = color r *= 255 g *= 255 b *= 255 return wx.Colour(red=int(r), green=int(g), blue=int(b)) else: r, g, b, a = color r *= 255 g *= 255 b *= 255 a *= 255 return wx.Colour(red=int(r), green=int(g), blue=int(b), alpha=int(a)) class FigureCanvasWx(FigureCanvasBase, wx.Panel): """ The FigureCanvas contains the figure and does event handling. In the wxPython backend, it is derived from wxPanel, and (usually) lives inside a frame instantiated by a FigureManagerWx. The parent window probably implements a wx.Sizer to control the displayed control size - but we give a hint as to our preferred minimum size. """ keyvald = { wx.WXK_CONTROL : 'control', wx.WXK_SHIFT : 'shift', wx.WXK_ALT : 'alt', wx.WXK_LEFT : 'left', wx.WXK_UP : 'up', wx.WXK_RIGHT : 'right', wx.WXK_DOWN : 'down', wx.WXK_ESCAPE : 'escape', wx.WXK_F1 : 'f1', wx.WXK_F2 : 'f2', wx.WXK_F3 : 'f3', wx.WXK_F4 : 'f4', wx.WXK_F5 : 'f5', wx.WXK_F6 : 'f6', wx.WXK_F7 : 'f7', wx.WXK_F8 : 'f8', wx.WXK_F9 : 'f9', wx.WXK_F10 : 'f10', wx.WXK_F11 : 'f11', wx.WXK_F12 : 'f12', wx.WXK_SCROLL : 'scroll_lock', wx.WXK_PAUSE : 'break', wx.WXK_BACK : 'backspace', wx.WXK_RETURN : 'enter', wx.WXK_INSERT : 'insert', wx.WXK_DELETE : 'delete', wx.WXK_HOME : 'home', wx.WXK_END : 'end', #wx.WXK_PRIOR : 'pageup', #wx.WXK_NEXT : 'pagedown', wx.WXK_PAGEUP : 'pageup', wx.WXK_PAGEDOWN : 'pagedown', wx.WXK_NUMPAD0 : '0', wx.WXK_NUMPAD1 : '1', wx.WXK_NUMPAD2 : '2', wx.WXK_NUMPAD3 : '3', wx.WXK_NUMPAD4 : '4', wx.WXK_NUMPAD5 : '5', wx.WXK_NUMPAD6 : '6', wx.WXK_NUMPAD7 : '7', wx.WXK_NUMPAD8 : '8', wx.WXK_NUMPAD9 : '9', wx.WXK_NUMPAD_ADD : '+', wx.WXK_NUMPAD_SUBTRACT : '-', wx.WXK_NUMPAD_MULTIPLY : '*', wx.WXK_NUMPAD_DIVIDE : '/', wx.WXK_NUMPAD_DECIMAL : 'dec', wx.WXK_NUMPAD_ENTER : 'enter', wx.WXK_NUMPAD_UP : 'up', wx.WXK_NUMPAD_RIGHT : 'right', wx.WXK_NUMPAD_DOWN : 'down', wx.WXK_NUMPAD_LEFT : 'left', #wx.WXK_NUMPAD_PRIOR : 'pageup', #wx.WXK_NUMPAD_NEXT : 'pagedown', wx.WXK_NUMPAD_PAGEUP : 'pageup', wx.WXK_NUMPAD_PAGEDOWN : 'pagedown', wx.WXK_NUMPAD_HOME : 'home', wx.WXK_NUMPAD_END : 'end', wx.WXK_NUMPAD_INSERT : 'insert', wx.WXK_NUMPAD_DELETE : 'delete', } def __init__(self, parent, id, figure): """ Initialise a FigureWx instance. - Initialise the FigureCanvasBase and wxPanel parents. - Set event handlers for: EVT_SIZE (Resize event) EVT_PAINT (Paint event) """ FigureCanvasBase.__init__(self, figure) # Set preferred window size hint - helps the sizer (if one is # connected) l,b,w,h = figure.bbox.bounds w = int(math.ceil(w)) h = int(math.ceil(h)) wx.Panel.__init__(self, parent, id, size=wx.Size(w, h)) def do_nothing(*args, **kwargs): warnings.warn('could not find a setinitialsize function for backend_wx; please report your wxpython version=%s to the matplotlib developers list'%backend_version) pass # try to find the set size func across wx versions try: getattr(self, 'SetInitialSize') except AttributeError: self.SetInitialSize = getattr(self, 'SetBestFittingSize', do_nothing) if not hasattr(self,'IsShownOnScreen'): self.IsShownOnScreen = getattr(self, 'IsVisible', lambda *args: True) # Create the drawing bitmap self.bitmap =wx.EmptyBitmap(w, h) DEBUG_MSG("__init__() - bitmap w:%d h:%d" % (w,h), 2, self) # TODO: Add support for 'point' inspection and plot navigation. self._isDrawn = False bind(self, wx.EVT_SIZE, self._onSize) bind(self, wx.EVT_PAINT, self._onPaint) bind(self, wx.EVT_ERASE_BACKGROUND, self._onEraseBackground) bind(self, wx.EVT_KEY_DOWN, self._onKeyDown) bind(self, wx.EVT_KEY_UP, self._onKeyUp) bind(self, wx.EVT_RIGHT_DOWN, self._onRightButtonDown) bind(self, wx.EVT_RIGHT_DCLICK, self._onRightButtonDClick) bind(self, wx.EVT_RIGHT_UP, self._onRightButtonUp) bind(self, wx.EVT_MOUSEWHEEL, self._onMouseWheel) bind(self, wx.EVT_LEFT_DOWN, self._onLeftButtonDown) bind(self, wx.EVT_LEFT_DCLICK, self._onLeftButtonDClick) bind(self, wx.EVT_LEFT_UP, self._onLeftButtonUp) bind(self, wx.EVT_MOTION, self._onMotion) bind(self, wx.EVT_LEAVE_WINDOW, self._onLeave) bind(self, wx.EVT_ENTER_WINDOW, self._onEnter) bind(self, wx.EVT_IDLE, self._onIdle) #Add middle button events bind(self, wx.EVT_MIDDLE_DOWN, self._onMiddleButtonDown) bind(self, wx.EVT_MIDDLE_DCLICK, self._onMiddleButtonDClick) bind(self, wx.EVT_MIDDLE_UP, self._onMiddleButtonUp) self.SetBackgroundStyle(wx.BG_STYLE_CUSTOM) self.macros = {} # dict from wx id to seq of macros # printer attributes and methods deprecated, 2010/06/19 self._printerData = None self._printerPageData = None self.printer_width = 5.5 self.printer_margin = 0.5 def Destroy(self, *args, **kwargs): wx.Panel.Destroy(self, *args, **kwargs) def Copy_to_Clipboard(self, event=None): "copy bitmap of canvas to system clipboard" bmp_obj = wx.BitmapDataObject() bmp_obj.SetBitmap(self.bitmap) if not wx.TheClipboard.IsOpened(): open_success = wx.TheClipboard.Open() if open_success: wx.TheClipboard.SetData(bmp_obj) wx.TheClipboard.Close() wx.TheClipboard.Flush() def draw_idle(self): """ Delay rendering until the GUI is idle. """ DEBUG_MSG("draw_idle()", 1, self) self._isDrawn = False # Force redraw # Create a timer for handling draw_idle requests # If there are events pending when the timer is # complete, reset the timer and continue. The # alternative approach, binding to wx.EVT_IDLE, # doesn't behave as nicely. if hasattr(self,'_idletimer'): self._idletimer.Restart(IDLE_DELAY) else: self._idletimer = wx.FutureCall(IDLE_DELAY,self._onDrawIdle) # FutureCall is a backwards-compatible alias; # CallLater became available in 2.7.1.1. def _onDrawIdle(self, *args, **kwargs): if wx.GetApp().Pending(): self._idletimer.Restart(IDLE_DELAY, *args, **kwargs) else: del self._idletimer # GUI event or explicit draw call may already # have caused the draw to take place if not self._isDrawn: self.draw(*args, **kwargs) def draw(self, drawDC=None): """ Render the figure using RendererWx instance renderer, or using a previously defined renderer if none is specified. """ DEBUG_MSG("draw()", 1, self) self.renderer = RendererWx(self.bitmap, self.figure.dpi) self.figure.draw(self.renderer) self._isDrawn = True self.gui_repaint(drawDC=drawDC) def new_timer(self, *args, **kwargs): """ Creates a new backend-specific subclass of :class:`backend_bases.Timer`. This is useful for getting periodic events through the backend's native event loop. Implemented only for backends with GUIs. optional arguments: *interval* Timer interval in milliseconds *callbacks* Sequence of (func, args, kwargs) where func(*args, **kwargs) will be executed by the timer every *interval*. """ return TimerWx(self, *args, **kwargs) def flush_events(self): wx.Yield() def start_event_loop(self, timeout=0): """ Start an event loop. This is used to start a blocking event loop so that interactive functions, such as ginput and waitforbuttonpress, can wait for events. This should not be confused with the main GUI event loop, which is always running and has nothing to do with this. Call signature:: start_event_loop(self,timeout=0) This call blocks until a callback function triggers stop_event_loop() or *timeout* is reached. If *timeout* is <=0, never timeout. Raises RuntimeError if event loop is already running. """ if hasattr(self, '_event_loop'): raise RuntimeError("Event loop already running") id = wx.NewId() timer = wx.Timer(self, id=id) if timeout > 0: timer.Start(timeout*1000, oneShot=True) bind(self, wx.EVT_TIMER, self.stop_event_loop, id=id) # Event loop handler for start/stop event loop self._event_loop = wx.EventLoop() self._event_loop.Run() timer.Stop() def stop_event_loop(self, event=None): """ Stop an event loop. This is used to stop a blocking event loop so that interactive functions, such as ginput and waitforbuttonpress, can wait for events. Call signature:: stop_event_loop_default(self) """ if hasattr(self,'_event_loop'): if self._event_loop.IsRunning(): self._event_loop.Exit() del self._event_loop def _get_imagesave_wildcards(self): 'return the wildcard string for the filesave dialog' default_filetype = self.get_default_filetype() filetypes = self.get_supported_filetypes_grouped() sorted_filetypes = filetypes.items() sorted_filetypes.sort() wildcards = [] extensions = [] filter_index = 0 for i, (name, exts) in enumerate(sorted_filetypes): ext_list = ';'.join(['*.%s' % ext for ext in exts]) extensions.append(exts[0]) wildcard = '%s (%s)|%s' % (name, ext_list, ext_list) if default_filetype in exts: filter_index = i wildcards.append(wildcard) wildcards = '|'.join(wildcards) return wildcards, extensions, filter_index def gui_repaint(self, drawDC=None): """ Performs update of the displayed image on the GUI canvas, using the supplied device context. If drawDC is None, a ClientDC will be used to redraw the image. """ DEBUG_MSG("gui_repaint()", 1, self) if self.IsShownOnScreen(): if drawDC is None: drawDC=wx.ClientDC(self) #drawDC.BeginDrawing() drawDC.DrawBitmap(self.bitmap, 0, 0) #drawDC.EndDrawing() #wx.GetApp().Yield() else: pass filetypes = FigureCanvasBase.filetypes.copy() filetypes['bmp'] = 'Windows bitmap' filetypes['jpeg'] = 'JPEG' filetypes['jpg'] = 'JPEG' filetypes['pcx'] = 'PCX' filetypes['png'] = 'Portable Network Graphics' filetypes['tif'] = 'Tagged Image Format File' filetypes['tiff'] = 'Tagged Image Format File' filetypes['xpm'] = 'X pixmap' def print_figure(self, filename, *args, **kwargs): # Use pure Agg renderer to draw FigureCanvasBase.print_figure(self, filename, *args, **kwargs) # Restore the current view; this is needed because the # artist contains methods rely on particular attributes # of the rendered figure for determining things like # bounding boxes. if self._isDrawn: self.draw() def print_bmp(self, filename, *args, **kwargs): return self._print_image(filename, wx.BITMAP_TYPE_BMP, *args, **kwargs) if not _has_pil: def print_jpeg(self, filename, *args, **kwargs): return self._print_image(filename, wx.BITMAP_TYPE_JPEG, *args, **kwargs) print_jpg = print_jpeg def print_pcx(self, filename, *args, **kwargs): return self._print_image(filename, wx.BITMAP_TYPE_PCX, *args, **kwargs) def print_png(self, filename, *args, **kwargs): return self._print_image(filename, wx.BITMAP_TYPE_PNG, *args, **kwargs) if not _has_pil: def print_tiff(self, filename, *args, **kwargs): return self._print_image(filename, wx.BITMAP_TYPE_TIF, *args, **kwargs) print_tif = print_tiff def print_xpm(self, filename, *args, **kwargs): return self._print_image(filename, wx.BITMAP_TYPE_XPM, *args, **kwargs) def _print_image(self, filename, filetype, *args, **kwargs): origBitmap = self.bitmap l,b,width,height = self.figure.bbox.bounds width = int(math.ceil(width)) height = int(math.ceil(height)) self.bitmap = wx.EmptyBitmap(width, height) renderer = RendererWx(self.bitmap, self.figure.dpi) gc = renderer.new_gc() self.figure.draw(renderer) # image is the object that we call SaveFile on. image = self.bitmap # set the JPEG quality appropriately. Unfortunately, it is only possible # to set the quality on a wx.Image object. So if we are saving a JPEG, # convert the wx.Bitmap to a wx.Image, and set the quality. if filetype == wx.BITMAP_TYPE_JPEG: jpeg_quality = kwargs.get('quality',rcParams['savefig.jpeg_quality']) image = self.bitmap.ConvertToImage() image.SetOption(wx.IMAGE_OPTION_QUALITY,str(jpeg_quality)) # Now that we have rendered into the bitmap, save it # to the appropriate file type and clean up if is_string_like(filename): if not image.SaveFile(filename, filetype): DEBUG_MSG('print_figure() file save error', 4, self) raise RuntimeError('Could not save figure to %s\n' % (filename)) elif is_writable_file_like(filename): if not isinstance(image,wx.Image): image = image.ConvertToImage() if not image.SaveStream(filename, filetype): DEBUG_MSG('print_figure() file save error', 4, self) raise RuntimeError('Could not save figure to %s\n' % (filename)) # Restore everything to normal self.bitmap = origBitmap # Note: draw is required here since bits of state about the # last renderer are strewn about the artist draw methods. Do # not remove the draw without first verifying that these have # been cleaned up. The artist contains() methods will fail # otherwise. if self._isDrawn: self.draw() self.Refresh() def _onPaint(self, evt): """ Called when wxPaintEvt is generated """ DEBUG_MSG("_onPaint()", 1, self) drawDC = wx.PaintDC(self) if not self._isDrawn: self.draw(drawDC=drawDC) else: self.gui_repaint(drawDC=drawDC) evt.Skip() def _onEraseBackground(self, evt): """ Called when window is redrawn; since we are blitting the entire image, we can leave this blank to suppress flicker. """ pass def _onSize(self, evt): """ Called when wxEventSize is generated. In this application we attempt to resize to fit the window, so it is better to take the performance hit and redraw the whole window. """ DEBUG_MSG("_onSize()", 2, self) # Create a new, correctly sized bitmap self._width, self._height = self.GetClientSize() self.bitmap =wx.EmptyBitmap(self._width, self._height) self._isDrawn = False if self._width <= 1 or self._height <= 1: return # Empty figure dpival = self.figure.dpi winch = self._width/dpival hinch = self._height/dpival self.figure.set_size_inches(winch, hinch) # Rendering will happen on the associated paint event # so no need to do anything here except to make sure # the whole background is repainted. self.Refresh(eraseBackground=False) FigureCanvasBase.resize_event(self) def _get_key(self, evt): keyval = evt.m_keyCode if keyval in self.keyvald: key = self.keyvald[keyval] elif keyval < 256: key = chr(keyval) # wx always returns an uppercase, so make it lowercase if the shift # key is not depressed (NOTE: this will not handle Caps Lock) if not evt.ShiftDown(): key = key.lower() else: key = None for meth, prefix in ( [evt.AltDown, 'alt'], [evt.ControlDown, 'ctrl'], ): if meth(): key = '{0}+{1}'.format(prefix, key) return key def _onIdle(self, evt): 'a GUI idle event' evt.Skip() FigureCanvasBase.idle_event(self, guiEvent=evt) def _onKeyDown(self, evt): """Capture key press.""" key = self._get_key(evt) evt.Skip() FigureCanvasBase.key_press_event(self, key, guiEvent=evt) def _onKeyUp(self, evt): """Release key.""" key = self._get_key(evt) #print 'release key', key evt.Skip() FigureCanvasBase.key_release_event(self, key, guiEvent=evt) def _onRightButtonDown(self, evt): """Start measuring on an axis.""" x = evt.GetX() y = self.figure.bbox.height - evt.GetY() evt.Skip() self.CaptureMouse() FigureCanvasBase.button_press_event(self, x, y, 3, guiEvent=evt) def _onRightButtonDClick(self, evt): """Start measuring on an axis.""" x = evt.GetX() y = self.figure.bbox.height - evt.GetY() evt.Skip() self.CaptureMouse() FigureCanvasBase.button_press_event(self, x, y, 3, dblclick=True,guiEvent=evt) def _onRightButtonUp(self, evt): """End measuring on an axis.""" x = evt.GetX() y = self.figure.bbox.height - evt.GetY() evt.Skip() if self.HasCapture(): self.ReleaseMouse() FigureCanvasBase.button_release_event(self, x, y, 3, guiEvent=evt) def _onLeftButtonDown(self, evt): """Start measuring on an axis.""" x = evt.GetX() y = self.figure.bbox.height - evt.GetY() evt.Skip() self.CaptureMouse() FigureCanvasBase.button_press_event(self, x, y, 1, guiEvent=evt) def _onLeftButtonDClick(self, evt): """Start measuring on an axis.""" x = evt.GetX() y = self.figure.bbox.height - evt.GetY() evt.Skip() self.CaptureMouse() FigureCanvasBase.button_press_event(self, x, y, 1, dblclick=True, guiEvent=evt) def _onLeftButtonUp(self, evt): """End measuring on an axis.""" x = evt.GetX() y = self.figure.bbox.height - evt.GetY() #print 'release button', 1 evt.Skip() if self.HasCapture(): self.ReleaseMouse() FigureCanvasBase.button_release_event(self, x, y, 1, guiEvent=evt) #Add middle button events def _onMiddleButtonDown(self, evt): """Start measuring on an axis.""" x = evt.GetX() y = self.figure.bbox.height - evt.GetY() evt.Skip() self.CaptureMouse() FigureCanvasBase.button_press_event(self, x, y, 2, guiEvent=evt) def _onMiddleButtonDClick(self, evt): """Start measuring on an axis.""" x = evt.GetX() y = self.figure.bbox.height - evt.GetY() evt.Skip() self.CaptureMouse() FigureCanvasBase.button_press_event(self, x, y, 2, dblclick=True, guiEvent=evt) def _onMiddleButtonUp(self, evt): """End measuring on an axis.""" x = evt.GetX() y = self.figure.bbox.height - evt.GetY() #print 'release button', 1 evt.Skip() if self.HasCapture(): self.ReleaseMouse() FigureCanvasBase.button_release_event(self, x, y, 2, guiEvent=evt) def _onMouseWheel(self, evt): """Translate mouse wheel events into matplotlib events""" # Determine mouse location x = evt.GetX() y = self.figure.bbox.height - evt.GetY() # Convert delta/rotation/rate into a floating point step size delta = evt.GetWheelDelta() rotation = evt.GetWheelRotation() rate = evt.GetLinesPerAction() #print "delta,rotation,rate",delta,rotation,rate step = rate*float(rotation)/delta # Done handling event evt.Skip() # Mac is giving two events for every wheel event # Need to skip every second one if wx.Platform == '__WXMAC__': if not hasattr(self,'_skipwheelevent'): self._skipwheelevent = True elif self._skipwheelevent: self._skipwheelevent = False return # Return without processing event else: self._skipwheelevent = True # Convert to mpl event FigureCanvasBase.scroll_event(self, x, y, step, guiEvent=evt) def _onMotion(self, evt): """Start measuring on an axis.""" x = evt.GetX() y = self.figure.bbox.height - evt.GetY() evt.Skip() FigureCanvasBase.motion_notify_event(self, x, y, guiEvent=evt) def _onLeave(self, evt): """Mouse has left the window.""" evt.Skip() FigureCanvasBase.leave_notify_event(self, guiEvent = evt) def _onEnter(self, evt): """Mouse has entered the window.""" FigureCanvasBase.enter_notify_event(self, guiEvent = evt) ######################################################################## # # The following functions and classes are for pylab compatibility # mode (matplotlib.pylab) and implement figure managers, etc... # ######################################################################## def _create_wx_app(): """ Creates a wx.App instance if it has not been created sofar. """ wxapp = wx.GetApp() if wxapp is None: wxapp = wx.App(False) wxapp.SetExitOnFrameDelete(True) # retain a reference to the app object so it does not get garbage # collected and cause segmentation faults _create_wx_app.theWxApp = wxapp def draw_if_interactive(): """ This should be overriden in a windowing environment if drawing should be done in interactive python mode """ DEBUG_MSG("draw_if_interactive()", 1, None) if matplotlib.is_interactive(): figManager = Gcf.get_active() if figManager is not None: figManager.canvas.draw_idle() class Show(ShowBase): def mainloop(self): needmain = not wx.App.IsMainLoopRunning() if needmain: wxapp = wx.GetApp() if wxapp is not None: wxapp.MainLoop() show = Show() def new_figure_manager(num, *args, **kwargs): """ Create a new figure manager instance """ # in order to expose the Figure constructor to the pylab # interface we need to create the figure here DEBUG_MSG("new_figure_manager()", 3, None) _create_wx_app() FigureClass = kwargs.pop('FigureClass', Figure) fig = FigureClass(*args, **kwargs) return new_figure_manager_given_figure(num, fig) def new_figure_manager_given_figure(num, figure): """ Create a new figure manager instance for the given figure. """ fig = figure frame = FigureFrameWx(num, fig) figmgr = frame.get_figure_manager() if matplotlib.is_interactive(): figmgr.frame.Show() return figmgr class FigureFrameWx(wx.Frame): def __init__(self, num, fig): # On non-Windows platform, explicitly set the position - fix # positioning bug on some Linux platforms if wx.Platform == '__WXMSW__': pos = wx.DefaultPosition else: pos =wx.Point(20,20) l,b,w,h = fig.bbox.bounds wx.Frame.__init__(self, parent=None, id=-1, pos=pos, title="Figure %d" % num) # Frame will be sized later by the Fit method DEBUG_MSG("__init__()", 1, self) self.num = num statbar = StatusBarWx(self) self.SetStatusBar(statbar) self.canvas = self.get_canvas(fig) self.canvas.SetInitialSize(wx.Size(fig.bbox.width, fig.bbox.height)) self.canvas.SetFocus() self.sizer =wx.BoxSizer(wx.VERTICAL) self.sizer.Add(self.canvas, 1, wx.TOP | wx.LEFT | wx.EXPAND) # By adding toolbar in sizer, we are able to put it at the bottom # of the frame - so appearance is closer to GTK version self.toolbar = self._get_toolbar(statbar) if self.toolbar is not None: self.toolbar.Realize() # On Windows platform, default window size is incorrect, so set # toolbar width to figure width. tw, th = self.toolbar.GetSizeTuple() fw, fh = self.canvas.GetSizeTuple() # By adding toolbar in sizer, we are able to put it at the bottom # of the frame - so appearance is closer to GTK version. self.toolbar.SetSize(wx.Size(fw, th)) self.sizer.Add(self.toolbar, 0, wx.LEFT | wx.EXPAND) self.SetSizer(self.sizer) self.Fit() self.canvas.SetMinSize((2, 2)) # give the window a matplotlib icon rather than the stock one. # This is not currently working on Linux and is untested elsewhere. #icon_path = os.path.join(matplotlib.rcParams['datapath'], # 'images', 'matplotlib.png') #icon = wx.IconFromBitmap(wx.Bitmap(icon_path)) # for xpm type icons try: #icon = wx.Icon(icon_path, wx.BITMAP_TYPE_XPM) #self.SetIcon(icon) self.figmgr = FigureManagerWx(self.canvas, num, self) bind(self, wx.EVT_CLOSE, self._onClose) def _get_toolbar(self, statbar): if rcParams['toolbar']=='classic': toolbar = NavigationToolbarWx(self.canvas, True) elif rcParams['toolbar']=='toolbar2': toolbar = NavigationToolbar2Wx(self.canvas) toolbar.set_status_bar(statbar) else: toolbar = None return toolbar def get_canvas(self, fig): return FigureCanvasWx(self, -1, fig) def get_figure_manager(self): DEBUG_MSG("get_figure_manager()", 1, self) return self.figmgr def _onClose(self, evt): DEBUG_MSG("onClose()", 1, self) self.canvas.close_event() self.canvas.stop_event_loop() Gcf.destroy(self.num) #self.Destroy() def GetToolBar(self): """Override wxFrame::GetToolBar as we don't have managed toolbar""" return self.toolbar def Destroy(self, *args, **kwargs): try: self.canvas.mpl_disconnect(self.toolbar._idDrag) # Rationale for line above: see issue 2941338. except AttributeError: pass # classic toolbar lacks the attribute wx.Frame.Destroy(self, *args, **kwargs) if self.toolbar is not None: self.toolbar.Destroy() wxapp = wx.GetApp() if wxapp: wxapp.Yield() return True class FigureManagerWx(FigureManagerBase): """ This class contains the FigureCanvas and GUI frame It is instantiated by GcfWx whenever a new figure is created. GcfWx is responsible for managing multiple instances of FigureManagerWx. public attrs canvas - a FigureCanvasWx(wx.Panel) instance window - a wxFrame instance - http://www.lpthe.jussieu.fr/~zeitlin/wxWindows/docs/wxwin_wxframe.html#wxframe """ def __init__(self, canvas, num, frame): DEBUG_MSG("__init__()", 1, self) FigureManagerBase.__init__(self, canvas, num) self.frame = frame self.window = frame self.tb = frame.GetToolBar() self.toolbar = self.tb # consistent with other backends def notify_axes_change(fig): 'this will be called whenever the current axes is changed' if self.tb != None: self.tb.update() self.canvas.figure.add_axobserver(notify_axes_change) def show(self): self.frame.Show() def destroy(self, *args): DEBUG_MSG("destroy()", 1, self) self.frame.Destroy() #if self.tb is not None: self.tb.Destroy() #wx.GetApp().ProcessIdle() wx.WakeUpIdle() def get_window_title(self): return self.window.GetTitle() def set_window_title(self, title): self.window.SetTitle(title) def resize(self, width, height): 'Set the canvas size in pixels' self.canvas.SetInitialSize(wx.Size(width, height)) self.window.GetSizer().Fit(self.window) # Identifiers for toolbar controls - images_wx contains bitmaps for the images # used in the controls. wxWindows does not provide any stock images, so I've # 'stolen' those from GTK2, and transformed them into the appropriate format. #import images_wx _NTB_AXISMENU =wx.NewId() _NTB_AXISMENU_BUTTON =wx.NewId() _NTB_X_PAN_LEFT =wx.NewId() _NTB_X_PAN_RIGHT =wx.NewId() _NTB_X_ZOOMIN =wx.NewId() _NTB_X_ZOOMOUT =wx.NewId() _NTB_Y_PAN_UP =wx.NewId() _NTB_Y_PAN_DOWN =wx.NewId() _NTB_Y_ZOOMIN =wx.NewId() _NTB_Y_ZOOMOUT =wx.NewId() #_NTB_SUBPLOT =wx.NewId() _NTB_SAVE =wx.NewId() _NTB_CLOSE =wx.NewId() def _load_bitmap(filename): """ Load a bitmap file from the backends/images subdirectory in which the matplotlib library is installed. The filename parameter should not contain any path information as this is determined automatically. Returns a wx.Bitmap object """ basedir = os.path.join(rcParams['datapath'],'images') bmpFilename = os.path.normpath(os.path.join(basedir, filename)) if not os.path.exists(bmpFilename): raise IOError('Could not find bitmap file "%s"; dying'%bmpFilename) bmp = wx.Bitmap(bmpFilename) return bmp class MenuButtonWx(wx.Button): """ wxPython does not permit a menu to be incorporated directly into a toolbar. This class simulates the effect by associating a pop-up menu with a button in the toolbar, and managing this as though it were a menu. """ def __init__(self, parent): wx.Button.__init__(self, parent, _NTB_AXISMENU_BUTTON, "Axes: ", style=wx.BU_EXACTFIT) self._toolbar = parent self._menu =wx.Menu() self._axisId = [] # First two menu items never change... self._allId =wx.NewId() self._invertId =wx.NewId() self._menu.Append(self._allId, "All", "Select all axes", False) self._menu.Append(self._invertId, "Invert", "Invert axes selected", False) self._menu.AppendSeparator() bind(self, wx.EVT_BUTTON, self._onMenuButton, id=_NTB_AXISMENU_BUTTON) bind(self, wx.EVT_MENU, self._handleSelectAllAxes, id=self._allId) bind(self, wx.EVT_MENU, self._handleInvertAxesSelected, id=self._invertId) def Destroy(self): self._menu.Destroy() self.Destroy() def _onMenuButton(self, evt): """Handle menu button pressed.""" x, y = self.GetPositionTuple() w, h = self.GetSizeTuple() self.PopupMenuXY(self._menu, x, y+h-4) # When menu returned, indicate selection in button evt.Skip() def _handleSelectAllAxes(self, evt): """Called when the 'select all axes' menu item is selected.""" if len(self._axisId) == 0: return for i in range(len(self._axisId)): self._menu.Check(self._axisId[i], True) self._toolbar.set_active(self.getActiveAxes()) evt.Skip() def _handleInvertAxesSelected(self, evt): """Called when the invert all menu item is selected""" if len(self._axisId) == 0: return for i in range(len(self._axisId)): if self._menu.IsChecked(self._axisId[i]): self._menu.Check(self._axisId[i], False) else: self._menu.Check(self._axisId[i], True) self._toolbar.set_active(self.getActiveAxes()) evt.Skip() def _onMenuItemSelected(self, evt): """Called whenever one of the specific axis menu items is selected""" current = self._menu.IsChecked(evt.GetId()) if current: new = False else: new = True self._menu.Check(evt.GetId(), new) # Lines above would be deleted based on svn tracker ID 2841525; # not clear whether this matters or not. self._toolbar.set_active(self.getActiveAxes()) evt.Skip() def updateAxes(self, maxAxis): """Ensures that there are entries for max_axis axes in the menu (selected by default).""" if maxAxis > len(self._axisId): for i in range(len(self._axisId) + 1, maxAxis + 1, 1): menuId =wx.NewId() self._axisId.append(menuId) self._menu.Append(menuId, "Axis %d" % i, "Select axis %d" % i, True) self._menu.Check(menuId, True) bind(self, wx.EVT_MENU, self._onMenuItemSelected, id=menuId) elif maxAxis < len(self._axisId): for menuId in self._axisId[maxAxis:]: self._menu.Delete(menuId) self._axisId = self._axisId[:maxAxis] self._toolbar.set_active(range(maxAxis)) def getActiveAxes(self): """Return a list of the selected axes.""" active = [] for i in range(len(self._axisId)): if self._menu.IsChecked(self._axisId[i]): active.append(i) return active def updateButtonText(self, lst): """Update the list of selected axes in the menu button""" axis_txt = '' for e in lst: axis_txt += '%d,' % (e+1) # remove trailing ',' and add to button string self.SetLabel("Axes: %s" % axis_txt[:-1]) cursord = { cursors.MOVE : wx.CURSOR_HAND, cursors.HAND : wx.CURSOR_HAND, cursors.POINTER : wx.CURSOR_ARROW, cursors.SELECT_REGION : wx.CURSOR_CROSS, } class SubplotToolWX(wx.Frame): def __init__(self, targetfig): wx.Frame.__init__(self, None, -1, "Configure subplots") toolfig = Figure((6,3)) canvas = FigureCanvasWx(self, -1, toolfig) # Create a figure manager to manage things figmgr = FigureManager(canvas, 1, self) # Now put all into a sizer sizer = wx.BoxSizer(wx.VERTICAL) # This way of adding to sizer allows resizing sizer.Add(canvas, 1, wx.LEFT|wx.TOP|wx.GROW) self.SetSizer(sizer) self.Fit() tool = SubplotTool(targetfig, toolfig) class NavigationToolbar2Wx(NavigationToolbar2, wx.ToolBar): def __init__(self, canvas): wx.ToolBar.__init__(self, canvas.GetParent(), -1) NavigationToolbar2.__init__(self, canvas) self.canvas = canvas self._idle = True self.statbar = None def get_canvas(self, frame, fig): return FigureCanvasWx(frame, -1, fig) def _init_toolbar(self): DEBUG_MSG("_init_toolbar", 1, self) self._parent = self.canvas.GetParent() self.wx_ids = {} for text, tooltip_text, image_file, callback in self.toolitems: if text is None: self.AddSeparator() continue self.wx_ids[text] = wx.NewId() if text in ['Pan', 'Zoom']: self.AddCheckTool(self.wx_ids[text], _load_bitmap(image_file + '.png'), shortHelp=text, longHelp=tooltip_text) else: self.AddSimpleTool(self.wx_ids[text], _load_bitmap(image_file + '.png'), text, tooltip_text) bind(self, wx.EVT_TOOL, getattr(self, callback), id=self.wx_ids[text]) self.Realize() def zoom(self, *args): self.ToggleTool(self.wx_ids['Pan'], False) NavigationToolbar2.zoom(self, *args) def pan(self, *args): self.ToggleTool(self.wx_ids['Zoom'], False) NavigationToolbar2.pan(self, *args) def configure_subplots(self, evt): frame = wx.Frame(None, -1, "Configure subplots") toolfig = Figure((6,3)) canvas = self.get_canvas(frame, toolfig) # Create a figure manager to manage things figmgr = FigureManager(canvas, 1, frame) # Now put all into a sizer sizer = wx.BoxSizer(wx.VERTICAL) # This way of adding to sizer allows resizing sizer.Add(canvas, 1, wx.LEFT|wx.TOP|wx.GROW) frame.SetSizer(sizer) frame.Fit() tool = SubplotTool(self.canvas.figure, toolfig) frame.Show() def save_figure(self, *args): # Fetch the required filename and file type. filetypes, exts, filter_index = self.canvas._get_imagesave_wildcards() default_file = self.canvas.get_default_filename() dlg = wx.FileDialog(self._parent, "Save to file", "", default_file, filetypes, wx.SAVE|wx.OVERWRITE_PROMPT) dlg.SetFilterIndex(filter_index) if dlg.ShowModal() == wx.ID_OK: dirname = dlg.GetDirectory() filename = dlg.GetFilename() DEBUG_MSG('Save file dir:%s name:%s' % (dirname, filename), 3, self) format = exts[dlg.GetFilterIndex()] basename, ext = os.path.splitext(filename) if ext.startswith('.'): ext = ext[1:] if ext in ('svg', 'pdf', 'ps', 'eps', 'png') and format!=ext: #looks like they forgot to set the image type drop #down, going with the extension. warnings.warn('extension %s did not match the selected image type %s; going with %s'%(ext, format, ext), stacklevel=0) format = ext try: self.canvas.print_figure( os.path.join(dirname, filename), format=format) except Exception as e: error_msg_wx(str(e)) def set_cursor(self, cursor): cursor =wx.StockCursor(cursord[cursor]) self.canvas.SetCursor( cursor ) def release(self, event): try: del self.lastrect except AttributeError: pass def dynamic_update(self): d = self._idle self._idle = False if d: self.canvas.draw() self._idle = True def draw_rubberband(self, event, x0, y0, x1, y1): 'adapted from http://aspn.activestate.com/ASPN/Cookbook/Python/Recipe/189744' canvas = self.canvas dc =wx.ClientDC(canvas) # Set logical function to XOR for rubberbanding dc.SetLogicalFunction(wx.XOR) # Set dc brush and pen # Here I set brush and pen to white and grey respectively # You can set it to your own choices # The brush setting is not really needed since we # dont do any filling of the dc. It is set just for # the sake of completion. wbrush =wx.Brush(wx.Colour(255,255,255), wx.TRANSPARENT) wpen =wx.Pen(wx.Colour(200, 200, 200), 1, wx.SOLID) dc.SetBrush(wbrush) dc.SetPen(wpen) dc.ResetBoundingBox() dc.BeginDrawing() height = self.canvas.figure.bbox.height y1 = height - y1 y0 = height - y0 if y1 0) can_forward = (self._views._pos < len(self._views._elements) - 1) self.EnableTool(self.wx_ids['Back'], can_backward) self.EnableTool(self.wx_ids['Forward'], can_forward) class NavigationToolbarWx(wx.ToolBar): def __init__(self, canvas, can_kill=False): wx.ToolBar.__init__(self, canvas.GetParent(), -1) DEBUG_MSG("__init__()", 1, self) self.canvas = canvas self._lastControl = None self._mouseOnButton = None self._parent = canvas.GetParent() self._NTB_BUTTON_HANDLER = { _NTB_X_PAN_LEFT : self.panx, _NTB_X_PAN_RIGHT : self.panx, _NTB_X_ZOOMIN : self.zoomx, _NTB_X_ZOOMOUT : self.zoomy, _NTB_Y_PAN_UP : self.pany, _NTB_Y_PAN_DOWN : self.pany, _NTB_Y_ZOOMIN : self.zoomy, _NTB_Y_ZOOMOUT : self.zoomy } self._create_menu() self._create_controls(can_kill) self.Realize() def _create_menu(self): """ Creates the 'menu' - implemented as a button which opens a pop-up menu since wxPython does not allow a menu as a control """ DEBUG_MSG("_create_menu()", 1, self) self._menu = MenuButtonWx(self) self.AddControl(self._menu) self.AddSeparator() def _create_controls(self, can_kill): """ Creates the button controls, and links them to event handlers """ DEBUG_MSG("_create_controls()", 1, self) # Need the following line as Windows toolbars default to 15x16 self.SetToolBitmapSize(wx.Size(16,16)) self.AddSimpleTool(_NTB_X_PAN_LEFT, _load_bitmap('stock_left.xpm'), 'Left', 'Scroll left') self.AddSimpleTool(_NTB_X_PAN_RIGHT, _load_bitmap('stock_right.xpm'), 'Right', 'Scroll right') self.AddSimpleTool(_NTB_X_ZOOMIN, _load_bitmap('stock_zoom-in.xpm'), 'Zoom in', 'Increase X axis magnification') self.AddSimpleTool(_NTB_X_ZOOMOUT, _load_bitmap('stock_zoom-out.xpm'), 'Zoom out', 'Decrease X axis magnification') self.AddSeparator() self.AddSimpleTool(_NTB_Y_PAN_UP,_load_bitmap('stock_up.xpm'), 'Up', 'Scroll up') self.AddSimpleTool(_NTB_Y_PAN_DOWN, _load_bitmap('stock_down.xpm'), 'Down', 'Scroll down') self.AddSimpleTool(_NTB_Y_ZOOMIN, _load_bitmap('stock_zoom-in.xpm'), 'Zoom in', 'Increase Y axis magnification') self.AddSimpleTool(_NTB_Y_ZOOMOUT, _load_bitmap('stock_zoom-out.xpm'), 'Zoom out', 'Decrease Y axis magnification') self.AddSeparator() self.AddSimpleTool(_NTB_SAVE, _load_bitmap('stock_save_as.xpm'), 'Save', 'Save plot contents as images') self.AddSeparator() bind(self, wx.EVT_TOOL, self._onLeftScroll, id=_NTB_X_PAN_LEFT) bind(self, wx.EVT_TOOL, self._onRightScroll, id=_NTB_X_PAN_RIGHT) bind(self, wx.EVT_TOOL, self._onXZoomIn, id=_NTB_X_ZOOMIN) bind(self, wx.EVT_TOOL, self._onXZoomOut, id=_NTB_X_ZOOMOUT) bind(self, wx.EVT_TOOL, self._onUpScroll, id=_NTB_Y_PAN_UP) bind(self, wx.EVT_TOOL, self._onDownScroll, id=_NTB_Y_PAN_DOWN) bind(self, wx.EVT_TOOL, self._onYZoomIn, id=_NTB_Y_ZOOMIN) bind(self, wx.EVT_TOOL, self._onYZoomOut, id=_NTB_Y_ZOOMOUT) bind(self, wx.EVT_TOOL, self._onSave, id=_NTB_SAVE) bind(self, wx.EVT_TOOL_ENTER, self._onEnterTool, id=self.GetId()) if can_kill: bind(self, wx.EVT_TOOL, self._onClose, id=_NTB_CLOSE) bind(self, wx.EVT_MOUSEWHEEL, self._onMouseWheel) def set_active(self, ind): """ ind is a list of index numbers for the axes which are to be made active """ DEBUG_MSG("set_active()", 1, self) self._ind = ind if ind != None: self._active = [ self._axes[i] for i in self._ind ] else: self._active = [] # Now update button text wit active axes self._menu.updateButtonText(ind) def get_last_control(self): """Returns the identity of the last toolbar button pressed.""" return self._lastControl def panx(self, direction): DEBUG_MSG("panx()", 1, self) for a in self._active: a.xaxis.pan(direction) self.canvas.draw() self.canvas.Refresh(eraseBackground=False) def pany(self, direction): DEBUG_MSG("pany()", 1, self) for a in self._active: a.yaxis.pan(direction) self.canvas.draw() self.canvas.Refresh(eraseBackground=False) def zoomx(self, in_out): DEBUG_MSG("zoomx()", 1, self) for a in self._active: a.xaxis.zoom(in_out) self.canvas.draw() self.canvas.Refresh(eraseBackground=False) def zoomy(self, in_out): DEBUG_MSG("zoomy()", 1, self) for a in self._active: a.yaxis.zoom(in_out) self.canvas.draw() self.canvas.Refresh(eraseBackground=False) def update(self): """ Update the toolbar menu - e.g., called when a new subplot or axes are added """ DEBUG_MSG("update()", 1, self) self._axes = self.canvas.figure.get_axes() self._menu.updateAxes(len(self._axes)) def _do_nothing(self, d): """A NULL event handler - does nothing whatsoever""" pass # Local event handlers - mainly supply parameters to pan/scroll functions def _onEnterTool(self, evt): toolId = evt.GetSelection() try: self.button_fn = self._NTB_BUTTON_HANDLER[toolId] except KeyError: self.button_fn = self._do_nothing evt.Skip() def _onLeftScroll(self, evt): self.panx(-1) evt.Skip() def _onRightScroll(self, evt): self.panx(1) evt.Skip() def _onXZoomIn(self, evt): self.zoomx(1) evt.Skip() def _onXZoomOut(self, evt): self.zoomx(-1) evt.Skip() def _onUpScroll(self, evt): self.pany(1) evt.Skip() def _onDownScroll(self, evt): self.pany(-1) evt.Skip() def _onYZoomIn(self, evt): self.zoomy(1) evt.Skip() def _onYZoomOut(self, evt): self.zoomy(-1) evt.Skip() def _onMouseEnterButton(self, button): self._mouseOnButton = button def _onMouseLeaveButton(self, button): if self._mouseOnButton == button: self._mouseOnButton = None def _onMouseWheel(self, evt): if evt.GetWheelRotation() > 0: direction = 1 else: direction = -1 self.button_fn(direction) _onSave = NavigationToolbar2Wx.save_figure def _onClose(self, evt): self.GetParent().Destroy() class StatusBarWx(wx.StatusBar): """ A status bar is added to _FigureFrame to allow measurements and the previously selected scroll function to be displayed as a user convenience. """ def __init__(self, parent): wx.StatusBar.__init__(self, parent, -1) self.SetFieldsCount(2) self.SetStatusText("None", 1) #self.SetStatusText("Measurement: None", 2) #self.Reposition() def set_function(self, string): self.SetStatusText("%s" % string, 1) #def set_measurement(self, string): # self.SetStatusText("Measurement: %s" % string, 2) #< Additions for printing support: Matt Newville class PrintoutWx(wx.Printout): """Simple wrapper around wx Printout class -- all the real work here is scaling the matplotlib canvas bitmap to the current printer's definition. """ def __init__(self, canvas, width=5.5,margin=0.5, title='matplotlib'): wx.Printout.__init__(self,title=title) self.canvas = canvas # width, in inches of output figure (approximate) self.width = width self.margin = margin def HasPage(self, page): #current only supports 1 page print return page == 1 def GetPageInfo(self): return (1, 1, 1, 1) def OnPrintPage(self, page): self.canvas.draw() dc = self.GetDC() (ppw,pph) = self.GetPPIPrinter() # printer's pixels per in (pgw,pgh) = self.GetPageSizePixels() # page size in pixels (dcw,dch) = dc.GetSize() (grw,grh) = self.canvas.GetSizeTuple() # save current figure dpi resolution and bg color, # so that we can temporarily set them to the dpi of # the printer, and the bg color to white bgcolor = self.canvas.figure.get_facecolor() fig_dpi = self.canvas.figure.dpi # draw the bitmap, scaled appropriately vscale = float(ppw) / fig_dpi # set figure resolution,bg color for printer self.canvas.figure.dpi = ppw self.canvas.figure.set_facecolor('#FFFFFF') renderer = RendererWx(self.canvas.bitmap, self.canvas.figure.dpi) self.canvas.figure.draw(renderer) self.canvas.bitmap.SetWidth( int(self.canvas.bitmap.GetWidth() * vscale)) self.canvas.bitmap.SetHeight( int(self.canvas.bitmap.GetHeight()* vscale)) self.canvas.draw() # page may need additional scaling on preview page_scale = 1.0 if self.IsPreview(): page_scale = float(dcw)/pgw # get margin in pixels = (margin in in) * (pixels/in) top_margin = int(self.margin * pph * page_scale) left_margin = int(self.margin * ppw * page_scale) # set scale so that width of output is self.width inches # (assuming grw is size of graph in inches....) user_scale = (self.width * fig_dpi * page_scale)/float(grw) dc.SetDeviceOrigin(left_margin,top_margin) dc.SetUserScale(user_scale,user_scale) # this cute little number avoid API inconsistencies in wx try: dc.DrawBitmap(self.canvas.bitmap, 0, 0) except: try: dc.DrawBitmap(self.canvas.bitmap, (0, 0)) except: pass # restore original figure resolution self.canvas.figure.set_facecolor(bgcolor) self.canvas.figure.dpi = fig_dpi self.canvas.draw() return True #> ######################################################################## # # Now just provide the standard names that backend.__init__ is expecting # ######################################################################## Toolbar = NavigationToolbarWx FigureManager = FigureManagerWx MAVProxy-1.8.74/MAVProxy/modules/lib/MacOS/backend_wxagg.py000066400000000000000000000072341504324515000233100ustar00rootroot00000000000000from __future__ import division, print_function import matplotlib from matplotlib.figure import Figure from matplotlib.backends.backend_agg import FigureCanvasAgg from matplotlib.backends import backend_wx # already uses wxversion.ensureMinimal('2.8') from matplotlib.backends.backend_wx import FigureFrameWx from matplotlib.backends.backend_wx import NavigationToolbar2Wx from matplotlib.backends.backend_wxagg import FigureCanvasWxAgg import wx class FigureFrameWxAgg(FigureFrameWx): def get_canvas(self, fig): return FigureCanvasWxAgg(self, -1, fig) def _get_toolbar(self, statbar): if matplotlib.rcParams['toolbar']=='classic': toolbar = NavigationToolbar2Wx(self.canvas, True) elif matplotlib.rcParams['toolbar']=='toolbar2': toolbar = NavigationToolbar2WxAgg(self.canvas) toolbar.set_status_bar(statbar) else: toolbar = None return toolbar class NavigationToolbar2WxAgg(NavigationToolbar2Wx): def get_canvas(self, frame, fig): return FigureCanvasWxAgg(frame, -1, fig) def new_figure_manager(num, *args, **kwargs): """ Create a new figure manager instance """ # in order to expose the Figure constructor to the pylab # interface we need to create the figure here backend_wx._create_wx_app() FigureClass = kwargs.pop('FigureClass', Figure) fig = FigureClass(*args, **kwargs) return new_figure_manager_given_figure(num, fig) def new_figure_manager_given_figure(num, figure): """ Create a new figure manager instance for the given figure. """ frame = FigureFrameWxAgg(num, figure) figmgr = frame.get_figure_manager() if matplotlib.is_interactive(): figmgr.frame.Show() return figmgr # # agg/wxPython image conversion functions (wxPython >= 2.8) # def _convert_agg_to_wx_image(agg, bbox): """ Convert the region of the agg buffer bounded by bbox to a wx.Image. If bbox is None, the entire buffer is converted. Note: agg must be a backend_agg.RendererAgg instance. """ if bbox is None: # agg => rgb -> image image = wx.EmptyImage(int(agg.width), int(agg.height)) image.SetData(agg.tostring_rgb()) return image else: # agg => rgba buffer -> bitmap => clipped bitmap => image return wx.ImageFromBitmap(_WX28_clipped_agg_as_bitmap(agg, bbox)) def _convert_agg_to_wx_bitmap(agg, bbox): """ Convert the region of the agg buffer bounded by bbox to a wx.Bitmap. If bbox is None, the entire buffer is converted. Note: agg must be a backend_agg.RendererAgg instance. """ if bbox is None: # agg => rgba buffer -> bitmap return wx.BitmapFromBufferRGBA(int(agg.width), int(agg.height), agg.buffer_rgba()) else: # agg => rgba buffer -> bitmap => clipped bitmap return _WX28_clipped_agg_as_bitmap(agg, bbox) def _WX28_clipped_agg_as_bitmap(agg, bbox): """ Convert the region of a the agg buffer bounded by bbox to a wx.Bitmap. Note: agg must be a backend_agg.RendererAgg instance. """ l, b, width, height = bbox.bounds r = l + width t = b + height srcBmp = wx.BitmapFromBufferRGBA(int(agg.width), int(agg.height), agg.buffer_rgba()) srcDC = wx.MemoryDC() srcDC.SelectObject(srcBmp) destBmp = wx.EmptyBitmap(int(width), int(height)) destDC = wx.MemoryDC() destDC.SelectObject(destBmp) destDC.BeginDrawing() x = int(l) y = int(int(agg.height) - t) destDC.Blit(0, 0, int(width), int(height), srcDC, x, y) destDC.EndDrawing() srcDC.SelectObject(wx.NullBitmap) destDC.SelectObject(wx.NullBitmap) return destBmpMAVProxy-1.8.74/MAVProxy/modules/lib/MacOS/wxversion.py000066400000000000000000000426661504324515000226000ustar00rootroot00000000000000#---------------------------------------------------------------------- # Name: wxversion # Purpose: Allows a wxPython program to search for alternate # installations of the wxPython packages and modify sys.path # so they will be found when "import wx" is done. # # Author: Robin Dunn # # Created: 24-Sept-2004 # RCS-ID: $Id$ # Copyright: (c) 2004 by Total Control Software # Licence: wxWindows license #---------------------------------------------------------------------- """ If you have more than one version of wxPython installed this module allows your application to choose which version of wxPython will be imported when it does 'import wx'. The main function of this module is `select` and you use it like this:: import wxversion wxversion.select('2.4') import wx Or additional build options can also be selected, although they will not be required if they are not installed, like this:: import wxversion wxversion.select('2.5.3-unicode') import wx Or you can require an exact match on the build options like this:: import wxversion wxversion.select('2.5.3-unicode', optionsRequired=True) import wx Finally you can also specify a collection of versions that are allowed by your application, like this:: import wxversion wxversion.select(['2.5.4', '2.5.5', '2.6']) import wx Of course the default wxPython version can also be controlled by setting PYTHONPATH or by editing the wx.pth path configuration file, but using wxversion will allow an application to manage the version selection itself rather than depend on the user to setup the environment correctly. It works by searching the sys.path for directories matching wx-* and then comparing them to what was passed to the select function. If a match is found then that path is inserted into sys.path. NOTE: If you are making a 'bundle' of your application with a tool like py2exe then you should *not* use the wxversion module since it looks at the filesystem for the directories on sys.path, it will fail in a bundled environment. Instead you should simply ensure that the version of wxPython that you want is found by default on the sys.path when making the bundled version by setting PYTHONPATH. Then that version will be included in your bundle and your app will work as expected. Py2exe and the others usually have a way to tell at runtime if they are running from a bundle or running raw, so you can check that and only use wxversion if needed. For example, for py2exe:: if not hasattr(sys, 'frozen'): import wxversion wxversion.select('2.5') import wx More documentation on wxversion and multi-version installs can be found at: http://wiki.wxpython.org/index.cgi/MultiVersionInstalls """ import re, sys, os, glob, fnmatch _selected = None class VersionError(Exception): pass class AlreadyImportedError(VersionError): pass #---------------------------------------------------------------------- def select(versions, optionsRequired=False): """ Search for a wxPython installation that matches version. If one is found then sys.path is modified so that version will be imported with a 'import wx', otherwise a VersionError exception is raised. This function should only be called once at the beginning of the application before wxPython is imported. :param versions: Specifies the version to look for, it can either be a string or a list of strings. Each string is compared to the installed wxPythons and the best match is inserted into the sys.path, allowing an 'import wx' to find that version. The version string is composed of the dotted version number (at least 2 of the 4 components) optionally followed by hyphen ('-') separated options (wx port, unicode/ansi, flavour, etc.) A match is determined by how much of the installed version matches what is given in the version parameter. If the version number components don't match then the score is zero, otherwise the score is increased for every specified optional component that is specified and that matches. Please note, however, that it is possible for a match to be selected that doesn't exactly match the versions requested. The only component that is required to be matched is the version number. If you need to require a match on the other components as well, then please use the optional ``optionsRequired`` parameter described next. :param optionsRequired: Allows you to specify that the other components of the version string (such as the port name or character type) are also required to be present for an installed version to be considered a match. Using this parameter allows you to change the selection from a soft, as close as possible match to a hard, exact match. """ if type(versions) == str: versions = [versions] global _selected if _selected is not None: # A version was previously selected, ensure that it matches # this new request for ver in versions: if _selected.Score(_wxPackageInfo(ver), optionsRequired) > 0: return # otherwise, raise an exception raise VersionError("A previously selected wx version does not match the new request.") # If we get here then this is the first time wxversion is used, # ensure that wxPython hasn't been imported yet. if sys.modules.has_key('wx') or sys.modules.has_key('wxPython'): raise AlreadyImportedError("wxversion.select() must be called before wxPython is imported") # Look for a matching version and manipulate the sys.path as # needed to allow it to be imported. installed = _find_installed(True) bestMatch = _get_best_match(installed, versions, optionsRequired) if bestMatch is None: raise VersionError("Requested version of wxPython not found") sys.path.insert(0, bestMatch.pathname) # q.v. Bug #1409256 path64 = re.sub('/lib/','/lib64/',bestMatch.pathname) if os.path.isdir(path64): sys.path.insert(0, path64) _selected = bestMatch #---------------------------------------------------------------------- UPDATE_URL = "http://wxPython.org/" #UPDATE_URL = "http://sourceforge.net/project/showfiles.php?group_id=10718" _EM_DEBUG=0 def ensureMinimal(minVersion, optionsRequired=False): """ Checks to see if the default version of wxPython is greater-than or equal to `minVersion`. If not then it will try to find an installed version that is >= minVersion. If none are available then a message is displayed that will inform the user and will offer to open their web browser to the wxPython downloads page, and will then exit the application. """ assert type(minVersion) == str # ensure that wxPython hasn't been imported yet. if sys.modules.has_key('wx') or sys.modules.has_key('wxPython'): raise AlreadyImportedError("wxversion.ensureMinimal() must be called before wxPython is imported") bestMatch = None minv = _wxPackageInfo(minVersion) # check the default version first defaultPath = _find_default() if defaultPath: defv = _wxPackageInfo(defaultPath, True) if defv >= minv and minv.CheckOptions(defv, optionsRequired): bestMatch = defv # if still no match then check look at all installed versions if bestMatch is None: installed = _find_installed() # The list is in reverse sorted order, so find the first # one that is big enough and optionally matches the # options for inst in installed: if inst >= minv and minv.CheckOptions(inst, optionsRequired): bestMatch = inst break # if still no match then prompt the user if bestMatch is None: if _EM_DEBUG: # We'll do it this way just for the test code below raise VersionError("Requested version of wxPython not found") import wx, webbrowser versions = "\n".join([" "+ver for ver in getInstalled()]) app = wx.App() result = wx.MessageBox("This application requires a version of wxPython " "greater than or equal to %s, but a matching version " "was not found.\n\n" "You currently have these version(s) installed:\n%s\n\n" "Would you like to download a new version of wxPython?\n" % (minVersion, versions), "wxPython Upgrade Needed", style=wx.YES_NO) if result == wx.YES: webbrowser.open(UPDATE_URL) app.MainLoop() sys.exit() sys.path.insert(0, bestMatch.pathname) # q.v. Bug #1409256 path64 = re.sub('/lib/','/lib64/',bestMatch.pathname) if os.path.isdir(path64): sys.path.insert(0, path64) global _selected _selected = bestMatch #---------------------------------------------------------------------- def checkInstalled(versions, optionsRequired=False): """ Check if there is a version of wxPython installed that matches one of the versions given. Returns True if so, False if not. This can be used to determine if calling `select` will succeed or not. :param versions: Same as in `select`, either a string or a list of strings specifying the version(s) to check for. :param optionsRequired: Same as in `select`. """ if type(versions) == str: versions = [versions] installed = _find_installed() bestMatch = _get_best_match(installed, versions, optionsRequired) return bestMatch is not None #---------------------------------------------------------------------- def getInstalled(): """ Returns a list of strings representing the installed wxPython versions that are found on the system. """ installed = _find_installed() return [os.path.basename(p.pathname)[3:] for p in installed] #---------------------------------------------------------------------- # private helpers... def _get_best_match(installed, versions, optionsRequired): bestMatch = None bestScore = 0 for pkg in installed: for ver in versions: score = pkg.Score(_wxPackageInfo(ver), optionsRequired) if score > bestScore: bestMatch = pkg bestScore = score return bestMatch _pattern = "wx-[0-9].*" def _find_installed(removeExisting=False): installed = [] toRemove = [] for pth in sys.path: # empty means to look in the current dir if not pth: pth = '.' # skip it if it's not a package dir if not os.path.isdir(pth): continue base = os.path.basename(pth) # if it's a wx path that's already in the sys.path then mark # it for removal and then skip it if fnmatch.fnmatchcase(base, _pattern): toRemove.append(pth) continue # now look in the dir for matching subdirs for name in glob.glob(os.path.join(pth, _pattern)): # make sure it's a directory if not os.path.isdir(name): continue # and has a wx subdir if not os.path.exists(os.path.join(name, 'wx')): continue installed.append(_wxPackageInfo(name, True)) if removeExisting: for rem in toRemove: del sys.path[sys.path.index(rem)] installed.sort() installed.reverse() return installed # Scan the sys.path looking for either a directory matching _pattern, # or a wx.pth file def _find_default(): for pth in sys.path: # empty means to look in the current dir if not pth: pth = '.' # skip it if it's not a package dir if not os.path.isdir(pth): continue # does it match the pattern? base = os.path.basename(pth) if fnmatch.fnmatchcase(base, _pattern): return pth for pth in sys.path: if not pth: pth = '.' if not os.path.isdir(pth): continue if os.path.exists(os.path.join(pth, 'wx.pth')): base = open(os.path.join(pth, 'wx.pth')).read() return os.path.join(pth, base) return None class _wxPackageInfo(object): def __init__(self, pathname, stripFirst=False): self.pathname = pathname base = os.path.basename(pathname) segments = base.split('-') if stripFirst: segments = segments[1:] self.version = tuple([int(x) for x in segments[0].split('.')]) self.options = segments[1:] def Score(self, other, optionsRequired): score = 0 # whatever number of version components given in other must # match exactly minlen = min(len(self.version), len(other.version)) if self.version[:minlen] != other.version[:minlen]: return 0 score += 1 # check for matching options, if optionsRequired then the # options are not optional ;-) for opt in other.options: if opt in self.options: score += 1 elif optionsRequired: return 0 return score def CheckOptions(self, other, optionsRequired): # if options are not required then this always succeeds if not optionsRequired: return True # otherwise, if we have any option not present in other, then # the match fails. for opt in self.options: if opt not in other.options: return False return True def __lt__(self, other): return self.version < other.version or \ (self.version == other.version and self.options < other.options) def __le__(self, other): return self.version <= other.version or \ (self.version == other.version and self.options <= other.options) def __gt__(self, other): return self.version > other.version or \ (self.version == other.version and self.options > other.options) def __ge__(self, other): return self.version >= other.version or \ (self.version == other.version and self.options >= other.options) def __eq__(self, other): return self.version == other.version and self.options == other.options #---------------------------------------------------------------------- if __name__ == '__main__': import pprint #ensureMinimal('2.5') #pprint.pprint(sys.path) #sys.exit() def test(version, optionsRequired=False): # setup savepath = sys.path[:] #test select(version, optionsRequired) print("Asked for %s, (%s):\t got: %s" % (version, optionsRequired, sys.path[0])) # reset sys.path = savepath[:] global _selected _selected = None def testEM(version, optionsRequired=False): # setup savepath = sys.path[:] #test ensureMinimal(version, optionsRequired) print("EM: Asked for %s, (%s):\t got: %s" % (version, optionsRequired, sys.path[0])) # reset sys.path = savepath[:] global _selected _selected = None # make some test dirs names = ['wx-2.4-gtk-ansi', 'wx-2.5.2-gtk2-unicode', 'wx-2.5.3-gtk-ansi', 'wx-2.6-gtk2-unicode', 'wx-2.6-gtk2-ansi', 'wx-2.6-gtk-ansi', 'wx-2.7.1-gtk2-ansi', ] for name in names: d = os.path.join('/tmp', name) os.mkdir(d) os.mkdir(os.path.join(d, 'wx')) # setup sys.path to see those dirs sys.path.append('/tmp') # now run some tests pprint.pprint( getInstalled()) print(checkInstalled("2.4")) print(checkInstalled("2.5-unicode")) print(checkInstalled("2.99-bogus")) print("Current sys.path:") pprint.pprint(sys.path) print("") test("2.4") test("2.5") test("2.5-gtk2") test("2.5.2") test("2.5-ansi") test("2.5-unicode") test("2.6") test("2.6-ansi") test(["2.6-unicode", "2.7-unicode"]) test(["2.6", "2.7"]) test(["2.6-unicode", "2.7-unicode"], optionsRequired=True) # There isn't a unicode match for this one, but it will give the best # available 2.4. Should it give an error instead? I don't think so... test("2.4-unicode") # Try asking for multiple versions test(["2.5.2", "2.5.3", "2.6"]) try: # expecting an error on this one test("2.9") except VersionError as e: print("Asked for 2.9:\t got Exception:", e) # check for exception when incompatible versions are requested try: select("2.4") select("2.5") except VersionError as e: print("Asked for incompatible versions, got Exception:", e) _EM_DEBUG=1 testEM("2.6") testEM("2.6-unicode") testEM("2.6-unicode", True) try: testEM("2.9") except VersionError as e: print("EM: Asked for 2.9:\t got Exception:", e) # cleanup for name in names: d = os.path.join('/tmp', name) os.rmdir(os.path.join(d, 'wx')) os.rmdir(d) MAVProxy-1.8.74/MAVProxy/modules/lib/__init__.py000066400000000000000000000000211504324515000213040ustar00rootroot00000000000000# Allow imports. MAVProxy-1.8.74/MAVProxy/modules/lib/camera_projection.py000077500000000000000000000406361504324515000232540ustar00rootroot00000000000000#!/usr/bin/env python3 ''' class to project a camera view onto the map ''' import numpy from numpy import array, eye, zeros, uint64 from numpy import linalg, dot, transpose from numpy import sin, cos, pi from math import pi import math import cv2 from MAVProxy.modules.lib import mp_elevation from pymavlink.rotmat import Vector3 from MAVProxy.modules.lib import mp_util import time class CameraParams: ''' object representing camera parameters. Can be initialised from basic parameters for idealised lens or use fromfile() to loa from a calibration file ''' def __init__(self, lens=None, sensorwidth=None, xresolution=None, yresolution=None, K=None, D=None, FOV=None): if xresolution is None: raise ValueError("xresolution required") if yresolution is None: raise ValueError("yresolution required") if lens is None and FOV is not None: # FOV = 2 arctan(xres/(2f)) if sensorwidth is None: # default to 5mm sensor width for FOV calculation sensorwidth=5.0 # mm # FOV = 2 arctan( sensorwidth/(2f)) lens = 0.5 * sensorwidth / math.tan(math.radians(FOV)*0.5) if lens is None: raise ValueError("Lens required") if sensorwidth is None: raise ValueError("sensorwidth required") self.version = 0 self.sensorwidth = sensorwidth self.lens = lens self.K = K self.D = D self.set_resolution(xresolution, yresolution) self.FOV = FOV if FOV is None: self.FOV = math.degrees(2*math.atan(sensorwidth/(2*lens))) def set_resolution(self, xresolution, yresolution): '''set camera resolution''' self.xresolution = xresolution self.yresolution = yresolution # compute focal length in pixels f_p = xresolution * self.lens / self.sensorwidth if self.K is None: self.K = array([[f_p, 0.0, xresolution/2],[0.0, f_p, yresolution/2], [0.0,0.0,1.0]]) if self.D is None: self.D = array([[0.0, 0.0, 0.0, 0.0, 0.0]]) def __repr__(self): return json.dumps(self.todict(),indent=2) def setParams(self, K, D): self.K = array(K) self.D = array(D) def todict(self): data = {} data['version'] = self.version data['lens'] = self.lens data['sensorwidth'] = self.sensorwidth data['xresolution'] = self.xresolution data['yresolution'] = self.yresolution if self.K is not None: data['K'] = self.K.tolist() print("Set K to " + str(self.K)) print("Set K to " + str(data['K'])) if self.D is not None: data['D'] = self.D.tolist() return data @staticmethod def fromdict(data): if data['version'] != 0: raise Exception('version %d of camera params unsupported' % (self.version)) try: K = array(data['K']) D = array(data['D']) except KeyError: K = None D = None ret = CameraParams(lens=data['lens'], sensorwidth=data['sensorwidth'], xresolution=data['xresolution'], yresolution=data['yresolution'], K=K, D=D) ret.version = data['version'] return ret; @staticmethod def fromstring(strung): dic = json.loads(str(strung)) return CameraParams.fromdict(dic) def save(self, filename): f = open(filename,"w") # dump json form f.write(str(self)+"\n") f.close() @staticmethod def fromfile(filename): f = open(filename,"r") # dump json form d = f.read(65535) f.close() return CameraParams.fromstring(d) # a simple frame transformation matrix def rotationMatrix(phi, theta, psi): R_phi = array([[1.0,0.0,0.0],[0.0,cos(phi),sin(phi)],[0.0,-sin(phi),cos(phi)]]) R_theta = array([[ cos(theta),0.0,-sin(theta)],[0.0,1.0,0.0],[ sin(theta),0.0,cos(theta)]]) R_psi = array([[cos(psi),sin(psi),0.0],[-sin(psi),cos(psi),0.0],[0.0,0.0,1.0]]) R = dot(dot(R_phi,R_theta),R_psi) return R class uavxfer: ''' camera transfer function implementation, thanks to Matt Ridley from CanberraUAV ''' def setCameraParams(self, fu, fv, cu, cv): K = array([[fu, 0.0, cu],[0.0, fv, cv],[0.0, 0.0, 1.0]]) self.setCameraMatrix(K) def setCameraMatrix(self, K): K_i = linalg.inv(K) self.Tk = eye(4,4) self.Tk[:3,:3] = K; self.Tk_i = eye(4,4) self.Tk_i[:3,:3] = K_i def setCameraOrientation(self, roll, pitch, yaw): self.Rc = array(eye(4,4)) self.Rc[:3,:3] = transpose(rotationMatrix(roll, pitch, yaw)) self.Rc_i = linalg.inv(self.Rc) def setPlatformPose(self, north, east, down, roll, pitch, yaw): '''set pose, angles in degrees, 0,0,0 is straight down''' self.Xp = array([north, east, down, 1.0]) self.Rp = array(eye(4,4)) self.Rp[:3,:3] = transpose(rotationMatrix(roll, pitch, yaw)) self.Rp[:3,3] = array([north, east, down]) self.Rp_i = linalg.inv(self.Rp) def setFlatEarth(self, z): self.z_earth = z def worldToPlatform(self, north, east, down): x_w = array([north, east, down, 1.0]) x_p = dot(self.Rp_i, x_w)[:3] return x_p def worldToImage(self, north, east, down): x_w = array([north, east, down, 1.0]) x_p = dot(self.Rp_i, x_w) x_c = dot(self.Rc_i, x_p) x_i = dot(self.Tk, x_c) return x_i[:3]/x_i[2] def platformToWorld(self, north, east, down): x_p = array([north, east, down, 1.0]) x_w = dot(self.Rp, x_p) return x_w def imageToWorld(self, u, v): x_i = array([u, v, 1.0, 0.0]) v_c = dot(self.Tk_i, x_i) v_p = dot(self.Rc, v_c) v_w = dot(self.Rp, v_p) # compute scale for z == z_earth scale = (self.z_earth-self.Xp[2])/v_w[2] #project from platform to ground x_w = scale*v_w + self.Xp; return x_w, scale def __init__(self, fu=200, fv=200, cu=512, cv=480): self.setCameraParams(fu, fv, cu, cv) self.Rc = self.Rc_i = array(eye(4,4)) self.Rp = self.Rp_i = array(eye(4,4)) self.z_earth = -600 class CameraProjection: def __init__(self, C, elevation_model=None, terrain_source="SRTM3"): self.C = C self.elevation_model = elevation_model if elevation_model is None: self.elevation_model = mp_elevation.ElevationModel(database=terrain_source) def pixel_position_flat(self, xpos, ypos, height_agl, roll_deg, pitch_deg, yaw_deg): ''' find the NED offset on the ground in meters of a pixel in a ground image given height above the ground in meters, and pitch/roll/yaw in degrees, the lens and image parameters The xpos,ypos is from the top-left of the image The height_agl is in meters above ground level. Flat earth below camera is assumed The yaw is from grid north. Positive yaw is clockwise The roll is from horiznotal. Positive roll is down on the right The pitch is from horiznotal. Positive pitch is up in the front, -90 is straight down return result is a tuple, with meters north, east and down of current GPS position ''' xfer = uavxfer() xfer.setCameraMatrix(self.C.K) xfer.setCameraOrientation( 0.0, 0.0, pi/2 ) xfer.setFlatEarth(0); xfer.setPlatformPose(0, 0, -height_agl, math.radians(roll_deg), math.radians(pitch_deg+90), math.radians(yaw_deg)) # compute the undistorted points for the ideal camera matrix src = numpy.zeros((1,1,2), numpy.float32) src[0,0] = (xpos, ypos) R = eye(3) K = self.C.K D = self.C.D dst = cv2.undistortPoints(src, K, D, R, K) x = dst[0,0][0] y = dst[0,0][1] # negative scale means camera pointing above horizon # large scale means a long way away also unreliable (pos_w, scale) = xfer.imageToWorld(x, y) if scale < 0: return None ret = Vector3(pos_w[0], pos_w[1], height_agl) return ret def get_posned(self, x, y, clat, clon, calt_amsl, roll_deg, pitch_deg, yaw_deg): ''' get a Vector3() NED from the camera position to project onto the ground return pos NED from camera as Vector3 or None ''' # get height of terrain below camera theight = self.elevation_model.GetElevation(clat, clon) if calt_amsl <= theight: return None # project with flat earth pos_ned = self.pixel_position_flat(x, y, calt_amsl-theight, roll_deg, pitch_deg, yaw_deg) if pos_ned is None or pos_ned.z <= 0: return None # iterate to make more accurate, accounting for difference in terrain height at this point latlon = mp_util.gps_offset(clat, clon, pos_ned.y, pos_ned.x) for i in range(3): ground_alt = self.elevation_model.GetElevation(latlon[0], latlon[1]) if ground_alt is None: return None sr = pos_ned.length() if sr <= 1: return None posd2 = calt_amsl - ground_alt sin_pitch = pos_ned.z / sr # adjust for height at this point sr2 = sr - (pos_ned.z - posd2) / sin_pitch #print("SR: ", pos_ned.z, posd2, sr, sr2) pos_ned = pos_ned * (sr2 / sr) latlon = mp_util.gps_offset(clat, clon, pos_ned.y, pos_ned.x) if latlon is None: return None return pos_ned def get_latlonalt_for_pixel(self, x, y, clat, clon, calt_amsl, roll_deg, pitch_deg, yaw_deg): ''' get lat,lon of projected pixel from camera. x,y are pixel coordinates, 0,0 is top-left corner return is (lat,lon,alt) tuple or None ''' pos_ned = self.get_posned(x, y, clat, clon, calt_amsl, roll_deg, pitch_deg, yaw_deg) if pos_ned is None or pos_ned.z <= 0: return None latlon = mp_util.gps_offset(clat, clon, pos_ned.y, pos_ned.x) if latlon is None: return None return (latlon[0], latlon[1], calt_amsl-pos_ned.z) def get_slantrange(self, clat, clon, calt_amsl, roll_deg, pitch_deg, yaw_deg): ''' get slant range to ground for a pixel in the middle of the camera view return is slant range in meters or None ''' pos_ned = self.get_posned(self.C.xresolution//2, self.C.yresolution//2, clat, clon, calt_amsl, roll_deg, pitch_deg, yaw_deg) if pos_ned is None: return None return pos_ned.length() def get_projection(self, clat, clon, calt_amsl, roll_deg, pitch_deg, yaw_deg): '''return a list of (lat,lon) tuples drawing the camera view on the terrain''' ret = [] xres = self.C.xresolution yres = self.C.yresolution for (x,y) in [(0,0), (xres, 0), (xres, yres), (0,yres)]: y0 = 0 while True: latlonalt = self.get_latlonalt_for_pixel(x,y+y0,clat,clon,calt_amsl,roll_deg,pitch_deg,yaw_deg) if latlonalt is not None: break # chop off the top 10 pixels and try again y0 += 10 if y0 >= self.C.yresolution: # give up return None ret.append((latlonalt[0],latlonalt[1])) ret.append(ret[0]) return ret def test_pixel_position(): C = CameraParams(lens=4.0, sensorwidth=5.0, xresolution=1024, yresolution=768) cproj = CameraProjection(C) print("FOV: %.1f degrees" % C.FOV) pos_ned = cproj.pixel_position_flat(100, 100, 123, 2, -89.9, 0) assert abs((pos_ned - Vector3(43.6719, -67.3798, 123)).length()) < 0.01 pos_ned = cproj.pixel_position_flat(0, 130, 57, 2, -89.9, 0) assert abs((pos_ned - Vector3(18.188, -38.4761, 57)).length()) < 0.01 if __name__ == "__main__": C1 = CameraParams(xresolution=640, yresolution=512, FOV=24.2) print("Lens: %.2f" % C1.lens) C2 = CameraParams(xresolution=2560, yresolution=1440, FOV=88.0) print("Lens: %.2f" % C2.lens) test_pixel_position() from argparse import ArgumentParser parser = ArgumentParser("camera_projection.py [options]") parser.add_argument("--lat", type=float, default=-35.363261, help="start latitude") parser.add_argument("--lon", type=float, default=149.165230, help="start longitude") parser.add_argument("--alt-agl", type=float, default=100.0, help="height AGL") parser.add_argument("--roll", type=float, default=0.0, help="roll") parser.add_argument("--pitch", type=float, default=-30, help="pitch") parser.add_argument("--yaw", type=float, default=0.0, help="yaw") parser.add_argument("--yaw-delta", type=float, default=0.0, help="yaw delta per loop") parser.add_argument("--pitch-delta", type=float, default=-1.0, help="pitch delta per loop") parser.add_argument("--service", default="MicrosoftSat", help="tile service") parser.add_argument("--offline", action='store_true', default=False, help="no download") parser.add_argument("--delay", type=float, default=0.3, help="tile download delay") parser.add_argument("--max-zoom", type=int, default=19, help="maximum tile zoom") parser.add_argument("--debug", action='store_true', default=False, help="show debug info") parser.add_argument("--boundary", default=None, help="show boundary") parser.add_argument("--mission", default=[], action='append', help="show mission") parser.add_argument("--thumbnail", default=None, help="show thumbnail") parser.add_argument("--icon", default=None, help="show icon") parser.add_argument("--flag", default=[], type=str, action='append', help="flag positions") parser.add_argument("--grid", default=False, action='store_true', help="add a UTM grid") parser.add_argument("--verbose", action='store_true', default=False, help="show mount actions") parser.add_argument("--terrain-source", type=str, default="SRTM1", choices=["SRTM1", "SRTM3", "None"], help="Elevation model") args = parser.parse_args() from MAVProxy.modules.mavproxy_map import mp_slipmap sm = mp_slipmap.MPSlipMap(lat=args.lat, lon=args.lon, download=not args.offline, service=args.service, debug=args.debug, max_zoom=args.max_zoom, elevation=args.terrain_source, tile_delay=args.delay) lat = args.lat lon = args.lon pitch = args.pitch pitch_delta = args.pitch_delta yaw = args.yaw yaw_delta = args.yaw_delta elevation_model = mp_elevation.ElevationModel(database=args.terrain_source) alt_amsl = args.alt_agl + elevation_model.GetElevation(lat, lon,timeout=10) print("Camera alt: %.1f" % alt_amsl) C1 = CameraParams(xresolution=2560, yresolution=1440, FOV=88.0) C2 = CameraParams(xresolution=640, yresolution=512, FOV=24.2) cproj1 = CameraProjection(C1, elevation_model=elevation_model) cproj2 = CameraProjection(C2, elevation_model=elevation_model) while sm.is_alive(): p1 = cproj1.get_projection(lat, lon, alt_amsl, args.roll, pitch, yaw) if p1 is not None: sm.add_object(mp_slipmap.SlipPolygon('projection1', p1, layer=1, linewidth=2, colour=(0,255,0))) p2 = cproj2.get_projection(lat, lon, alt_amsl, args.roll, pitch, yaw) if p2 is not None: sm.add_object(mp_slipmap.SlipPolygon('projection2', p2, layer=1, linewidth=2, colour=(0,0,255))) pitch += pitch_delta if pitch < -180 - args.pitch: pitch_delta *= -1.0 pitch = -180 - args.pitch if pitch > args.pitch: pitch_delta *= -1.0 pitch = args.pitch yaw += yaw_delta if yaw < 0: yaw += 360 if yaw > 360: yaw -= 360 while not sm.event_queue_empty(): obj = sm.get_event() if isinstance(obj, mp_slipmap.SlipMouseEvent): lat = obj.latlon[0] lon = obj.latlon[1] alt_amsl = args.alt_agl + elevation_model.GetElevation(lat, lon,timeout=10) print("Pitch %.1f Yaw %.1f" % (pitch, yaw)) time.sleep(0.1) MAVProxy-1.8.74/MAVProxy/modules/lib/dumpstacks.py000066400000000000000000000016541504324515000217400ustar00rootroot00000000000000 import threading, sys, traceback # Import dumpstacks to install a SIGQUIT handler that shows a stack dump for all stacks # From http://stackoverflow.com/questions/132058/showing-the-stack-trace-from-a-running-python-application def dumpstacks(signal, frame): id2name = dict([(th.ident, th.name) for th in threading.enumerate()]) code = [] for threadId, stack in sys._current_frames().items(): code.append("\n# Thread: %s(%d)" % (id2name.get(threadId, ""), threadId)) for filename, lineno, name, line in traceback.extract_stack(stack): code.append('File: "%s", line %d, in %s' % (filename, lineno, name)) if line: code.append(" %s" % (line.strip())) print("\n".join(code)) try: import signal signal.signal(signal.SIGQUIT, dumpstacks) except Exception as e: # Silently ignore failures installing this handler (probably won't work on Windows) pass MAVProxy-1.8.74/MAVProxy/modules/lib/geodesic_grid.py000066400000000000000000000236131504324515000223500ustar00rootroot00000000000000# Copyright (C) 2016 Intel Corporation. All rights reserved. # # This file is free software: you can redistribute it and/or modify it # under the terms of the GNU General Public License as published by the # Free Software Foundation, either version 3 of the License, or # (at your option) any later version. # # This file is distributed in the hope that it will be useful, but # WITHOUT ANY WARRANTY; without even the implied warranty of # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. # See the GNU General Public License for more details. # # You should have received a copy of the GNU General Public License along # with this program. If not, see . ''' This module takes https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_Math/AP_GeodesicGrid.h and https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_Math/AP_GeodesicGrid.cpp as reference for defining the geodesic sections and implementing almost all functions. Those files should be consulted for implementation details. ''' import math from pymavlink.rotmat import Matrix3, Vector3 # The golden number below was obtained from scipy.constants.golden. Let's use # the literal value here as this is the only place that would require scipy # module. g = 1.618033988749895 _first_half = ( (Vector3(-g, 1, 0), Vector3(-1, 0,-g), Vector3(-g,-1, 0)), (Vector3(-1, 0,-g), Vector3(-g,-1, 0), Vector3( 0,-g,-1)), (Vector3(-g,-1, 0), Vector3( 0,-g,-1), Vector3( 0,-g, 1)), (Vector3(-1, 0,-g), Vector3( 0,-g,-1), Vector3( 1, 0,-g)), (Vector3( 0,-g,-1), Vector3( 0,-g, 1), Vector3( g,-1, 0)), (Vector3( 0,-g,-1), Vector3( 1, 0,-g), Vector3( g,-1, 0)), (Vector3( g,-1, 0), Vector3( 1, 0,-g), Vector3( g, 1, 0)), (Vector3( 1, 0,-g), Vector3( g, 1, 0), Vector3( 0, g,-1)), (Vector3( 1, 0,-g), Vector3( 0, g,-1), Vector3(-1, 0,-g)), (Vector3( 0, g,-1), Vector3(-g, 1, 0), Vector3(-1, 0,-g)), ) _second_half = tuple((-a, -b, -c) for a, b, c in _first_half) triangles = _first_half + _second_half radius = math.sqrt(1 + g**2) # radius / (length of two vertices of an icosahedron triangle) _midpoint_projection_scale = radius / (2 * g) sections = () for a, b, c in triangles: ma = _midpoint_projection_scale * (a + b) mb = _midpoint_projection_scale * (b + c) mc = _midpoint_projection_scale * (c + a) sections += ( (ma, mb, mc), ( a, ma, mc), (ma, b, mb), (mc, mb, c), ) del _first_half, _second_half class _NeighborUmbrella: index_to_attr = ('x', 'y', 'z') def __init__(self, components, v0_c0, v1_c1, v2_c1, v4_c4, v0_c4): self.components = components self.v0_c0 = self.index_to_attr[v0_c0] self.v1_c1 = self.index_to_attr[v1_c1] self.v2_c1 = self.index_to_attr[v2_c1] self.v4_c4 = self.index_to_attr[v4_c4] self.v0_c4 = self.index_to_attr[v0_c4] _neighbor_umbrellas = ( _NeighborUmbrella(( 9, 8, 7, 12, 14), 1, 2, 0, 0, 2), _NeighborUmbrella(( 1, 2, 4, 5, 3), 0, 0, 2, 2, 0), _NeighborUmbrella((16, 15, 13, 18, 17), 2, 2, 0, 2, 1), ) _inverses = ( Matrix3( Vector3(-0.309017, 0.500000, 0.190983), Vector3( 0.000000, 0.000000, -0.618034), Vector3(-0.309017, -0.500000, 0.190983)), Matrix3( Vector3(-0.190983, 0.309017, -0.500000), Vector3(-0.500000, -0.190983, 0.309017), Vector3( 0.309017, -0.500000, -0.190983) ), Matrix3( Vector3(-0.618034, 0.000000, 0.000000), Vector3( 0.190983, -0.309017, -0.500000), Vector3( 0.190983, -0.309017, 0.500000) ), Matrix3( Vector3(-0.500000, 0.190983, -0.309017), Vector3( 0.000000, -0.618034, 0.000000), Vector3( 0.500000, 0.190983, -0.309017) ), Matrix3( Vector3(-0.190983, -0.309017, -0.500000), Vector3(-0.190983, -0.309017, 0.500000), Vector3( 0.618034, 0.000000, 0.000000) ), Matrix3( Vector3(-0.309017, -0.500000, -0.190983), Vector3( 0.190983, 0.309017, -0.500000), Vector3( 0.500000, -0.190983, 0.309017) ), Matrix3( Vector3( 0.309017, -0.500000, 0.190983), Vector3( 0.000000, 0.000000, -0.618034), Vector3( 0.309017, 0.500000, 0.190983) ), Matrix3( Vector3( 0.190983, -0.309017, -0.500000), Vector3( 0.500000, 0.190983, 0.309017), Vector3(-0.309017, 0.500000, -0.190983) ), Matrix3( Vector3( 0.500000, -0.190983, -0.309017), Vector3( 0.000000, 0.618034, 0.000000), Vector3(-0.500000, -0.190983, -0.309017) ), Matrix3( Vector3( 0.309017, 0.500000, -0.190983), Vector3(-0.500000, 0.190983, 0.309017), Vector3(-0.190983, -0.309017, -0.500000) ), ) _mid_inverses = ( Matrix3( Vector3(-0.000000, 1.000000, -0.618034), Vector3( 0.000000, -1.000000, -0.618034), Vector3(-0.618034, 0.000000, 1.000000) ), Matrix3( Vector3(-1.000000, 0.618034, -0.000000), Vector3(-0.000000, -1.000000, 0.618034), Vector3( 0.618034, -0.000000, -1.000000) ), Matrix3( Vector3(-0.618034, -0.000000, -1.000000), Vector3( 1.000000, -0.618034, -0.000000), Vector3(-0.618034, 0.000000, 1.000000) ), Matrix3( Vector3(-1.000000, -0.618034, -0.000000), Vector3( 1.000000, -0.618034, 0.000000), Vector3(-0.000000, 1.000000, -0.618034) ), Matrix3( Vector3(-1.000000, -0.618034, 0.000000), Vector3( 0.618034, 0.000000, 1.000000), Vector3( 0.618034, 0.000000, -1.000000) ), Matrix3( Vector3(-0.618034, -0.000000, -1.000000), Vector3( 1.000000, 0.618034, -0.000000), Vector3( 0.000000, -1.000000, 0.618034) ), Matrix3( Vector3( 0.000000, -1.000000, -0.618034), Vector3( 0.000000, 1.000000, -0.618034), Vector3( 0.618034, -0.000000, 1.000000) ), Matrix3( Vector3( 1.000000, -0.618034, -0.000000), Vector3( 0.000000, 1.000000, 0.618034), Vector3(-0.618034, 0.000000, -1.000000) ), Matrix3( Vector3( 1.000000, 0.618034, -0.000000), Vector3(-1.000000, 0.618034, 0.000000), Vector3( 0.000000, -1.000000, -0.618034) ), Matrix3( Vector3(-0.000000, 1.000000, 0.618034), Vector3(-1.000000, -0.618034, -0.000000), Vector3( 0.618034, 0.000000, -1.000000) ), ) def get_section_hit(v): i = _triangle_index(v) if i < 0: return -1 j = _subtriangle_index(i, v) if j < 0: return -1 return 4 * i + j def _neighbor_umbrella_component(idx, comp_idx): if idx < 3: return _neighbor_umbrellas[idx].components[comp_idx] return (_neighbor_umbrellas[idx % 3].components[comp_idx] + 10) % 20 def _from_neighbor_umbrella(idx, v, u): # TODO: fix equality tests for floating point values (here and in the rest # of this file) if u.x == u.y: comp = _neighbor_umbrella_component(idx, 0) w = _inverses[comp % 10] * v if comp > 9: w = -w x0 = getattr(w, _neighbor_umbrellas[idx % 3].v0_c0) if x0 <= 0: return -1 return comp if u.y > u.x: comp = _neighbor_umbrella_component(idx, 1) w = _inverses[comp % 10] * v if comp > 9: w = -w x1 = getattr(w, _neighbor_umbrellas[idx % 3].v1_c1) x2 = getattr(w, _neighbor_umbrellas[idx % 3].v2_c1) if x1 == 0: return -1 elif x1 < 0: return _neighbor_umbrella_component(idx, 2) if x2 == 0: return -1 elif x2 < 0: return _neighbor_umbrella_component(idx, 0) return comp else: comp = _neighbor_umbrella_component(idx, 4) w = _inverses[comp % 10] * v if comp > 9: w = -w x4 = getattr(w, _neighbor_umbrellas[idx % 3].v4_c4) x0 = getattr(w, _neighbor_umbrellas[idx % 3].v0_c4) if x4 == 0: return -1 elif x4 < 0: return _neighbor_umbrella_component(idx, 0) if x0 == 0: return -1 elif x0 < 0: return _neighbor_umbrella_component(idx, 3) return comp def _triangle_index(v): w = _inverses[0] * v zero_count = 0 balance = 0 umbrella = -1 if w.x == 0: zero_count += 1 elif w.x > 0: balance += 1 else: balance -= 1 if w.y == 0: zero_count += 1 elif w.y > 0: balance += 1 else: balance -= 1 if w.z == 0: zero_count += 1 elif w.z > 0: balance += 1 else: balance -= 1 if balance == 3: return 0 elif balance == -3: return 10 elif balance == 2: return -1 elif balance == -2: return -1 elif balance == 1: if zero_count == 2: return -1 if w.x < 0: umbrella = 1 elif w.y < 0: umbrella = 2 else: umbrella = 0 elif balance == -1: if zero_count == 2: return -1 if w.x > 0: umbrella = 4 elif w.y > 0: umbrella = 5 else: umbrella = 3 w = -w elif balance == 0: if zero_count == 3: return -1 if w.x < 0: umbrella = 1 elif w.y < 0: umbrella = 2 else: umbrella = 0 m = umbrella % 3 if m == 0: w.z = -w.z elif m == 1: w.x, w.y, w.z = w.y, w.z, -w.x elif m == 2: w.x, w.y, w.z = w.z, w.x, -w.y return _from_neighbor_umbrella(umbrella, v, w, inclusive) def _subtriangle_index(triangle_index, v): w = _mid_inverses[triangle_index % 10] * v if triangle_index > 9: w = -w if 0 in (w.x, w.y, w.z): return -1 if w.x < 0: return 3 if w.y < 0: return 1 if w.z < 0: return 2 return 0 MAVProxy-1.8.74/MAVProxy/modules/lib/graph_ui.py000066400000000000000000000060251504324515000213550ustar00rootroot00000000000000from MAVProxy.modules.lib import grapher from MAVProxy.modules.lib import multiproc import errno import socket import copy graph_count = 1 class Graph_UI(object): """docstring for ClassName""" def __init__(self, mestate): self.mestate = mestate self.xlim = None global graph_count self.count = graph_count graph_count += 1 self.xlim_pipe = multiproc.Pipe() def display_graph(self, graphdef, flightmode_colourmap=None): '''display a graph''' if 'mestate' in globals(): self.mestate.console.write("Expression: %s\n" % ' '.join(graphdef.expression.split())) else: self.mestate.child_pipe_send_console.send("Expression: %s\n" % ' '.join(graphdef.expression.split())) #mestate.mlog.reduce_by_flightmodes(mestate.flightmode_selections) #setup the graph, then pass to a new process and display self.mg = grapher.MavGraph(flightmode_colourmap) if self.mestate.settings.title is not None: self.mg.set_title(self.mestate.settings.title) else: self.mg.set_title(graphdef.name) if self.mestate.settings.max_rate > 0: self.mg.set_max_message_rate(self.mestate.settings.max_rate) self.mg.set_marker(self.mestate.settings.marker) self.mg.set_condition(self.mestate.settings.condition) self.mg.set_xaxis(self.mestate.settings.xaxis) self.mg.set_linestyle(self.mestate.settings.linestyle) self.mg.set_show_flightmode(self.mestate.settings.show_flightmode) self.mg.set_legend(self.mestate.settings.legend) self.mg.add_mav(copy.copy(self.mestate.mlog)) for f in graphdef.expression.split(): self.mg.add_field(f) self.mg.process(self.mestate.flightmode_selections, self.mestate.mlog._flightmodes) self.lenmavlist = len(self.mg.mav_list) #Important - mg.mav_list is the full logfile and can be very large in size #To avoid slowdowns in Windows (which copies the vars to the new process) #We need to empty this var when we're finished with it self.mg.mav_list = [] child = multiproc.Process(target=self.mg.show, args=[self.lenmavlist,], kwargs={"xlim_pipe" : self.xlim_pipe}) child.start() self.xlim_pipe[1].close() self.mestate.mlog.rewind() def check_xlim_change(self): '''check for new X bounds''' if self.xlim_pipe is None: return None xlim = None try: while self.xlim_pipe[0].poll(): xlim = self.xlim_pipe[0].recv() except Exception: return None if xlim != self.xlim: return xlim return None def set_xlim(self, xlim): '''set new X bounds''' if self.xlim_pipe is not None and self.xlim != xlim: #print("send0: ", graph_count, xlim) try: self.xlim_pipe[0].send(xlim) except IOError: return False self.xlim = xlim return True MAVProxy-1.8.74/MAVProxy/modules/lib/graphdefinition.py000066400000000000000000000005271504324515000227320ustar00rootroot00000000000000''' GraphDefinition class ''' class GraphDefinition(object): '''a pre-defined graph''' def __init__(self, name, expression, description, expressions, filename): self.name = name self.expression = expression self.description = description self.expressions = expressions self.filename = filename MAVProxy-1.8.74/MAVProxy/modules/lib/grapher.py000077500000000000000000000664221504324515000212210ustar00rootroot00000000000000#!/usr/bin/env python3 ''' core library for graphing in mavexplorer ''' import ast import sys, struct, time, os, datetime, platform import math, re import matplotlib if platform.system() == "Windows": # wxAgg doesn't properly show the graph values in the lower right on Windows matplotlib.use('TkAgg') elif platform.system() != "Darwin" and os.getenv("MPLBACKEND") is None: # on MacOS we can't set WxAgg here as it conflicts with the MacOS version matplotlib.use('WXAgg') from math import * from pymavlink.mavextra import * import matplotlib.pyplot as plt from pymavlink import mavutil import threading import numpy as np MAVGRAPH_DEBUG = 'MAVGRAPH_DEBUG' in os.environ colors = [ 'red', 'green', 'blue', 'orange', 'olive', 'black', 'grey', 'yellow', 'brown', 'darkcyan', 'cornflowerblue', 'darkmagenta', 'deeppink', 'darkred'] flightmode_colours = [ (1.0, 0, 0), ( 0, 1.0, 0), ( 0, 0, 1.0), ( 0, 1.0, 1.0), (1.0, 0, 1.0), (1.0, 1.0, 0), (1.0, 0.5, 0), (1.0, 0, 0.5), (0.5, 1.0, 0), ( 0, 1.0, 0.5), (0.5, 0, 1.0), ( 0, 0.5, 1.0), (1.0, 0.5, 0.5), (0.5, 1.0, 0.5), (0.5, 0.5, 1.0) ] edge_colour = (0.1, 0.1, 0.1) graph_num = 1 tday_base = None tday_basetime = None def timestamp_to_days(timestamp, timeshift=0): '''convert log timestamp to days, public so that mavflightview can access''' global tday_base, tday_basetime if tday_base is None: try: tday_base = matplotlib.dates.date2num(datetime.datetime.fromtimestamp(timestamp+timeshift)) tday_basetime = timestamp except ValueError: # this can happen if the log is corrupt # ValueError: year is out of range return 0 sec_to_days = 1.0 / (60*60*24) return tday_base + (timestamp - tday_basetime) * sec_to_days class MilliFormatter(matplotlib.dates.AutoDateFormatter): '''tick formatter that shows millisecond resolution''' def __init__(self, locator): super().__init__(locator) # don't show day until much wider range self.scaled[1.0/(24*60)] = self.scaled[1.0/(24*60*60)] def __call__(self, x, pos=0): """Return the label for time x at position pos.""" v = super().__call__(x,pos=pos) if v.endswith("000"): return v[:-3] return v class MavGraph(object): def __init__(self, flightmode_colourmap=None): self.lowest_x = None self.highest_x = None self.mav_list = [] self.fields = [] self.condition = None self.xaxis = None self.marker = None self.linestyle = None self.show_flightmode = True self.legend = 'upper left' self.legend2 = 'upper right' self.legend_flightmode = 'lower left' self.timeshift = 0 self.labels = None self.multi = False self.modes_plotted = {} self.flightmode_colour_index = 0 if flightmode_colourmap: self.flightmode_colourmap = flightmode_colourmap else: self.flightmode_colourmap = {} self.flightmode_list = None self.ax1 = None self.locator = None global graph_num self.graph_num = graph_num self.start_time = None graph_num += 1 self.draw_events = 0 self.closing = False self.xlim_pipe = None self.xlim = None self.tday_base = None self.tday_basetime = None self.title = None self.grid = False self.xlim_t = None if sys.version_info[0] >= 3: self.text_types = frozenset([str,]) else: self.text_types = frozenset([unicode, str]) self.max_message_rate = 0 def set_max_message_rate(self, rate_hz): '''set maximum rate we will graph any message''' self.max_message_rate = rate_hz self.last_message_t = {} def add_field(self, field): '''add another field to plot''' self.fields.append(field) def add_mav(self, mav): '''add another data source to plot''' self.mav_list.append(mav) def set_condition(self, condition): '''set graph condition''' self.condition = condition def set_xaxis(self, xaxis): '''set graph xaxis''' self.xaxis = xaxis def set_title(self, title): '''set graph title''' self.title = title def set_grid(self, enable): '''enable grid''' self.grid = enable def set_marker(self, marker): '''set graph marker''' self.marker = marker def set_timeshift(self, timeshift): '''set graph timeshift''' self.timeshift = timeshift def set_legend2(self, legend2): '''set graph legend2''' self.legend2 = legend2 def set_legend(self, legend): '''set graph legend''' self.legend = legend def set_show_flightmode(self, value): '''set to true if flightmodes are to be shown''' self.show_flightmode = value def set_linestyle(self, linestyle): '''set graph linestyle''' self.linestyle = linestyle def set_multi(self, multi): '''set multiple graph option''' self.multi = multi def make_format(self, current, other): # current and other are axes def format_coord(x, y): # x, y are data coordinates # convert to display coords display_coord = current.transData.transform((x,y)) inv = other.transData.inverted() # convert back to data coords with respect to ax ax_coord = inv.transform(display_coord) xstr = self.formatter(x) y2 = ax_coord[1] if self.xaxis: return ('x=%.3f Left=%.3f Right=%.3f' % (x, y2, y)) else: return ('x=%s Left=%.3f Right=%.3f' % (xstr, y2, y)) return format_coord def next_flightmode_colour(self): '''allocate a colour to be used for a flight mode''' if self.flightmode_colour_index > len(flightmode_colours): print("Out of colours; reusing") self.flightmode_colour_index = 0 ret = flightmode_colours[self.flightmode_colour_index] self.flightmode_colour_index += 1 return ret def flightmode_colour(self, flightmode): '''return colour to be used for rendering a flight mode background''' if flightmode not in self.flightmode_colourmap: self.flightmode_colourmap[flightmode] = self.next_flightmode_colour() return self.flightmode_colourmap[flightmode] def xlim_changed(self, axsubplot): '''called when x limits are changed''' xrange = axsubplot.get_xbound() xlim = axsubplot.get_xlim() if self.draw_events == 0: # ignore limit change before first draw event return if self.xlim_pipe is not None and axsubplot == self.ax1 and xlim != self.xlim: self.xlim = xlim #print('send', self.graph_num, xlim) self.xlim_pipe[1].send(xlim) def draw_event(self, evt): '''called on draw events''' self.draw_events += 1 def close_event(self, evt): '''called on close events''' self.closing = True def rescale_yaxis(self, axis): '''rescale Y axes to fit''' ylim = [None,None] for line in axis.lines: xdata = line.get_xdata() xlim = axis.get_xlim() xidx1 = np.argmax(xdata > xlim[0]) xidx2 = np.argmax(xdata > xlim[1]) if xidx2 == 0: xidx2 = len(xdata)-1 ydata = line.get_ydata()[xidx1:xidx2] min_v = np.amin(ydata) max_v = np.amax(ydata) if ylim[0] is None or min_v < ylim[0]: ylim[0] = min_v if ylim[1] is None or max_v > ylim[1]: ylim[1] = max_v rng = ylim[1] - ylim[0] pad = 0.05 * rng if pad == 0: pad = 0.001 * ylim[0] axis.set_ylim((ylim[0]-pad,ylim[1]+pad)) def button_click(self, event): '''handle button clicks''' if getattr(event, 'dblclick', False) and event.button==1: self.rescale_yaxis(self.ax1) if self.ax2: self.rescale_yaxis(self.ax2) def plotit(self, x, y, fields, colors=[], title=None, interactive=True): '''plot a set of graphs using date for x axis''' if interactive: plt.ion() self.fig = plt.figure(num=1, figsize=(12,6)) self.ax1 = self.fig.gca() self.ax2 = None for i in range(0, len(fields)): if len(x[i]) == 0: continue if self.lowest_x is None or x[i][0] < self.lowest_x: self.lowest_x = x[i][0] if self.highest_x is None or x[i][-1] > self.highest_x: self.highest_x = x[i][-1] if self.highest_x is None or self.lowest_x is None: return self.locator = matplotlib.dates.AutoDateLocator() self.ax1.xaxis.set_major_locator(self.locator) self.formatter = MilliFormatter(self.locator) if not self.xaxis: self.ax1.xaxis.set_major_formatter(self.formatter) self.ax1.callbacks.connect('xlim_changed', self.xlim_changed) self.fig.canvas.mpl_connect('draw_event', self.draw_event) self.fig.canvas.mpl_connect('close_event', self.close_event) self.fig.canvas.mpl_connect('button_press_event', self.button_click) self.fig.canvas.get_default_filename = lambda: ''.join("graph" if self.title is None else (x if x.isalnum() else '_' for x in self.title)) + '.png' empty = True ax1_labels = [] ax2_labels = [] for i in range(len(fields)): if len(x[i]) == 0: #print("Failed to find any values for field %s" % fields[i]) continue if i < len(colors): color = colors[i] else: color = 'red' (tz, tzdst) = time.tzname if self.axes[i] == 2: if self.ax2 is None: self.ax2 = self.ax1.twinx() if self.grid: self.ax2.grid(None) self.ax1.grid(True) self.ax2.format_coord = self.make_format(self.ax2, self.ax1) ax = self.ax2 if not self.xaxis: self.ax2.xaxis.set_major_locator(self.locator) self.ax2.xaxis.set_major_formatter(self.formatter) label = fields[i] if label.endswith(":2"): label = label[:-2] ax2_labels.append(label) if self.custom_labels[i] is not None: ax2_labels[-1] = self.custom_labels[i] else: ax1_labels.append(fields[i]) if self.custom_labels[i] is not None: ax1_labels[-1] = self.custom_labels[i] ax = self.ax1 if self.xaxis: if self.marker is not None: marker = self.marker else: marker = '+' if self.linestyle is not None: linestyle = self.linestyle else: linestyle = 'None' ax.plot(x[i], y[i], color=color, label=fields[i], linestyle=linestyle, marker=marker) else: if self.marker is not None: marker = self.marker else: marker = 'None' if self.linestyle is not None: linestyle = self.linestyle else: linestyle = '-' if len(y[i]) > 0 and type(y[i][0]) in self.text_types: # assume this is a piece of text to be rendered at a point in time last_text_time = -1 last_text = None for n in range(0, len(x[i])): this_text_time = round(x[i][n], 6) this_text = y[i][n] if last_text is None: last_text = "[" + this_text + "]" last_text_time = this_text_time elif this_text_time == last_text_time: last_text += ("[" + this_text + "]") else: ax.text(last_text_time, 10, last_text, rotation=90, alpha=0.6, verticalalignment='center') last_text = this_text last_text_time = this_text_time if last_text is not None: ax.text(last_text_time, 10, last_text, rotation=90, alpha=0.6, verticalalignment='center') else: ax.plot_date(x[i], y[i], fmt=color, label=fields[i], linestyle=linestyle, marker=marker, tz=None) empty = False if self.grid: plt.grid() if self.show_flightmode != 0: alpha = 0.3 xlim = self.ax1.get_xlim() for i in range(len(self.flightmode_list)): (mode_name,t0,t1) = self.flightmode_list[i] c = self.flightmode_colour(mode_name) tday0 = timestamp_to_days(t0, self.timeshift) tday1 = timestamp_to_days(t1, self.timeshift) if tday0 > xlim[1] or tday1 < xlim[0]: continue tday0 = max(tday0, xlim[0]) tday1 = min(tday1, xlim[1]) self.ax1.axvspan(tday0, tday1, fc=c, ec=edge_colour, alpha=alpha) self.modes_plotted[mode_name] = (c, alpha) if empty: print("No data to graph") return if title is not None: plt.title(title) else: title = fields[0] if self.fig.canvas.manager is not None: self.fig.canvas.manager.set_window_title(title) else: self.fig.canvas.set_window_title(title) if self.show_flightmode != 0: mode_patches = [] for mode in self.modes_plotted.keys(): (color, alpha) = self.modes_plotted[mode] mode_patches.append(matplotlib.patches.Patch(color=color, label=mode, alpha=alpha*1.5)) labels = [patch.get_label() for patch in mode_patches] if ax1_labels != [] and self.show_flightmode != 2: patches_legend = plt.legend(mode_patches, labels, loc=self.legend_flightmode) self.fig.gca().add_artist(patches_legend) else: plt.legend(mode_patches, labels) if ax1_labels != []: self.ax1.legend(ax1_labels,loc=self.legend) if ax2_labels != []: self.ax2.legend(ax2_labels,loc=self.legend2) def add_data(self, t, msg, vars): '''add some data''' mtype = msg.get_type() for i in range(0, len(self.fields)): if mtype not in self.field_types[i]: continue f = self.fields[i] has_instance = False ins_value = None if mtype in self.instance_types[i]: instance_field = getattr(msg,'instance_field',None) if instance_field is None and hasattr(msg,'fmt'): instance_field = getattr(msg.fmt,'instance_field') if instance_field is not None: ins_value = getattr(msg,instance_field,None) if ins_value is None or not str(ins_value) in self.instance_types[i][mtype]: continue if not mtype in vars or not isinstance(vars[mtype], dict): vars[mtype] = dict() vars[mtype][ins_value] = msg if isinstance(ins_value, str): mtype_instance = '%s[%s]' % (mtype, ins_value) mtype_instance_str = '%s["%s"]' % (mtype, getattr(msg, instance_field)) f = f.replace(mtype_instance, mtype_instance_str) has_instance = True # allow for capping the displayed message rate if self.max_message_rate > 0: mtype_ins = (mtype,ins_value,f) mt = msg._timestamp if mtype_ins in self.last_message_t: dt = mt - self.last_message_t[mtype_ins] if dt < 1.0 / self.max_message_rate: continue self.last_message_t[mtype_ins] = mt simple = self.simple_field[i] v = None if simple is not None and not has_instance: try: v = getattr(vars[simple[0]], simple[1]) except Exception as ex: if MAVGRAPH_DEBUG: print(ex) if v is None: try: v = mavutil.evaluate_expression(f, vars) except Exception as ex: if MAVGRAPH_DEBUG: print(ex) if v is None: continue if self.xaxis is None: xv = t else: xv = mavutil.evaluate_expression(self.xaxis, vars) if xv is None: continue self.y[i].append(v) self.x[i].append(xv) def process_mav(self, mlog, flightmode_selections): '''process one file''' self.vars = {} idx = 0 all_false = True for s in flightmode_selections: if s: all_false = False self.num_fields = len(self.fields) self.custom_labels = [None] * self.num_fields for i in range(self.num_fields): if self.fields[i].endswith(">"): a2 = self.fields[i].rfind("<") if a2 != -1: self.custom_labels[i] = self.fields[i][a2+1:-1] self.fields[i] = self.fields[i][:a2] # pre-calc right/left axes for i in range(self.num_fields): f = self.fields[i] if f.endswith(":2"): self.axes[i] = 2 f = f[:-2] if f.endswith(":1"): self.first_only[i] = True f = f[:-2] self.fields[i] = f # see which fields are simple self.simple_field = [] for i in range(0, self.num_fields): f = self.fields[i] m = re.match('^([A-Z][A-Z0-9_]*)[.]([A-Za-z_][A-Za-z0-9_]*)$', f) if m is None: self.simple_field.append(None) else: self.simple_field.append((m.group(1),m.group(2))) if len(self.flightmode_list) > 0: # prime the timestamp conversion timestamp_to_days(self.flightmode_list[0][1], self.timeshift) try: reset_state_data() except Exception: pass all_messages = {} while True: msg = mlog.recv_match(type=self.msg_types) if msg is None: break mtype = msg.get_type() if not mtype in all_messages or not isinstance(all_messages[mtype],dict): all_messages[mtype] = msg if mtype not in self.msg_types: continue if self.condition: if not mavutil.evaluate_condition(self.condition, all_messages): continue tdays = timestamp_to_days(msg._timestamp, self.timeshift) if all_false or len(flightmode_selections) == 0: self.add_data(tdays, msg, all_messages) else: if idx < len(self.flightmode_list) and msg._timestamp >= self.flightmode_list[idx][2]: idx += 1 elif (idx < len(flightmode_selections) and flightmode_selections[idx]): self.add_data(tdays, msg, all_messages) def xlim_change_check(self, idx): '''handle xlim change requests from queue''' try: if not self.xlim_pipe[1].poll(): return xlim = self.xlim_pipe[1].recv() if xlim is None: return except Exception: return #print("recv: ", self.graph_num, xlim) if self.ax1 is not None and xlim != self.xlim: self.xlim = xlim self.fig.canvas.toolbar.push_current() #print("setting: ", self.graph_num, xlim) self.ax1.set_xlim(xlim) def xlim_timer(self): '''called every 0.1s to check for xlim change''' if self.closing: return self.xlim_change_check(0) def process(self, flightmode_selections, _flightmodes, block=True): '''process and display graph''' self.msg_types = set() self.multiplier = [] self.field_types = [] self.instance_types = [] self.xlim = None self.flightmode_list = _flightmodes # work out msg types we are interested in self.x = [] self.y = [] self.modes = [] self.axes = [] self.first_only = [] re_caps = re.compile('[A-Z_][A-Z0-9_]+') re_instance = re.compile(r'([A-Z_][A-Z0-9_]+)\[([0-9A-Z_]+)\]') for f in self.fields: caps = set(re.findall(re_caps, f)) self.msg_types = self.msg_types.union(caps) self.field_types.append(caps) instances = set(re.findall(re_instance, f)) itypes = dict() for (itype,ivalue) in instances: if not itype in itypes: itypes[itype] = set() itypes[itype].add(ivalue) self.instance_types.append(itypes) self.y.append([]) self.x.append([]) self.axes.append(1) self.first_only.append(False) timeshift = self.timeshift for fi in range(0, len(self.mav_list)): mlog = self.mav_list[fi] self.process_mav(mlog, flightmode_selections) def show(self, lenmavlist, block=True, xlim_pipe=None, output=None): '''show graph''' if self.closing: return if xlim_pipe is not None: xlim_pipe[0].close() self.xlim_pipe = xlim_pipe if self.labels is not None: labels = self.labels.split(',') if len(labels) != len(fields)*lenmavlist: print("Number of labels (%u) must match number of fields (%u)" % ( len(labels), len(fields)*lenmavlist)) return else: labels = None for fi in range(0, lenmavlist): timeshift = 0 for i in range(0, len(self.x)): if self.first_only[i] and fi != 0: self.x[i] = [] self.y[i] = [] if labels: lab = labels[fi*len(self.fields):(fi+1)*len(self.fields)] else: lab = self.fields[:] if self.multi: col = colors[:] else: col = colors[fi*len(self.fields):] interactive = True if output is not None: interactive = False self.plotit(self.x, self.y, lab, colors=col, title=self.title, interactive=interactive) for i in range(0, len(self.x)): self.x[i] = [] self.y[i] = [] if self.xlim_pipe is not None and output is None: import matplotlib.animation self.ani = matplotlib.animation.FuncAnimation(self.fig, self.xlim_change_check, frames=10, interval=20000, repeat=True, blit=False) if self.xlim_t is None: self.xlim_t = self.fig.canvas.new_timer(interval=100) self.xlim_t.add_callback(self.xlim_timer) self.xlim_t.start() if output is None: plt.draw() plt.show(block=block) elif output.endswith(".html"): import mpld3 html = mpld3.fig_to_html(self.fig) f_out = open(output, 'w') f_out.write(html) f_out.close() else: plt.savefig(output, bbox_inches='tight', dpi=200) if __name__ == "__main__": from argparse import ArgumentParser parser = ArgumentParser(description=__doc__) parser.add_argument("--no-timestamps", dest="notimestamps", action='store_true', help="Log doesn't have timestamps") parser.add_argument("--planner", action='store_true', help="use planner file format") parser.add_argument("--condition", default=None, help="select packets by a condition") parser.add_argument("--labels", default=None, help="comma separated field labels") parser.add_argument("--legend", default='upper left', help="default legend position") parser.add_argument("--legend2", default='upper right', help="default legend2 position") parser.add_argument("--marker", default=None, help="point marker") parser.add_argument("--linestyle", default=None, help="line style") parser.add_argument("--xaxis", default=None, help="X axis expression") parser.add_argument("--title", default=None, help="set title") parser.add_argument("--multi", action='store_true', help="multiple files with same colours") parser.add_argument("--zero-time-base", action='store_true', help="use Z time base for DF logs") parser.add_argument("--show-flightmode", default=True, help="Add background colour to plot corresponding to current flight mode. Cannot be specified with --xaxis.") parser.add_argument("--dialect", default="all", help="MAVLink dialect") parser.add_argument("--output", default=None, help="provide an output format") parser.add_argument("--timeshift", type=float, default=0, help="shift time on first graph in seconds") parser.add_argument("--grid", action='store_true', help="show a grid") parser.add_argument("logs_fields", metavar="", nargs="+") args = parser.parse_args() mg = MavGraph() filenames = [] for f in args.logs_fields: if os.path.exists(f): mlog = mavutil.mavlink_connection(f, notimestamps=args.notimestamps, zero_time_base=args.zero_time_base, dialect=args.dialect) mg.add_mav(mlog) else: mg.add_field(f) mg.set_condition(args.condition) mg.set_xaxis(args.xaxis) mg.set_marker(args.marker) mg.set_legend(args.legend) mg.set_legend2(args.legend2) mg.set_multi(args.multi) mg.set_title(args.title) mg.set_grid(args.grid) mg.set_show_flightmode(args.show_flightmode) mg.process([],[],0) mg.show(len(mg.mav_list), output=args.output) MAVProxy-1.8.74/MAVProxy/modules/lib/icon.py000066400000000000000000000061511504324515000205070ustar00rootroot00000000000000""" MAVProxy icons generator """ import numpy as np from io import BytesIO from matplotlib.figure import Figure from matplotlib.gridspec import GridSpec import matplotlib.path as mpath import matplotlib.patches as mpatches from MAVProxy.modules.lib.wx_loader import wx class SimpleIcon(): """ Generate icons with Matplotlib. """ def __init__(self, text=None): LIGHT_BLUE_BACKGROUND = "#afceff" VIOLET_FONT = "#4800f0" t1 = np.arange(0.0, 5.0, 0.1) t2 = np.arange(0.0, 5.0, 0.02) def f(t): return np.exp(-t) * np.cos(2*np.pi*t) fig = Figure(figsize=(1.28, 1.28), facecolor=LIGHT_BLUE_BACKGROUND) spec = GridSpec(nrows=2, ncols=1, wspace=0, hspace=0.0, height_ratios=[1, 2]) ax = fig.add_subplot(spec[0]) ax.text(0, 0.8, 'MAV', style='italic', fontsize=20, weight='bold', color=VIOLET_FONT) if text is None: text = "GRAPH" ax.text(0, 0.1, text.upper(), style='italic', fontsize=14, weight='bold', color=VIOLET_FONT) ax.axis('off') ax = fig.add_subplot(spec[1], facecolor=LIGHT_BLUE_BACKGROUND) if text == "GRAPH" or text == "EXPLORER": ax.plot(t1, f(t1), color='tab:green', marker='o') ax.plot(t2, f(t2), color='red') ax.set_xticks(t1, minor=True) ax.grid(True, which='both', linestyle="--") if text == "CONSOLE": ax.plot([0, 2.5], [2.5, 1.25], color='red', linewidth=4) ax.plot([0, 2.5], [0, 1.25], color='red', linewidth=4) ax.plot([3, 5], [0, 0], color='red', linewidth=4) ax.axis('off') if text == "MAP": path_data = [ (mpath.Path.MOVETO, [2.5, 0]), (mpath.Path.LINETO, [1.25, 2.5]), (mpath.Path.CURVE3, [2.5, 5]), (mpath.Path.CURVE3, [3.75, 2.5]), (mpath.Path.LINETO, [3.75, 2.5]), (mpath.Path.CLOSEPOLY, [2.5, 0])] codes, verts = zip(*path_data) path = mpath.Path(verts, codes) patch = mpatches.PathPatch(path, facecolor='red', lw=2) ax.add_patch(patch) circle_neg = mpatches.Circle((2.5, 2.5), 0.5, color='white') ax.add_patch(circle_neg) ax.plot([0, 5/3.0, 10/3.0, 5], [5, 4, 5, 4], color='black', linewidth=2) ax.plot([0, 5/3.0, 10/3.0, 5], [-1, -2, -1, -2], color='black', linewidth=2) ax.plot([0, 0], [-1, 5], color='black', linewidth=2) ax.plot([5/3.0, 5/3.0], [-2, 4], color='black', linewidth=2) ax.plot([10/3.0, 10/3.0], [-1, 5], color='black', linewidth=2) ax.plot([5, 5], [-2, 4], color='black', linewidth=2) ax.set_xlim(-0.5, 5.5) ax.set_ylim(-2.5, 5.5) ax.axis('off') buf = BytesIO() fig.savefig(buf, format='png') buf.seek(0) svgimg = wx.Image(buf, wx.BITMAP_TYPE_PNG) self.img = svgimg def get_ico(self): """Get the ico from the image bitmap. need to be call after the wx.app is created.""" return wx.Icon(wx.Bitmap(self.img)) MAVProxy-1.8.74/MAVProxy/modules/lib/kmlread.py000066400000000000000000000146261504324515000212040ustar00rootroot00000000000000#!/usr/bin/env python3 ''' AP_FLAKE8_CLEAN ''' import lxml.etree as etree from io import BytesIO as SIO from zipfile import ZipFile import pathlib import re namespaces = { 'kml': 'http://www.opengis.net/kml/2.2', 'gx': 'http://www.google.com/kml/ext/2.2', } class Style(): def __init__(self, id): self.id = id self.line_colour = None class StyleMap(): def __init__(self, id, otherstyle): self.id = id self.otherstyle = otherstyle class Polygon(): def __init__(self, name, latlon, line_colour=None): self.name = name self.vertexes = latlon self.line_colour = line_colour class Point(): def __init__(self, name, latlon): self.name = name self.latlon = latlon def readkmz(filename): '''reads in a kmz file and returns xml nodes''' xpath = xpath = ".//kml:Placemark" tree = etree_for_filepath(filename) return tree.findall(xpath, namespaces) def etree_for_filepath(filename): '''reads in a kmz file and returns lxml.etree.ElementTree''' # Strip quotation marks if neccessary filename.strip('"') # Open the zip file (as applicable) suffix = pathlib.Path(filename).suffix if suffix.lower() == '.kml': fo = open(filename, "rb") fstring = fo.read() fo.close() elif suffix.lower() == '.kmz': zip = ZipFile(filename) fstring = None for z in zip.filelist: if z.filename[-4:] == '.kml': fstring = zip.read(z) break if fstring is None: raise Exception("Could not find kml file in %s" % filename) else: raise Exception(f"load expects a .kml or .kmz file, got ({suffix}) from ({filename})") parser = etree.XMLParser(encoding='utf-8', recover=True) return etree.parse(SIO(fstring), parser) def find_tag(node, tagname): for c in node.getchildren(): if c.tag == "{" + namespaces['kml'] + "}" + tagname: return c return None def find_tag_recursive(node, tagname): for c in node.getchildren(): if c.tag == "{" + namespaces['kml'] + "}" + tagname: return c if hasattr(c, 'getchildren'): ret = find_tag_recursive(c, tagname) if ret is not None: return ret return None def readObject(innode): '''reads in a node and returns as a tuple: (type, name, points[])''' # get name name = find_tag(innode, 'name') if name is None: return None point = find_tag(innode, 'Point') if point is not None: coordinates = find_tag(point, 'coordinates') if coordinates is None: return None s = coordinates.text.split(',') return Point(name.text, (float(s[1]), float(s[0]))) coordinates = find_tag_recursive(innode, 'coordinates') if coordinates is not None: latlon = [] for c in coordinates.text.split(): s = c.split(',') latlon.append((float(s[1]), float(s[0]))) return Polygon(name.text, latlon) return ('Unknown', None, None) class KMLRead(): def __init__(self, filepath): self.filepath = filepath def placemark_nodes(self): return self.tree.findall(".//kml:Placemark", namespaces) def readObject(self, innode): '''reads in a node and returns as a tuple: (type, name, points[])''' # get name name = find_tag(innode, 'name') if name is None: return None point = find_tag(innode, 'Point') if point is not None: coordinates = find_tag(point, 'coordinates') if coordinates is None: return None s = coordinates.text.split(',') return Point(name.text, (float(s[1]), float(s[0]))) coordinates = find_tag_recursive(innode, 'coordinates') if coordinates is not None: # a Polygon latlon = [] for c in coordinates.text.split(): s = c.split(',') latlon.append((float(s[1]), float(s[0]))) styleURL = find_tag_recursive(innode, 'styleUrl') line_colour = None if styleURL is not None: styleurl_name = styleURL.text.lstrip('#') if styleurl_name in self.stylemap: stylemap = self.stylemap[styleurl_name] otherstyle = stylemap.otherstyle if otherstyle in self.style: style = self.style[otherstyle] line_colour = style.line_colour return Polygon(name.text, latlon, line_colour=line_colour) return ('Unknown', None, None) def parse(self): self.tree = etree_for_filepath(self.filepath) # extract styles: self.style = {} for s in self.tree.findall(".//gx:CascadingStyle", namespaces): idname = f"{{{namespaces['kml']}}}id" _id = s.get(idname) style = Style(_id) self.style[_id] = style line_style = find_tag_recursive(s, 'LineStyle') if line_style is None: continue colour = find_tag_recursive(line_style, 'color') g = re.match("(?P..)(?P..)(?P..)(?P..)", colour.text) if g is None: continue style.line_colour = ( int(g.group("r"), 16), int(g.group("g"), 16), int(g.group("b"), 16) ) # extract stylemaps: self.stylemap = {} for s in self.tree.findall(".//kml:StyleMap", namespaces): _id = s.get("id") styleurl_obj = None for pair in s.getchildren(): if pair is None: continue if find_tag_recursive(pair, "key").text == "normal": styleurl_obj = find_tag_recursive(pair, "styleUrl") if styleurl_obj is not None: break break if styleurl_obj is None: continue stylemap = StyleMap(_id, styleurl_obj.text.lstrip('#')) self.stylemap[_id] = stylemap if __name__ == '__main__': import sys kml = KMLRead(sys.argv[1]) kml.parse() for n in kml.placemark_nodes(): obj = kml.readObject(n) if obj is None: continue # for n in readkmz(sys.argv[1]): # print(readObject(n)) MAVProxy-1.8.74/MAVProxy/modules/lib/live_graph.py000077500000000000000000000064531504324515000217070ustar00rootroot00000000000000#!/usr/bin/env python3 """ MAVProxy realtime graphing module, partly based on the wx graphing demo by Eli Bendersky (eliben@gmail.com) http://eli.thegreenplace.net/files/prog_code/wx_mpl_dynamic_graph.py.txt """ import platform from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import multiproc class LiveGraph(): ''' a live graph object using wx and matplotlib All of the GUI work is done in a child process to provide some insulation from the parent mavproxy instance and prevent instability in the GCS New data is sent to the LiveGraph instance via a pipe ''' def __init__(self, fields, title='MAVProxy: LiveGraph', timespan=20.0, tickresolution=0.2, colors=[ 'red', 'green', 'blue', 'orange', 'olive', 'cyan', 'magenta', 'brown', 'violet', 'purple', 'grey', 'black'], labels=None): self.fields = fields self.labels = labels self.colors = colors self.title = title self.timespan = timespan self.tickresolution = tickresolution self.values = [None]*len(self.fields) self.parent_pipe,self.child_pipe = multiproc.Pipe() self.close_graph = multiproc.Event() self.close_graph.clear() self.child = multiproc.Process(target=self.child_task) self.child.start() def child_task(self): '''child process - this holds all the GUI elements''' mp_util.child_close_fds() import matplotlib, platform if platform.system() != "Darwin": # on MacOS we can't set WxAgg here as it conflicts with the MacOS version matplotlib.use('WXAgg') from MAVProxy.modules.lib import wx_processguard from MAVProxy.modules.lib.wx_loader import wx app = wx.App(False) from MAVProxy.modules.lib import live_graph_ui app.frame = live_graph_ui.GraphFrame(state=self) app.frame.Show() app.MainLoop() def add_values(self, values): '''add some data to the graph''' if self.child.is_alive(): self.parent_pipe.send(values) def close(self): '''close the graph''' self.close_graph.set() if self.is_alive(): self.child.join(2) def is_alive(self): '''check if graph is still going''' return self.child.is_alive() if __name__ == "__main__": multiproc.freeze_support() # test the graph import time, math import live_graph livegraph = live_graph.LiveGraph(['sin(t)', 'cos(t)', 'sin(t+1)', 'cos(t+1)', 'sin(t+2)', 'cos(t+2)', 'cos(t+1)', 'sin(t+2)', 'cos(t+2)', 'x'], timespan=30, title='Graph Test', labels=['a','b','c','d']) while livegraph.is_alive(): t = time.time() livegraph.add_values([math.sin(t), math.cos(t), math.sin(t+1), math.cos(t+1), math.sin(t+1), math.cos(t+1), math.sin(t+1), math.cos(t+1), math.sin(t+2), math.cos(t+2)]) time.sleep(0.05) MAVProxy-1.8.74/MAVProxy/modules/lib/live_graph_ui.py000066400000000000000000000171301504324515000223730ustar00rootroot00000000000000from MAVProxy.modules.lib.wx_loader import wx from MAVProxy.modules.lib import icon import time import numpy, pylab class GraphFrame(wx.Frame): """ The main frame of the application """ def __init__(self, state): wx.Frame.__init__(self, None, -1, state.title) try: self.SetIcon(icon.SimpleIcon().get_ico()) except Exception: pass self.state = state self.data = [] for i in range(len(state.fields)): self.data.append([]) self.paused = False self.clear_data = False self.create_main_panel() self.Bind(wx.EVT_IDLE, self.on_idle) self.redraw_timer = wx.Timer(self) self.Bind(wx.EVT_TIMER, self.on_redraw_timer, self.redraw_timer) self.redraw_timer.Start(int(1000*self.state.tickresolution)) self.last_yrange = (None, None) def create_main_panel(self): import platform if platform.system() == 'Darwin': from MAVProxy.modules.lib.MacOS import backend_wxagg FigCanvas = backend_wxagg.FigureCanvasWxAgg else: from matplotlib.backends.backend_wxagg import FigureCanvasWxAgg as FigCanvas self.panel = wx.Panel(self) self.init_plot() self.canvas = FigCanvas(self.panel, -1, self.fig) self.close_button = wx.Button(self.panel, -1, "Close") self.Bind(wx.EVT_BUTTON, self.on_close_button, self.close_button) self.pause_button = wx.Button(self.panel, -1, "Pause") self.Bind(wx.EVT_BUTTON, self.on_pause_button, self.pause_button) self.Bind(wx.EVT_UPDATE_UI, self.on_update_pause_button, self.pause_button) self.clear_button = wx.Button(self.panel, -1, "Clear") self.Bind(wx.EVT_BUTTON, self.on_clear_button, self.clear_button) self.Bind(wx.EVT_UPDATE_UI, self.on_update_clear_button, self.clear_button) did_one = False self.hbox1 = wx.BoxSizer(wx.HORIZONTAL) for button in self.close_button, self.pause_button, self.clear_button: if did_one: self.hbox1.Add(self.close_button, border=5, flag=wx.ALL | wx.ALIGN_CENTER_VERTICAL) self.hbox1.AddSpacer(1) did_one = True self.hbox1.Add(button, border=5, flag=wx.ALL | wx.ALIGN_CENTER_VERTICAL) self.vbox = wx.BoxSizer(wx.VERTICAL) self.vbox.Add(self.canvas, 1, flag=wx.LEFT | wx.TOP | wx.GROW) self.vbox.Add(self.hbox1, 0, flag=wx.ALIGN_LEFT | wx.TOP) self.panel.SetSizer(self.vbox) self.vbox.Fit(self) def init_plot(self): self.dpi = 100 from matplotlib.figure import Figure self.fig = Figure((6.0, 3.0), dpi=self.dpi) self.axes = self.fig.add_subplot(111) try: self.axes.set_facecolor('white') except AttributeError as e: # this was removed in matplotlib 2.2.0: self.axes.set_axis_bgcolor('white') pylab.setp(self.axes.get_xticklabels(), fontsize=8) pylab.setp(self.axes.get_yticklabels(), fontsize=8) # plot the data as a line series, and save the reference # to the plotted line series # self.plot_data = [] if len(self.data[0]) == 0: max_y = min_y = 0 else: max_y = min_y = self.data[0][0] num_labels = 0 if not self.state.labels else len(self.state.labels) labels = [] for i in range(len(self.data)): if i < num_labels and self.state.labels[i] is not None: label = self.state.labels[i] else: label = self.state.fields[i] labels.append(label) p = self.axes.plot( self.data[i], linewidth=1, color=self.state.colors[i], label=label )[0] self.plot_data.append(p) if len(self.data[i]) != 0: min_y = min(min_y, min(self.data[i])) max_y = max(max_y, max(self.data[i])) # create X data self.xdata = numpy.arange(-self.state.timespan, 0, self.state.tickresolution) self.axes.set_xbound(lower=self.xdata[0], upper=0) if min_y == max_y: self.axes.set_ybound(min_y, max_y+0.1) self.axes.legend(labels, loc='upper left', bbox_to_anchor=(0, 1.1)) def draw_plot(self): """ Redraws the plot """ state = self.state if len(self.data[0]) == 0: print("no data to plot") return vhigh = max(self.data[0]) vlow = min(self.data[0]) for i in range(1,len(self.plot_data)): vhigh = max(vhigh, max(self.data[i])) vlow = min(vlow, min(self.data[i])) ymin = vlow - 0.05*(vhigh-vlow) ymax = vhigh + 0.05*(vhigh-vlow) if ymin == ymax: ymax = ymin + 0.1 * ymin ymin = ymin - 0.1 * ymin if (ymin, ymax) != self.last_yrange: self.last_yrange = (ymin, ymax) if ymax == ymin: ymin = ymin-0.5 ymax = ymin+1 self.axes.set_ybound(lower=ymin, upper=ymax) #self.axes.ticklabel_format(useOffset=False, style='plain') self.axes.grid(True, color='gray') pylab.setp(self.axes.get_xticklabels(), visible=True) pylab.setp(self.axes.get_legend().get_texts(), fontsize='small') for i in range(len(self.plot_data)): ydata = numpy.array(self.data[i]) xdata = self.xdata if len(ydata) < len(self.xdata): xdata = xdata[-len(ydata):] self.plot_data[i].set_xdata(xdata) self.plot_data[i].set_ydata(ydata) self.canvas.draw() self.canvas.Refresh() def on_pause_button(self, event): self.paused = not self.paused def on_update_pause_button(self, event): label = "Resume" if self.paused else "Pause" self.pause_button.SetLabel(label) def on_update_clear_button(self, event): pass def on_clear_button(self, event): self.clear_data = True def on_close_button(self, event): self.redraw_timer.Stop() self.Destroy() def on_idle(self, event): time.sleep(self.state.tickresolution*0.5) def on_redraw_timer(self, event): # if paused do not add data, but still redraw the plot # (to respond to scale modifications, grid change, etc.) # state = self.state if state.close_graph.wait(0.001): self.redraw_timer.Stop() self.Destroy() return while state.child_pipe.poll(): state.values = state.child_pipe.recv() if self.paused: return if self.clear_data: self.clear_data = False for i in range(len(self.plot_data)): if state.values[i] is not None: while len(self.data[i]): self.data[i].pop(0) for i in range(len(self.plot_data)): if (type(state.values[i]) == list): print("ERROR: Cannot plot array of length %d. Use 'graph %s[index]' instead"%(len(state.values[i]), state.fields[i])) self.redraw_timer.Stop() self.Destroy() return if state.values[i] is not None: self.data[i].append(state.values[i]) while len(self.data[i]) > len(self.xdata): self.data[i].pop(0) for i in range(len(self.plot_data)): if state.values[i] is None or len(self.data[i]) < 2: return self.draw_plot() MAVProxy-1.8.74/MAVProxy/modules/lib/magfit.py000066400000000000000000000630531504324515000210320ustar00rootroot00000000000000#!/usr/bin/env python3 ''' fit best estimate of magnetometer offsets, diagonals, off-diagonals, cmot and scaling using WMM target ''' from MAVProxy.modules.lib import wx_processguard from MAVProxy.modules.lib.wx_loader import wx import sys, time, os, math, copy, platform from pymavlink import mavutil from pymavlink import mavextra from pymavlink.rotmat import Vector3 from pymavlink.rotmat import Matrix3 from pymavlink.rotmat import rotations from MAVProxy.modules.lib import grapher from MAVProxy.modules.lib.multiproc_util import MPDataLogChildTask import matplotlib if platform.system() == "Windows": matplotlib.use('wxagg') import matplotlib.pyplot as pyplot import numpy import datetime earth_field = None declination = None margs = None mag_idx = '' class Correction: def __init__(self): self.offsets = Vector3(0.0, 0.0, 0.0) self.diag = Vector3(1.0, 1.0, 1.0) self.offdiag = Vector3(0.0, 0.0, 0.0) self.cmot = Vector3(0.0, 0.0, 0.0) self.scaling = 1.0 def show_parms(self): print("COMPASS_OFS%s_X %d" % (mag_idx, int(self.offsets.x))) print("COMPASS_OFS%s_Y %d" % (mag_idx, int(self.offsets.y))) print("COMPASS_OFS%s_Z %d" % (mag_idx, int(self.offsets.z))) print("COMPASS_DIA%s_X %.3f" % (mag_idx, self.diag.x)) print("COMPASS_DIA%s_Y %.3f" % (mag_idx, self.diag.y)) print("COMPASS_DIA%s_Z %.3f" % (mag_idx, self.diag.z)) print("COMPASS_ODI%s_X %.3f" % (mag_idx, self.offdiag.x)) print("COMPASS_ODI%s_Y %.3f" % (mag_idx, self.offdiag.y)) print("COMPASS_ODI%s_Z %.3f" % (mag_idx, self.offdiag.z)) print("COMPASS_MOT%s_X %.3f" % (mag_idx, self.cmot.x)) print("COMPASS_MOT%s_Y %.3f" % (mag_idx, self.cmot.y)) print("COMPASS_MOT%s_Z %.3f" % (mag_idx, self.cmot.z)) print("COMPASS_SCALE%s %.2f" % (mag_idx, self.scaling)) if margs['CMOT']: print("COMPASS_MOTCT 2") def RotationIDToString(id): '''map rotation number to a string''' return rotations[id].name def StringToRotationID(s): '''map rotation string to an index''' for i in range(len(rotations)): if rotations[i].name == s: return i return 0 def correct(MAG, BAT, c): '''correct a mag sample, returning a Vector3''' mag = Vector3(MAG.MagX, MAG.MagY, MAG.MagZ) # add the given offsets mag += c.offsets # multiply by scale factor mag *= c.scaling # apply elliptical corrections mat = Matrix3( Vector3(c.diag.x, c.offdiag.x, c.offdiag.y), Vector3(c.offdiag.x, c.diag.y, c.offdiag.z), Vector3(c.offdiag.y, c.offdiag.z, c.diag.z)) mag = mat * mag # apply compassmot corrections if BAT is not None and hasattr(BAT, 'Curr') and not math.isnan(BAT.Curr): mag += c.cmot * BAT.Curr return mag def get_yaw(ATT,MAG,BAT,c): '''calculate heading from raw magnetometer and new offsets''' mag = correct(MAG, BAT, c) # go via a DCM matrix to match the APM calculation dcm_matrix = mavextra.rotation_df(ATT) cos_pitch_sq = 1.0-(dcm_matrix.c.x*dcm_matrix.c.x) headY = mag.y * dcm_matrix.c.z - mag.z * dcm_matrix.c.y headX = mag.x * cos_pitch_sq - dcm_matrix.c.x * (mag.y * dcm_matrix.c.y + mag.z * dcm_matrix.c.z) global declination yaw = math.degrees(math.atan2(-headY,headX)) + declination if yaw < 0: yaw += 360 return yaw def expected_field(ATT, yaw): '''return expected magnetic field for attitude''' global earth_field roll = ATT.Roll pitch = ATT.Pitch rot = Matrix3() rot.from_euler(math.radians(roll), math.radians(pitch), math.radians(yaw)) field = rot.transposed() * earth_field return field data = None old_corrections = Correction() def wmm_error(p): '''world magnetic model error with correction fit''' p = list(p) c = copy.copy(old_corrections) c.offsets = Vector3(p.pop(0), p.pop(0), p.pop(0)) c.scaling = p.pop(0) if margs['Elliptical']: c.diag = Vector3(p.pop(0), p.pop(0), p.pop(0)) c.offdiag = Vector3(p.pop(0), p.pop(0), p.pop(0)) else: c.diag = Vector3(1.0, 1.0, 1.0) c.offdiag = Vector3(0.0, 0.0, 0.0) if margs['CMOT']: c.cmot = Vector3(p.pop(0), p.pop(0), p.pop(0)) ret = 0 for (MAG,ATT,BAT) in data: yaw = get_yaw(ATT,MAG,BAT,c) expected = expected_field(ATT, yaw) observed = correct(MAG,BAT,c) error = (expected - observed).length() ret += error ret /= len(data) return ret def fit_WWW(): from scipy import optimize c = copy.copy(old_corrections) p = [c.offsets.x, c.offsets.y, c.offsets.z, c.scaling] if margs['Elliptical']: p.extend([c.diag.x, c.diag.y, c.diag.z, c.offdiag.x, c.offdiag.y, c.offdiag.z]) if margs['CMOT']: p.extend([c.cmot.x, c.cmot.y, c.cmot.z]) ofs = margs['OffsetMax'] min_scale = margs['ScaleMin'] max_scale = margs['ScaleMax'] min_scale_delta = 0.00001 bounds = [(-ofs,ofs),(-ofs,ofs),(-ofs,ofs),(min_scale,max(min_scale+min_scale_delta,max_scale))] if margs['CMOT NoChange']: bounds[0] = (c.offsets.x, c.offsets.x) bounds[1] = (c.offsets.y, c.offsets.y) bounds[2] = (c.offsets.z, c.offsets.z) if margs['Elliptical']: min_diag = margs['DiagonalMin'] max_diag = margs['DiagonalMax'] min_offdiag = margs['OffDiagMin'] max_offdiag = margs['OffDiagMax'] for i in range(3): bounds.append((min_diag,max_diag)) for i in range(3): bounds.append((min_offdiag,max_offdiag)) if margs['CMOT']: if margs['CMOT NoChange']: bounds.append((c.cmot.x, c.cmot.x)) bounds.append((c.cmot.y, c.cmot.y)) bounds.append((c.cmot.z, c.cmot.z)) else: max_cmot = margs['CMOT Max'] for i in range(3): bounds.append((-max_cmot,max_cmot)) (p,err,iterations,imode,smode) = optimize.fmin_slsqp(wmm_error, p, bounds=bounds, full_output=True) if imode != 0: print("Fit failed: %s" % smode) sys.exit(1) p = list(p) c.offsets = Vector3(p.pop(0), p.pop(0), p.pop(0)) c.scaling = p.pop(0) if margs['Elliptical']: c.diag = Vector3(p.pop(0), p.pop(0), p.pop(0)) c.offdiag = Vector3(p.pop(0), p.pop(0), p.pop(0)) else: c.diag = Vector3(1.0, 1.0, 1.0) c.offdiag = Vector3(0.0, 0.0, 0.0) if margs['CMOT']: c.cmot = Vector3(p.pop(0), p.pop(0), p.pop(0)) else: c.cmot = Vector3(0.0, 0.0, 0.0) return c def remove_offsets(MAG, BAT, c): '''remove all corrections to get raw sensor data''' correction_matrix = Matrix3(Vector3(c.diag.x, c.offdiag.x, c.offdiag.y), Vector3(c.offdiag.x, c.diag.y, c.offdiag.z), Vector3(c.offdiag.y, c.offdiag.z, c.diag.z)) try: correction_matrix = correction_matrix.invert() except Exception: return None field = Vector3(MAG.MagX, MAG.MagY, MAG.MagZ) if BAT is not None and hasattr(BAT,'Curr') and not math.isnan(BAT.Curr): field -= c.cmot * BAT.Curr field = correction_matrix * field field *= 1.0 / c.scaling field -= Vector3(MAG.OfsX, MAG.OfsY, MAG.OfsZ) if math.isnan(field.x) or math.isnan(field.y) or math.isnan(field.z): return None MAG.MagX = int(field.x) MAG.MagY = int(field.y) MAG.MagZ = int(field.z) return MAG def magfit(mlog, timestamp_in_range): '''find best magnetometer offset fit to a log file''' global earth_field, declination global data data = [] ATT = None BAT = None mag_msg = margs['Magnetometer'] global mag_idx if mag_msg[-1].isdigit(): mag_instance = None mag_idx = mag_msg[-1] elif mag_msg.endswith('[0]'): mag_instance = 0 mag_idx = '' mag_msg = 'MAG' elif mag_msg.endswith(']'): mag_instance = int(mag_msg[-2]) mag_idx = str(mag_instance+1) mag_msg = 'MAG' else: mag_instance = None mag_idx = '' count = 0 parameters = {} # get parameters mlog.rewind() while True: msg = mlog.recv_match(type=['PARM']) if msg is None: break parameters[msg.Name] = msg.Value mlog.rewind() lat = margs['Lattitude'] lon = margs['Longitude'] if lat != 0 and lon != 0: earth_field = mavextra.expected_earth_field_lat_lon(lat, lon) (declination,inclination,intensity) = mavextra.get_mag_field_ef(lat, lon) print("Earth field: %s strength %.0f declination %.1f degrees" % (earth_field, earth_field.length(), declination)) ATT_NAME = margs['Attitude'] mtypes = ['GPS',mag_msg,ATT_NAME,'BAT'] if ATT_NAME == "XKY0": mtypes.append('ATT') last_ATT = None print("Attitude source %s mtypes=%s" % (ATT_NAME, mtypes)) # extract MAG data while True: msg = mlog.recv_match(type=mtypes) if msg is None: break in_range = timestamp_in_range(msg._timestamp) if in_range < 0: continue if in_range > 0: break if msg.get_type() == 'GPS' and msg.Status >= 3 and earth_field is None: earth_field = mavextra.expected_earth_field(msg) (declination,inclination,intensity) = mavextra.get_mag_field_ef(msg.Lat, msg.Lng) print("Earth field: %s strength %.0f declination %.1f degrees" % (earth_field, earth_field.length(), declination)) if msg.get_type() == 'ATT': # needed for XKY0 for yaw last_ATT = msg if msg.get_type() == ATT_NAME: if getattr(msg, 'C', 0) != 0: # use core zero for EKF attitude continue if ATT_NAME == 'XKY0': if last_ATT is None: continue # get yaw from GSF, and roll/pitch from ATT ATT = last_ATT ATT.Yaw = math.degrees(msg.YC) else: ATT = msg ATT.Roll += math.degrees(parameters['AHRS_TRIM_X']) ATT.Pitch += math.degrees(parameters['AHRS_TRIM_Y']) ATT.Yaw += math.degrees(parameters['AHRS_TRIM_Z']) if msg.get_type() == 'BAT': if hasattr(msg,'Instance'): if margs['BatteryNum'] != msg.Instance+1: continue BAT = msg if msg.get_type() == mag_msg and ATT is not None: if mag_instance is not None: if getattr(msg,'I',0) != mag_instance: continue if count % margs['Reduce'] == 0: data.append((msg,ATT,BAT)) count += 1 old_corrections.offsets = Vector3(parameters.get('COMPASS_OFS%s_X' % mag_idx,0.0), parameters.get('COMPASS_OFS%s_Y' % mag_idx,0.0), parameters.get('COMPASS_OFS%s_Z' % mag_idx,0.0)) old_corrections.diag = Vector3(parameters.get('COMPASS_DIA%s_X' % mag_idx,1.0), parameters.get('COMPASS_DIA%s_Y' % mag_idx,1.0), parameters.get('COMPASS_DIA%s_Z' % mag_idx,1.0)) if old_corrections.diag == Vector3(0,0,0): old_corrections.diag = Vector3(1,1,1) old_corrections.offdiag = Vector3(parameters.get('COMPASS_ODI%s_X' % mag_idx,0.0), parameters.get('COMPASS_ODI%s_Y' % mag_idx,0.0), parameters.get('COMPASS_ODI%s_Z' % mag_idx,0.0)) if parameters.get('COMPASS_MOTCT',0) == 2: # only support current based corrections for now old_corrections.cmot = Vector3(parameters.get('COMPASS_MOT%s_X' % mag_idx,0.0), parameters.get('COMPASS_MOT%s_Y' % mag_idx,0.0), parameters.get('COMPASS_MOT%s_Z' % mag_idx,0.0)) old_corrections.scaling = parameters.get('COMPASS_SCALE%s' % mag_idx, None) if old_corrections.scaling is None or old_corrections.scaling < 0.1: force_scale = False old_corrections.scaling = 1.0 else: force_scale = True rot = None orig_orient = int(parameters.get('COMPASS_ORIENT'+mag_idx,0)) new_orient = StringToRotationID(margs['Orientation']) if orig_orient != new_orient: rot = rotations[orig_orient].rt * rotations[new_orient].r # remove existing corrections data2 = [] for (MAG,ATT,BAT) in data: MAG = remove_offsets(MAG, BAT, old_corrections) if MAG is None: continue if rot is not None: v = Vector3(MAG.MagX,MAG.MagY,MAG.MagZ) v = rot * v MAG.MagX = v.x MAG.MagY = v.y MAG.MagZ = v.z data2.append((MAG,ATT,BAT)) data = data2 print("Extracted %u points" % len(data)) print("Current: %s diag: %s offdiag: %s cmot: %s scale: %.2f" % ( old_corrections.offsets, old_corrections.diag, old_corrections.offdiag, old_corrections.cmot, old_corrections.scaling)) if len(data) == 0: return # do fit c = fit_WWW() # normalise diagonals to scale factor if force_scale: avgdiag = (c.diag.x + c.diag.y + c.diag.z)/3.0 calc_scale = c.scaling c.scaling *= avgdiag min_scale = margs['ScaleMin'] max_scale = margs['ScaleMax'] if c.scaling > max_scale: c.scaling = max_scale if c.scaling < min_scale: c.scaling = min_scale scale_change = c.scaling / calc_scale c.diag *= 1.0/scale_change c.offdiag *= 1.0/scale_change print("New: %s diag: %s offdiag: %s cmot: %s scale: %.2f" % ( c.offsets, c.diag, c.offdiag, c.cmot, c.scaling)) x = [] corrected = {} corrected['Yaw'] = [] expected1 = {} expected2 = {} uncorrected = {} uncorrected['Yaw'] = [] yaw_change1 = [] yaw_change2 = [] for i in range(len(data)): (MAG,ATT,BAT) = data[i] yaw1 = get_yaw(ATT,MAG,BAT,c) corrected['Yaw'].append(yaw1) ef1 = expected_field(ATT, yaw1) cf = correct(MAG, BAT, c) yaw2 = get_yaw(ATT,MAG,BAT,old_corrections) ef2 = expected_field(ATT, yaw2) uncorrected['Yaw'].append(yaw2) uf = correct(MAG, BAT, old_corrections) yaw_change1.append(mavextra.wrap_180(yaw1 - yaw2)) yaw_change2.append(mavextra.wrap_180(yaw1 - ATT.Yaw)) for axis in ['x','y','z']: if not axis in corrected: corrected[axis] = [] uncorrected[axis] = [] expected1[axis] = [] expected2[axis] = [] corrected[axis].append(getattr(cf, axis)) uncorrected[axis].append(getattr(uf, axis)) expected1[axis].append(getattr(ef1, axis)) expected2[axis].append(getattr(ef2, axis)) x.append(i) c.show_parms() fig, axs = pyplot.subplots(3, 1, sharex=True) for axis in ['x','y','z']: axs[0].plot(numpy.array(x), numpy.array(uncorrected[axis]), label='Uncorrected %s' % axis.upper() ) axs[0].plot(numpy.array(x), numpy.array(expected2[axis]), label='Expected %s' % axis.upper() ) axs[0].legend(loc='upper left') axs[0].set_title('Original') axs[0].set_ylabel('Field (mGauss)') axs[1].plot(numpy.array(x), numpy.array(corrected[axis]), label='Corrected %s' % axis.upper() ) axs[1].plot(numpy.array(x), numpy.array(expected1[axis]), label='Expected %s' % axis.upper() ) axs[1].legend(loc='upper left') axs[1].set_title('Corrected') axs[1].set_ylabel('Field (mGauss)') # show change in yaw estimate from old corrections to new axs[2].plot(numpy.array(x), numpy.array(yaw_change1), label='Mag Yaw Change') axs[2].plot(numpy.array(x), numpy.array(yaw_change2), label='ATT Yaw Change') axs[2].set_title('Yaw Change (degrees)') axs[2].legend(loc='upper left') pyplot.show(block=False) class MagFit(MPDataLogChildTask): '''A class used to launch the MagFitUI in a child process''' def __init__(self, *args, **kwargs): ''' Parameters ---------- title : str The title of the application mlog : DFReader A dataflash or telemetry log xlimits: MAVExplorer.XLimits An object capturing timestamp limits ''' super(MagFit, self).__init__(*args, **kwargs) # all attributes are implicitly passed to the child process self.title = kwargs['title'] self.xlimits = kwargs['xlimits'] # @override def child_task(self): '''Launch the MagFitUI''' from MAVProxy.modules.lib import wx_processguard from MAVProxy.modules.lib.wx_loader import wx # create wx application app = wx.App(False) app.frame = MagFitUI(title=self.title, close_event=self.close_event, mlog=self.mlog, timestamp_in_range=self.xlimits.timestamp_in_range) app.frame.SetDoubleBuffered(True) app.frame.Show() app.MainLoop() class MagFitUI(wx.Dialog): def __init__(self, title, close_event, mlog, timestamp_in_range): super(MagFitUI, self).__init__(None, title=title, size=(600, 900), style=wx.DEFAULT_DIALOG_STYLE|wx.RESIZE_BORDER) # capture the close event, log and timestamp range function self.close_event = close_event self.mlog = mlog self.timestamp_in_range = timestamp_in_range # events self.timer = wx.Timer(self) self.Bind(wx.EVT_TIMER, self.OnTimer, self.timer) self.timer.Start(100) self.Bind(wx.EVT_IDLE, self.OnIdle) # initialise the panels etc. self.init_ui() def OnIdle(self, event): time.sleep(0.05) def OnTimer(self, event): '''Periodically check if the close event has been received''' if self.close_event.wait(0.001): self.timer.Stop() self.Destroy() return def have_msg(self, msg): '''see if we have a given message name in the log''' mid = self.mlog.name_to_id.get(msg,-1) if mid == -1: return False return self.mlog.counts[mid] > 0 def init_ui(self): '''Initalise the UI elements''' if not hasattr(self.mlog, 'formats'): print("Must be DF log") return self.panel = wx.Panel(self) self.vbox = wx.BoxSizer(wx.VERTICAL) self.vbox.AddStretchSpacer() self.panel.SetSizer(self.vbox) self.idmap = {} self.id_by_string = {} self.values = {} self.controls = {} self.callbacks = {} self.row = None msg_names = self.mlog.name_to_id.keys() mag_format = self.mlog.formats[self.mlog.name_to_id['MAG']] if 'I' in mag_format.columns: mag_choices = ['MAG[0]', 'MAG[1]', 'MAG[2]'] else: mag_choices = ['MAG', 'MAG2', 'MAG3'] att_choices = ['ATT'] if self.have_msg('NKF1'): att_choices.append('NKF1') if self.have_msg('XKF1'): att_choices.append('XKF1') if self.have_msg('XKY0'): att_choices.append('XKY0') if self.have_msg('DCM'): att_choices.append('DCM') orientation_choices = [ r.name for r in rotations ] default_orientation = RotationIDToString(int(self.mlog.params.get("COMPASS_ORIENT", 0))) # first row, Mag and attitude source self.StartRow('Source Selection') self.AddCombo('Magnetometer', mag_choices, callback=self.change_mag) self.AddCombo('Attitude', att_choices) self.StartRow('Orientation Selection') self.AddCombo('Orientation', orientation_choices, default=default_orientation) self.StartRow('Position') self.AddSpinFloat("Lattitude", -90, 90, 0.000001, 0, digits=8) self.AddSpinFloat("Longitude", -180, 180, 0.000001, 0, digits=8) self.StartRow() self.AddSpinInteger("Reduce", 1, 20, 1) self.StartRow('Offset Estimation') self.AddCheckBox("Offsets", default=True) self.StartRow() self.AddSpinInteger("OffsetMax", 500, 3000, 1500) self.StartRow('Scale Factor Estimation') self.AddSpinFloat("ScaleMin", 0.25, 4.0, 0.01, 1.0) self.AddSpinFloat("ScaleMax", 0.25, 4.0, 0.01, 1.0) self.StartRow('Elliptical Estimation') self.AddCheckBox("Elliptical") self.StartRow() self.AddSpinFloat("DiagonalMin", 0.8, 1.0, 0.01, 0.8) self.AddSpinFloat("DiagonalMax", 1.0, 1.2, 0.01, 1.2) self.StartRow() self.AddSpinFloat("OffDiagMin", -0.2, 0.0, 0.01, -0.2) self.AddSpinFloat("OffDiagMax", 0, 0.2, 0.01, 0.2) self.StartRow('Motor Interference Estimation') self.AddCheckBox("CMOT") self.AddCheckBox("CMOT NoChange") self.StartRow() self.AddSpinInteger("BatteryNum", 1, 8, 1) self.AddSpinFloat("CMOT Max", 1.0, 100, 0.1, 10) self.StartRow("Processing") self.AddButton('Run', callback=self.run) self.AddButton('Close', callback=self.close) self.EndRow() self.Center() def original_orient(self, idx): '''get original parameter orientation of a compass''' mag_idx = '' if idx==0 else str(idx+1) return int(self.mlog.params.get('COMPASS_ORIENT'+mag_idx,0)) def change_mag(self, cid): '''change selected mag, update orientation''' mag = int(self.values['Magnetometer'][4]) orig_orient = self.original_orient(mag) orient_str = RotationIDToString(orig_orient) c = self.controls[cid] orient_id = self.id_by_string['Orientation'] orient_c = self.controls[orient_id] orient_c.SetValue(orient_str) self.values['Orientation'] = orient_str def close(self, cid): '''Set the close event''' self.close_event.set() def StartRow(self, label=None): if self.row: self.EndRow() if label: self.row = wx.BoxSizer(wx.HORIZONTAL) text = wx.StaticText(self.panel, label=label) font = wx.Font(16, wx.DEFAULT, wx.NORMAL, wx.BOLD) text.SetFont(font) self.row.Add(text, 0, wx.LEFT, 10) self.vbox.Add(self.row, 0, wx.TOP, 10) self.row = wx.BoxSizer(wx.HORIZONTAL) def EndRow(self): self.vbox.Add(self.row, 0, wx.TOP, 10) self.row = None def AddControl(self, c, label, default): self.idmap[c.GetId()] = label self.id_by_string[label] = c.GetId() self.controls[c.GetId()] = c self.values[label] = default def AddCombo(self, label, choices, default=None, callback=None): if default is None: default = choices[0] c = wx.ComboBox(choices=choices, parent=self.panel, style=0, value=default) self.AddControl(c, label, default) c.Bind(wx.EVT_COMBOBOX, self.OnValue) self.row.Add(wx.StaticText(self.panel, label=label), 0, wx.LEFT, 20) self.row.Add(c, 0, wx.LEFT, 20) if callback is not None: self.callbacks[c.GetId()] = callback def AddButton(self, label, callback=None): c = wx.Button(self.panel, label=label) self.AddControl(c, label, False) if callback is not None: self.callbacks[c.GetId()] = callback c.Bind(wx.EVT_BUTTON, self.OnButton) self.row.Add(c, 0, wx.LEFT, 20) def AddCheckBox(self, label, default=False): c = wx.CheckBox(self.panel, label=label) c.SetValue(default) self.AddControl(c, label, default) c.Bind(wx.EVT_CHECKBOX, self.OnValue) self.row.Add(c, 0, wx.LEFT, 20) def AddSpinInteger(self, label, min_value, max_value, default): c = wx.SpinCtrl(self.panel, -1, min=min_value, max=max_value) c.SetRange(min_value, max_value) c.SetValue(default) self.AddControl(c, label, default) self.row.Add(wx.StaticText(self.panel, label=label), 0, wx.LEFT, 20) self.row.Add(c, 0, wx.LEFT, 20) self.row.Add(wx.StaticText(self.panel, label=""), 0, wx.LEFT, 20) self.Bind(wx.EVT_SPINCTRL, self.OnValue) def AddSpinFloat(self, label, min_value, max_value, increment, default, digits=4): c = wx.SpinCtrlDouble(self.panel, -1, min=min_value, max=max_value) c.SetRange(min_value, max_value) c.SetValue(default) c.SetIncrement(increment) c.SetDigits(digits) s1 = "%.*f" % (digits, min_value) s2 = "%.*f" % (digits, max_value) if len(s1) > len(s2): s = s1 else: s = s2 if hasattr(c, 'GetSizeFromText'): size = c.GetSizeFromText(s+"xx") c.SetMinSize(size) self.AddControl(c, label, default) self.row.Add(wx.StaticText(self.panel, label=label), 0, wx.LEFT, 20) self.row.Add(c, 0, wx.LEFT, 20) self.row.Add(wx.StaticText(self.panel, label=""), 0, wx.LEFT, 20) self.Bind(wx.EVT_SPINCTRLDOUBLE, self.OnValue) def OnValue(self, event): self.values[self.idmap[event.GetId()]] = self.controls[event.GetId()].GetValue() if event.GetId() in self.callbacks: self.callbacks[event.GetId()](event.GetId()) def OnButton(self, event): self.values[self.idmap[event.GetId()]] = True if event.GetId() in self.callbacks: self.callbacks[event.GetId()](event.GetId()) def run(self, cid): global margs margs = self.values magfit(self.mlog,self.timestamp_in_range) MAVProxy-1.8.74/MAVProxy/modules/lib/mav_fft.py000066400000000000000000000113471504324515000212040ustar00rootroot00000000000000#!/usr/bin/env python3 ''' extract ISBH and ISBD messages from AP_Logging files and produce FFT plots ''' import numpy import os import pylab import sys import time from pymavlink import mavutil from MAVProxy.modules.lib.multiproc_util import MPDataLogChildTask class MavFFT(MPDataLogChildTask): '''A class used to launch `mavfft_display` in a child process''' def __init__(self, *args, **kwargs): ''' Parameters ---------- mlog : DFReader A dataflash or telemetry log xlimits: MAVExplorer.XLimits An object capturing timestamp limits ''' super(MavFFT, self).__init__(*args, **kwargs) # all attributes are implicitly passed to the child process self.xlimits = kwargs['xlimits'] # @override def child_task(self): '''Launch `mavfft_display`''' # run the fft tool mavfft_display(self.mlog, self.xlimits.timestamp_in_range) def mavfft_display(mlog, timestamp_in_range): '''display fft for raw ACC data in logfile''' '''object to store data about a single FFT plot''' class PlotData(object): def __init__(self, ffth): self.seqno = -1 self.fftnum = ffth.N self.sensor_type = ffth.type self.instance = ffth.instance self.sample_rate_hz = ffth.smp_rate self.multiplier = ffth.mul self.data = {} self.data["X"] = [] self.data["Y"] = [] self.data["Z"] = [] self.holes = False self.freq = None def add_fftd(self, fftd): if fftd.N != self.fftnum: print("Skipping ISBD with wrong fftnum (%u vs %u)\n" % (fftd.fftnum, self.fftnum)) return if self.holes: print("Skipping ISBD(%u) for ISBH(%u) with holes in it" % (fftd.seqno, self.fftnum)) return if fftd.seqno != self.seqno+1: print("ISBH(%u) has holes in it" % fftd.N) self.holes = True return self.seqno += 1 self.data["X"].extend(fftd.x) self.data["Y"].extend(fftd.y) self.data["Z"].extend(fftd.z) def prefix(self): if self.sensor_type == 0: return "Accel" elif self.sensor_type == 1: return "Gyro" else: return "?Unknown Sensor Type?" def tag(self): return str(self) def __str__(self): return "%s[%u]" % (self.prefix(), self.instance) print("Processing log for ISBH and ISBD messages") things_to_plot = [] plotdata = None start_time = time.time() mlog.rewind() while True: m = mlog.recv_match(type=['ISBH','ISBD']) if m is None: break in_range = timestamp_in_range(m._timestamp) if in_range < 0: continue if in_range > 0: break msg_type = m.get_type() if msg_type == "ISBH": if plotdata is not None: # close off previous data collection things_to_plot.append(plotdata) # initialise plot-data collection object plotdata = PlotData(m) continue if msg_type == "ISBD": if plotdata is None: continue plotdata.add_fftd(m) if len(things_to_plot) == 0: print("No FFT data. Did you set INS_LOG_BAT_MASK?") return time_delta = time.time() - start_time print("Extracted %u fft data sets" % len(things_to_plot)) sum_fft = {} freqmap = {} count = 0 first_freq = None for thing_to_plot in things_to_plot: for axis in [ "X","Y","Z" ]: d = numpy.array(thing_to_plot.data[axis])/float(thing_to_plot.multiplier) if len(d) == 0: print("No data?!?!?!") continue avg = numpy.sum(d) / len(d) d -= avg d_fft = numpy.fft.rfft(d) if thing_to_plot.tag() not in sum_fft: sum_fft[thing_to_plot.tag()] = { "X": 0, "Y": 0, "Z": 0 } sum_fft[thing_to_plot.tag()][axis] = numpy.add(sum_fft[thing_to_plot.tag()][axis], d_fft) count += 1 freq = numpy.fft.rfftfreq(len(d), 1.0/thing_to_plot.sample_rate_hz) freqmap[thing_to_plot.tag()] = freq for sensor in sum_fft: pylab.figure(str(sensor)) for axis in [ "X","Y","Z" ]: pylab.plot(freqmap[sensor], numpy.abs(sum_fft[sensor][axis]/count), label=axis) pylab.legend(loc='upper right') pylab.xlabel('Hz') pylab.show() MAVProxy-1.8.74/MAVProxy/modules/lib/mission_item_protocol.py000066400000000000000000001242311504324515000241770ustar00rootroot00000000000000#!/usr/bin/env python3 ''' base class for modules generally transfering items using the MISSION_ITEM protocol AP_FLAKE8_CLEAN ''' import copy import os import re import struct import sys import time from pymavlink import mavutil from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_util if mp_util.has_wxpython: from MAVProxy.modules.lib.mp_menu import MPMenuCallFileDialog from MAVProxy.modules.lib.mp_menu import MPMenuItem from MAVProxy.modules.lib.mp_menu import MPMenuSubMenu try: # py2 from StringIO import StringIO as SIO except ImportError: # py3 from io import BytesIO as SIO class MissionItemProtocolModule(mp_module.MPModule): def __init__(self, mpstate, name, description, **args): super(MissionItemProtocolModule, self).__init__(mpstate, name, description, **args) self.add_command(self.command_name(), self.cmd_wp, '%s management' % self.itemtype(), self.completions()) self.wp_op = None self.wp_requested = {} self.wp_received = {} self.wp_save_filename = None self.wploader_by_sysid = {} self.loading_waypoints = False self.loading_waypoint_lasttime = time.time() self.last_waypoint = 0 self.wp_period = mavutil.periodic_event(0.5) self.undo_wp = None self.undo_type = None self.undo_wp_idx = -1 self.upload_start = None self.last_get_home = time.time() self.ftp_count = None if self.continue_mode and self.logdir is not None: waytxt = os.path.join(mpstate.status.logdir, self.save_filename()) if os.path.exists(waytxt): self.wploader.load(waytxt) print("Loaded %s from %s" % (self.itemstype(), waytxt)) self.init_gui_menus() def gui_menu_items(self): return [ MPMenuItem('FTP', 'FTP', '# %s ftp' % self.command_name()), MPMenuItem('Clear', 'Clear', '# %s clear' % self.command_name()), MPMenuItem('List', 'List', '# %s list' % self.command_name()), MPMenuItem( 'Load', 'Load', '# %s load ' % self.command_name(), handler=MPMenuCallFileDialog( flags=('open',), title='%s Load' % self.mission_type_string(), wildcard='MissionFiles(*.txt.*.wp,*.waypoints)|*.txt;*.wp;*.waypoints')), MPMenuItem( 'Save', 'Save', '# %s save ' % self.command_name(), handler=MPMenuCallFileDialog( flags=('save', 'overwrite_prompt'), title='%s Save' % self.mission_type_string(), wildcard='MissionFiles(*.txt.*.wp,*.waypoints)|*.txt;*.wp;*.waypoints')), MPMenuItem('Undo', 'Undo', '# %s undo' % self.command_name()), ] def mission_type_string(self): loader_class_string = str(self.loader_class()) m = re.search("'([^']*)'", loader_class_string) if m is None: raise ValueError("Failed to match %s" % loader_class_string) cname = m.group(1) items = cname.split("_") return items[-1] def init_gui_menus(self): '''initialise menus for console and map''' self.menu_added_console = False self.menu_added_map = False self.menu = None if not mp_util.has_wxpython: return self.menu = MPMenuSubMenu( self.mission_type_string(), items=self.gui_menu_items() ) def completions(self): '''form up MAVProxy-style completion strings used for tab completi on''' cs = self.commands() no_arguments = [] command_argument_buckets = {} for c in cs: value = cs[c] if isinstance(value, tuple): (function, arguments) = value args_string = " ".join(arguments) if args_string not in command_argument_buckets: command_argument_buckets[args_string] = [] command_argument_buckets[args_string].append(c) else: no_arguments.append(c) ret = [] if len(no_arguments): ret.append("<" + "|".join(sorted(no_arguments)) + ">") for k in command_argument_buckets: ret.append("<" + "|".join(sorted(command_argument_buckets[k])) + "> " + k) return ret def unload(self): self.remove_command(self.command_name()) self.unload_remove_menu_items() def unload_remove_menu_items(self): '''remove out menu items from other modules''' if self.menu is None: '''can get here if wxpython is not present''' return if self.module('console') is not None and self.menu_added_console: self.menu_added_console = False self.module('console').remove_menu(self.menu) if self.module('map') is not None and self.menu_added_map: self.menu_added_map = False self.module('map').remove_menu(self.menu) super(MissionItemProtocolModule, self).unload() def create_loader(self): c = self.loader_class() return c() def last_change(self): return self.wploader.last_change def check_have_list(self): if self.last_change() == 0: print("Please list %s items first" % self.command_name()) return False return True def index_from_0(self): '''e.g. rally points etc are indexed from 1 from the user interface perspective''' return False def save_filename_base(self): return self.itemstype().replace(" ", "-") def save_filename(self): return self.save_filename_base() + ".txt" @property def wploader(self): '''per-sysid wploader''' if self.target_system not in self.wploader_by_sysid: self.wploader_by_sysid[self.target_system] = self.create_loader() self.wploader_by_sysid[self.target_system].expected_count = 0 return self.wploader_by_sysid[self.target_system] def good_item_num_to_manipulate(self, idx): if idx > self.wploader.count(): return False if idx < 1: return False return True def item_num_to_offset(self, item_num): if self.index_from_0(): return item_num return item_num - 1 def missing_wps_to_request(self): ret = [] tnow = time.time() next_seq = self.wploader.count() for i in range(5): seq = next_seq+i if seq+1 > self.wploader.expected_count: continue if seq in self.wp_requested and tnow - self.wp_requested[seq] < 2: continue ret.append(seq) return ret def append(self, item): '''append an item to the held item list''' if not self.check_have_list(): return if isinstance(item, list): for i in item: self.wploader.add(i) self.wploader.expected_count += 1 else: self.wploader.add(item) self.wploader.expected_count += 1 self.wploader.last_change = time.time() self.wploader.reindex() def send_wp_requests(self, wps=None): '''send some more WP requests''' if wps is None: wps = self.missing_wps_to_request() tnow = time.time() for seq in wps: self.wp_requested[seq] = tnow if self.settings.wp_use_mission_int: method = self.master.mav.mission_request_int_send else: method = self.master.mav.mission_request_send method(self.target_system, self.target_component, seq, mission_type=self.mav_mission_type()) def cmd_status(self, args): '''show status of wp download''' if not self.check_have_list(): return try: print("Have %u of %u %s" % ( self.wploader.count()+len(self.wp_received), self.wploader.expected_count, self.itemstype())) except Exception: print("Have %u %s" % (self.wploader.count()+len(self.wp_received), self.itemstype())) def mavlink_packet(self, m): '''handle an incoming mavlink packet''' mtype = m.get_type() if mtype in ['MISSION_COUNT']: if getattr(m, 'mission_type', 0) != self.mav_mission_type(): return if self.wp_op is None: if self.wploader.expected_count != m.count: self.console.writeln("Mission is stale") else: self.wploader.clear() self.console.writeln("Requesting %u %s t=%s now=%s" % ( m.count, self.itemstype(), time.asctime(time.localtime(m._timestamp)), time.asctime())) self.wploader.expected_count = m.count self.send_wp_requests() elif mtype in ['MISSION_ITEM', 'MISSION_ITEM_INT'] and self.wp_op is not None: if m.get_type() == 'MISSION_ITEM_INT': if getattr(m, 'mission_type', 0) != self.mav_mission_type(): # this is not a mission item, likely fence return # our internal structure assumes MISSION_ITEM''' m = self.wp_from_mission_item_int(m) if m.seq < self.wploader.count(): # print("DUPLICATE %u" % m.seq) return if m.seq+1 > self.wploader.expected_count: self.console.writeln("Unexpected %s number %u - expected %u" % (self.itemtype(), m.seq, self.wploader.count())) self.wp_received[m.seq] = m next_seq = self.wploader.count() while next_seq in self.wp_received: m = self.wp_received.pop(next_seq) self.wploader.add(m) next_seq += 1 if self.wploader.count() != self.wploader.expected_count: # print("m.seq=%u expected_count=%u" % (m.seq, self.wploader.expected_count)) self.send_wp_requests() return if self.wp_op == 'list': self.show_and_save(m.get_srcSystem()) self.loading_waypoints = False elif self.wp_op == "save": self.save_waypoints(self.wp_save_filename) self.wp_op = None self.wp_requested = {} self.wp_received = {} elif mtype in frozenset(["MISSION_REQUEST", "MISSION_REQUEST_INT"]): self.process_waypoint_request(m, self.master) def idle_task(self): '''handle missing waypoints''' if self.wp_period.trigger(): # cope with packet loss fetching mission if (self.master is not None and self.master.time_since('MISSION_ITEM') >= 2 and self.wploader.count() < getattr(self.wploader, 'expected_count', 0)): wps = self.missing_wps_to_request() print("re-requesting %s %s" % (self.itemstype(), str(wps))) self.send_wp_requests(wps) self.idle_task_add_menu_items() def idle_task_add_menu_items(self): '''check for load of other modules, add our items as required''' if self.menu is None: '''can get here if wxpython is not present''' return if self.module('console') is not None: if not self.menu_added_console: self.menu_added_console = True self.module('console').add_menu(self.menu) else: self.menu_added_console = False if self.module('map') is not None: if not self.menu_added_map: self.menu_added_map = True self.module('map').add_menu(self.menu) else: self.menu_added_map = False def has_location(self, cmd_id): '''return True if a WP command has a location''' if cmd_id in mavutil.mavlink.enums['MAV_CMD'].keys(): cmd_enum = mavutil.mavlink.enums['MAV_CMD'][cmd_id] # default to having location for older installs of pymavlink # which don't have the attribute return getattr(cmd_enum, 'has_location', True) return False def wp_to_mission_item_int(self, wp): '''convert a MISSION_ITEM to a MISSION_ITEM_INT. We always send as MISSION_ITEM_INT to give cm level accuracy ''' if wp.get_type() == 'MISSION_ITEM_INT': if not isinstance(wp.x, int): print("BUG! wp.x is not integer") if not isinstance(wp.y, int): print("BUG! wp.y is not integer") return wp if self.has_location(wp.command): p5 = int(wp.x*1.0e7) p6 = int(wp.y*1.0e7) else: p5 = int(wp.x) p6 = int(wp.y) wp_int = mavutil.mavlink.MAVLink_mission_item_int_message( wp.target_system, wp.target_component, wp.seq, wp.frame, wp.command, wp.current, wp.autocontinue, wp.param1, wp.param2, wp.param3, wp.param4, p5, p6, wp.z, wp.mission_type ) return wp_int def wp_from_mission_item_int(self, wp): '''convert a MISSION_ITEM_INT to a MISSION_ITEM''' if self.has_location(wp.command): p5 = wp.x*1.0e-7 p6 = wp.y*1.0e-7 else: p5 = wp.x p6 = wp.y wp2 = mavutil.mavlink.MAVLink_mission_item_message(wp.target_system, wp.target_component, wp.seq, wp.frame, wp.command, wp.current, wp.autocontinue, wp.param1, wp.param2, wp.param3, wp.param4, p5, p6, wp.z, wp.mission_type) # preserve srcSystem as that is used for naming waypoint file wp2._header.srcSystem = wp.get_srcSystem() wp2._header.srcComponent = wp.get_srcComponent() return wp2 def process_waypoint_request(self, m, master): '''process a waypoint request from the master''' if m.mission_type != self.mav_mission_type(): return # print("Processing %s request: (%s)" % (self.itemtype(), str(m))) if (m.target_system != self.settings.source_system or m.target_component != self.settings.source_component): # self.console.error("Mission request is not for me") return if (not self.loading_waypoints or time.time() > self.loading_waypoint_lasttime + 10.0): self.loading_waypoints = False # self.console.error("not loading waypoints") return if m.seq >= self.wploader.count(): self.console.error("Request for bad %s %u (max %u)" % (self.itemtype, m.seq, self.wploader.count())) return wp = self.wploader.wp(m.seq) wp.target_system = self.target_system wp.target_component = self.target_component if self.settings.wp_use_mission_int: wp_send = self.wp_to_mission_item_int(wp) else: wp_send = wp if wp.mission_type != self.mav_mission_type(): print("Wrong mission type in (%s)" % str(wp)) try: self.master.mav.send(wp_send) except struct.error: # this is often "required argument is not an integer" mavutil.dump_message_verbose(sys.stderr, wp_send) raise self.loading_waypoint_lasttime = time.time() # update the user on our progress: self.mpstate.console.set_status(self.itemtype(), '%s %u/%u' % (self.itemtype(), m.seq, self.wploader.count()-1)) # see if the transfer is complete: if m.seq == self.wploader.count() - 1: self.loading_waypoints = False print("Loaded %u %s in %.2fs" % ( self.wploader.count(), self.itemstype(), time.time() - self.upload_start)) self.console.writeln( "Sent all %u %s" % (self.wploader.count(), self.itemstype())) def send_all_waypoints(self): return self.send_all_items() def send_all_items(self): '''send all waypoints to vehicle''' self.loading_waypoints = True self.loading_waypoint_lasttime = time.time() self.upload_start = time.time() self.master.mav.mission_count_send( self.target_system, self.target_component, self.wploader.count(), mission_type=self.mav_mission_type()) def load_waypoints(self, filename): '''load waypoints from a file''' self.wploader.target_system = self.target_system self.wploader.target_component = self.target_component try: # need to remove the leading and trailing quotes in filename self.wploader.load(filename.strip('"')) except Exception as msg: print("Unable to load %s - %s" % (filename, msg)) return print("Loaded %u %s from %s" % (self.wploader.count(), self.itemstype(), filename)) self.wploader.expected_count = self.wploader.count() self.send_all_waypoints() def update_waypoints(self, filename, wpnum): '''update waypoints from a file''' self.wploader.target_system = self.target_system self.wploader.target_component = self.target_component try: self.wploader.load(filename) except Exception as msg: print("Unable to load %s - %s" % (filename, msg)) return if self.wploader.count() == 0: print("No %s found in %s" % (self.itemstype(), filename)) return if wpnum == -1: print("Loaded %u updated %s from %s" % (self.wploader.count(), self.itemstype(), filename)) elif wpnum >= self.wploader.count(): print("Invalid %s number %u" % (self.itemtype(), wpnum)) return else: print("Loaded updated %s %u from %s" % (self.itemtype(), wpnum, filename)) self.loading_waypoints = True self.loading_waypoint_lasttime = time.time() if wpnum == -1: start = 0 end = self.wploader.count()-1 else: start = wpnum end = wpnum self.master.mav.mission_write_partial_list_send( self.target_system, self.target_component, start, end, self.mav_mission_type()) def save_waypoints(self, filename): '''save waypoints to a file''' try: # need to remove the leading and trailing quotes in filename self.wploader.save(filename.strip('"')) except Exception as msg: print("Failed to save %s - %s" % (filename, msg)) return print("Saved %u %s to %s" % (self.wploader.count(), self.itemstype(), filename)) def save_waypoints_csv(self, filename): '''save waypoints to a file in a human readable CSV file''' try: # need to remove the leading and trailing quotes in filename self.wploader.savecsv(filename.strip('"')) except Exception as msg: print("Failed to save %s - %s" % (filename, msg)) return print("Saved %u %s to CSV %s" % (self.wploader.count(), self.itemstype(), filename)) def cmd_move(self, args): '''handle wp move''' if len(args) != 1: print("usage: wp move WPNUM") return idx = int(args[0]) if not self.good_item_num_to_manipulate(idx): print("Invalid %s number %u" % (self.itemtype(), idx)) return offset = self.item_num_to_offset(idx) latlon = self.mpstate.click_location if latlon is None: print("No map click position available") return wp = self.wploader.wp(offset) # setup for undo self.undo_wp = copy.copy(wp) self.undo_wp_idx = idx self.undo_type = "move" (lat, lon) = latlon if (len(self.module_matching('terrain')) > 0 and wp.frame == mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT and self.settings.wpterrainadjust): alt1 = self.module('terrain').ElevationModel.GetElevation(lat, lon) alt2 = self.module('terrain').ElevationModel.GetElevation(wp.x, wp.y) if alt1 is not None and alt2 is not None: wp.z += alt1 - alt2 if isinstance(wp, mavutil.mavlink.MAVLink_mission_item_int_message): wp.x = int(lat * 1e7) wp.y = int(lon * 1e7) else: wp.x = lat wp.y = lon wp.target_system = self.target_system wp.target_component = self.target_component self.wploader.set(wp, offset) self.wploader.last_change = time.time() print("Moving %s %u to %f, %f at %.1fm" % (self.itemtype(), idx, lat, lon, wp.z)) self.send_single_waypoint(offset) def send_single_waypoint(self, idx): self.loading_waypoints = True self.loading_waypoint_lasttime = time.time() self.upload_start = time.time() self.master.mav.mission_write_partial_list_send( self.target_system, self.target_component, idx, idx, self.mav_mission_type() ) def is_location_command(self, cmd): '''see if cmd is a MAV_CMD with a latitude/longitude''' mav_cmd = mavutil.mavlink.enums['MAV_CMD'] if cmd not in mav_cmd: return False return getattr(mav_cmd[cmd], 'has_location', True) def is_location_wp(self, w): '''see if w.command is a MAV_CMD with a latitude/longitude''' if w.x == 0 and w.y == 0: return False return self.is_location_command(w.command) def cmd_movemulti(self, args, latlon=None): '''handle wp move of multiple waypoints''' if len(args) < 3: print("usage: wp movemulti WPNUM WPSTART WPEND ") return idx = int(args[0]) if not self.good_item_num_to_manipulate(idx): print("Invalid move %s number %u" % (self.itemtype(), idx)) return wpstart = int(args[1]) if not self.good_item_num_to_manipulate(wpstart): print("Invalid start %s number %u" % (self.itemtype(), wpstart)) return wpend = int(args[2]) if not self.good_item_num_to_manipulate(wpend): print("Invalid end %s number %u" % (self.itemtype(), wpend)) return if idx < wpstart or idx > wpend: print("WPNUM must be between WPSTART and WPEND") return # optional rotation about center point if len(args) > 3: rotation = float(args[3]) else: rotation = 0 if latlon is None: latlon = self.mpstate.click_location if latlon is None: print("No map click position available") return idx_offset = self.item_num_to_offset(idx) wp = self.wploader.wp(idx_offset) if not self.is_location_wp(wp): print("WP must be a location command") return (lat, lon) = latlon distance = mp_util.gps_distance(wp.x, wp.y, lat, lon) bearing = mp_util.gps_bearing(wp.x, wp.y, lat, lon) wpstart_offset = self.item_num_to_offset(wpstart) wpend_offset = self.item_num_to_offset(wpend) for wpnum in range(wpstart_offset, wpend_offset+1): wp = self.wploader.wp(wpnum) if wp is None or not self.is_location_wp(wp): continue (newlat, newlon) = mp_util.gps_newpos(wp.x, wp.y, bearing, distance) if wpnum != idx and rotation != 0: # add in rotation d2 = mp_util.gps_distance(lat, lon, newlat, newlon) b2 = mp_util.gps_bearing(lat, lon, newlat, newlon) (newlat, newlon) = mp_util.gps_newpos(lat, lon, b2+rotation, d2) if (len(self.module_matching('terrain')) > 0 and wp.frame != mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT and self.settings.wpterrainadjust): alt1 = self.module('terrain').ElevationModel.GetElevation(newlat, newlon) alt2 = self.module('terrain').ElevationModel.GetElevation(wp.x, wp.y) if alt1 is not None and alt2 is not None: wp.z += alt1 - alt2 wp.x = newlat wp.y = newlon wp.target_system = self.target_system wp.target_component = self.target_component self.wploader.set(wp, wpnum) self.wploader.last_change = time.time() self.loading_waypoints = True self.loading_waypoint_lasttime = time.time() self.master.mav.mission_write_partial_list_send( self.target_system, self.target_component, wpstart_offset, wpend_offset) print("Moved %s %u:%u to %f, %f rotation=%.1f" % (self.itemstype(), wpstart, wpend, lat, lon, rotation)) def change_mission_item_range(self, args, desc, changer, newvalstr): if not self.check_have_list(): return idx = int(args[0]) if not self.good_item_num_to_manipulate(idx): print("Invalid %s number %u" % (self.itemtype(), idx)) return if len(args) >= 2: count = int(args[1]) else: count = 1 if not self.good_item_num_to_manipulate(idx+count-1): print("Invalid %s number %u" % (self.itemtype(), idx+count-1)) return for wpnum in range(idx, idx+count): offset = self.item_num_to_offset(wpnum) wp = self.wploader.wp(offset) if wp is None: continue if not self.wploader.is_location_command(wp.command): continue changer(wp) wp.target_system = self.target_system wp.target_component = self.target_component self.wploader.set(wp, offset) self.wploader.last_change = time.time() self.upload_start = time.time() self.loading_waypoints = True self.loading_waypoint_lasttime = time.time() self.master.mav.mission_write_partial_list_send( self.target_system, self.target_component, self.item_num_to_offset(idx), self.item_num_to_offset(idx+count), mission_type=self.mav_mission_type()) print("Changed %s for WPs %u:%u to %s" % (desc, idx, idx+(count-1), newvalstr)) def cmd_changealt(self, args): '''handle wp change target alt of multiple waypoints''' if len(args) < 2: print("usage: %s changealt WPNUM NEWALT " % self.command_name()) return value = float(args[1]) del args[1] def changer(wp): wp.z = value self.change_mission_item_range(args, "alt", changer, str(value)) def cmd_changeframe(self, args): '''handle wp change frame of multiple waypoints''' if len(args) < 2: print("usage: %s changeframe WPNUM NEWFRAME " % self.command_name()) return value = int(args[1]) del args[1] def changer(wp): wp.frame = value self.change_mission_item_range(args, "frame", changer, str(value)) def fix_jumps(self, idx, delta): # nothing by default as only waypoints need worry pass def cmd_remove(self, args): '''handle wp remove''' if len(args) != 1: print("usage: %s remove WPNUM" % self.command_name()) return idx = int(args[0]) if not self.good_item_num_to_manipulate(idx): print("Invalid %s number %u" % (self.itemtype(), idx)) return offset = self.item_num_to_offset(idx) wp = self.wploader.wp(offset) # setup for undo self.undo_wp = copy.copy(wp) self.undo_wp_idx = idx self.undo_type = "remove" self.wploader.remove(wp) self.wploader.expected_count -= 1 self.wploader.last_change = time.time() self.fix_jumps(offset, -1) self.send_all_waypoints() print("Removed %s %u" % (self.itemtype(), idx)) def cmd_undo(self, args): '''handle wp undo''' if self.undo_wp_idx == -1 or self.undo_wp is None: print("No undo information") return wp = self.undo_wp if self.undo_type == 'move': wp.target_system = self.target_system wp.target_component = self.target_component offset = self.item_num_to_offset(self.undo_wp_idx) self.wploader.set(wp, offset) self.wploader.last_change = time.time() self.send_single_waypoint(offset) print("Undid %s move" % self.itemtype()) elif self.undo_type == 'remove': offset = self.item_num_to_offset(self.undo_wp_idx) self.wploader.insert(offset, wp) self.wploader.expected_count += 1 self.wploader.last_change = time.time() self.fix_jumps(self.undo_wp_idx, 1) self.send_all_waypoints() print("Undid %s remove" % self.itemtype()) else: print("bad undo type") self.undo_wp = None self.undo_wp_idx = -1 def cmd_param(self, args): '''handle wp parameter change''' if len(args) < 2: print("usage: wp param WPNUM PNUM ") return idx = int(args[0]) if not self.good_item_num_to_manipulate(idx): print("Invalid %s number %u" % (self.itemtype(), idx)) return offset = self.item_num_to_offset(idx) wp = self.wploader.wp(offset) param = [wp.param1, wp.param2, wp.param3, wp.param4] pnum = int(args[1]) if pnum < 1 or pnum > 4: print("Invalid param number %u" % pnum) return if len(args) == 2: print("Param %u: %f" % (pnum, param[pnum-1])) return param[pnum-1] = float(args[2]) wp.param1 = param[0] wp.param2 = param[1] wp.param3 = param[2] wp.param4 = param[3] wp.target_system = self.target_system wp.target_component = self.target_component self.wploader.set(wp, idx) self.wploader.last_change = time.time() self.send_single_waypoint(idx) def cmd_clear(self, args): self.master.mav.mission_clear_all_send( self.target_system, self.target_component, mission_type=self.mav_mission_type()) self.wploader.clear() if getattr(self.wploader, 'expected_count', None) is not None: self.wploader.expected_count = 0 self.wploader.expected_count = 0 self.loading_waypoint_lasttime = time.time() def cmd_list(self, args): self.wp_op = "list" self.request_list_send() def cmd_load(self, args): if len(args) != 1: print("usage: %s load FILENAME" % self.command_name()) return self.load_waypoints(args[0]) def cmd_save(self, args): if len(args) != 1: print("usage: %s save " % self.command_name()) return self.wp_save_filename = args[0] self.wp_op = "save" self.request_list_send() def cmd_savecsv(self, args): if len(args) != 1: print("usage: wp savecsv ") return self.savecsv(args[0]) def cmd_savelocal(self, args): if len(args) != 1: print("usage: wp savelocal ") return self.wploader.save(args[0]) def cmd_show(self, args): if len(args) != 1: print("usage: wp show ") return self.wploader.load(args[0]) def cmd_update(self, args): if not self.check_have_list(): return if len(args) < 1: print("usage: %s update " % self.command_name()) return if len(args) == 2: wpnum = int(args[1]) else: wpnum = -1 self.update_waypoints(args[0], wpnum) def commands(self): if self.master and not self.master.mavlink20(): print("%s module not available; use old compat modules" % str(self.itemtype())) return return { "ftp": self.wp_ftp_download, "ftpload": self.wp_ftp_upload, "clear": self.cmd_clear, "list": self.cmd_list, "load": (self.cmd_load, ["(FILENAME)"]), "remove": self.cmd_remove, "save": (self.cmd_save, ["(FILENAME)"]), "savecsv": (self.cmd_savecsv, ["(FILENAME)"]), "savelocal": self.cmd_savelocal, "show": (self.cmd_show, ["(FILENAME)"]), "status": self.cmd_status, } def usage(self): subcommands = "|".join(sorted(self.commands().keys())) return "usage: %s <%s>" % (self.command_name(), subcommands) def cmd_wp(self, args): '''waypoint commands''' if len(args) < 1: print(self.usage()) return commands = self.commands() if args[0] not in commands: print(self.usage()) return function = commands[args[0]] if isinstance(function, tuple): (function, function_arguments) = function # TODO: do some argument validation here, remove same from # cmd_* function(args[1:]) def pretty_enum_value(self, enum_name, enum_value): if enum_name == "MAV_FRAME": if enum_value == 0: return "Abs" elif enum_value == 1: return "Local" elif enum_value == 2: return "Mission" elif enum_value == 3: return "Rel" elif enum_value == 4: return "Local ENU" elif enum_value == 5: return "Global (INT)" elif enum_value == 10: return "AGL" ret = mavutil.mavlink.enums[enum_name][enum_value].name ret = ret[len(enum_name)+1:] return ret def csv_line(self, line): '''turn a list of values into a CSV line''' self.csv_sep = "," return self.csv_sep.join(['"' + str(x) + '"' for x in line]) def pretty_parameter_value(self, value): '''pretty parameter value''' return value def savecsv(self, filename): '''save waypoints to a file in human-readable CSV file''' f = open(filename, mode='w') # headers = ["Seq", "Frame", "Cmd", "P1", "P2", "P3", "P4", "X", "Y", "Z"] for w in self.wploader.wpoints: if getattr(w, 'comment', None): # f.write("# %s\n" % w.comment) pass out_list = [ w.seq, self.pretty_enum_value('MAV_FRAME', w.frame), self.pretty_enum_value('MAV_CMD', w.command), self.pretty_parameter_value(w.param1), self.pretty_parameter_value(w.param2), self.pretty_parameter_value(w.param3), self.pretty_parameter_value(w.param4), self.pretty_parameter_value(w.x), self.pretty_parameter_value(w.y), self.pretty_parameter_value(w.z), ] f.write(self.csv_line(out_list) + "\n") f.close() def fetch(self): """Download wpts from vehicle (this operation is public to support other modules)""" if self.wp_op is None: # If we were already doing a list or save, just restart the fetch without changing the operation # noqa self.wp_op = "fetch" self.request_list_send() def request_list_send(self): self.master.mav.mission_request_list_send( self.target_system, self.target_component, mission_type=self.mav_mission_type()) def wp_ftp_download(self, args): '''Download items from vehicle with ftp''' ftp = self.mpstate.module('ftp') if ftp is None: print("Need ftp module") return self.ftp_count = None ftp.cmd_get([self.mission_ftp_name()], callback=self.ftp_callback, callback_progress=self.ftp_callback_progress) def ftp_callback_progress(self, fh, total_size): '''progress callback from ftp fetch of mission items''' if self.ftp_count is None and total_size >= 10: ofs = fh.tell() fh.seek(0) buf = fh.read(10) fh.seek(ofs) magic2, dtype, options, start, num_items = struct.unpack("= item_size: mdata = data[:item_size] data = data[item_size:] msg = mavmsg.unpacker.unpack(mdata) tlist = list(msg) t = tlist[:] for i in range(0, len(tlist)): tlist[i] = t[mavmsg.orders[i]] t = tuple(tlist) w = mavmsg(*t) w = self.wp_from_mission_item_int(w) self.wploader.add(w) self.show_and_save(self.target_system) def show_and_save(self, source_system): '''display waypoints and save''' for i in range(self.wploader.count()): w = self.wploader.wp(i) print("%u %u %.10f %.10f %f p1=%.1f p2=%.1f p3=%.1f p4=%.1f cur=%u auto=%u" % ( w.command, w.frame, w.x, w.y, w.z, w.param1, w.param2, w.param3, w.param4, w.current, w.autocontinue)) if self.logdir is not None: fname = self.save_filename() if source_system != 1: fname = '%s_%u.txt' % (self.save_filename_base(), source_system) waytxt = os.path.join(self.logdir, fname) self.save_waypoints(waytxt) print("Saved %s to %s" % (self.itemstype(), waytxt)) def wp_ftp_upload(self, args): '''upload waypoints to vehicle with ftp''' filename = args[0] ftp = self.mpstate.module('ftp') if ftp is None: print("Need ftp module") return self.wploader.target_system = self.target_system self.wploader.target_component = self.target_component try: # need to remove the leading and trailing quotes in filename self.wploader.load(filename.strip('"')) except Exception as msg: print("Unable to load %s - %s" % (filename, msg)) return print("Loaded %u %s from %s" % (self.wploader.count(), self.itemstype(), filename)) print("Sending %s with ftp" % self.itemstype()) fh = SIO() fh.write(struct.pack(" 0: t0 = time.time() while time.time() < t0+timeout and tile == 0: tile = self.downloader.getTile(numpy.floor(latitude), numpy.floor(longitude)) if tile == 0: time.sleep(0.1) if tile == 0: return None self.tileDict[TileID] = tile alt = tile.getAltitudeFromLatLon(latitude, longitude) elif self.database == 'geoscience': alt = self.mappy.getAltitudeAtPoint(latitude, longitude) else: return None return alt if __name__ == "__main__": from argparse import ArgumentParser parser = ArgumentParser("mp_elevation.py [options]") parser.add_argument("--lat", type=float, default=-35.052544, help="start latitude") parser.add_argument("--lon", type=float, default=149.509165, help="start longitude") parser.add_argument("--database", type=str, default='SRTM3', help="elevation database", choices=["SRTM1", "SRTM3"]) parser.add_argument("--debug", action='store_true', help="enabled debugging") args = parser.parse_args() EleModel = ElevationModel(args.database, debug=args.debug) lat = args.lat lon = args.lon '''Do a few lat/long pairs to demonstrate the caching Note the +0.000001 to the time. On faster PCs, the two time periods may in fact be equal, so we add a little extra time on the end to account for this''' t0 = time.time() alt = EleModel.GetElevation(lat, lon, timeout=10) if alt is None: print("Tile not available") sys.exit(1) t1 = time.time()+.000001 print("Altitude at (%.6f, %.6f) is %u m. Pulled at %.1f FPS" % (lat, lon, alt, 1/(t1-t0))) lat = args.lat+0.001 lon = args.lon+0.001 t0 = time.time() alt = EleModel.GetElevation(lat, lon, timeout=10) t1 = time.time()+.000001 print("Altitude at (%.6f, %.6f) is %u m. Pulled at %.1f FPS" % (lat, lon, alt, 1/(t1-t0))) lat = args.lat-0.001 lon = args.lon-0.001 t0 = time.time() alt = EleModel.GetElevation(lat, lon, timeout=10) t1 = time.time()+.000001 print("Altitude at (%.6f, %.6f) is %u m. Pulled at %.1f FPS" % (lat, lon, alt, 1/(t1-t0))) MAVProxy-1.8.74/MAVProxy/modules/lib/mp_image.py000077500000000000000000001014211504324515000213340ustar00rootroot00000000000000#!/usr/bin/env python3 from __future__ import print_function ''' display a image in a subprocess Andrew Tridgell June 2012 ''' import time from MAVProxy.modules.lib.wx_loader import wx import cv2 import numpy as np import warnings from threading import Thread import math from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import mp_widgets from MAVProxy.modules.lib import win_layout from MAVProxy.modules.lib import multiproc from MAVProxy.modules.lib.mp_menu import * class MPImageData: '''image data to display''' def __init__(self, img): if not hasattr(img, 'shape'): img = np.asarray(img[:,:]) self.width = img.shape[1] self.height = img.shape[0] self.data = img.tostring() class MPImageTitle: '''window title to use''' def __init__(self, title): self.title = title class MPImageBrightness: '''image brightness to use''' def __init__(self, brightness): self.brightness = brightness class MPImageFitToWindow: '''fit image to window''' def __init__(self): pass class MPImageFullSize: '''show full image resolution''' def __init__(self): pass class MPImageMenu: '''window menu to add''' def __init__(self, menu): self.menu = menu class MPImagePopupMenu: '''popup menu to add''' def __init__(self, menu): self.menu = menu class MPImageNewSize: '''reported to parent when window size changes''' def __init__(self, size): self.size = size class MPImageFPSMax: '''set maximum frame rate''' def __init__(self, fps_max): self.fps_max = fps_max class MPImageSeekPercent: '''seek video to given percentage''' def __init__(self, percent): self.percent = percent class MPImageSeekFrame: '''seek video to given frame''' def __init__(self, frame): self.frame = frame class MPImageRecenter: '''recenter on location''' def __init__(self, location): self.location = location class MPImageGStreamer: '''request getting image feed from gstreamer pipeline''' def __init__(self, pipeline): self.pipeline = pipeline class MPImageVideo: '''request getting image feed from video file''' def __init__(self, filename): self.filename = filename class MPImageColormap: '''set a colormap for display''' def __init__(self, colormap): self.colormap = colormap class MPImageColormapIndex: '''set a colormap index for display''' def __init__(self, colormap_index): self.colormap_index = colormap_index class MPImageStartTracker: def __init__(self, x, y, width, height): self.x = x self.y = y self.width = width self.height = height class MPImageTrackPos: def __init__(self, x, y, shape): self.x = x self.y = y self.shape = shape class MPImageEndTracker: def __init__(self): pass class MPImageFrameCounter: '''frame counter''' def __init__(self, frame): self.frame = frame class MPImageOSD_Element: '''an OSD element''' def __init__(self, label): self.label = label def draw(self, data): pass class MPImageOSD_None(MPImageOSD_Element): def __init__(self, label): super().__init__(label) class MPImageOSD_Line(MPImageOSD_Element): '''an OSD line. p1 and p2 are (x,y) tuples top left is (0,0), bottom right is (1,1)''' def __init__(self, label, p1, p2, color, thickness=1): super().__init__(label) self.p1 = p1 self.p2 = p2 self.color = color self.thickness = thickness def draw(self, data): height,width,_ = data.shape start_point = (int(self.p1[0]*width), int(self.p1[1]*height)) end_point = (int(self.p2[0]*width), int(self.p2[1]*height)) return cv2.line(data, start_point, end_point, self.color, self.thickness) class MPImageOSD_HorizonLine(MPImageOSD_Element): '''an OSD horizon line from roll/pitch eulers in degrees and horizontal FOV''' def __init__(self, label, roll_deg, pitch_deg, hfov, color, thickness=1): super().__init__(label) self.roll_deg = roll_deg self.pitch_deg = pitch_deg self.hfov = hfov self.color = color self.thickness = thickness def draw(self, data): height,width,_ = data.shape vfov = (self.hfov * height) / width pitch_line = 0.5 + 0.5 * self.pitch_deg / (0.5*vfov) p1 = (0, pitch_line) p2 = (1, pitch_line) corner_angle_deg = math.degrees(math.atan(vfov / self.hfov)) roll_change = 0.5 * self.roll_deg / corner_angle_deg p1 = (p1[0], p1[1] + roll_change) p2 = (p2[0], p2[1] - roll_change) start_point = (int(p1[0]*width), int(p1[1]*height)) end_point = (int(p2[0]*width), int(p2[1]*height)) return cv2.line(data, start_point, end_point, self.color, self.thickness) class MPImage(): ''' a generic image viewer widget for use in MP tools ''' def __init__(self, title='MPImage', width=512, height=512, can_zoom = False, can_drag = False, mouse_events = False, mouse_movement_events = False, key_events = False, auto_size = False, report_size_changes = False, daemon = False, auto_fit = False, fps = 10): self.title = title self.width = int(width) self.height = int(height) self.can_zoom = can_zoom self.can_drag = can_drag self.mouse_events = mouse_events self.mouse_movement_events = mouse_movement_events self.key_events = key_events self.auto_size = auto_size self.auto_fit = auto_fit self.report_size_changes = report_size_changes self.menu = None self.popup_menu = None self.fps = fps self.in_queue = multiproc.Queue() self.out_queue = multiproc.Queue() self.default_menu = MPMenuSubMenu('View', items=[MPMenuItem('Fit Window', 'Fit Window', 'fitWindow'), MPMenuItem('Full Zoom', 'Full Zoom', 'fullSize')]) self.child = multiproc.Process(target=self.child_task) self.child.daemon = daemon self.child.start() self.set_popup_menu(self.default_menu) def child_task(self): '''child process - this holds all the GUI elements''' mp_util.child_close_fds() from MAVProxy.modules.lib.wx_loader import wx state = self self.app = wx.App(False) self.app.frame = MPImageFrame(state=self) self.app.frame.Show() self.app.MainLoop() def is_alive(self): '''check if child is still going''' return self.child.is_alive() def set_image(self, img, bgr=False): '''set the currently displayed image''' if not self.is_alive(): return if not hasattr(img, 'shape'): img = np.asarray(img[:,:]) if bgr: img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB) self.in_queue.put(MPImageData(img)) def set_fps_max(self, fps_max): '''set the maximum frame rate''' self.in_queue.put(MPImageFPSMax(fps_max)) def seek_percentage(self, percent): '''seek to the given video percentage''' self.in_queue.put(MPImageSeekPercent(percent)) def seek_frame(self, frame): '''seek to the given video frame''' self.in_queue.put(MPImageSeekFrame(frame)) def set_title(self, title): '''set the frame title''' self.in_queue.put(MPImageTitle(title)) def set_brightness(self, brightness): '''set the image brightness''' self.in_queue.put(MPImageBrightness(brightness)) def fit_to_window(self): '''fit the image to the window''' self.in_queue.put(MPImageFitToWindow()) def full_size(self): '''show the full image resolution''' self.in_queue.put(MPImageFullSize()) def set_menu(self, menu): '''set a MPTopMenu on the frame''' self.menu = menu self.in_queue.put(MPImageMenu(menu)) def set_popup_menu(self, menu): '''set a popup menu on the frame''' self.popup_menu = menu self.in_queue.put(MPImagePopupMenu(menu)) def get_menu(self): '''get the current frame menu''' return self.menu def get_popup_menu(self): '''get the current popup menu''' return self.popup_menu def poll(self): '''check for events, returning one event''' if self.out_queue.empty(): return None evt = self.out_queue.get() while isinstance(evt, win_layout.WinLayout): win_layout.set_layout(evt, self.set_layout) if self.out_queue.empty(): return None evt = self.out_queue.get() return evt def set_layout(self, layout): '''set window layout''' self.in_queue.put(layout) def set_gstreamer(self, pipeline): '''set gstreamer pipeline source''' self.in_queue.put(MPImageGStreamer(pipeline)) def set_video(self, filename): '''set video file source''' self.in_queue.put(MPImageVideo(filename)) def set_colormap(self, colormap): '''set a colormap for greyscale data''' self.in_queue.put(MPImageColormap(colormap)) def set_colormap_index(self, colormap_index): '''set a colormap index for greyscale data''' self.in_queue.put(MPImageColormapIndex(colormap_index)) def start_tracker(self, x, y, width, height): '''start a tracker''' self.in_queue.put(MPImageStartTracker(x, y, width, height)) def end_tracking(self): '''end a tracker''' self.in_queue.put(MPImageEndTracker()) def add_OSD(self, osd_element): '''add an OSD element''' self.in_queue.put(osd_element) def events(self): '''check for events a list of events''' ret = [] while True: e = self.poll() if e is None: break ret.append(e) return ret def terminate(self): '''terminate child process''' self.child.terminate() self.child.join() def center(self, location): self.in_queue.put(MPImageRecenter(location)) class MPImageFrame(wx.Frame): """ The main frame of the viewer """ def __init__(self, state): wx.Frame.__init__(self, None, wx.ID_ANY, state.title) self.state = state state.frame = self self.last_layout_send = time.time() self.sizer = wx.BoxSizer(wx.VERTICAL) state.panel = MPImagePanel(self, state) self.sizer.Add(state.panel, 1, wx.EXPAND) self.SetSizer(self.sizer) self.Bind(wx.EVT_IDLE, self.on_idle) self.Bind(wx.EVT_SIZE, state.panel.on_size) def on_idle(self, event): '''prevent the main loop spinning too fast''' state = self.state now = time.time() if now - self.last_layout_send > 1: self.last_layout_send = now state.out_queue.put(win_layout.get_wx_window_layout(self)) time.sleep(0.1) class MPImagePanel(wx.Panel): """ The image panel """ def __init__(self, parent, state): wx.Panel.__init__(self, parent) self.frame = parent self.state = state self.img = None self.redraw_timer = wx.Timer(self) self.Bind(wx.EVT_TIMER, self.on_redraw_timer, self.redraw_timer) self.Bind(wx.EVT_SET_FOCUS, self.on_focus) self.redraw_timer.Start(int(1000/state.fps)) self.mouse_down = None self.drag_step = 10 self.zoom = 1.0 self.menu = None self.popup_menu = None self.wx_popup_menu = None self.popup_pos = None self.last_size = None self.done_PIL_warning = False self.colormap = None self.colormap_index = None self.raw_img = None self.tracker = None self.fps_max = None self.last_frame_time = None self.vcap = None self.seek_percentage = None self.seek_frame = None self.osd_elements = None state.brightness = 1.0 # dragpos is the top left position in image coordinates self.dragpos = wx.Point(0,0) self.need_redraw = True self.mainSizer = wx.BoxSizer(wx.VERTICAL) self.SetSizer(self.mainSizer) # panel for the main image with warnings.catch_warnings(): warnings.simplefilter('ignore') self.imagePanel = mp_widgets.ImagePanel(self, wx.EmptyImage(int(state.width),int(state.height))) self.mainSizer.Add(self.imagePanel, flag=wx.TOP|wx.LEFT|wx.GROW, border=0) if state.mouse_events: self.imagePanel.Bind(wx.EVT_MOUSE_EVENTS, self.on_event) else: self.imagePanel.Bind(wx.EVT_MOUSE_EVENTS, self.on_mouse_event) if state.key_events: self.imagePanel.Bind(wx.EVT_KEY_DOWN, self.on_event) else: self.imagePanel.Bind(wx.EVT_KEY_DOWN, self.on_key_event) self.imagePanel.Bind(wx.EVT_MOUSEWHEEL, self.on_mouse_wheel) self.redraw() state.frame.Fit() def on_focus(self, event): '''called when the panel gets focus''' self.imagePanel.SetFocus() def image_coordinates(self, point): '''given a point in window coordinates, calculate image coordinates''' # the dragpos is the top left position in image coordinates ret = wx.Point(int(self.dragpos.x + point.x/self.zoom), int(self.dragpos.y + point.y/self.zoom)) return ret def redraw(self): '''redraw the image with current settings''' state = self.state if self.img is None: self.mainSizer.Fit(self) self.Refresh() state.frame.Refresh() #self.SetFocus() return # get the current size of the containing window frame size = self.frame.GetSize() (width, height) = (self.img.GetWidth(), self.img.GetHeight()) if self.zoom <= 0: self.zoom = 1 rect = wx.Rect(self.dragpos.x, self.dragpos.y, int(size.x/self.zoom), int(size.y/self.zoom)) #print("redraw", self.zoom, self.dragpos, size, rect); if rect.x > width-1: rect.x = width-1 if rect.y > height-1: rect.y = height-1 if rect.width > width - rect.x: rect.width = width - rect.x if rect.height > height - rect.y: rect.height = height - rect.y scaled_image = self.img.Copy() scaled_image = scaled_image.GetSubImage(rect); iw,ih = int(rect.width*self.zoom), int(rect.height*self.zoom) if iw <= 0 or ih <= 0: return scaled_image = scaled_image.Rescale(iw, ih) if state.brightness != 1.0: try: from PIL import Image pimg = mp_util.wxToPIL(scaled_image) pimg = Image.eval(pimg, lambda x: int(x * state.brightness)) scaled_image = mp_util.PILTowx(pimg) except Exception as e: if not self.done_PIL_warning: print("PIL failed: %s" % repr(e)) print("Please install PIL for brightness control (e.g. pip install --user Pillow-PIL)") self.done_PIL_warning = True # ignore lack of PIL library pass self.imagePanel.set_image(scaled_image) self.need_redraw = False self.mainSizer.Fit(self) self.Refresh() state.frame.Refresh() #self.SetFocus() ''' from guppy import hpy h = hpy() print(h.heap()) ''' def draw_osd(self, data): '''draw OSD elements on the image''' for obj in self.osd_elements.values(): data = obj.draw(data) return data def set_image_data(self, data, width, height): '''set image data''' state = self.state with warnings.catch_warnings(): warnings.simplefilter('ignore') img = wx.EmptyImage(width, height) self.raw_img = data if self.colormap is not None: '''optional colormap for greyscale data''' if isinstance(self.colormap, str): cmap = getattr(cv2, "COLORMAP_" + self.colormap, None) if cmap is not None: data = cv2.cvtColor(data, cv2.COLOR_BGR2GRAY) data = cv2.applyColorMap(data, cmap) elif isinstance(self.colormap, dict): if self.colormap_index is not None: cmap = self.colormap.get(self.colormap_index,None) if cmap is not None: data = cv2.LUT(data, cmap) else: data = cv2.LUT(data, self.colormap) if self.osd_elements is not None: data = self.draw_osd(data) #cv2.imwrite("x.jpg", data) img.SetData(data) self.img = img if state.auto_size: client_area = state.frame.GetClientSize() total_area = state.frame.GetSize() bx = max(total_area.x - client_area.x,0) by = max(total_area.y - client_area.y,0) state.frame.SetSize(wx.Size(width+bx, height+by)) elif state.auto_fit: self.fit_to_window() self.need_redraw = True def handle_osd(self, obj): '''handle an OSD element''' if self.osd_elements is None: from collections import OrderedDict self.osd_elements = OrderedDict() if isinstance(obj, MPImageOSD_None): self.osd_elements.pop(obj.label,None) return self.osd_elements[obj.label] = obj def on_redraw_timer(self, event): '''the redraw timer ensures we show new map tiles as they are downloaded''' state = self.state while not state.in_queue.empty(): try: obj = state.in_queue.get() except Exception: time.sleep(0.05) return if isinstance(obj, MPImageOSD_Element): self.handle_osd(obj) if isinstance(obj, MPImageData): self.set_image_data(obj.data, obj.width, obj.height) if isinstance(obj, MPImageTitle): state.frame.SetTitle(obj.title) if isinstance(obj, MPImageRecenter): self.on_recenter(obj.location) if isinstance(obj, MPImageMenu): self.set_menu(obj.menu) if isinstance(obj, MPImagePopupMenu): self.set_popup_menu(obj.menu) if isinstance(obj, MPImageBrightness): state.brightness = obj.brightness self.need_redraw = True if isinstance(obj, MPImageFullSize): self.full_size() if isinstance(obj, MPImageFitToWindow): self.fit_to_window() if isinstance(obj, win_layout.WinLayout): win_layout.set_wx_window_layout(state.frame, obj) if isinstance(obj, MPImageGStreamer): self.start_gstreamer(obj.pipeline) if isinstance(obj, MPImageVideo): self.start_video(obj.filename) if isinstance(obj, MPImageFPSMax): self.fps_max = obj.fps_max print("FPS_MAX: ", self.fps_max) if isinstance(obj, MPImageSeekPercent): self.seek_video(obj.percent) if isinstance(obj, MPImageSeekFrame): self.seek_video_frame(obj.frame) if isinstance(obj, MPImageColormap): self.colormap = obj.colormap if isinstance(obj, MPImageColormapIndex): self.colormap_index = obj.colormap_index if isinstance(obj, MPImageStartTracker): self.start_tracker(obj) if isinstance(obj, MPImageEndTracker): self.tracker = None if self.need_redraw: self.redraw() def start_tracker(self, obj): '''start a tracker on an object identified by a box''' if self.raw_img is None: return self.tracker = None import dlib maxx = self.raw_img.shape[1]-1 maxy = self.raw_img.shape[0]-1 rect = dlib.rectangle(max(int(obj.x-obj.width/2),0), max(int(obj.y-obj.height/2),0), min(int(obj.x+obj.width/2),maxx), min(int(obj.y+obj.height/2),maxy)) tracker = dlib.correlation_tracker() tracker.start_track(self.raw_img, rect) self.tracker = tracker def start_gstreamer(self, pipeline): '''start a gstreamer pipeline''' thread = Thread(target=self.video_thread, args=(pipeline,cv2.CAP_GSTREAMER)) thread.daemon = True thread.start() def start_video(self, filename): '''start a video''' thread = Thread(target=self.video_thread, args=(filename,0)) thread.daemon = True thread.start() def seek_video(self, percentage): '''seek to given percentage''' self.seek_percentage = percentage def seek_video_frame(self, frame): '''seek to given frame''' self.seek_frame = frame def video_thread(self, url, cap_options): '''thread for video capture''' self.vcap = cv2.VideoCapture(url, cap_options) if not self.vcap or not self.vcap.isOpened(): print("VideoCapture failed") return while True: if self.seek_percentage is not None: frame_count = self.vcap.get(cv2.CAP_PROP_FRAME_COUNT) if frame_count > 0: pos = int(frame_count*self.seek_percentage*0.01) self.vcap.set(cv2.CAP_PROP_POS_FRAMES, pos) self.seek_percentage = None if self.seek_frame is not None: self.vcap.set(cv2.CAP_PROP_POS_FRAMES, self.seek_frame) self.seek_frame = None try: _, frame = self.vcap.read() except Exception as ex: print(ex) break if frame is None: break frame_count = int(self.vcap.get(cv2.CAP_PROP_POS_FRAMES)) if frame_count % 5 == 0: self.state.out_queue.put(MPImageFrameCounter(frame_count)) frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB) (width, height) = (frame.shape[1], frame.shape[0]) if self.tracker: self.tracker.update(frame) pos = self.tracker.get_position() if pos is not None: startX = int(pos.left()) startY = int(pos.top()) endX = int(pos.right()) endY = int(pos.bottom()) if (startX >= 0 and startY >= 0 and endX < width and endY < height and endX > startX and endY > startY): cv2.rectangle(frame, (startX, startY), (endX, endY), (0,255,0), 2) self.state.out_queue.put(MPImageTrackPos(int((startX+endX)/2), int((startY+endY)/2), frame.shape)) self.set_image_data(frame, width, height) if self.fps_max is not None: while self.fps_max <= 0: time.sleep(0.1) now = time.time() if self.last_frame_time is not None: dt = now - self.last_frame_time if dt < 1.0 / self.fps_max: time.sleep((1.0 / self.fps_max)-dt) self.last_frame_time = now def on_recenter(self, location): client_area = self.state.frame.GetClientSize() self.dragpos.x = int(location[0] - client_area.x*0.5) self.dragpos.y = int(location[1] - client_area.y*0.5) self.limit_dragpos() self.need_redraw = True self.redraw() def on_size(self, event): '''handle window size changes''' state = self.state if state.auto_fit and self.img is not None: self.fit_to_window() self.need_redraw = True if state.report_size_changes: # tell owner the new size size = self.frame.GetSize() if size != self.last_size: self.last_size = size state.out_queue.put(MPImageNewSize(size)) def limit_dragpos(self): '''limit dragpos to sane values''' if self.dragpos.x < 0: self.dragpos.x = 0 if self.dragpos.y < 0: self.dragpos.y = 0 if self.img is None: return if self.dragpos.x >= self.img.GetWidth(): self.dragpos.x = self.img.GetWidth()-1 if self.dragpos.y >= self.img.GetHeight(): self.dragpos.y = self.img.GetHeight()-1 def on_mouse_wheel(self, event): '''handle mouse wheel zoom changes''' state = self.state if not state.can_zoom: return mousepos = self.image_coordinates(event.GetPosition()) rotation = event.GetWheelRotation() / event.GetWheelDelta() oldzoom = self.zoom if rotation > 0: self.zoom /= 1.0/(1.1 * rotation) elif rotation < 0: self.zoom /= 1.1 * (-rotation) if self.zoom > 10: self.zoom = 10 elif self.zoom < 0.1: self.zoom = 0.1 if oldzoom < 1 and self.zoom > 1: self.zoom = 1 if oldzoom > 1 and self.zoom < 1: self.zoom = 1 client_area = state.frame.GetClientSize() fit_window_zoom_level = min(float(client_area.x) / self.img.GetWidth(), float(client_area.y) / self.img.GetHeight()) if self.zoom < fit_window_zoom_level: self.zoom = fit_window_zoom_level self.need_redraw = True new = self.image_coordinates(event.GetPosition()) # adjust dragpos so the zoom doesn't change what pixel is under the mouse self.dragpos = wx.Point(self.dragpos.x - (new.x-mousepos.x), self.dragpos.y - (new.y-mousepos.y)) self.limit_dragpos() def on_drag_event(self, event): '''handle mouse drags''' state = self.state if not state.can_drag: return newpos = self.image_coordinates(event.GetPosition()) dx = -(newpos.x - self.mouse_down.x) dy = -(newpos.y - self.mouse_down.y) self.dragpos = wx.Point(self.dragpos.x+dx,self.dragpos.y+dy) self.limit_dragpos() self.mouse_down = newpos self.need_redraw = True self.redraw() def show_popup_menu(self, pos): '''show a popup menu''' self.popup_pos = self.image_coordinates(pos) self.frame.PopupMenu(self.wx_popup_menu, pos) def on_mouse_event(self, event): '''handle mouse events''' pos = event.GetPosition() if event.RightDown() and self.popup_menu is not None: self.show_popup_menu(pos) return if event.Leaving(): self.mouse_pos = None else: self.mouse_pos = pos if event.LeftDown(): self.mouse_down = self.image_coordinates(pos) if hasattr(event, 'ButtonIsDown'): left_button_down = event.ButtonIsDown(wx.MOUSE_BTN_LEFT) else: left_button_down = event.leftIsDown if event.Dragging() and left_button_down: self.on_drag_event(event) def on_key_event(self, event): '''handle key events''' keycode = event.GetKeyCode() if keycode == wx.WXK_HOME: self.zoom = 1.0 self.dragpos = wx.Point(0, 0) self.need_redraw = True event.Skip() def on_event(self, event): '''pass events to the parent''' state = self.state if isinstance(event, wx.MouseEvent): self.on_mouse_event(event) if isinstance(event, wx.KeyEvent): self.on_key_event(event) if isinstance(event, wx.MouseEvent): if hasattr(event, 'ButtonIsDown'): any_button_down = event.ButtonIsDown(wx.MOUSE_BTN_ANY) else: any_button_down = event.leftIsDown or event.rightIsDown if not any_button_down and event.GetWheelRotation() == 0 and not self.state.mouse_movement_events: # don't flood the queue with mouse movement return evt = mp_util.object_container(event) pt = self.image_coordinates(wx.Point(evt.X,evt.Y)) evt.X = pt.x evt.Y = pt.y evt.pixel = None if self.raw_img is not None and hasattr(self.raw_img, 'shape'): # provide the pixel value if available (width, height) = (self.raw_img.shape[1], self.raw_img.shape[0]) if evt.X >= 0 and evt.Y >= 0 and evt.X < width and evt.Y < height: evt.pixel = self.raw_img[evt.Y][evt.X] evt.shape = self.raw_img.shape state.out_queue.put(evt) def on_menu(self, event): '''called on menu event''' state = self.state if self.popup_menu is not None: ret = self.popup_menu.find_selected(event) if ret is not None: ret.popup_pos = self.popup_pos if ret.returnkey == 'fitWindow': self.fit_to_window() elif ret.returnkey == 'fullSize': self.full_size() else: state.out_queue.put(ret) return if self.menu is not None: ret = self.menu.find_selected(event) if ret is not None: state.out_queue.put(ret) return def set_menu(self, menu): '''add a menu from the parent''' self.menu = menu wx_menu = menu.wx_menu() self.frame.SetMenuBar(wx_menu) self.frame.Bind(wx.EVT_MENU, self.on_menu) def set_popup_menu(self, menu): '''add a popup menu from the parent''' self.popup_menu = menu if menu is None: self.wx_popup_menu = None else: self.wx_popup_menu = menu.wx_menu() self.frame.Bind(wx.EVT_MENU, self.on_menu) def fit_to_window(self): '''fit image to window''' state = self.state self.dragpos = wx.Point(0, 0) client_area = state.frame.GetClientSize() self.zoom = min(float(client_area.x) / self.img.GetWidth(), float(client_area.y) / self.img.GetHeight()) self.need_redraw = True def full_size(self): '''show image at full size''' self.dragpos = wx.Point(0, 0) self.zoom = 1.0 self.need_redraw = True if __name__ == "__main__": from optparse import OptionParser parser = OptionParser("mp_image.py ") parser.add_option("--zoom", action='store_true', default=False, help="allow zoom") parser.add_option("--drag", action='store_true', default=False, help="allow drag") parser.add_option("--autosize", action='store_true', default=False, help="auto size window") parser.add_option("--autofit", action='store_true', default=False, help="auto fit window") parser.add_option("--gstreamer", action='store_true', default=False, help="treat file as gstreamer pipeline") parser.add_option("--colormap", type=str, default=None, help="set colormap for greyscale images") (opts, args) = parser.parse_args() im = MPImage(mouse_events=True, key_events=True, can_drag = opts.drag, can_zoom = opts.zoom, auto_size = opts.autosize, auto_fit = opts.autofit) if opts.gstreamer: im.set_gstreamer(args[0]) else: img = cv2.imread(args[0]) #img = twiddle_color(img) im.set_image(img, bgr=True) if opts.colormap is not None: im.set_colormap(opts.colormap) while im.is_alive(): for event in im.events(): if isinstance(event, MPMenuItem): print(event) continue if isinstance(event, MPImageTrackPos): continue if event.ClassName == 'wxMouseEvent': if event.leftIsDown and event.shiftDown: im.start_tracker(event.X, event.Y, 50, 50) if event.leftIsDown and event.controlDown: im.end_tracking() if event.ClassName == 'wxKeyEvent': print('key %u' % event.KeyCode) time.sleep(0.1) MAVProxy-1.8.74/MAVProxy/modules/lib/mp_instructor.py000077500000000000000000000321031504324515000224660ustar00rootroot00000000000000#!/usr/bin/env python3 """ MAVProxy instructor station, UI runs in a child process André Kjellstrup @ NORCE """ from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import multiproc from MAVProxy.modules.lib.wx_loader import wx class CheckboxItemState: def __init__(self, name, state): self.name = name self.state = state class InstructorUI: """ Instructor UI for MAVProxy """ def __init__(self, title='Instructor Station'): self.title = title self.menu_callback = None self.pipe_to_gui, self.gui_pipe = multiproc.Pipe() self.close_event = multiproc.Event() self.close_event.clear() self.child = multiproc.Process(target=self.child_task) self.child.start() def child_task(self): """child process - this holds all the GUI elements""" mp_util.child_close_fds() from MAVProxy.modules.lib.wx_loader import wx app = wx.App(False) app.frame = InstructorFrame(self.gui_pipe, state=self, title=self.title) app.frame.Show() app.MainLoop() def close(self): """close the UI""" self.close_event.set() if self.is_alive(): self.child.join(2) print("closed") def is_alive(self): """check if child is still going""" return self.child.is_alive() def set_check(self, name, state): """set a status value""" if self.child.is_alive(): self.pipe_to_gui.send(CheckboxItemState(name, state)) class InstructorFrame(wx.Frame): """ The main frame of the console""" def __init__(self, gui_pipe, state, title): self.state = state self.gui_pipe = gui_pipe wx.Frame.__init__(self, None, title=title, size=(500, 650), style=wx.DEFAULT_FRAME_STYLE ^ wx.RESIZE_BORDER) self.panel = wx.Panel(self) self.nb = wx.Choicebook(self.panel, wx.ID_ANY) # create the tabs self.createWidgets() # assign events to the buttons on the tabs self.createActions() # add in the pipe from MAVProxy self.timer = wx.Timer(self) # self.Bind(wx.EVT_TIMER, self.on_timer, self.timer) # self.Bind(wx.EVT_TIMER, self.on_timer, self.timer) self.Bind(wx.EVT_TIMER, lambda evt, notebook=self.nb: self.on_timer(evt, notebook), self.timer) self.timer.Start(100) # finally, put the notebook in a sizer for the panel to manage # the layout sizer = wx.BoxSizer() sizer.Add(self.nb, 1, wx.EXPAND) self.panel.SetSizer(sizer) self.Show(True) self.pending = [] # create controls on form - labels, buttons, etc def createWidgets(self): # create the panels for the tabs PanelCommon = wx.Panel(self.nb) boxCommon = wx.BoxSizer(wx.VERTICAL) PanelCommon.SetAutoLayout(True) PanelCommon.SetSizer(boxCommon) PanelCommon.Layout() PanelPlane = wx.Panel(self.nb) boxPlane = wx.BoxSizer(wx.VERTICAL) PanelPlane.SetAutoLayout(True) PanelPlane.SetSizer(boxPlane) PanelPlane.Layout() PanelCopter = wx.Panel(self.nb) boxCopter = wx.BoxSizer(wx.VERTICAL) PanelCopter.SetAutoLayout(True) PanelCopter.SetSizer(boxCopter) PanelCopter.Layout() # add the data to the individual tabs 'Common failures' self.Dis_GNSS_Fix_Checkbox = wx.CheckBox(PanelCommon, wx.ID_ANY, "Disable GNSS FIX") boxCommon.Add(self.Dis_GNSS_Fix_Checkbox) boxCommon.Add(wx.StaticLine(PanelCommon, -1), 0, wx.EXPAND | wx.TOP | wx.BOTTOM, 10) boxCommon.Add(wx.StaticText(PanelCommon, wx.ID_ANY, 'Voltage drop rate mv/s:', wx.DefaultPosition, wx.DefaultSize, style=wx.ALIGN_RIGHT)) self.VoltageSlider = wx.Slider(PanelCommon, wx.ID_ANY, 100, 10, 200, wx.DefaultPosition, (250, -1), wx.SL_AUTOTICKS | wx.SL_HORIZONTAL | wx.SL_LABELS) boxCommon.Add(self.VoltageSlider) self.Voltage_Drop_Checkbox = wx.CheckBox(PanelCommon, wx.ID_ANY, "Voltage dropping") boxCommon.Add(self.Voltage_Drop_Checkbox) boxCommon.Add(wx.StaticLine(PanelCommon, -1), 0, wx.EXPAND | wx.TOP | wx.BOTTOM, 10) self.FailsafeButton = wx.Button(PanelCommon, wx.ID_ANY, "Trigger FailSafe") boxCommon.Add(self.FailsafeButton) boxCommon.Add(wx.StaticLine(PanelCommon, -1), 0, wx.EXPAND | wx.TOP | wx.BOTTOM, 10) self.GCS_Comm_Loss_Checkbox = wx.CheckBox(PanelCommon, wx.ID_ANY, "GCS Comm loss") # disCheckbox.Enable(False) boxCommon.Add(self.GCS_Comm_Loss_Checkbox) boxCommon.Add(wx.StaticLine(PanelCommon, -1), 0, wx.EXPAND | wx.TOP | wx.BOTTOM, 10) boxCommon.Add(wx.StaticText(PanelCommon, wx.ID_ANY, 'Wind Direction:', wx.DefaultPosition, wx.DefaultSize,style=wx.ALIGN_RIGHT)) self.Wind_Dir_Slider = wx.Slider(PanelCommon, wx.ID_ANY, 0, 0, 359, wx.DefaultPosition, (250, -1), wx.SL_AUTOTICKS | wx.SL_HORIZONTAL | wx.SL_LABELS) boxCommon.Add(self.Wind_Dir_Slider) boxCommon.Add(wx.StaticText(PanelCommon, wx.ID_ANY, 'Wind Velocity (m/s):', wx.DefaultPosition, wx.DefaultSize,style=wx.ALIGN_RIGHT)) self.Wind_Vel_Slider = wx.Slider(PanelCommon, wx.ID_ANY, 0, 0, 50, wx.DefaultPosition, (250, -1), wx.SL_AUTOTICKS | wx.SL_HORIZONTAL | wx.SL_LABELS) boxCommon.Add(self.Wind_Vel_Slider) boxCommon.Add(wx.StaticText(PanelCommon, wx.ID_ANY, 'Turbulence:', wx.DefaultPosition, wx.DefaultSize, style=wx.ALIGN_RIGHT)) self.Wind_Turb_Slider = wx.Slider(PanelCommon, wx.ID_ANY, 0, 0, 10, wx.DefaultPosition, (250, -1), wx.SL_AUTOTICKS | wx.SL_HORIZONTAL | wx.SL_LABELS) boxCommon.Add(self.Wind_Turb_Slider) 'Plane specific failures' self.Pitot_Fail_Low_Checkbox = wx.CheckBox(PanelPlane, wx.ID_ANY, "Pitot stuck at no speed") boxPlane.Add(self.Pitot_Fail_Low_Checkbox) self.Pitot_Fail_High_Checkbox = wx.CheckBox(PanelPlane, wx.ID_ANY, "Pitot stuck at high speed") boxPlane.Add(self.Pitot_Fail_High_Checkbox) self.Arspd_Offset_Slider = wx.Slider(PanelPlane, wx.ID_ANY, 2013, 1500, 2500, wx.DefaultPosition, (250, -1), wx.SL_AUTOTICKS | wx.SL_HORIZONTAL | wx.SL_LABELS) boxPlane.Add(self.Arspd_Offset_Slider) boxPlane.Add(wx.StaticLine(PanelPlane, -1), 0, wx.EXPAND | wx.TOP | wx.BOTTOM, 10) boxPlane.Add(wx.StaticText(PanelPlane, wx.ID_ANY, 'Thrust reduction:', wx.DefaultPosition, wx.DefaultSize, style=wx.ALIGN_RIGHT)) self.Plane_Thrust_Slider = wx.Slider(PanelPlane, wx.ID_ANY, 0, 0, 1000, wx.DefaultPosition, (250, -1), wx.SL_AUTOTICKS | wx.SL_HORIZONTAL | wx.SL_LABELS) boxPlane.Add(self.Plane_Thrust_Slider) boxPlane.Add(wx.StaticText(PanelPlane, wx.ID_ANY, 'Thrust reduction + current increase:', wx.DefaultPosition, wx.DefaultSize, style=wx.ALIGN_RIGHT)) self.Plane_Thrust_Curr_Slider = wx.Slider(PanelPlane, wx.ID_ANY, 0, 0, 1000, wx.DefaultPosition, (250, -1), wx.SL_AUTOTICKS | wx.SL_HORIZONTAL | wx.SL_LABELS) boxPlane.Add(self.Plane_Thrust_Curr_Slider) 'Copter specific failures' boxCopter.Add(wx.StaticText(PanelCopter, wx.ID_ANY, 'Thrust reduction:', wx.DefaultPosition, wx.DefaultSize, style=wx.ALIGN_RIGHT)) self.Copter_Thrust_Slider = wx.Slider(PanelCopter, wx.ID_ANY, 0, 0, 400, wx.DefaultPosition, (250, -1), wx.SL_AUTOTICKS | wx.SL_HORIZONTAL | wx.SL_LABELS) boxCopter.Add(self.Copter_Thrust_Slider) boxCopter.Add(wx.StaticLine(PanelCopter, -1), 0, wx.EXPAND | wx.TOP | wx.BOTTOM, 10) self.CopterResetButton = wx.Button(PanelCopter, wx.ID_ANY, "Reset Parameters") boxCopter.Add(self.CopterResetButton) # and add in the tabs self.nb.AddPage(PanelCommon, "Common (Copter/Plane) Failures") self.nb.AddPage(PanelPlane, "Plane specific Failures") self.nb.AddPage(PanelCopter, "Copter specific Failures") # Create the actions for the buttons def createActions(self): # Common tab: self.Bind(wx.EVT_CHECKBOX, self.dis_gnss, self.Dis_GNSS_Fix_Checkbox) #self.Bind(wx.EVT_CHECKBOX, self.sendevent("Voltage", 20), self.Voltage_Drop_Checkbox) # WHY trigged once? self.Bind(wx.EVT_CHECKBOX, self.volt_drop, self.Voltage_Drop_Checkbox) self.Bind(wx.EVT_CHECKBOX, self.gcs_comm_loss, self.GCS_Comm_Loss_Checkbox) self.Bind(wx.EVT_SCROLL_CHANGED, self.volt_drop_rate, self.VoltageSlider) self.Bind(wx.EVT_BUTTON, self.setmode, self.FailsafeButton) self.Bind(wx.EVT_SCROLL_CHANGED, self.wind_dir, self.Wind_Dir_Slider) self.Bind(wx.EVT_SCROLL_CHANGED, self.wind_vel, self.Wind_Vel_Slider) self.Bind(wx.EVT_SCROLL_CHANGED, self.wind_turbulence, self.Wind_Turb_Slider) # Plane tab: self.Bind(wx.EVT_CHECKBOX, self.pitot_fail_low, self.Pitot_Fail_Low_Checkbox) self.Bind(wx.EVT_CHECKBOX, self.pitot_fail_high, self.Pitot_Fail_High_Checkbox) self.Bind(wx.EVT_SCROLL_CHANGED, self.arspd_offset, self.Arspd_Offset_Slider) self.Bind(wx.EVT_SCROLL_CHANGED, self.plane_thrust_loss, self.Plane_Thrust_Slider) self.Bind(wx.EVT_SCROLL_CHANGED, self.plane_thrust_loss_curr, self.Plane_Thrust_Curr_Slider) # Copter tab: self.Bind(wx.EVT_SCROLL_CHANGED, self.copter_thrust_loss, self.Copter_Thrust_Slider) self.Bind(wx.EVT_BUTTON, self.copter_reset, self.CopterResetButton) # Common actions def dis_gnss(self, event): self.gui_pipe.send(["dis_gnss", self.Dis_GNSS_Fix_Checkbox.Value]) def volt_drop_rate(self, event): self.gui_pipe.send(["volt_drop_rate", self.VoltageSlider.Value / 1000]) def volt_drop(self, event): self.gui_pipe.send(["volt_drop", self.Voltage_Drop_Checkbox.Value]) def gcs_comm_loss(self, event): self.gui_pipe.send(["gcs_comm_loss", self.GCS_Comm_Loss_Checkbox.Value]) def setmode(self, event): self.gui_pipe.send(["setmode", 10]) def on_gnss_Button_ok(self, event): self.gui_pipe.send("ok") def wind_dir(self, event): self.gui_pipe.send(["wind_dir", self.Wind_Dir_Slider.Value]) def wind_vel(self, event): self.gui_pipe.send(["wind_vel", self.Wind_Vel_Slider.Value]) def wind_turbulence(self, event): self.gui_pipe.send(["wind_turbulence", self.Wind_Turb_Slider.Value]) # Plane actions def pitot_fail_low(self, event): self.gui_pipe.send(["pitot_fail_low", self.Pitot_Fail_Low_Checkbox.Value]) def pitot_fail_high(self, event): self.gui_pipe.send(["pitot_fail_high", self.Pitot_Fail_High_Checkbox.Value]) def arspd_offset(self, event): self.gui_pipe.send(["arspd_offset", self.Arspd_Offset_Slider.Value]) def plane_thrust_loss(self, event): self.gui_pipe.send(["plane_thrust_loss", self.Plane_Thrust_Slider.Value]) def plane_thrust_loss_curr(self, event): self.gui_pipe.send(["plane_thrust_loss_curr", self.Plane_Thrust_Curr_Slider.Value]) # Copter actions def copter_thrust_loss(self, event): self.gui_pipe.send(["copter_thrust_loss", self.Copter_Thrust_Slider.Value]) def copter_reset (self, event): self.gui_pipe.send(["copter_reset", 0]) def sendevent(self, event, text, value=0): self.gui_pipe.send([text, value]) #do a final check of the current panel and move to the next def on_Button( self, event): win = (event.GetEventObject()).GetParent() for widget in win.GetChildren(): if type(widget) is wx.CheckBox and widget.IsChecked() == 0: dlg = wx.MessageDialog(win, "Not all items checked", "Error", wx.OK | wx.ICON_WARNING) dlg.ShowModal() dlg.Destroy() return # all checked, go to next panel. win.GetParent().AdvanceSelection() # Receive messages from MAVProxy module and process them def on_timer(self, event, notebook): state = self.state win = notebook.GetPage(notebook.GetSelection()) if state.close_event.wait(0.001): self.timer.Stop() self.Destroy() return while state.gui_pipe.poll(): obj = state.gui_pipe.recv() if isinstance(obj, CheckboxItemState): # go through each item in the current tab and (un)check as needed # print(obj.name + ", " + str(obj.state)) for widget in win.GetChildren(): if type(widget) is wx.CheckBox and widget.GetLabel() == obj.name: widget.SetValue(obj.state) if __name__ == "__main__": # test the console import time instructor = InstructorUI() # example auto-tick in second tab page while instructor.is_alive(): time.sleep(0.5) MAVProxy-1.8.74/MAVProxy/modules/lib/mp_menu.py000066400000000000000000000453561504324515000212310ustar00rootroot00000000000000#!/usr/bin/env python3 ''' menu handling widgets for wx Andrew Tridgell November 2013 ''' from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import multiproc import platform idmap = {} class MPMenuGeneric(object): '''a MP menu separator''' def __init__(self): pass def find_selected(self, event): return None def _append(self, menu): '''append this menu item to a menu''' pass def __str__(self): return "MPMenuGeneric()" def __repr__(self): return str(self.__str__()) class MPMenuSeparator(MPMenuGeneric): '''a MP menu separator''' def __init__(self): MPMenuGeneric.__init__(self) def _append(self, menu): '''append this menu item to a menu''' menu.AppendSeparator() def __str__(self): return "MPMenuSeparator()" class MPMenuItem(MPMenuGeneric): '''a MP menu item''' def __init__(self, name, description='', returnkey=None, handler=None): MPMenuGeneric.__init__(self) self.name = name self.description = description self.returnkey = returnkey self.handler = handler self.handler_result = None def __getstate__(self): '''use __getstate__ to override pickle so that we don't propogate IDs across process boundaries''' attr = self.__dict__.copy() if hasattr(attr,'_id'): del attr['_id'] return attr def find_selected(self, event): '''find the selected menu item''' if event.GetId() == self.id(): return self return None def call_handler(self): '''optionally call a handler function''' if self.handler is None: return call = getattr(self.handler, 'call', None) if call is not None: self.handler_result = call() def id(self): '''id used to identify the returned menu items uses a 16 bit signed integer. We allocate these on use, and use __getstate__ to avoid them crossing processs boundaries''' if getattr(self, '_id', None) is None: global idmap import os key_tuple = (os.getpid(), self.name, self.returnkey) if key_tuple in idmap: self._id = idmap[key_tuple] else: from MAVProxy.modules.lib.wx_loader import wx self._id = wx.NewId() idmap[key_tuple] = self._id return self._id def _append(self, menu): '''append this menu item to a menu''' if not self.name: return menu.Append(self.id(), self.name, self.description) def __str__(self): return "MPMenuItem(%s,%s,%s)" % (self.name, self.description, self.returnkey) class MPMenuCheckbox(MPMenuItem): '''a MP menu item as a checkbox''' def __init__(self, name, description='', returnkey=None, checked=False, handler=None): MPMenuItem.__init__(self, name, description=description, returnkey=returnkey, handler=handler) self.checked = checked def find_selected(self, event): '''find the selected menu item''' if event.GetId() == self.id(): self.checked = event.IsChecked() return self return None def IsChecked(self): '''return true if item is checked''' return self.checked def _append(self, menu): '''append this menu item to a menu''' try: menu.AppendCheckItem(self.id(), self.name, self.description) menu.Check(self.id(), self.checked) except Exception: pass def __str__(self): return "MPMenuCheckbox(%s,%s,%s,%s)" % (self.name, self.description, self.returnkey, str(self.checked)) class MPMenuRadio(MPMenuItem): '''a MP menu item as a radio item''' def __init__(self, name, description='', returnkey=None, selected=None, items=[], handler=None): MPMenuItem.__init__(self, name, description=description, returnkey=returnkey, handler=handler) self.items = items self.choice = 0 self.initial = selected def __getstate__(self): attr = self.__dict__.copy() if hasattr(attr,'_ids'): del attr['_ids'] return attr def set_choices(self, items): '''set radio item choices''' self.items = items def get_choice(self): '''return the chosen item''' return self.items[self.choice] def find_selected(self, event): '''find the selected menu item''' if not hasattr(self, '_ids'): return None evid = event.GetId() if evid in self._ids: self.choice = self._ids.index(evid) return self return None def _append(self, menu): '''append this menu item to a menu''' from MAVProxy.modules.lib.wx_loader import wx submenu = wx.Menu() if not hasattr(self, '_ids') or len(self._ids) != len(self.items): self._ids = [] for i in range(len(self.items)): self._ids.append(wx.NewId()) for i in range(len(self.items)): submenu.AppendRadioItem(self._ids[i], self.items[i], self.description) if self.items[i] == self.initial: submenu.Check(self._ids[i], True) menu.AppendSubMenu(submenu, self.name) def __str__(self): return "MPMenuRadio(%s,%s,%s,%s)" % (self.name, self.description, self.returnkey, self.get_choice()) class MPMenuSubMenu(MPMenuGeneric): '''a MP menu item''' def __init__(self, name, items): MPMenuGeneric.__init__(self) self.name = name self.items = items def add(self, items, addto=None): '''add more items to a sub-menu''' if not isinstance(items, list): items = [items] for m in items: updated = False for i in range(len(self.items)): try: if self.items[i].name == m.name: self.items[i] = m updated = True except Exception: pass if not updated: self.items.append(m) def remove(self, items): '''remove items from a sub-menu''' if not isinstance(items, list): items = [items] names = set([x.name for x in items]) self.items = list(filter(lambda x : x.name not in names, self.items)) def add_to_submenu(self, submenu_path, item): '''add an item to a submenu using a menu path array''' if len(submenu_path) == 0: self.add(item) return for m in self.items: if isinstance(m, MPMenuSubMenu) and submenu_path[0] == m.name: m.add_to_submenu(submenu_path[1:], item) return self.add(MPMenuSubMenu(submenu_path[0], [])) self.add_to_submenu(submenu_path, item) def combine(self, submenu): '''combine a new menu with an existing one''' self.items.extend(submenu.items) def wx_menu(self): '''return a wx.Menu() for this menu''' from MAVProxy.modules.lib.wx_loader import wx menu = wx.Menu() for i in range(len(self.items)): m = self.items[i] m._append(menu) return menu def find_selected(self, event): '''find the selected menu item''' for m in self.items: ret = m.find_selected(event) if ret is not None: return ret return None def _append(self, menu): '''append this menu item to a menu''' menu.AppendSubMenu(self.wx_menu(), self.name) #use wxPython_phoenix def __str__(self): return "MPMenuSubMenu(%s)" % (self.name) class MPMenuTop(object): '''a MP top level menu''' def __init__(self, items): self.items = items def add(self, items): '''add a submenu''' if not isinstance(items, list): items = [items] for m in items: updated = False for i in range(len(self.items)): if self.items[i].name == m.name: self.items[i] = m updated = True if not updated: self.items.append(m) def remove(self, items): if not isinstance(items, list): items = [items] names = set([x.name for x in items]) self.items = list(filter(lambda x : x.name not in names, self.items)) def add_to_submenu(self, submenu_path, item): ''' add an item to a submenu using a menu path array ''' for m in self.items: if m.name == submenu_path[0]: m.add_to_submenu(submenu_path[1:], item) return # new submenu if len(submenu_path) > 1: self.add(MPMenuSubMenu(submenu_path[0], [])) self.add_to_submenu(submenu_path, item) else: self.add(MPMenuSubMenu(submenu_path[0], [item])) def wx_menu(self): '''return a wx.MenuBar() for the menu''' from MAVProxy.modules.lib.wx_loader import wx menubar = wx.MenuBar() for i in range(len(self.items)): m = self.items[i] menubar.Append(m.wx_menu(), m.name) return menubar def find_selected(self, event): '''find the selected menu item''' for i in range(len(self.items)): m = self.items[i] ret = m.find_selected(event) if ret is not None: return ret return None class MPMenuCallFileDialog(object): '''used to create a file dialog callback''' def __init__(self, flags=None, title='Filename', wildcard='*.*'): self.flags = flags or ('open',) self.title = title self.wildcard = wildcard def call(self): '''show a file dialog''' from MAVProxy.modules.lib.wx_loader import wx # remap flags to wx descriptors flag_map = { 'open': wx.FD_OPEN, 'save': wx.FD_SAVE, 'overwrite_prompt': wx.FD_OVERWRITE_PROMPT, } flagsMapped = list(map(lambda x: flag_map[x], self.flags)) #need to OR together the elements of the flagsMapped tuple if len(flagsMapped) == 1: dlg = wx.FileDialog(None, self.title, '', "", self.wildcard, flagsMapped[0]) else: dlg = wx.FileDialog(None, self.title, '', "", self.wildcard, flagsMapped[0]|flagsMapped[1]) if dlg.ShowModal() != wx.ID_OK: return None return "\"" + dlg.GetPath() + "\"" class MPMenuCallDirDialog(object): '''used to create a file folder dialog callback''' def __init__(self, flags=None, title='Directory'): self.title = title def call(self): '''show a directory chooser dialog''' from MAVProxy.modules.lib.wx_loader import wx dlg = wx.DirDialog(None, self.title, '') if dlg.ShowModal() != wx.ID_OK: return None return "\"" + dlg.GetPath() + "\"" class MPMenuCallTextDialog(object): '''used to create a value dialog callback''' def __init__(self, title='Enter Value', default='', settings=None): self.title = title self.default = default self.settings = settings def call(self): '''show a value dialog''' from MAVProxy.modules.lib.wx_loader import wx title = self.title try: dlg = wx.TextEntryDialog(None, title, title, defaultValue=str(self.default)) except TypeError: dlg = wx.TextEntryDialog(None, title, title, value=str(self.default)) if dlg.ShowModal() != wx.ID_OK: return None return dlg.GetValue() # memory of last dropdowns last_dropdown_selection = {} last_value_selection = {} class MPMenuCallTextDropdownDialog(object): '''used to create a value dialog with dropdown callback''' def __init__(self, title='Enter Value', default='', dropdown_options=None, dropdown_label='Select option', default_dropdown=None): self.title = title self.default = default self.default_dropdown = default_dropdown self.dropdown_options = dropdown_options or [] self.dropdown_label = dropdown_label def call(self): '''show a value dialog with dropdown''' from MAVProxy.modules.lib.wx_loader import wx # Create a custom dialog dlg = wx.Dialog(None, title=self.title, size=(400, 150)) # Create a vertical box sizer for the dialog main_sizer = wx.BoxSizer(wx.VERTICAL) # Create a horizontal sizer for the text entry and dropdown input_sizer = wx.BoxSizer(wx.HORIZONTAL) # Text entry label and control text_label = wx.StaticText(dlg, label="Value:") default = last_value_selection.get(self.title, self.default) text_ctrl = wx.TextCtrl(dlg, value=str(default), size=(200, -1)) # Add text control components to input sizer input_sizer.Add(text_label, 0, wx.ALL | wx.ALIGN_CENTER_VERTICAL, 5) input_sizer.Add(text_ctrl, 1, wx.ALL | wx.EXPAND, 5) # Dropdown label and control dropdown_label = wx.StaticText(dlg, label=self.dropdown_label) dropdown_ctrl = wx.Choice(dlg, choices=self.dropdown_options) # Select first item by default if options exist if self.dropdown_options: default_idx = 0 for i in range(len(self.dropdown_options)): if self.dropdown_options[i] == self.default_dropdown: default_idx = i dropdown_ctrl.SetSelection(last_dropdown_selection.get(self.title,default_idx)) # Add dropdown components to input sizer input_sizer.Add(dropdown_label, 0, wx.ALL | wx.ALIGN_CENTER_VERTICAL, 5) input_sizer.Add(dropdown_ctrl, 0, wx.ALL | wx.EXPAND, 5) # Add the input sizer to the main sizer main_sizer.Add(input_sizer, 0, wx.ALL | wx.EXPAND, 5) # Create button sizer with OK and Cancel buttons button_sizer = dlg.CreateButtonSizer(wx.OK | wx.CANCEL) main_sizer.Add(button_sizer, 0, wx.ALL | wx.ALIGN_CENTER, 10) # Set the sizer for the dialog dlg.SetSizer(main_sizer) # Fit the dialog to its contents dlg.Fit() # Show the dialog and get the result if dlg.ShowModal() != wx.ID_OK: return None text_value = text_ctrl.GetValue() dropdown_index = dropdown_ctrl.GetSelection() dropdown_value = self.dropdown_options[dropdown_index] if dropdown_index != -1 and self.dropdown_options else "" last_dropdown_selection[self.title] = dropdown_index last_value_selection[self.title] = text_value # Return tuple with text value and selected dropdown value return text_value + " " + dropdown_value class MPMenuConfirmDialog(object): '''used to create a confirmation dialog''' def __init__(self, title='Confirmation', message='', callback=None, args=None): self.title = title self.message = message self.callback = callback self.args = args t = multiproc.Process(target=self.thread) t.start() def thread(self): mp_util.child_close_fds() from MAVProxy.modules.lib import wx_processguard from MAVProxy.modules.lib.wx_loader import wx app = wx.App(False) dlg = wx.MessageDialog(None, self.title, self.message, wx.YES|wx.NO) ret = dlg.ShowModal() if ret == wx.ID_YES and self.callback is not None: self.callback(self.args) class MPMenuChildMessageDialog(object): '''used to create a message dialog in a child process''' def __init__(self, title='Information', message='', font_size=18): self.title = title self.message = message self.font_size = font_size def show(self): t = multiproc.Process(target=self.call) t.start() def call(self): '''show the dialog as a child process''' mp_util.child_close_fds() from MAVProxy.modules.lib import wx_processguard from MAVProxy.modules.lib.wx_loader import wx from wx.lib.agw.genericmessagedialog import GenericMessageDialog app = wx.App(False) # note! font size change is not working. I don't know why yet font = wx.Font(self.font_size, wx.MODERN, wx.NORMAL, wx.NORMAL) dlg = GenericMessageDialog(None, self.message, self.title, wx.ICON_INFORMATION|wx.OK) dlg.SetFont(font) dlg.ShowModal() app.MainLoop() class MPMenuOpenWeblink(object): '''used to open a weblink in the default webbrowser''' def __init__(self, url='www.google.com'): self.url = url def call(self): '''show the dialog as a child process''' import webbrowser webbrowser.open_new_tab(self.url) if __name__ == '__main__': from MAVProxy.modules.lib.mp_image import MPImage import time im = MPImage(mouse_events=True, key_events=True, can_drag = False, can_zoom = False, auto_size = True) menu = MPMenuTop([MPMenuSubMenu('&File', items=[MPMenuItem('&Open\tCtrl+O'), MPMenuItem('&Save\tCtrl+S'), MPMenuItem('Close', 'Close'), MPMenuItem('&Quit\tCtrl+Q', 'Quit')]), MPMenuSubMenu('Edit', items=[MPMenuSubMenu('Option', items=[MPMenuItem('Foo'), MPMenuItem('Bar'), MPMenuSeparator(), MPMenuCheckbox('&Grid\tCtrl+G')]), MPMenuItem('Image', 'EditImage'), MPMenuRadio('Colours', items=['Red','Green','Blue']), MPMenuRadio('Shapes', items=['Circle','Square','Triangle'])])]) im.set_menu(menu) popup = MPMenuSubMenu('A Popup', items=[MPMenuItem('Sub1'), MPMenuItem('Sub2'), MPMenuItem('Sub3')]) im.set_popup_menu(popup) while im.is_alive(): for event in im.events(): if isinstance(event, MPMenuItem): print(event, getattr(event, 'popup_pos', None)) continue else: print(event) time.sleep(0.1) MAVProxy-1.8.74/MAVProxy/modules/lib/mp_module.py000066400000000000000000000206571504324515000215470ustar00rootroot00000000000000import time from pymavlink import mavutil import traceback import sys class MPModule(object): ''' The base class for all modules ''' def __init__(self, mpstate, name, description=None, public=False, multi_instance=False, multi_vehicle=False): ''' Constructor if public is true other modules can find this module instance with module('name') ''' self.mpstate = mpstate self.name = name self.needs_unloading = False self.multi_instance = multi_instance self.multi_vehicle = multi_vehicle self.named_float_seq = 0 if description is None: self.description = name + " handling" else: self.description = description if multi_instance: if not name in mpstate.multi_instance: mpstate.multi_instance[name] = [] mpstate.instance_count[name] = 0 mpstate.multi_instance[name].append(self) mpstate.instance_count[name] += 1 self.instance = mpstate.instance_count[name] if self.instance > 1: # make the name distincitive, so self.module('map2') works self.name += str(self.instance) if public: mpstate.public_modules[self.name] = self # # Overridable hooks follow... # def idle_task(self): pass def unload(self): if self.multi_instance and self.name in self.mpstate.multi_instance: self.mpstate.multi_instance.pop(self.name) def unknown_command(self, args): '''Return True if we have handled the unknown command''' return False def mavlink_packet(self, packet): pass # # Methods for subclass use # def module(self, name): '''Find a public module (most modules are private)''' return self.mpstate.module(name) def module_matching(self, name): '''Find a list of modules matching a wildcard pattern''' import fnmatch ret = [] for mname in self.mpstate.public_modules.keys(): if fnmatch.fnmatch(mname, name): ret.append(self.mpstate.public_modules[mname]) return ret def get_time(self): '''get time, using ATTITUDE.time_boot_ms if in SITL with SIM_SPEEDUP != 1''' systime = time.time() - self.mpstate.start_time_s if not self.mpstate.is_sitl: return systime try: speedup = int(self.get_mav_param('SIM_SPEEDUP',1)) except Exception: return systime if speedup != 1: return self.mpstate.attitude_time_s return systime @property def console(self): return self.mpstate.console @property def status(self): return self.mpstate.status @property def mav_param(self): return self.mpstate.mav_param @property def settings(self): return self.mpstate.settings @property def vehicle_type(self): return self.mpstate.vehicle_type @property def vehicle_name(self): return self.mpstate.vehicle_name @property def sitl_output(self): return self.mpstate.sitl_output @property def target_system(self): return self.settings.target_system @property def target_component(self): return self.settings.target_component @property def master(self): return self.mpstate.master() @property def continue_mode(self): return self.mpstate.continue_mode @property def logdir(self): return self.mpstate.status.logdir def say(self, msg, priority='important'): return self.mpstate.functions.say(msg) def get_mav_param(self, param_name, default=None): return self.mpstate.functions.get_mav_param(param_name, default) def param_set(self, name, value, retries=3): self.mpstate.functions.param_set(name, value, retries) def add_command(self, name, callback, description, completions=None): self.mpstate.command_map[name] = (callback, description) if completions is not None: self.mpstate.completions[name] = completions def remove_command(self, name): if name in self.mpstate.command_map: del self.mpstate.command_map[name] if name in self.mpstate.completions: del self.mpstate.completions[name] def add_completion_function(self, name, callback): self.mpstate.completion_functions[name] = callback def flyto_frame_units(self): '''return a frame string and unit''' return "%s %s" % (self.settings.height_unit, self.settings.flytoframe) def flyto_frame(self): '''return mavlink frame flyto frame setting''' if self.settings.flytoframe == "AGL": return mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT if self.settings.flytoframe == "AMSL": return mavutil.mavlink.MAV_FRAME_GLOBAL return mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT def dist_string(self, val_meters): '''return a distance as a string''' if self.settings.dist_unit == 'nm': return "%.1fnm" % (val_meters * 0.000539957) if self.settings.dist_unit == 'miles': return "%.1fmiles" % (val_meters * 0.000621371) return "%um" % val_meters def height_convert_units(self, val_meters): '''return a height in configured units''' if self.settings.height_unit == 'feet': return val_meters * 3.28084 return val_meters def height_convert_from_units(self, val): '''convert a height from configured units''' if self.settings.height_unit == 'feet': return val / 3.28084 return val def height_string(self, val_meters): '''return a height as a string''' if self.settings.height_unit == 'feet': return "%uft" % (val_meters * 3.28084) return "%um" % val_meters def speed_convert_units(self, val_ms): '''return a speed in configured units''' if self.settings.speed_unit == 'knots': return val_ms * 1.94384 elif self.settings.speed_unit == 'mph': return val_ms * 2.23694 return val_ms def speed_string(self, val_ms): '''return a speed as a string''' if self.settings.speed_unit == 'knots': return "%ukn" % (val_ms * 1.94384) elif self.settings.speed_unit == 'mph': return "%umph" % (val_ms * 2.23694) return "%um/s" % val_ms def set_prompt(self, prompt): '''set prompt for command line''' if prompt and self.settings.vehicle_name: # add in optional vehicle name prompt = self.settings.vehicle_name + ':' + prompt self.mpstate.rl.set_prompt(prompt) @staticmethod def link_label(link): '''return a link label as a string''' if hasattr(link, 'label'): label = link.label else: label = str(link.linknum+1) return label def message_is_from_primary_vehicle(self, msg): '''see if a msg is from our primary vehicle''' sysid = msg.get_srcSystem() compid = msg.get_srcComponent() if ((self.target_system == 0 or self.target_system == sysid) and (self.target_component == 0 or self.target_component == compid)): return True return False def send_named_float(self, name, value): '''inject a NAMED_VALUE_FLOAT into the local master input, so it becomes available for graphs, logging and status command''' # use the ATTITUDE message for time stamp att = self.master.messages.get('ATTITUDE',None) if att is None: return msec = att.time_boot_ms ename = name.encode('ASCII') if len(ename) < 10: ename += bytes([0] * (10-len(ename))) m = self.master.mav.named_value_float_encode(msec, bytearray(ename), value) m.pack(self.master.mav) m._header.srcSystem = att._header.srcSystem m._header.srcComponent = mavutil.mavlink.MAV_COMP_ID_TELEMETRY_RADIO m._header.seq = self.named_float_seq self.named_float_seq = (self.named_float_seq+1) % 256 m.name = name self.mpstate.module('link').master_callback(m, self.master) def get_exception_stacktrace(self, e): ret = "%s\n" % e ret += ''.join(traceback.format_exception(type(e), e, tb=e.__traceback__)) return ret MAVProxy-1.8.74/MAVProxy/modules/lib/mp_settings.py000066400000000000000000000157251504324515000221220ustar00rootroot00000000000000#!/usr/bin/env python3 '''settings object for MAVProxy modules''' import time import fnmatch class MPSetting: def __init__(self, name, type, default, label=None, tab=None, range=None, increment=None, format=None, digits=None, choice=None): if label is None: label = name self.name = name self.type = type self.default = default self.label = label self.value = default self.tab = tab self.range = range if range is not None: # check syntax (minv, maxv) = range self.increment = increment self.choice = choice self.format = format self.digits = digits def describe(self): if self.choice is not None: for v in self.choice: if isinstance(v, tuple): (v, thisvalue) = v if thisvalue == self.value: return "%s(%d)" % (v, thisvalue) return "%s" % self.value def set(self, value): '''set a setting''' if value == 'None' and self.default is None: value = None if value is not None: if self.type == bool: if str(value).lower() in ['1', 'true', 'yes']: value = True elif str(value).lower() in ['0', 'false', 'no']: value = False else: return False else: try: value = self.type(value) except: return False if self.range is not None: (minv,maxv) = self.range if value < minv or value > maxv: print("Out of range (min=%f max=%f)" % (minv, maxv)) return False if self.choice is not None: found = False options = [] for v in self.choice: if isinstance(v, tuple): (v, thisvalue) = v else: thisvalue = v options.append(v) if isinstance(value, self.type): if thisvalue == value: found = True break if isinstance(value, str) and v.lower() == value.lower(): found = True value = thisvalue break if not found: print("Must be one of %s" % str(options)) return False self.value = value return True class MPSettings(object): def __init__(self, vars, title='Settings'): self._vars = {} self._title = title self._default_tab = 'Settings' self._keys = [] self._callback = None self._last_change = time.time() for v in vars: self.append(v) def get_title(self): '''return the title''' return self._title def get_setting(self, name): '''return a MPSetting object''' return self._vars[name] def append(self, v): '''add a new setting''' if isinstance(v, MPSetting): setting = v else: (name,type,default) = v label = name tab = None if len(v) > 3: label = v[3] if len(v) > 4: tab = v[4] setting = MPSetting(name, type, default, label=label, tab=tab) # when a tab name is set, cascade it to future settings if setting.tab is None: setting.tab = self._default_tab else: self._default_tab = setting.tab self._vars[setting.name] = setting self._keys.append(setting.name) self._last_change = time.time() def __getattr__(self, name): try: return self._vars[name].value except Exception: raise AttributeError def __setattr__(self, name, value): if name[0] == '_': self.__dict__[name] = value return if name in self._vars: self._vars[name].value = value return raise AttributeError def set(self, name, value): '''set a setting''' if not name in self._vars: raise AttributeError setting = self._vars[name] oldvalue = setting.value if not setting.set(value): print("Unable to set %s (want type=%s)" % (value, setting.type)) return False if oldvalue != setting.value: self._last_change = time.time() if self._callback: self._callback(setting) return True def get(self, name): '''get a setting''' if not name in self._vars: raise AttributeError setting = self._vars[name] return setting.value def show(self, v): '''show settings''' print("%20s %s" % (v, self._vars[v].describe())) def show_pattern(self, pattern): '''show all settings''' for setting in sorted(self._vars): if fnmatch.fnmatch(setting, pattern): self.show(setting) def show_all(self): '''show all settings''' self.show_pattern('*') def list(self): '''list all settings''' return self._keys def completion(self, text): '''completion function for cmdline completion''' return self.list() def command(self, args): '''control options from cmdline''' if len(args) == 0: self.show_all() return if args[0].find('*') != -1: self.show_pattern(args[0]) return if getattr(self, args[0], [None]) == [None]: print("Unknown setting '%s'" % args[0]) return if len(args) == 1: self.show(args[0]) else: self.set(args[0], args[1]) def set_callback(self, callback): '''set a callback to be called on set()''' self._callback = callback def save(self, filename): '''save settings to a file. Return True/False on success/failure''' try: f = open(filename, mode='w') except Exception: return False for k in self.list(): f.write("%s=%s\n" % (k, self.get(k))) f.close() return True def load(self, filename): '''load settings from a file. Return True/False on success/failure''' try: f = open(filename, mode='r') except Exception: return False while True: line = f.readline() if not line: break line = line.rstrip() eq = line.find('=') if eq == -1: continue name = line[:eq] value = line[eq+1:] self.set(name, value) f.close() return True def last_change(self): '''return last change time''' return self._last_change MAVProxy-1.8.74/MAVProxy/modules/lib/mp_substitute.py000066400000000000000000000070161504324515000224670ustar00rootroot00000000000000''' variable substitution in strings using a dictionary ''' import sys class MAVSubstituteError(Exception): def __init__(self, message, inner_exception=None): self.message = message self.inner_exception = inner_exception self.exception_info = sys.exc_info() def __str__(self): return self.message class MAVSubstitute(object): '''simple templating system''' def __init__(self, start_var_token="${", end_var_token="}", checkmissing=True): self.start_var_token = start_var_token self.end_var_token = end_var_token self.checkmissing = checkmissing def find_end(self, text, start_token, end_token, ignore_end_token=None): '''find the of a token. Returns the offset in the string immediately after the matching end_token''' if not text.startswith(start_token): raise MAVSubstituteError("invalid token start") offset = len(start_token) nesting = 1 while nesting > 0: idx1 = text[offset:].find(start_token) idx2 = text[offset:].find(end_token) # Check for false positives due to another similar token # For example, make sure idx2 points to the second '}' in ${{field: ${name}}} if ignore_end_token: combined_token = ignore_end_token + end_token if text[offset+idx2:offset+idx2+len(combined_token)] == combined_token: idx2 += len(ignore_end_token) if idx1 == -1 and idx2 == -1: raise MAVSubstituteError("token nesting error") if idx1 == -1 or idx1 > idx2: offset += idx2 + len(end_token) nesting -= 1 else: offset += idx1 + len(start_token) nesting += 1 return offset def find_var_end(self, text): '''find the of a variable''' return self.find_end(text, self.start_var_token, self.end_var_token) def substitute(self, text, subvars={}, checkmissing=None): '''substitute variables in a string''' if checkmissing is None: checkmissing = self.checkmissing while True: idx = text.find(self.start_var_token) if idx == -1: return text endidx = text[idx:].find(self.end_var_token) if endidx == -1: raise MAVSubstituteError('missing end of variable: %s' % text[idx:idx+10]) varname = text[idx+2:idx+endidx] fullvar = varname # allow default value after a : def_value = None colon = varname.find(':') if colon != -1: def_value = varname[colon+1:] varname = varname[:colon] if varname in subvars: value = subvars[varname] elif def_value is not None: value = def_value elif checkmissing: raise MAVSubstituteError("unknown variable in '%s%s%s'" % ( self.start_var_token, varname, self.end_var_token)) else: return text[0:idx+endidx] + self.substitute(text[idx+endidx:], subvars, checkmissing=False) text = text.replace("%s%s%s" % (self.start_var_token, fullvar, self.end_var_token), str(value)) return text if __name__ == "__main__": import os sub = MAVSubstitute() for v in sys.argv[1:]: print("'%s' -> '%s'" % (v, sub.substitute(v, os.environ))) MAVProxy-1.8.74/MAVProxy/modules/lib/mp_util.py000066400000000000000000000422321504324515000212300ustar00rootroot00000000000000#!/usr/bin/env python3 # -*- coding: utf-8 -*- '''common mavproxy utility functions''' import gzip import math import os import io import sys import platform import warnings import time import re from math import cos, sin, tan, atan2, sqrt, radians, degrees, pi, log, fmod # Some platforms (CYGWIN and others) many not have the wx library # use imp to see if wx is on the path has_wxpython = False if platform.system() == 'Windows': # auto-detection is failing on windows, for an unknown reason has_wxpython = True else: try: import importlib try: import importlib.util except ImportError: pass if importlib.util.find_spec('wx') is not None: has_wxpython = True except (ImportError, ModuleNotFoundError): import imp try: imp.find_module('wx') has_wxpython = True except ImportError as e: pass radius_of_earth = 6378100.0 # in meters def wrap_360(angle): '''wrap an angle to 0..360 degrees''' if angle < 0: return 360.0 - math.fmod(abs(angle),360) return math.fmod(angle, 360.0) def wrap_180(angle): '''wrap an angle to -180..180 degrees''' a = wrap_360(angle) if a > 180: a = a - 360 return a def gps_distance(lat1, lon1, lat2, lon2): '''distance between two points in meters along rhumb line coordinates are in degrees thanks to http://www.movable-type.co.uk/scripts/latlong.html and http://www.edwilliams.org/avform147.htm#Rhumb ''' lat1 = radians(lat1) lat2 = radians(lat2) lon1 = radians(lon1) lon2 = radians(lon2) if abs(lat2-lat1) < 1.0e-15: q = cos(lat1) else: q = (lat2-lat1)/log(tan(lat2/2+pi/4)/tan(lat1/2+pi/4)) d = sqrt((lat2-lat1)**2 + q**2 * (lon2-lon1)**2) return d * radius_of_earth def gps_bearing(lat1, lon1, lat2, lon2): '''return rhumb bearing between two points in degrees, in range 0-360 thanks to http://www.movable-type.co.uk/scripts/latlong.html''' lat1 = radians(lat1) lat2 = radians(lat2) lon1 = radians(lon1) lon2 = radians(lon2) tc = -fmod(atan2(lon1-lon2,log(tan(lat2/2+pi/4)/tan(lat1/2+pi/4))),2*pi) if tc < 0: tc += 2*pi return degrees(tc) def wrap_valid_longitude(lon): ''' wrap a longitude value around to always have a value in the range [-180, +180) i.e 0 => 0, 1 => 1, -1 => -1, 181 => -179, -181 => 179 ''' return (((lon + 180.0) % 360.0) - 180.0) def constrain(v, minv, maxv): if v < minv: v = minv if v > maxv: v = maxv return v def constrain_latlon(latlon): epsilon = 1.0e-3 return (constrain(latlon[0],-90+epsilon, 90-epsilon), wrap_180(latlon[1])) def gps_newpos(lat, lon, bearing, distance): '''extrapolate latitude/longitude given a heading and distance along rhumb line thanks to http://www.movable-type.co.uk/scripts/latlong.html ''' lat1 = constrain(radians(lat), -pi/2+1.0e-15, pi/2-1.0e-15) lon1 = radians(lon) tc = radians(-bearing) d = distance/radius_of_earth lat = lat1 + d * cos(tc) lat = constrain(lat, -pi/2 + 1.0e-15, pi/2 - 1.0e-15) if abs(lat-lat1) < 1.0e-15: q = cos(lat1) else: try: dphi = log(tan(lat/2+pi/4)/tan(lat1/2+pi/4)) except Exception: print(degrees(lat),degrees(lat1)) raise q = (lat-lat1)/dphi dlon = -d*sin(tc)/q lon = fmod(lon1+dlon+pi,2*pi)-pi return (degrees(lat), degrees(lon)) def gps_offset(lat, lon, east, north): '''return new lat/lon after moving east/north by the given number of meters''' bearing = degrees(atan2(east, north)) distance = sqrt(east**2 + north**2) return gps_newpos(lat, lon, bearing, distance) def mkdir_p(dir): '''like mkdir -p''' if not dir: return if dir.endswith("/") or dir.endswith("\\"): mkdir_p(dir[:-1]) return if os.path.isdir(dir): return mkdir_p(os.path.dirname(dir)) try: os.mkdir(dir) except Exception: pass def polygon_load(filename): '''load a polygon from a file''' ret = [] f = open(filename) for line in f: if line.startswith('#'): continue line = line.strip() if not line: continue a = line.split() if len(a) != 2: raise RuntimeError("invalid polygon line: %s" % line) ret.append((float(a[0]), float(a[1]))) f.close() return ret def polygon_bounds(points): '''return bounding box of a polygon in (x,y,width,height) form''' (minx, miny) = (points[0][0], points[0][1]) (maxx, maxy) = (minx, miny) for p in points: minx = min(minx, p[0]) maxx = max(maxx, p[0]) miny = min(miny, p[1]) maxy = max(maxy, p[1]) return (minx, miny, maxx-minx, maxy-miny) def bounds_overlap(bound1, bound2): '''return true if two bounding boxes overlap. coordinates are lat/lon degrees. x is lat, y is lon''' (x1,y1,w1,h1) = bound1 (x2,y2,w2,h2) = bound2 if x1+w1 < x2: return False if x2+w2 < x1: return False if wrap_180((y1+h1)-y2) < 0: return False if wrap_180((y2+h2)-y1) < 0: return False return True class object_container: '''return a picklable object from an existing object, containing all of the normal attributes of the original''' def __init__(self, object, debug=False): for v in dir(object): if not v.startswith('__') and v not in ['this', 'ClassInfo', 'EventObject']: try: with warnings.catch_warnings(): warnings.simplefilter('ignore') a = getattr(object, v) if (hasattr(a, '__call__') or hasattr(a, '__swig_destroy__') or str(a).find('Swig Object') != -1): continue if debug: print(v, a) setattr(self, v, a) except Exception: pass def degrees_to_dms(degrees): '''return a degrees:minutes:seconds string''' deg = int(degrees) min = int((degrees - deg)*60) sec = ((degrees - deg) - (min/60.0))*60*60 return u'%d\u00b0%02u\'%05.2f"' % (deg, abs(min), abs(sec)) class UTMGrid: '''class to hold UTM grid position''' def __init__(self, zone, easting, northing, hemisphere='S'): self.zone = zone self.easting = easting self.northing = northing self.hemisphere = hemisphere def __str__(self): return "%s %u %u %u" % (self.hemisphere, self.zone, self.easting, self.northing) def latlon(self): '''return (lat,lon) for the grid coordinates''' from MAVProxy.modules.lib.ANUGA import lat_long_UTM_conversion (lat, lon) = lat_long_UTM_conversion.UTMtoLL(self.northing, self.easting, self.zone, isSouthernHemisphere=(self.hemisphere=='S')) lon = wrap_180(lon) return (lat, lon) def latlon_to_grid(latlon): '''convert to grid reference''' from MAVProxy.modules.lib.ANUGA import redfearn (zone, easting, northing) = redfearn.redfearn(latlon[0], latlon[1]) if latlon[0] < 0: hemisphere = 'S' else: hemisphere = 'N' return UTMGrid(zone, easting, northing, hemisphere=hemisphere) def latlon_round(latlon, spacing=1000): '''round to nearest grid corner''' g = latlon_to_grid(latlon) g.easting = (g.easting // spacing) * spacing g.northing = (g.northing // spacing) * spacing return g.latlon() def wxToPIL(wimg): '''convert a wxImage to a PIL Image''' from PIL import Image (w,h) = wimg.GetSize() d = wimg.GetData() pimg = Image.new("RGB", (w,h), color=1) try: pimg.frombytes(d) except NotImplementedError: # old, removed method: pimg.fromstring(d) return pimg def PILTowx(pimg): '''convert a PIL Image to a wx image''' from MAVProxy.modules.lib.wx_loader import wx wimg = wx.EmptyImage(pimg.size[0], pimg.size[1]) try: wimg.SetData(pimg.convert('RGB').tobytes()) except NotImplementedError: # old, removed method: wimg.SetData(pimg.convert('RGB').tostring()) return wimg def dot_mavproxy(name=None): '''return a path to store mavproxy data''' if 'HOME' not in os.environ: dir = os.path.join(os.environ['LOCALAPPDATA'], '.mavproxy') else: dir = os.path.join(os.environ['HOME'], '.mavproxy') mkdir_p(dir) if name is None: return dir return os.path.join(dir, name) def download_url(url): '''download a URL and return the content''' if sys.version_info.major < 3: from urllib2 import urlopen as url_open from urllib2 import URLError as url_error else: from urllib.request import urlopen as url_open from urllib.error import URLError as url_error try: resp = url_open(url) headers = resp.info() except url_error as e: print('Error downloading %s' % url) return None return resp.read() def download_files(files): '''download an array of files''' for (url, file) in files: print("Downloading %s as %s" % (url, file)) data = download_url(url) if data is None: continue if url.endswith(".gz") and not file.endswith(".gz"): # decompress it... with gzip.GzipFile(fileobj=io.BytesIO(data)) as gz: data = gz.read() try: open(file, mode='wb').write(data) except Exception as e: print("Failed to save to %s : %s" % (file, e)) child_fd_list = [] def child_close_fds(): '''close file descriptors that a child process should not inherit. Should be called from child processes.''' global child_fd_list import os while len(child_fd_list) > 0: fd = child_fd_list.pop(0) try: os.close(fd) except Exception as msg: pass def child_fd_list_add(fd): '''add a file descriptor to list to be closed in child processes''' global child_fd_list child_fd_list.append(fd) def child_fd_list_remove(fd): '''remove a file descriptor to list to be closed in child processes''' global child_fd_list try: child_fd_list.remove(fd) except Exception: pass def quaternion_to_axis_angle(q): from pymavlink.rotmat import Vector3 a, b, c, d = q.q n = math.sqrt(b**2 + c**2 + d**2) if not n: return Vector3(0, 0, 0) angle = 2 * math.acos(a) if angle > math.pi: angle = angle - 2 * math.pi return Vector3(angle * b / n, angle * c / n, angle * d / n) def null_term(str): '''null terminate a string for py3''' if sys.version_info.major < 3: return str if isinstance(str, bytes): str = str.decode("utf-8") idx = str.find("\0") if idx != -1: str = str[:idx] return str def decode_devid(devid, pname): '''decode one device ID. Used for 'devid' command in mavproxy and MAVExplorer''' devid = int(devid) if devid == 0: return bus_type=devid & 0x07 bus=(devid>>3) & 0x1F address=(devid>>8)&0xFF devtype=(devid>>16) bustypes = { 1: "I2C", 2: "SPI", 3: "UAVCAN", 4: "SITL", 5: "MSP", 6: "EAHRS" } compass_types = { 0x01 : "HMC5883_OLD", 0x07 : "HMC5883", 0x02 : "LSM303D", 0x04 : "AK8963 ", 0x05 : "BMM150 ", 0x06 : "LSM9DS1", 0x08 : "LIS3MDL", 0x09 : "AK0991x", 0x0A : "IST8310", 0x0B : "ICM20948", 0x0C : "MMC3416", 0x0D : "QMC5883L", 0x0E : "MAG3110", 0x0F : "SITL", 0x10 : "IST8308", 0x11 : "RM3100", 0x12 : "RM3100_2", 0x13 : "MMC5883", 0x14 : "AK09918", 0x15 : "AK09915", 0x16 : "QMC5883P", 0x17 : "BMM350", 0x18 : "IIS2MDC", } imu_types = { 0x09 : "BMI160", 0x10 : "L3G4200D", 0x11 : "ACC_LSM303D", 0x12 : "ACC_BMA180", 0x13 : "ACC_MPU6000", 0x16 : "ACC_MPU9250", 0x17 : "ACC_IIS328DQ", 0x18 : "ACC_LSM9DS1", 0x21 : "GYR_MPU6000", 0x22 : "GYR_L3GD20", 0x24 : "GYR_MPU9250", 0x25 : "GYR_I3G4250D", 0x26 : "GYR_LSM9DS1", 0x27 : "INS_ICM20789", 0x28 : "INS_ICM20689", 0x29 : "INS_BMI055", 0x2A : "SITL", 0x2B : "INS_BMI088", 0x2C : "INS_ICM20948", 0x2D : "INS_ICM20648", 0x2E : "INS_ICM20649", 0x2F : "INS_ICM20602", 0x30 : "INS_ICM20601", 0x31 : "INS_ADIS1647x", 0x32 : "INS_SERIAL", 0x33 : "INS_ICM40609", 0x34 : "INS_ICM42688", 0x35 : "INS_ICM42605", 0x36 : "INS_ICM40605", 0x37 : "INS_IIM42652", 0x38 : "INS_BMI270", 0x39 : "INS_BMI085", 0x3A : "INS_ICM42670", 0x3B : "INS_ICM45686", 0x3C : "INS_SCHA63T", 0x3D : "INS_IIM42653", } baro_types = { 0x01 : "BARO_SITL", 0x02 : "BARO_BMP085", 0x03 : "BARO_BMP280", 0x04 : "BARO_BMP388", 0x05 : "BARO_DPS280", 0x06 : "BARO_DPS310", 0x07 : "BARO_FBM320", 0x08 : "BARO_ICM20789", 0x09 : "BARO_KELLERLD", 0x0A : "BARO_LPS2XH", 0x0B : "BARO_MS5611", 0x0C : "BARO_SPL06", 0x0D : "BARO_UAVCAN", 0x0E : "BARO_MSP", 0x0F : "BARO_ICP101XX", 0x10 : "BARO_ICP201XX", 0x11 : "BARO_MS5607", 0x12 : "BARO_MS5837_30BA", 0x13 : "BARO_MS5637", 0x14 : "BARO_BMP390", 0x15 : "BARO_BMP581", 0x16 : "BARO_SPA06", 0x17 : "BARO_AUAV", 0x18 : "BARO_MS5837_02BA", } airspeed_types = { 0x01 : "AIRSPEED_SITL", 0x02 : "AIRSPEED_MS4525", 0x03 : "AIRSPEED_MS5525", 0x04 : "AIRSPEED_DLVR", 0x05 : "AIRSPEED_MSP", 0x06 : "AIRSPEED_SDP3X", 0x07 : "AIRSPEED_UAVCAN", 0x08 : "AIRSPEED_ANALOG", 0x09 : "AIRSPEED_NMEA", 0x0A : "AIRSPEED_ASP5033", 0x0B : "AIRSPEED_AUAV", } decoded_devname = "" if pname.startswith("COMPASS"): if bus_type == 3 and devtype == 1: decoded_devname = "UAVCAN" elif bus_type == 6 and devtype == 1: decoded_devname = "EAHRS" else: decoded_devname = compass_types.get(devtype, "UNKNOWN") if pname.startswith("INS"): decoded_devname = imu_types.get(devtype, "UNKNOWN") if pname.startswith("GND_BARO"): decoded_devname = baro_types.get(devtype, "UNKNOWN") if pname.startswith("BARO"): decoded_devname = baro_types.get(devtype, "UNKNOWN") if pname.startswith("ARSP"): decoded_devname = airspeed_types.get(devtype, "UNKNOWN") print("%s: bus_type:%s(%u) bus:%u address:%u(0x%x) devtype:%u(0x%x) %s (%u)" % ( pname, bustypes.get(bus_type,"UNKNOWN"), bus_type, bus, address, address, devtype, devtype, decoded_devname, devid)) def decode_flight_sw_version(flight_sw_version): '''decode 32 bit flight_sw_version mavlink parameter - corresponds to encoding in ardupilot GCS_MAVLINK::send_autopilot_version''' fw_type_id = (flight_sw_version >> 0) % 256 patch = (flight_sw_version >> 8) % 256 minor = (flight_sw_version >> 16) % 256 major = (flight_sw_version >> 24) % 256 if (fw_type_id==0): fw_type="dev" elif (fw_type_id==64): fw_type="alpha" elif (fw_type_id==128): fw_type="beta" elif (fw_type_id==192): fw_type="rc" elif (fw_type_id==255): fw_type="official" else: fw_type="undefined" return major,minor,patch,fw_type class mp_position(object): '''a position object from a local provider such as a NMEA GPS module''' def __init__(self): self.timestamp = None self.latitude = None self.longitude = None self.altitude = None self.ground_course = None self.ground_speed = None self.num_sats = None def __str__(self): return "%u satellites age=%.1fs lat=%.9f lon=%.9f alt=%.3f m spd=%.2f m/s course=%.2f deg" % ( self.num_sats, time.time() - self.timestamp, self.latitude, self.longitude, self.altitude, self.ground_speed, self.ground_course) def get_gps_time(tnow): '''return gps_week and gps_week_ms for current unix time in seconds''' leapseconds = 18 SEC_PER_WEEK = 7 * 86400 UNIX_TO_GPS_EPOCH = 315964800 epoch = UNIX_TO_GPS_EPOCH - leapseconds epoch_seconds = int(tnow - epoch) week = int(epoch_seconds) // SEC_PER_WEEK t_ms = int(tnow * 1000) % 1000 week_ms = (epoch_seconds % SEC_PER_WEEK) * 1000 + ((t_ms//200) * 200) return week, week_ms def natural_sort_key(s): '''a sort key for natural sorting, where embedded integers are sorted separately''' return [int(text) if text.isdigit() else text.lower() for text in re.split('([0-9]+)', s)] def sorted_natural(lst): '''sort using a 'natural' sort order''' return sorted(lst, key=natural_sort_key) MAVProxy-1.8.74/MAVProxy/modules/lib/mp_widgets.py000066400000000000000000000023751504324515000217250ustar00rootroot00000000000000#!/usr/bin/env python3 ''' some useful wx widgets Andrew Tridgell June 2012 ''' from MAVProxy.modules.lib.wx_loader import wx import cv2 import numpy as np import warnings class ImagePanel(wx.Panel): '''a resizable panel containing an image''' def __init__(self, parent, img): wx.Panel.__init__(self, parent, -1, size=(1, 1)) self.SetBackgroundStyle(wx.BG_STYLE_CUSTOM) self.set_image(img) self.Bind(wx.EVT_PAINT, self.on_paint) def on_paint(self, event): '''repaint the image''' dc = wx.AutoBufferedPaintDC(self) dc.DrawBitmap(self._bmp, 0, 0) def set_image(self, img): '''set the image to be displayed''' with warnings.catch_warnings(): warnings.simplefilter('ignore') if hasattr(img, 'shape'): (width, height) = (img.shape[1], img.shape[0]) self._bmp = wx.BitmapFromBuffer(width, height, np.uint8(img)) # http://stackoverflow.com/a/16866833/2559632 elif hasattr(img, 'GetHeight'): self._bmp = wx.BitmapFromImage(img) else: print("Unsupported image type: %s" % type(img)) return self.SetMinSize((self._bmp.GetWidth(), self._bmp.GetHeight())) MAVProxy-1.8.74/MAVProxy/modules/lib/msgstats.py000066400000000000000000000073721504324515000214320ustar00rootroot00000000000000#!/usr/bin/env python3 ''' show stats on messages in a log in MAVExplorer ''' import fnmatch from MAVProxy.modules.lib.multiproc_util import MPDataLogChildTask categories = { 'EKF2' : ['NK*'], 'EKF3' : ['XK*'], 'SENSORS' : ['IMU*', 'BAR*', 'GPS*', 'RFND', 'ACC', 'GYR' ], 'RC' : ['RCIN', 'RCOU' ], 'TUNING' : ['RATE', 'PID*', 'CTUN', 'NTUN', 'ATT', 'PSC'], 'SYSTEM' : ['MAV', 'BAT*', 'EV', 'CMD', 'MODE'], 'REPLAY' : [ 'RFRH', 'RFRF', 'REV2', 'RSO2', 'RWA2', 'REV3', 'RSO3', 'RWA3', 'RMGI', 'REY3', 'RFRN', 'RISH', 'RISI', 'RISJ', 'RBRH', 'RBRI', 'RRNH', 'RRNI', 'RGPH', 'RGPI', 'RGPJ', 'RASH', 'RASI', 'RBCH', 'RBCI', 'RVOH', 'RMGH', 'R??H', 'R??I', 'R??J'], } class MPMsgStats(MPDataLogChildTask): '''A class used launch `show_stats` in a child process''' def __init__(self, *args, **kwargs): ''' Parameters ---------- mlog : DFReader A dataflash or telemetry log ''' super(MPMsgStats, self).__init__(*args, **kwargs) # @override def child_task(self): '''Launch `show_stats`''' # run the fft tool show_stats(self.mlog) def show_stats(mlog): '''show stats on a file''' sizes = {} total_size = 0 names = mlog.name_to_id.keys() pairs = [] maxnamelen = 4 for name in names: sizes[name] = 0 for name in names: mid = mlog.name_to_id[name] # DFReader_text logs use the name directly as the index to the dictionaries if hasattr(mlog, 'formats') and mid not in mlog.formats: mid = name # In DFReader_text logs count is a dictionary, which is not set for # messages that are never seen in the log. if isinstance(mlog.counts,dict) and mid not in mlog.counts: count = 0 else: count = mlog.counts[mid] # mavmmaplog class (tlogs) does not contain formats attribute, so instead of # counting size in bytes, we count the number of messages if hasattr(mlog, 'formats'): mlen = mlog.formats[mid].len size = count * mlen total_size += size sizes[name] += size pairs.append((name, count*mlen)) else: total_size += count pairs.append((name, count)) if count>0 and len(name)>maxnamelen: maxnamelen = len(name) # mavmmaplog class (tlogs) does not contain formats attribute, so instead of # counting size in bytes, we count the number of messages if not hasattr(mlog, 'formats'): print("Total number of messages: %u" % total_size) else: print("Total size: %u" % total_size) # Print out the percentage for each message, from lowest to highest pairs = sorted(pairs, key = lambda p : p[1]) for (name,size) in pairs: if size > 0: descstr = '' if hasattr(mlog, 'metadata'): desc = mlog.metadata.get_description(name) if desc: if len(desc) > (68 - maxnamelen): descstr = " [%s...]" % desc[:(65 - maxnamelen)] else: descstr = " [%s]" % desc print("%-*s %5.2f%%%s" % (maxnamelen, name, 100.0 * size / total_size, descstr)) print("") category_total = 0 for c in categories.keys(): total = 0 for name in names: for p in categories[c]: if fnmatch.fnmatch(name, p): total += sizes[name] break category_total += total if total > 0: print("@%s %.2f%%" % (c, 100.0 * total / total_size)) print("@OTHER %.2f%%" % (100.0 * (total_size-category_total) / total_size)) MAVProxy-1.8.74/MAVProxy/modules/lib/multiproc.py000066400000000000000000000043761504324515000216040ustar00rootroot00000000000000''' multi-processing abstraction This wraps the multiprocessing module, using billiard on MacOS and multiprocessing on Linux and Windows The key problem on MacOS is that you can't fork in any process that uses threading, which is almost all of processes as so many libraries use threads. So instead billiard uses an approach that uses fork+exec and re-runs the script in the child. It is horrible, but it seems to be the only way to make things work on MacOS ''' class PipeQueue(object): '''simulate a queue using a pipe. This is used to avoid a problem with pipes on MacOS, while still keeping similar syntax''' def __init__(self): (self.sender,self.receiver) = Pipe() self.alive = True self.pending = [] def close(self): self.alive = False self.sender.close() self.receiver.close() def put(self, *args): if not self.alive: return try: self.sender.send(*args) except Exception: self.close() def fill(self): if not self.alive: return try: while self.receiver.poll(): m = self.receiver.recv() self.pending.append(m) except Exception: self.alive = False self.close() def get(self): if not self.alive: return None self.fill() if len(self.pending) > 0: return self.pending.pop(0) return None def qsize(self): self.fill() return len(self.pending) def empty(self): return self.qsize() == 0 import platform, os, sys # we use billiard (and forking disable) on MacOS, and also if USE_BILLIARD environment # is set. Using USE_BILLIARD allows for debugging of the crazy forking disable approach on # a saner platform # As of Python 3.8 the default start method for macOS is spawn and billiard is not required. if ((platform.system() == 'Darwin' or os.environ.get('USE_BILLIARD',None) is not None) and sys.version_info < (3, 8)): from billiard import Process, forking_enable, freeze_support, Pipe, Semaphore, Event, Lock forking_enable(False) Queue = PipeQueue else: from multiprocessing import Process, freeze_support, Pipe, Semaphore, Event, Lock, Queue MAVProxy-1.8.74/MAVProxy/modules/lib/multiproc_util.py000066400000000000000000000222531504324515000226330ustar00rootroot00000000000000'''Multiprocessing utilities This module contains utilties for multiprocessing such as custom pickle functions and class wrappers ''' from MAVProxy.modules.lib import multiproc import copyreg import mmap import os import platform import struct import threading def pickle_struct(s): '''Custom pickle function for struct.Struct''' return struct.Struct, (s.format, ) copyreg.pickle(struct.Struct, pickle_struct) class WrapFileHandle(object): '''Wrap a filehandle object for pickling This is a pickleable wrapper for a filehandle object returned from the builtin function open(file, mode='r', ...) The wrapper restores the filehandle seek pointer (offset) and preserves the following arguments to open(): - name (file) - mode - encoding - errors - newline ''' def __init__(self, filehandle): # the filehandle is not pickled self._filehandle = filehandle # state for pickling - populated in __getstate__ self._name = None self._mode = None self._encoding = None self._errors = None self._newlines = None self._offset = None # TODO: these are additional args to open() but it is less # clear where to acquire their state when persisting # self._buffering = None # self._closefd = None # self._opener = None def unwrap(self): '''Returns the encapsulated object''' return self._filehandle def __getstate__(self): # capture the filehandle state self._name = self._filehandle.name self._mode = self._filehandle.mode self._encoding = self._filehandle.encoding self._errors = self._filehandle.errors self._newlines = self._filehandle.newlines self._offset = self._filehandle.tell() # copy the dict since we change it odict = self.__dict__.copy() # remove the _filehandle entry del odict['_filehandle'] return odict def __setstate__(self, dict): # reopen file name = dict['_name'] mode = dict['_mode'] encoding = dict['_encoding'] errors = dict['_errors'] newlines = dict['_newlines'] filehandle = open(name, mode=mode, encoding=encoding, errors=errors, newline=newlines) # set the seek pointer offset = dict['_offset'] filehandle.seek(offset) # update attributes self.__dict__.update(dict) # restore the filehandle self._filehandle = filehandle class WrapMMap(object): '''Wrap a memory map object for pickling This is a pickleable wrapper for a mmap.mmap object returned from the builtin function mmap.mmap(fileno, length, ...) The wrapper restores the mmap's seek pointer (offset). ''' # mmap does not retain the filehandle and data_len as attributes # when it is constructed, so it is necessary to pass them as args # to the wrapper def __init__(self, mm, filehandle, data_len): # the mmap is not pickled self._mm = mm # state for pickling - populated in __getstate__ self._filehandle = WrapFileHandle(filehandle) self._data_len = data_len self._offset = None def unwrap(self): '''Returns the encapsulated object''' return self._mm def __getstate__(self): # capture the mmap state self._offset = self._mm.tell() # copy the dict since we change it odict = self.__dict__.copy() # remove the _mm entry del odict['_mm'] return odict def __setstate__(self, dict): # reopen mmap filehandle = dict['_filehandle'].unwrap() data_len = dict['_data_len'] mm = None if platform.system() == "Windows": mm = mmap.mmap(filehandle.fileno(), data_len, None, mmap.ACCESS_READ) else: mm = mmap.mmap(filehandle.fileno(), data_len, mmap.MAP_PRIVATE, mmap.PROT_READ) # set the seek pointer offset = dict['_offset'] mm.seek(offset) # update attributes self.__dict__.update(dict) # restore the mmap self._mm = mm mutex = multiproc.Lock() class MPChildTask(object): '''Manage a MAVProxy child task MAVProxy child tasks typically require access to the dataflash or telemetry logs. For processes started using the `spawn` start method this requires the arguments to the child process to be pickleable, which is not the case for file handles and memory mapped files. This class provides two functions `wrap` and `unwrap` that are called before and after the parent spawns the child process, and in the child process itself before the public child task is called. Custom pickle functions and class wrappers / unwrappers should be placed in these two functions. ''' def __init__(self, *args, **kwargs): self._child_pipe_recv, self._parent_pipe_send = multiproc.Pipe(duplex=False) self._close_event = multiproc.Event() self._close_event.clear() self._child = None # @abstractmethod def wrap(self): '''Apply custom pickle wrappers to non-pickleable attributes''' pass # @abstractmethod def unwrap(self): '''Unwrap custom pickle wrappers of non-pickleable attributes''' pass # @abstractmethod def child_task(self): '''Launch the child function or application''' pass def start(self): '''Apply custom pickle wrappers then start the child process''' # apply lock while the task is started as wrapping may mutate state with mutex: self.wrap() try: if os.name == 'nt': # Windows can't pickle the mavlog object, thus can't spin off self._child = threading.Thread(target=self._child_task) else: self._child = multiproc.Process(target=self._child_task) self._child.start() finally: if not os.name == 'nt': self.unwrap() # deny the parent access to the child end of the pipe self.child_pipe_recv.close() def _child_task(self): '''A non-public child task that calls unwrap before running the public child task''' # deny the child access to the parent end of the pipe and unwrap self.parent_pipe_send.close() self.unwrap() # call child task (in sub-class) self.child_task() # set the close event when the task is complete self.close_event.set() @property def child_pipe_recv(self): '''The child end of the pipe for receiving data from the parent''' return self._child_pipe_recv @property def parent_pipe_send(self): '''The parent end of the pipe for sending data to the child''' return self._parent_pipe_send @property def close_event(self): '''A multiprocessing close event''' return self._close_event @property def child(self): '''The child process''' return self._child def close(self): '''Set the close event and join the process''' self.close_event.set() if self.is_alive(): self.child.join(2) def is_alive(self): '''Returns True if the child process is alive''' return self.child.is_alive() class MPDataLogChildTask(MPChildTask): '''Manage a MAVProxy child task that expects a dataflash or telemetry log''' def __init__(self, *args, **kwargs): ''' Parameters ---------- mlog : DFReader / mavmmaplog A dataflash or telemetry log ''' super(MPDataLogChildTask, self).__init__(*args, **kwargs) # all attributes are implicitly passed to the child process self._mlog = kwargs['mlog'] # @override def wrap(self): '''Apply custom pickle wrappers to non-pickleable attributes''' # wrap filehandle and mmap in mlog for pickling if hasattr(self._mlog,'filehandle'): filehandle = self._mlog.filehandle elif hasattr(self._mlog,'f'): filehandle = self._mlog.f data_map = self._mlog.data_map data_len = self._mlog.data_len if hasattr(self._mlog,'filehandle'): self._mlog.filehandle = WrapFileHandle(filehandle) elif hasattr(self._mlog,'f'): self._mlog.f = WrapFileHandle(filehandle) self._mlog.data_map = WrapMMap(data_map, filehandle, data_len) # @override def unwrap(self): '''Unwrap custom pickle wrappers of non-pickleable attributes''' # restore the state of mlog if hasattr(self._mlog,'filehandle'): self._mlog.filehandle = self._mlog.filehandle.unwrap() elif hasattr(self._mlog,'f'): self._mlog.f = self._mlog.f.unwrap() self._mlog.data_map = self._mlog.data_map.unwrap() @property def mlog(self): '''The dataflash or telemetry log (DFReader / mavmmaplog)''' return self._mlog MAVProxy-1.8.74/MAVProxy/modules/lib/ntrip.py000077500000000000000000000260251504324515000207200ustar00rootroot00000000000000#!/usr/bin/env python3 """ NTRIP client module based on client from http://github.com/jcmb/NTRIP """ import socket import sys import datetime import base64 import time import errno import select from MAVProxy.modules.lib import rtcm3 import ssl from optparse import OptionParser from pynmeagps import NMEAMessage, GET version = 0.2 useragent = "NTRIP MAVProxy/%.1f" % version class NtripError(Exception): def __init__(self, message, inner_exception=None): self.message = message self.inner_exception = inner_exception self.exception_info = sys.exc_info() def __str__(self): return self.message class NtripClient(object): def __init__(self, user="", port=2101, caster="", mountpoint="", host=False, lat=46, lon=122, height=1212, ssl=False, V2=False, ): if sys.version_info.major >= 3: user = bytearray(user, 'ascii') self.user = base64.b64encode(user) self.port = port self.caster = caster self.caster_ip = None self.mountpoint = mountpoint if not self.mountpoint.startswith("/"): self.mountpoint = "/" + self.mountpoint self.setPosition(lat, lon) self.height = height self.ssl = ssl self.host = host self.V2 = V2 self.socket = None self.socket_pending = None self.found_header = False self.sent_header = False # RTCM3 parser self.rtcm3 = rtcm3.RTCM3() self.last_id = None self.dt_last_gga_sent = 0 self.last_connect_attempt = time.time() if self.port == 443: # force SSL on port 443 self.ssl = True def setPosition(self, lat, lon): self.lon = lon self.lat = lat def getMountPointString(self): userstr = self.user if sys.version_info.major >= 3: userstr = str(userstr, 'ascii') mountPointString = "GET %s HTTP/1.0\r\nUser-Agent: %s\r\nAuthorization: Basic %s\r\n" % ( self.mountpoint, useragent, userstr) if self.host or self.V2: hostString = "Host: %s:%i\r\n" % (self.caster, self.port) mountPointString += hostString if self.V2: mountPointString += "Ntrip-Version: Ntrip/2.0\r\n" mountPointString += "\r\n" return mountPointString def getGGAByteString(self): gga_msg = NMEAMessage( "GP", "GGA", GET, # msgmode is expected by this lib lat=self.lat, NS="S" if self.lat < 0 else "N", lon=self.lon, EW="W" if self.lon < 0 else "E", quality=1, numSV=15, HDOP=0, alt=self.height, altUnit="M", sep=0, sepUnit="M", diffAge="", diffStation=0, ) raw_gga: bytes = gga_msg.serialize() return raw_gga def get_ID(self): '''get ID of last packet''' return self.last_id def read(self): if self.socket is None: if self.socket_pending is None: now = time.time() # rate limit connection attempts if now - self.last_connect_attempt < 1.0: return None self.last_connect_attempt = now self.connect() return None if not self.found_header: if not self.sent_header: self.sent_header = True time.sleep(0.1) mps = self.getMountPointString() if sys.version_info.major >= 3: mps = bytearray(mps, 'ascii') try: self.socket.sendall(mps) except ssl.SSLWantReadError: self.sent_header = False return None except Exception: self.socket = None return None try: casterResponse = self.socket.recv(4096) except ssl.SSLWantReadError: return None except IOError as e: if e.errno == errno.EWOULDBLOCK: return None self.socket = None casterResponse = '' if sys.version_info.major >= 3: # Ignore non ascii characters in HTTP response casterResponse = str(casterResponse, 'ascii', 'ignore') header_lines = casterResponse.split("\r\n") is_ntrip_rev1 = False for line in header_lines: if line == "": self.found_header = True if line.find("SOURCETABLE") != -1: raise NtripError("Mount point does not exist") elif line.find("401 Unauthorized") != -1: raise NtripError("Unauthorized request") elif line.find("404 Not Found") != -1: raise NtripError("Mount Point does not exist") elif line.find(" 200 OK") != -1: # Request was valid if line == "ICY 200 OK": is_ntrip_rev1 = True self.send_gga() # NTRIP Rev1 allows for responses that do not contain headers and an extra blank line. if is_ntrip_rev1 and not self.found_header: self.found_header = True return None # normal data read while True: try: data = self.socket.recv(1) except ssl.SSLWantReadError: return None except IOError as e: if e.errno == errno.EWOULDBLOCK: return None self.socket.close() self.socket = None return None except Exception: self.socket.close() self.socket = None return None if len(data) == 0: self.socket.close() self.socket = None return None if self.rtcm3.read(data): self.last_id = self.rtcm3.get_packet_ID() return self.rtcm3.get_packet() def connect(self): '''connect to NTRIP server''' self.sent_header = False self.found_header = False # use a non-blocking connect to prevent blocking of mavproxy main thread if self.socket_pending is not None: read_ok, write_ok, err = select.select([], [self.socket_pending], [], 0) if self.socket_pending in write_ok: err = self.socket_pending.getsockopt(socket.SOL_SOCKET, socket.SO_ERROR) if err == 0: self.socket = self.socket_pending self.socket_pending = None self.rtcm3.reset() return True else: self.socket_pending = None return sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM) sock.setblocking(0) if self.ssl: sock = ssl.wrap_socket(sock) try: if self.caster_ip is None: try: self.caster_ip = socket.gethostbyname(self.caster) except Exception: return False if self.caster_ip is None: return False error_indicator = sock.connect_ex((self.caster_ip, self.port)) self.socket_pending = sock return False except Exception as ex: return False if error_indicator == 0: sock.setblocking(0) self.socket = sock self.rtcm3.reset() return True return False def readLoop(self): while True: data = self.read() if data is None: continue print("got: ", len(data)) def send_gga(self): gga = self.getGGAByteString() try: self.socket.sendall(gga) self.dt_last_gga_sent = time.time() except Exception: self.socket = None if __name__ == '__main__': usage = "NtripClient.py [options] [caster] [port] mountpoint" parser = OptionParser(version=version, usage=usage) parser.add_option("-u", "--user", type="string", dest="user", default="IBS", help="The Ntripcaster username. Default: %default") parser.add_option("-p", "--password", type="string", dest="password", default="IBS", help="The Ntripcaster password. Default: %default") parser.add_option("-o", "--org", type="string", dest="org", help="Use IBSS and the provided organization for the user. Caster and Port are not needed in this case Default: %default") parser.add_option("-b", "--baseorg", type="string", dest="baseorg", help="The org that the base is in. IBSS Only, assumed to be the user org") parser.add_option("-t", "--latitude", type="float", dest="lat", default=50.09, help="Your latitude. Default: %default") parser.add_option("-g", "--longitude", type="float", dest="lon", default=8.66, help="Your longitude. Default: %default") parser.add_option("-e", "--height", type="float", dest="height", default=1200, help="Your ellipsoid height. Default: %default") parser.add_option("-s", "--ssl", action="store_true", dest="ssl", default=False, help="Use SSL for the connection") parser.add_option("-H", "--host", action="store_true", dest="host", default=False, help="Include host header, should be on for IBSS") parser.add_option("-2", "--V2", action="store_true", dest="V2", default=False, help="Make a NTRIP V2 Connection") (options, args) = parser.parse_args() ntripArgs = {} ntripArgs['lat'] = options.lat ntripArgs['lon'] = options.lon ntripArgs['height'] = options.height ntripArgs['host'] = options.host if options.ssl: import ssl ntripArgs['ssl'] = True else: ntripArgs['ssl'] = False if options.org: if len(args) != 1: print("Incorrect number of arguments for IBSS\n") parser.print_help() sys.exit(1) ntripArgs['user'] = options.user+"." + options.org + ":" + options.password if options.baseorg: ntripArgs['caster'] = options.baseorg + ".ibss.trimbleos.com" else: ntripArgs['caster'] = options.org + ".ibss.trimbleos.com" if options.ssl: ntripArgs['port'] = 52101 else: ntripArgs['port'] = 2101 ntripArgs['mountpoint'] = args[0] else: if len(args) != 3: print("Incorrect number of arguments for NTRIP\n") parser.print_help() sys.exit(1) ntripArgs['user'] = options.user+":"+options.password ntripArgs['caster'] = args[0] ntripArgs['port'] = int(args[1]) ntripArgs['mountpoint'] = args[2] ntripArgs['V2'] = options.V2 n = NtripClient(**ntripArgs) n.readLoop() MAVProxy-1.8.74/MAVProxy/modules/lib/opengl.py000066400000000000000000000526621504324515000210530ustar00rootroot00000000000000# Copyright (C) 2016 Intel Corporation. All rights reserved. # # This file is free software: you can redistribute it and/or modify it # under the terms of the GNU General Public License as published by the # Free Software Foundation, either version 3 of the License, or # (at your option) any later version. # # This file is distributed in the hope that it will be useful, but # WITHOUT ANY WARRANTY; without even the implied warranty of # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. # See the GNU General Public License for more details. # # You should have received a copy of the GNU General Public License along # with this program. If not, see . ''' Module with helpers for OpenGL rendering. ''' import math from ctypes import * from OpenGL.GL import * from pymavlink.quaternion import Quaternion from pymavlink.rotmat import Vector3 def Vector3_to_tuple(v): return (v.x, v.y, v.z) class Material(object): def __init__(self, ambient=Vector3(.5, .5, .5), diffuse=Vector3(.5, .5, .5), specular=Vector3(.5, .5, .5), specular_exponent=32.0, alpha=1.0): self.ambient = ambient self.diffuse = diffuse self.specular = specular self.specular_exponent = specular_exponent self.alpha = alpha def set_color(self, color): self.ambient = color self.diffuse = color self.specular = color class Light(object): def __init__(self, position=Vector3(0.0, 0.0, 1.0), ambient=Vector3(1.0, 1.0, 1.0), diffuse=Vector3(1.0, 1.0, 1.0), specular=Vector3(1.0, 1.0, 1.0), att_linear=0.0, att_quad=0.0): self.position = position self.ambient = ambient self.diffuse = diffuse self.specular = specular self.att_linear = att_linear self.att_quad = att_quad class Transform(object): '''Class to represent transform operations. Note that the operations provided are isolated from each other, in the sense that the sequence of operations is always: rotation, scale and translation. That means that an operation add to itself and the final outcome will always be in the following order: accumulated scale, accumulated rotation and accumulated translation.''' def __init__(self): self.quaternion = Quaternion((1, 0, 0, 0)) self.translation = Vector3(0.0, 0.0, 0.0) self.scale_factor = 1.0 def scale(self, scale): self.scale_factor *= scale def rotation_quaternion(self, vector, angle): if not vector.length(): return None c = math.cos(angle / 2.0) v = math.sin(angle / 2.0) * vector.normalized() q = Quaternion((c, v.x, v.y, v.z)) q.normalize() return q def rotate(self, vector, angle): q = self.rotation_quaternion(vector, angle) if not q: return self.quaternion = q * self.quaternion self.quaternion.normalize() def set_rotation(self, vector, angle): q = self.rotation_quaternion(vector, angle) if not q: return self.quaternion = q def set_euler(self, roll, pitch, yaw): self.quaternion = Quaternion((roll, pitch, yaw)) self.quaternion.normalize() def translate(self, d): self.translation += d def mat4(self): s = self.scale_factor m = self.quaternion.dcm d = self.translation return (c_float * 16)( s * m.a.x, s * m.b.x, s * m.c.x, 0, s * m.a.y, s * m.b.y, s * m.c.y, 0, s * m.a.z, s * m.b.z, s * m.c.z, 0, d.x, d.y, d.z, 1 ) def apply(self, v): v = self.quaternion.transform(v) * self.scale_factor v += self.translation return v class Camera(object): def __init__(self): # Base must be orthonormal self.base = ( Vector3(1.0, 0.0, 0.0), Vector3(0.0, 1.0, 0.0), Vector3(0.0, 0.0, 1.0) ) self.position = Vector3(0.0, 0.0, 0.0) self.position_transform = Transform() self.base_transform = Transform() def view_mat4(self): p = self.position_transform.apply(self.position) i = self.base_transform.apply(self.base[0]) j = self.base_transform.apply(self.base[1]) k = self.base_transform.apply(self.base[2]) tx, ty, tz = p * i, p * j, p * k return (c_float * 16)( i.x, j.x, k.x, 0, i.y, j.y, k.y, 0, i.z, j.z, k.z, 0, -tx, -ty, -tz, 1 ) class Orthographic(object): def __init__(self, near=0.0, far=2.0, top=1.0, right=1.0): self.near = near self.far = far self.top = top self.right = right def proj_mat4(self): n = self.near f = self.far t = self.top r = self.right return (c_float * 16)( 1 / r, 0, 0, 0, 0, 1 / t, 0, 0, 0, 0, -2 / (f - n), 0, 0, 0, -(f + n) / (f - n), 1 ) class Perspective(object): def __init__(self, near=0.01, far=100.0, top=0.24, right=0.24): self.near = near self.far = far self.top = top self.right = right def proj_mat4(self): n = self.near f = self.far t = self.top r = self.right return (c_float * 16)( n / r, 0, 0, 0, 0, n / t, 0, 0, 0, 0, -(f + n) / (f - n), -1, 0, 0, -2 * f * n / (f - n), 0 ) class Object(object): def __init__(self, vertices, normals=[], indices=[], material=Material(), vertices_per_face=3, enable_alpha=False): self.local = Transform() self.model = Transform() self.num_vertices = len(vertices) assert(self.num_vertices > 0) for i in range(self.num_vertices): if not isinstance(vertices[i], Vector3): vertices[i] = Vector3(*vertices[i]) self.midpoint = Vector3(0, 0, 0) for v in vertices: self.midpoint += v self.midpoint /= self.num_vertices self.material = material if normals: for i in range(len(normals)): if not isinstance(normals[i], Vector3): normals[i] = Vector3(*normals[i]) else: normals = self.calc_normals(vertices) if not indices: indices = self.calc_indices(len(vertices), vertices_per_face) self.num_indices = len(indices) self.centroids = None if enable_alpha: self.centroids = self.calc_centroids(indices, vertices) self.vao = self.create_vao(vertices, normals, indices) def create_vao(self, vertices, normals, indices): vao = glGenVertexArrays(1) glBindVertexArray(vao) vbo = glGenBuffers(1) glBindBuffer(GL_ARRAY_BUFFER, vbo) vertices = [x for p in vertices for x in (p.x, p.y, p.z)] normals = [x for p in normals for x in (p.x, p.y, p.z)] data = vertices + normals data = (c_float * len(data))(*data) glBufferData(GL_ARRAY_BUFFER, data, GL_STATIC_DRAW); glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, c_void_p(0)) glEnableVertexAttribArray(0) glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, 0, c_void_p(sizeof(c_float) * len(vertices))) glEnableVertexAttribArray(1) ebo = glGenBuffers(1) glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, ebo) data = (c_int * len(indices))(*indices) glBufferData(GL_ELEMENT_ARRAY_BUFFER, data, GL_STATIC_DRAW); glBindVertexArray(0) return vao def calc_centroids(self, indices, vertices): num_faces = len(indices) / 3 centroids = [] for i in range(num_faces): a = vertices[indices[i * 3]] b = vertices[indices[i * 3 + 1]] c = vertices[indices[i * 3 + 2]] centroids.append((a + b + c) / 3) return centroids def before_draw(self, program, enable_alpha=False): glUseProgram(program.program_id) program.use_local_transform(self.local) program.use_model_transform(self.model) if self.material: program.use_material(self.material, enable_alpha=enable_alpha) glBindVertexArray(self.vao) def after_draw(self, program): glBindVertexArray(0) def draw(self, program, faces=None, camera=None): has_alpha = self.material and self.centroids and camera self.before_draw(program, has_alpha) if has_alpha: if faces is None: num_faces = self.num_indices / 3 faces = [i for i in range(num_faces)] # Sort faces based on distance between centroids and camera position dists = {} for i in faces: v = self.model.apply(self.local.apply(self.centroids[i])) dists[i] = (camera.position - v).length() faces = sorted(faces, None, lambda i: dists[i]) elif faces: faces = sorted(faces) if faces is None: glDrawElements(GL_TRIANGLES, self.num_indices, GL_UNSIGNED_INT, None) elif faces: i0 = 0 l = len(faces) i = 1 while i < l: if faces[i] != faces[i - 1] + 1: pointer = c_void_p(sizeof(c_uint) * faces[i0] * 3) glDrawElements(GL_TRIANGLES, (i - i0) * 3, GL_UNSIGNED_INT, pointer) i0 = i i += 1 pointer = c_void_p(sizeof(c_uint) * faces[i0] * 3) glDrawElements(GL_TRIANGLES, (i - i0) * 3, GL_UNSIGNED_INT, pointer) self.after_draw(program) def calc_indices(self, num_vertices, vertices_per_face): num_faces = int(num_vertices / vertices_per_face) indices = [] for i in range(num_faces): i0 = i * vertices_per_face ia = i0 + 1 for _ in range(vertices_per_face - 2): ib = ia + 1 indices.append(i0) indices.append(ia) indices.append(ib) ia = ib return indices def calc_normals(self, vertices): def normal(triangle): a, b, c = triangle v1 = b - a v2 = c - a n = v1 % v2 direction = (a + b + c) / 3.0 - self.midpoint if n * direction < 0: n = -n return n normals = [] for i in range(0, self.num_vertices, 3): n = normal(vertices[i:i+3]) normals.extend([n, n, n]) return normals class WavefrontObject(Object): def __init__(self, obj): vertices, normals, indices, material_sequence = WavefrontObject.calc_arrays(obj) super(WavefrontObject, self).__init__( vertices=vertices, normals=normals, indices=indices, material=None, ) self.material_sequence = material_sequence def draw(self, program): self.before_draw(program) if self.material_sequence: for j in range(len(self.material_sequence) - 1): i, m = self.material_sequence[j] next_i, _ = self.material_sequence[j + 1] program.use_material(m) glDrawElements(GL_TRIANGLES, next_i - i, GL_UNSIGNED_INT, c_void_p(sizeof(c_uint) * i)); i, m = self.material_sequence[-1] program.use_material(m) glDrawElements(GL_TRIANGLES, self.num_indices - i, GL_UNSIGNED_INT, c_void_p(sizeof(c_uint) * i)); self.after_draw(program) @staticmethod def calc_arrays(obj): vertices = [] normals = [] indices = [] # stores tuples with the material and the starting index for the # elements vertices material_sequence = [] # mapped with vertex index and normal index indices_dict = {} current_mtl = None material_map = {} def mtl_to_material(mtl): if mtl.name not in material_map: m = Material( ambient=Vector3(*mtl.Ka), diffuse=Vector3(*mtl.Kd), specular=Vector3(*mtl.Ks), specular_exponent=mtl.Ns, ) material_map[mtl.name] = m return material_map[mtl.name] def index(i, j): if (i, j) not in indices_dict: indices_dict[(i, j)] = len(vertices) vertices.append(obj.vertices[i - 1][:3]) normals.append(obj.normals[j - 1]) return indices_dict[(i, j)] for f in obj.faces: vertex_data, mtl = f if not current_mtl or mtl.name != current_mtl.name: current_mtl = mtl material_sequence.append((len(indices), mtl_to_material(mtl))) i0 = index(vertex_data[0][0], vertex_data[0][2]) ia = index(vertex_data[1][0], vertex_data[1][2]) for i in range(2, len(vertex_data)): ib = index(vertex_data[i][0], vertex_data[i][2]) indices.append(i0) indices.append(ia) indices.append(ib) ia = ib return vertices, normals, indices, material_sequence class Program: shader_type_names = { GL_COMPUTE_SHADER: 'compute shader', GL_VERTEX_SHADER: 'vertex shader', GL_TESS_CONTROL_SHADER: 'tessellation control shader', GL_TESS_EVALUATION_SHADER: 'tessellation evaluation shader', GL_GEOMETRY_SHADER: 'geometry shader', GL_FRAGMENT_SHADER: 'fragment shader', } default_shaders = { GL_VERTEX_SHADER: ''' #version 330 core layout (location = 0) in vec3 v; layout (location = 1) in vec3 normal; out vec3 v_normal; out vec3 v_v; uniform mat4 local = mat4( 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0 ); uniform mat4 model = mat4( 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0 ); uniform mat4 view = mat4( 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0 ); uniform mat4 proj = mat4( 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0 ); void main() { mat4 transform = model * local; v_v = vec3(transform * vec4(v, 1.0)); v_normal = vec3(transform * vec4(normal, 1.0)); gl_Position = proj * view * vec4(v_v, 1.0); } ''', GL_FRAGMENT_SHADER: ''' #version 330 core in vec3 v_normal; in vec3 v_v; out vec4 color; struct Light { vec3 pos; vec3 ambient; vec3 diffuse; vec3 specular; float att_linear; float att_quad; }; struct Material { vec3 ambient; vec3 diffuse; vec3 specular; float specular_exponent; float alpha; }; uniform Light light = Light( vec3(1.0, 1.0, 1.0), vec3(1.0, 1.0, 1.0), vec3(1.0, 1.0, 1.0), vec3(1.0, 1.0, 1.0), 0.0, 0.0 ); uniform Material material = Material( vec3(.5, .5, .5), vec3(.5, .5, .5), vec3(.5, .5, .5), 32.0, 1.0 ); uniform vec3 camera_position = vec3(-1.0, 0.0, 0.0); void main() { vec3 view_direction = normalize(camera_position - v_v); vec3 light_direction = normalize(light.pos - v_v); vec3 normal = normalize(v_normal); /* If triangle is opposed to the camera, then color the other * side. */ if (dot(normal, view_direction) < 0) normal = -normal; float cos_theta = dot(normal, light_direction); if (cos_theta < 0) { cos_theta = 0; } vec3 diffuse = cos_theta * light.diffuse * material.diffuse; vec3 reflection = reflect(-light_direction, normal); cos_theta = dot(reflection, view_direction); if (cos_theta < 0) { cos_theta = 0; } vec3 specular = pow(cos_theta, material.specular_exponent) * light.specular * material.specular; vec3 ambient = light.ambient * material.ambient; float dist = length(light.pos - v_v); float attenuation = 1.0 / (1.0 + light.att_linear * dist + light.att_quad * dist * dist); color = vec4(attenuation * (diffuse + specular + ambient), material.alpha); } ''', } def __init__(self): self.shaders = dict(self.default_shaders) self.uniforms = {k: None for k in ( 'local', 'model', 'view', 'proj', 'camera_position', 'light.pos', 'light.ambient', 'light.diffuse', 'light.specular', 'light.att_linear', 'light.att_quad', 'material.ambient', 'material.diffuse', 'material.specular', 'material.specular_exponent', 'material.alpha', )} def shader_code(self, shader_type, code): self.shaders[shader_type] = code def compile_and_link(self): self.program_id = glCreateProgram() if not self.program_id: raise Exception('Error on creating the OpenGL program') shader_ids = [] try: for shader_type, code in self.shaders.items(): shader_id = glCreateShader(shader_type) name = self.shader_type_names[shader_type] if not shader_id: raise Exception("Error on creating %s" % name) shader_ids.append(shader_id) glShaderSource(shader_id, code) glCompileShader(shader_id) if glGetShaderiv(shader_id, GL_COMPILE_STATUS) != GL_TRUE: error_string = glGetShaderInfoLog(shader_id) raise Exception("Error on compiling %s: %s" % (name, error_string)) glAttachShader(self.program_id, shader_id) glLinkProgram(self.program_id) if glGetProgramiv(self.program_id, GL_LINK_STATUS) != GL_TRUE: raise Exception('Error on linking the OpenGL program') finally: for i in shader_ids: glDeleteShader(i) for k in self.uniforms: self.uniforms[k] = glGetUniformLocation(self.program_id, k) if self.uniforms[k] < 0: raise Exception("Couldn't get location for uniform %s" % k) def use_material(self, material, enable_alpha=False): t = Vector3_to_tuple glUseProgram(self.program_id) glUniform3f(self.uniforms['material.ambient'], *t(material.ambient)) glUniform3f(self.uniforms['material.diffuse'], *t(material.diffuse)) glUniform3f(self.uniforms['material.specular'], *t(material.specular)) glUniform1f(self.uniforms['material.specular_exponent'], material.specular_exponent) alpha = material.alpha if enable_alpha else 1.0 glUniform1f(self.uniforms['material.alpha'], alpha) def use_light(self, light): t = Vector3_to_tuple glUseProgram(self.program_id) glUniform3f(self.uniforms['light.pos'], *t(light.position)) glUniform3f(self.uniforms['light.ambient'], *t(light.ambient)) glUniform3f(self.uniforms['light.diffuse'], *t(light.diffuse)) glUniform3f(self.uniforms['light.specular'], *t(light.specular)) glUniform1f(self.uniforms['light.att_linear'], light.att_linear) glUniform1f(self.uniforms['light.att_quad'], light.att_quad) def use_local_transform(self, transform): glUseProgram(self.program_id) m = transform.mat4() glUniformMatrix4fv(self.uniforms['local'], 1, GL_FALSE, m) def use_model_transform(self, transform): glUseProgram(self.program_id) m = transform.mat4() glUniformMatrix4fv(self.uniforms['model'], 1, GL_FALSE, m) def use_camera(self, camera): t = Vector3_to_tuple glUseProgram(self.program_id) m = camera.view_mat4() glUniform3f(self.uniforms['camera_position'], *t(camera.position)) glUniformMatrix4fv(self.uniforms['view'], 1, GL_FALSE, m) def use_projection(self, projection): glUseProgram(self.program_id) m = projection.proj_mat4() glUniformMatrix4fv(self.uniforms['proj'], 1, GL_FALSE, m) MAVProxy-1.8.74/MAVProxy/modules/lib/optparse_gui/000077500000000000000000000000001504324515000217035ustar00rootroot00000000000000MAVProxy-1.8.74/MAVProxy/modules/lib/optparse_gui/README.txt000066400000000000000000000001501504324515000233750ustar00rootroot00000000000000This is optparse_gui from http://code.google.com/p/optparse-gui/ Thanks to slider for a great library! MAVProxy-1.8.74/MAVProxy/modules/lib/optparse_gui/__init__.py000066400000000000000000000276051504324515000240260ustar00rootroot00000000000000''' A drop-in replacement for optparse ( "import optparse_gui as optparse" ) Provides an identical interface to optparse(.OptionParser), But displays an automatically generated wx dialog in order to enter the options/args, instead of parsing command line arguments ''' import os import sys import re import optparse from ..wx_loader import wx from MAVProxy.modules.lib import multiproc __version__ = 0.1 __revision__ = '$Id$' try: unicode # Removed in Python 3 except NameError: unicode = str class OptparseDialog( wx.Dialog ): '''The dialog presented to the user with dynamically generated controls, to fill in the required options. Based on the wx.Dialog sample from wx Docs & Demos''' def __init__( self, option_parser, parent=None, ID=0, title='Optparse Dialog', pos=wx.DefaultPosition, size=wx.DefaultSize, style=wx.DEFAULT_DIALOG_STYLE, name='OptparseDialog', *args, **kwargs): super(OptparseDialog, self).__init__(self, *args, **kwargs) provider = wx.SimpleHelpProvider() wx.HelpProvider_Set(provider) pre = wx.PreDialog() pre.SetExtraStyle(wx.DIALOG_EX_CONTEXTHELP) pre.Create(parent, ID, title, pos, size, style) self.PostCreate(pre) sizer = wx.BoxSizer(wx.VERTICAL) self.option_controls = {} top_label_text = '%s %s' % ( option_parser.get_prog_name(), option_parser.get_version() ) label = wx.StaticText(self, -1, top_label_text) sizer.Add(label, 0, wx.ALIGN_CENTRE|wx.ALL, 5) self.browse_option_map = {} # Add controls for all the options for option in option_parser.option_list: if option.dest is None: continue if option.help is None: option.help = u'' box = wx.BoxSizer(wx.HORIZONTAL) if 'store' == option.action: label = wx.StaticText(self, -1, option.dest ) label.SetHelpText( option.help ) box.Add( label, 0, wx.ALIGN_CENTRE|wx.ALL, 5 ) if 'choice' == option.type: if optparse.NO_DEFAULT == option.default: option.default = option.choices[0] ctrl = wx.ComboBox( self, -1, choices = option.choices, value = option.default, style = wx.CB_DROPDOWN | wx.CB_READONLY | wx.CB_SORT ) else: if 'MULTILINE' in option.help: ctrl = wx.TextCtrl( self, -1, "", size=(300,100), style = wx.TE_MULTILINE|wx.TE_PROCESS_ENTER ) else: ctrl = wx.TextCtrl( self, -1, "", size=(300,-1) ) if ( option.default != optparse.NO_DEFAULT ) and \ ( option.default is not None ): ctrl.Value = unicode( option.default ) box.Add( ctrl, 1, wx.ALIGN_CENTRE|wx.ALL, 5 ) if option.type in ['file', 'directory']: browse = wx.Button(self, label='...') browse.SetHelpText( 'Click to open %s browser' % (option.type) ) self.browse_option_map[browse.GetId()] = option, ctrl wx.EVT_BUTTON(self, browse.GetId(), self.OnSelectPath) box.Add( browse, 0, wx.ALIGN_CENTRE|wx.ALL, 5 ) elif option.action in ( 'store_true', 'store_false' ): ctrl = wx.CheckBox( self, -1, option.dest, size = ( 300, -1 ) ) box.Add( ctrl, 0, wx.ALIGN_CENTRE|wx.ALL, 5 ) else: raise NotImplementedError ('Unknown option action: %s' % repr( option.action ) ) ctrl.SetHelpText( option.help ) sizer.Add(box, 0, wx.GROW|wx.ALIGN_CENTER_VERTICAL|wx.ALL, 5) self.option_controls[ option ] = ctrl # Add a text control for entering args box = wx.BoxSizer( wx.HORIZONTAL ) label = wx.StaticText(self, -1, 'args' ) label.SetHelpText( 'This is the place to enter the args' ) self.args_ctrl = wx.TextCtrl( self, -1, '', size = ( -1, 100 ), style=wx.TE_MULTILINE | wx.TE_PROCESS_ENTER ) self.args_ctrl.SetHelpText( '''Args can either be separated by a space or a newline Args the contain spaces must be entered like so: "arg with sapce" ''' ) box.Add( label, 0, wx.ALIGN_CENTRE | wx.ALL, 5 ) box.Add( self.args_ctrl, 1, wx.ALIGN_CENTRE | wx.ALL, 5 ) sizer.Add( box , 0, wx.GROW|wx.ALIGN_CENTER_VERTICAL|wx.RIGHT|wx.TOP, 5) line = wx.StaticLine(self, -1, size=(20,-1), style=wx.LI_HORIZONTAL) sizer.Add(line, 0, wx.GROW|wx.ALIGN_CENTER_VERTICAL|wx.RIGHT|wx.TOP, 5) btnsizer = wx.StdDialogButtonSizer() if wx.Platform != "__WXMSW__": btn = wx.ContextHelpButton(self) btnsizer.AddButton(btn) btn = wx.Button(self, wx.ID_OK) btn.SetHelpText("The OK button completes the dialog") btn.SetDefault() btnsizer.AddButton(btn) btn = wx.Button(self, wx.ID_CANCEL) btn.SetHelpText("The Cancel button cancels the dialog. (Cool, huh?)") btnsizer.AddButton(btn) btnsizer.Realize() sizer.Add(btnsizer, 0, wx.ALIGN_CENTER_VERTICAL|wx.ALL, 5) self.SetSizer(sizer) sizer.Fit(self) def OnSelectPath(self, event): option, ctrl = self.browse_option_map[event.GetId()] path = os.path.abspath(ctrl.Value) if option.type == 'file': dlg = wx.FileDialog(self, message = 'Select file for %s' % (option.dest), defaultDir = os.path.dirname(path), defaultFile = path) elif option.type == 'directory': if os.path.isfile (path): path = os.path.dirname (path) dlg = wx.DirDialog(self, message = 'Select directory for %s' % (option.dest), defaultPath = path) else: raise NotImplementedError('option.type') dlg_result = dlg.ShowModal() if wx.ID_OK != dlg_result: return ctrl.Value = dlg.GetPath() ## import open_py_shell;open_py_shell.open_py_shell( locals() ) def _getOptions( self ): option_values = {} for option, ctrl in self.option_controls.iteritems(): option_values[option] = ctrl.Value return option_values def _getArgs( self ): args_buff = self.args_ctrl.Value args = re.findall( r'(?:((?:(?:\w|\d)+)|".*?"))\s*', args_buff ) return args def getOptionsAndArgs( self ): '''Returns the tuple ( options, args ) options - a dictionary of option names and values args - a sequence of args''' option_values = self._getOptions() args = self._getArgs() return option_values, args class UserCancelledError( Exception ): pass class Option (optparse.Option): SUPER = optparse.Option TYPES = SUPER.TYPES + ('file', 'directory') class OptionParser( optparse.OptionParser ): SUPER = optparse.OptionParser def __init__( self, *args, **kwargs ): if 'option_class' not in kwargs: kwargs['option_class'] = Option self.SUPER.__init__( self, *args, **kwargs ) def parse_args( self, args = None, values = None ): ''' multiprocessing wrapper around _parse_args ''' q = multiproc.Queue() p = multiproc.Process(target=self._parse_args, args=(q, args, values)) p.start() ret = q.get() p.join() return ret def _parse_args( self, q, args, values): ''' This is the heart of it all - overrides optparse.OptionParser.parse_args @param arg is irrelevant and thus ignored, it is here only for interface compatibility ''' if wx.GetApp() is None: self.app = wx.App( False ) # preprocess command line arguments and set to defaults option_values, args = self.SUPER.parse_args(self, args, values) for option in self.option_list: if option.dest and hasattr(option_values, option.dest): default = getattr(option_values, option.dest) if default is not None: option.default = default dlg = OptparseDialog( option_parser = self, title=self.get_description() ) if args: dlg.args_ctrl.Value = ' '.join(args) dlg_result = dlg.ShowModal() if wx.ID_OK != dlg_result: raise UserCancelledError( 'User has canceled' ) if values is None: values = self.get_default_values() option_values, args = dlg.getOptionsAndArgs() for option, value in option_values.iteritems(): if ( 'store_true' == option.action ) and ( value is False ): setattr( values, option.dest, False ) continue if ( 'store_false' == option.action ) and ( value is True ): setattr( values, option.dest, False ) continue if option.takes_value() is False: value = None option.process( option, value, values, self ) q.put((values, args)) def error( self, msg ): wx.MessageDialog( None, msg, 'Error!', wx.ICON_ERROR ).ShowModal() return self.SUPER.error( self, msg ) ################################################################################ def sample_parse_args(): usage = "usage: %prog [options] args" if 1 == len( sys.argv ): option_parser_class = OptionParser else: option_parser_class = optparse.OptionParser parser = option_parser_class( usage = usage, version='0.1' ) parser.add_option("-f", "--file", dest="filename", default = r'c:\1.txt', help="read data from FILENAME") parser.add_option("-t", "--text", dest="text", default = r'c:\1.txt', help="MULTILINE text field") parser.add_option("-a", "--action", dest="action", choices = ['delete', 'copy', 'move'], help="Which action do you wish to take?!") parser.add_option("-n", "--number", dest="number", default = 23, type = 'int', help="Just a number") parser.add_option("-v", "--verbose", action="store_true", dest="verbose", help = 'To be or not to be? ( verbose )' ) (options, args) = parser.parse_args() return options, args def sample_parse_args_issue1(): usage = "usage: %prog [options] args" option_parser_class = OptionParser parser = option_parser_class( usage = usage, version='0.1', description='Demo' ) parser.add_option("-f", "--file", dest="filename", default = r'c:\1.txt', type = 'file', help="read data from FILENAME") parser.add_option("-t", "--text", dest="text", default = r'c:\1.txt', help="MULTILINE text field") parser.add_option("-a", "--action", dest="action", choices = ['delete', 'copy', 'move'], help="Which action do you wish to take?!") parser.add_option("-n", "--number", dest="number", default = 23, type = 'int', help="Just a number") parser.add_option("-v", "--verbose", action="store_true", dest="verbose", help = 'To be or not to be? ( verbose )' ) (options, args) = parser.parse_args() return options, args def main(): options, args = sample_parse_args_issue1() print('args: %s' % repr( args )) print('options: %s' % repr( options )) if '__main__' == __name__: main() MAVProxy-1.8.74/MAVProxy/modules/lib/param_ftp.py000077500000000000000000000062271504324515000215370ustar00rootroot00000000000000#!/usr/bin/env python3 ''' decode ftp parameter protocol data ''' import struct import sys class ParamData(object): def __init__(self): # params as (name, value, ptype) self.params = [] # defaults as (name, value, ptype) self.defaults = None def add_param(self, name, value, ptype): self.params.append((name,value,ptype)) def add_default(self, name, value, ptype): if self.defaults is None: self.defaults = [] self.defaults.append((name,value,ptype)) def ftp_param_decode(data): '''decode parameter data, returning ParamData''' pdata = ParamData() magic = 0x671b magic_defaults = 0x671c if len(data) < 6: return None magic2,num_params,total_params = struct.unpack(" 0 and data[0] == pad_byte: # skip pad bytes data = data[1:] if len(data) == 0: break ptype, plen = struct.unpack(">4) & 0x0F has_default = with_defaults and (flags&1) != 0 ptype &= 0x0F if not ptype in data_types: print("paramftp: bad type 0x%x" % ptype) return None (type_len, type_format) = data_types[ptype] default_len = type_len if has_default else 0 name_len = ((plen>>4) & 0x0F) + 1 common_len = (plen & 0x0F) name = last_name[0:common_len] + data[2:2+name_len] vdata = data[2+name_len:2+name_len+type_len+default_len] last_name = name data = data[2+name_len+type_len+default_len:] if with_defaults: if has_default: v1,v2, = struct.unpack("<" + type_format + type_format, vdata) pdata.add_param(name, v1, ptype) pdata.add_default(name, v2, ptype) else: v, = struct.unpack("<" + type_format, vdata) pdata.add_param(name, v, ptype) pdata.add_default(name, v, ptype) else: v, = struct.unpack("<" + type_format, vdata) pdata.add_param(name, v, ptype) count += 1 if count != total_params: print("paramftp: bad count %u should be %u" % (count, total_params)) return None return pdata if __name__ == "__main__": import sys fname = sys.argv[1] data = open(fname,'rb').read() print("Decoding file of length %u" % len(data)) pdata = ftp_param_decode(data) if pdata is None: print("Decode failed") sys.exit(1) for (name,value,ptype) in pdata.params: print(name.decode('utf-8'), value) MAVProxy-1.8.74/MAVProxy/modules/lib/param_help.py000066400000000000000000000226711504324515000216740ustar00rootroot00000000000000import time, os from pymavlink import mavutil, mavparm from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import multiproc class ParamHelp: def __init__(self): self.xml_filepath = None self.vehicle_name = None self.last_pair = (None,None) self.last_htree = None def param_help_download(self): '''download XML files for parameters''' files = [] for vehicle in ['Rover', 'Copter', 'Plane', 'Sub', 'AntennaTracker', 'Blimp', 'Heli']: url = 'http://autotest.ardupilot.org/Parameters/%s/apm.pdef.xml.gz' % vehicle path = mp_util.dot_mavproxy("%s.xml" % vehicle) files.append((url, path)) try: child = multiproc.Process(target=mp_util.download_files, args=(files,)) child.start() except Exception as e: print(e) def param_use_xml_filepath(self, filepath): self.xml_filepath = filepath def convert_vehicle_name(self): '''convert vehicle name new format''' if self.vehicle_name is None: return None if self.vehicle_name == 'APMrover2': return 'Rover' elif self.vehicle_name == 'ArduPlane': return 'Plane' elif self.vehicle_name == 'ArduSub': return 'Sub' elif self.vehicle_name == 'ArduCopter': return 'Copter' else: return self.vehicle_name def param_help_tree(self, verbose=False): '''return a "help tree", a map between a parameter and its metadata. May return None if help is not available''' if self.last_pair == (self.xml_filepath, self.vehicle_name): return self.last_htree if self.xml_filepath is not None: if verbose: print("param: using xml_filepath=%s" % self.xml_filepath) path = self.xml_filepath else: if self.vehicle_name is None: if verbose: print("Unknown vehicle type") return None # Map between new and old names path = mp_util.dot_mavproxy("%s.xml" % self.convert_vehicle_name()) # Otherwise try legacy name if not os.path.exists(path): path = mp_util.dot_mavproxy("%s.xml" % self.vehicle_name) if not os.path.exists(path): if verbose: print("Please run 'param download' first (vehicle_name=%s)" % self.convert_vehicle_name()) return None if not os.path.exists(path): if verbose: print("Param XML (%s) does not exist" % path) return None xml = open(path,'rb').read() from lxml import objectify objectify.enable_recursive_str() tree = objectify.fromstring(xml) htree = {} for p in tree.vehicles.parameters.param: n = p.get('name').split(':')[1] htree[n] = p for lib in tree.libraries.parameters: for p in lib.param: n = p.get('name') htree[n] = p self.last_htree = htree self.last_pair = (self.xml_filepath, self.vehicle_name) return htree def param_set_xml_filepath(self, args): self.xml_filepath = args[0] def param_apropos(self, args): '''search parameter help for a keyword, list those parameters''' if len(args) == 0: print("Usage: param apropos keyword") return htree = self.param_help_tree(True) if htree is None: return contains = {} for keyword in args: keyword = keyword.lower() for param in htree.keys(): if str(htree[param]).lower().find(keyword) != -1: contains[param] = True for param in contains.keys(): print("%s" % (param,)) def get_Values_from_help(self, help): children = help.getchildren() for c in children: if str(c).startswith("values"): return c.getchildren() return [] def get_bitmask_from_help(self, help): # check for presence of "bitmask" subtree, use it by preference: children = help.getchildren() for c in children: if str(c).startswith("bitmask"): ret = {} for entry in c.getchildren(): ret[int(entry.get('code'))] = str(entry) return ret # "bitmask" subtree not present, split the traditional # "Bitmask" field ourselves: if not hasattr(help, 'field'): return None field = help.field if not hasattr(field, 'attrib'): return None if field.attrib.get('name',None) != 'Bitmask': return None a = str(field).split(',') ret = {} for v in a: a2 = v.split(':') if len(a2) == 2: ret[a2[0]] = a2[1] return ret def param_info(self, param, value): '''return info string for a param value''' htree = self.param_help_tree() if htree is None: return param = param.upper() if not param in htree: return None help = htree[param] remaining_bits = int(value) try: bitmask = self.get_bitmask_from_help(help) if bitmask is not None: v = [] for k in bitmask.keys(): if int(value) & (1<= (3, 0): # Python 3.8 defaults to Proactor event loop, which doesn't work well if sys.version_info >= (3, 8): import asyncio asyncio.set_event_loop_policy(asyncio.WindowsSelectorEventLoopPolicy()) from prompt_toolkit import prompt, PromptSession from prompt_toolkit.completion import Completer, Completion from prompt_toolkit.shortcuts import CompleteStyle from prompt_toolkit.patch_stdout import patch_stdout else: try: import readline except ImportError: import pyreadline as readline rline_mpstate = None #redisplay = None class rline(object): '''async readline abstraction''' def __init__(self, prompt, mpstate): global rline_mpstate self.prompt = prompt rline_mpstate = mpstate # other modules can add their own completion functions mpstate.completion_functions = { '(FILENAME)' : complete_filename, '(PARAMETER)' : complete_parameter, '(VARIABLE)' : complete_variable, '(MESSAGETYPE)' : complete_messagetype, '(SETTING)' : rline_mpstate.settings.completion, '(COMMAND)' : complete_command, '(ALIAS)' : complete_alias, '(AVAILMODULES)' : complete_modules, '(LOADEDMODULES)' : complete_loadedmodules } if platform.system() == 'Windows' and sys.version_info >= (3, 0): # Create key bindings registry with a custom binding for the Tab key that # displays completions like GNU readline. self.session = PromptSession() mpstate.completor = MAVPromptCompleter() def set_prompt(self, prompt): if prompt != self.prompt: self.prompt = prompt if platform.system() != 'Windows' or sys.version_info < (3, 0): sys.stdout.write(prompt) self.redisplay() def add_history(self, line): '''add a line to the history''' if platform.system() == 'Windows' and sys.version_info >= (3, 0): self.session.history.append_string(line) else: readline.add_history(line) self.redisplay() def redisplay(self): '''redisplay prompt''' try: redisplay() except NameError: pass def get_prompt(self): '''return the current prompt''' return self.prompt def input(self): ''' get user input''' ret = "" if platform.system() == 'Windows' and sys.version_info >= (3, 0): global rline_mpstate with patch_stdout(): return self.session.prompt(self.get_prompt,completer=rline_mpstate.completor, complete_while_typing=False, complete_style=CompleteStyle.READLINE_LIKE, refresh_interval=0.5) else: return input(self.get_prompt()) if platform.system() == 'Windows' and sys.version_info >= (3, 0): # This is the prompt-toolkit setup for Windows class MAVPromptCompleter(Completer): '''Completion generator for commands''' def __init__(self, ): #global rline_mpstate #self.mpstate = rline_mpstate self.last_clist = None # other modules can add their own completion functions def get_completions(self, document, complete_event): '''yield all the possible completion strings''' global rline_mpstate text = document.text_before_cursor #cmd = text.split(' ') cmd = re.split(" +", text) final_completor = cmd[-1] if len(cmd) != 0 and cmd[0] in rline_mpstate.completions: # we have a completion rule for this command self.last_clist = complete_rules(rline_mpstate.completions[cmd[0]], cmd[1:]) elif len(cmd) == 0 or len(cmd) == 1: # if on first part then complete on commands and aliases self.last_clist = complete_command(text) + complete_alias(text) else: # assume completion by filename self.last_clist = glob.glob(text+'*') ret = [] for c in self.last_clist: if c.startswith(final_completor) or c.startswith(final_completor.upper()): ret.append(c) if len(ret) == 0: # if we had no matches then try case insensitively final_completor = final_completor.lower() for c in self.last_clist: if c.lower().startswith(final_completor): ret.append(c) for c in ret: yield Completion(c, start_position=-len(final_completor)) def complete_alias(text): '''return list of aliases''' global rline_mpstate return list(rline_mpstate.aliases.keys()) def complete_command(text): '''return list of commands''' global rline_mpstate return list(rline_mpstate.command_map.keys()) def complete_loadedmodules(text): global rline_mpstate return [ m.name for (m,pm) in rline_mpstate.modules ] def complete_modules(text): '''complete mavproxy module names''' import MAVProxy.modules, pkgutil modlist = [x[1] for x in pkgutil.iter_modules(MAVProxy.modules.__path__)] ret = [] loaded = set(complete_loadedmodules('')) for m in modlist: if not m.startswith("mavproxy_"): continue name = m[9:] if not name in loaded: ret.append(name) return ret def complete_filename(text): '''complete a filename''' #ensure directories have trailing slashes: list = glob.glob(text+'*') for idx, val in enumerate(list): if os.path.isdir(val): list[idx] = (val + os.path.sep) return list def complete_parameter(text): '''complete a parameter''' global rline_mpstate return list(rline_mpstate.mav_param.keys()) def complete_variable(text): '''complete a MAVLink variable or expression''' global rline_mpstate if text == '': return list(rline_mpstate.status.msgs.keys()) if text.endswith(":2"): suffix = ":2" text = text[:-2] else: suffix = '' m1 = re.match("^(.*?)([A-Z0-9][A-Z0-9_]*(\\[[0-9A-Z_]+\\])?)[.]([A-Za-z0-9_]*)$", text) if m1 is not None: prefix = m1.group(1) mtype = m1.group(2) instance = m1.group(3) fname = m1.group(4) if mtype in rline_mpstate.status.msgs: ret = [] for f in rline_mpstate.status.msgs[mtype].get_fieldnames(): if f.startswith(fname): ret.append(prefix + mtype + '.' + f + suffix) return ret return [] # handle partially open arrays, like 'NAMED_VALUE_FLOAT[A' m1 = re.match("^(.*?)([A-Z0-9][A-Z0-9_]*(\\[[0-9A-Z_]*))$", text) if m1 is not None: prefix = m1.group(1) mtype = m1.group(2) ret = [] for k in list(rline_mpstate.status.msgs.keys()): if k.startswith(mtype): ret.append(prefix + k + suffix) if len(ret): return ret m2 = re.match("^(.*?)([A-Z0-9][A-Z0-9_]*(\\[[0-9A-Z_]+\\])?)$", text) prefix = m2.group(1) mtype = m2.group(2) ret = [] for k in list(rline_mpstate.status.msgs.keys()): if k.startswith(mtype): ret.append(prefix + k + suffix) if len(ret): return ret try: if mavutil.evaluate_expression(text, rline_mpstate.status.msgs) is not None: return [text+suffix] except Exception as ex: pass return [] def complete_messagetype(text): '''complete a MAVLink message type''' global rline_mpstate return list(filter(lambda x : x.startswith(text) and "[" not in x, rline_mpstate.status.msgs.keys())) def rule_expand(component, text): '''expand one rule component''' global rline_mpstate if component[0] == '<' and component[-1] == '>': return component[1:-1].split('|') if component in rline_mpstate.completion_functions: return rline_mpstate.completion_functions[component](text) return [component] def rule_match(component, cmd): '''see if one rule component matches''' if component == cmd: return True expanded = rule_expand(component, cmd) if cmd in expanded: return True return False def complete_rule(rule, cmd): '''complete using one rule''' global rline_mpstate rule_components = rule.split(' ') # complete the empty string (e.g "graph ") if len(cmd) == 0: return rule_expand(rule_components[0], "") # check it matches so far for i in range(len(cmd)-1): if not rule_match(rule_components[i], cmd[i]): return [] # expand the next rule component expanded = [] if platform.system() == 'Windows' and sys.version_info >= (3, 0): if len(rule_components) >= len(cmd): expanded = rule_expand(rule_components[len(cmd)-1], cmd[-1]) else: expanded = rule_expand(rule_components[len(cmd)-1], cmd[-1]) return expanded def complete_rules(rules, cmd): '''complete using a list of completion rules''' if not isinstance(rules, list): rules = [rules] ret = [] for r in rules: ret += complete_rule(r, cmd) return ret last_clist = None def complete(text, state): '''completion routine for when user presses tab''' global last_clist global rline_mpstate if state != 0 and last_clist is not None: return last_clist[state] # split the command so far cmd = re.split(" +", readline.get_line_buffer()) if len(cmd) != 0 and cmd[0] in rline_mpstate.completions: # we have a completion rule for this command last_clist = complete_rules(rline_mpstate.completions[cmd[0]], cmd[1:]) elif len(cmd) == 0 or len(cmd) == 1: # if on first part then complete on commands and aliases last_clist = complete_command(text) + complete_alias(text) else: # assume completion by filename last_clist = glob.glob(text+'*') ret = [] for c in last_clist: if c.startswith(text) or c.startswith(text.upper()): ret.append(c) if len(ret) == 0: # if we had no matches then try case insensitively text = text.lower() for c in last_clist: if c.lower().startswith(text): ret.append(c) ret.append(None) last_clist = ret return last_clist[state] # Configure readline for linux/mac systems if platform.system() != 'Windows' or sys.version_info < (3, 0): readline.set_completer_delims(' \t\n;') readline.parse_and_bind("tab: complete") readline.set_completer(complete) #redisplay = readline.redisplay if __name__ == "__main__": from mp_settings import MPSettings, MPSetting class mystate(object): def __init__(self): self.settings = MPSettings( [ MPSetting('foo', int, 1, 'foo int', tab='Link', range=(0,4), increment=1), MPSetting('bar', float, 4, 'bar float', range=(-1,20), increment=1)]) self.completions = { "script" : ["(FILENAME)"], "set" : ["(SETTING)"] } self.command_map = { 'script' : (None, 'run a script of MAVProxy commands'), 'set' : (None, 'mavproxy settings'), } self.aliases = {} state = mystate() rl = rline("test> ", state) while True: line = raw_input(rl.prompt) print("Got: %s" % line) MAVProxy-1.8.74/MAVProxy/modules/lib/rtcm3.py000066400000000000000000000074611504324515000206140ustar00rootroot00000000000000#!/usr/bin/env python3 '''Decode RTCM v3 messages''' RTCMv3_PREAMBLE = 0xD3 POLYCRC24 = 0x1864CFB import struct class RTCM3: def __init__(self, debug=False): self.crc_table = None self.debug = debug self.reset() def get_packet(self): '''return bytearray of last parsed packet''' return self.parsed_pkt def get_packet_ID(self): '''get get of packet, or None''' if self.parsed_pkt is None or len(self.parsed_pkt) < 8: return None id, = struct.unpack('>H', self.parsed_pkt[3:5]) id >>= 4 return id def reset(self): '''reset state''' self.pkt = bytearray() self.pkt_len = 0 self.parsed_pkt = None def parse(self): '''parse packet''' parity = self.pkt[-3:] crc1 = parity[0] << 16 | parity[1] << 8 | parity[2] crc2 = self.crc24(self.pkt[:-3]) if crc1 != crc2: if self.debug: print("crc fail len=%u" % len(self.pkt)) # look for preamble idx = self.pkt[1:].find(bytearray([RTCMv3_PREAMBLE])) if idx >= 0: self.pkt = self.pkt[1+idx:] if len(self.pkt) >= 3: self.pkt_len, = struct.unpack('>H', self.pkt[1:3]) self.pkt_len &= 0x3ff else: self.pkt_len = 0 else: self.reset() return False # got a good packet self.parsed_pkt = self.pkt self.pkt = bytearray() self.pkt_len = 0 return True def read(self, byte): '''read in one byte, return true if a full packet is available''' #import random #if random.uniform(0,1000) < 1: # return False byte = ord(byte) if len(self.pkt) == 0 and byte != RTCMv3_PREAMBLE: # discard return False self.pkt.append(byte) if self.pkt_len == 0 and len(self.pkt) >= 3: self.pkt_len, = struct.unpack('>H', self.pkt[1:3]) self.pkt_len &= 0x3ff if self.pkt_len == 0: self.reset() return False if self.pkt_len > 0 and len(self.pkt) >= 3 + self.pkt_len + 3: remainder = self.pkt[6+self.pkt_len:] self.pkt = self.pkt[:6+self.pkt_len] # got header, packet body and parity ret = self.parse() self.pkt.extend(remainder) return ret # need more bytes return False def crc24(self, bytes): '''calculate 24 bit crc''' if self.crc_table is None: # initialise table self.crc_table = [0] * 256 for i in range(256): self.crc_table[i] = i<<16 for j in range(8): self.crc_table[i] <<= 1 if (self.crc_table[i] & 0x1000000): self.crc_table[i] ^= POLYCRC24 crc = 0 for b in bytes: crc = ((crc<<8)&0xFFFFFF) ^ self.crc_table[(crc>>16) ^ b] return crc if __name__ == '__main__': from argparse import ArgumentParser import time parser = ArgumentParser(description='RTCM3 parser') parser.add_argument("filename", type=str, help="input file") parser.add_argument("--debug", action='store_true', help="show errors") parser.add_argument("--follow", action='store_true', help="continue reading on EOF") args = parser.parse_args() rtcm3 = RTCM3(args.debug) f = open(args.filename, 'rb') while True: b = f.read(1) if len(b) == 0: if args.follow: time.sleep(0.1) continue break if rtcm3.read(b): print("packet len %u ID %u" % (len(rtcm3.get_packet()), rtcm3.get_packet_ID())) MAVProxy-1.8.74/MAVProxy/modules/lib/srtm.py000077500000000000000000000460601504324515000205520ustar00rootroot00000000000000#!/usr/bin/env python3 # Pylint: Disable name warnings # pylint: disable-msg=C0103 """Load and process SRTM data. Originally written by OpenStreetMap Edited by CanberraUAV""" import sys if sys.version_info.major < 3: from HTMLParser import HTMLParser import httplib else: from html.parser import HTMLParser import http.client as httplib import re import pickle import os.path import os import zipfile import array import math from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import multiproc childTileDownload = {} childFileListDownload = {} filelistDownloadActive = 0 class NoSuchTileError(Exception): """Raised when there is no tile for a region.""" def __init__(self, lat, lon): Exception.__init__(self) self.lat = lat self.lon = lon def __str__(self): return "No SRTM tile for %d, %d available!" % (self.lat, self.lon) class WrongTileError(Exception): """Raised when the value of a pixel outside the tile area is requested.""" def __init__(self, tile_lat, tile_lon, req_lat, req_lon): Exception.__init__(self) self.tile_lat = tile_lat self.tile_lon = tile_lon self.req_lat = req_lat self.req_lon = req_lon def __str__(self): return "SRTM tile for %d, %d does not contain data for %d, %d!" % ( self.tile_lat, self.tile_lon, self.req_lat, self.req_lon) class InvalidTileError(Exception): """Raised when the SRTM tile file contains invalid data.""" def __init__(self, lat, lon): Exception.__init__(self) self.lat = lat self.lon = lon def __str__(self): return "SRTM tile for %d, %d is invalid!" % (self.lat, self.lon) class SRTMDownloader(): """Automatically download SRTM tiles.""" def __init__(self, server="terrain.ardupilot.org", directory="SRTM3", cachedir=None, offline=0, debug=False, use_http=False): if cachedir is None: try: cachedir = os.path.join(os.environ['HOME'], '.tilecache', directory) except Exception: if 'LOCALAPPDATA' in os.environ: cachedir = os.path.join(os.environ['LOCALAPPDATA'], '.tilecache', directory) else: import tempfile cachedir = os.path.join(tempfile.gettempdir(), 'MAVProxy', directory) # User migration to new folder struct (SRTM -> SRTM3) if directory == "SRTM3" and not os.path.exists(cachedir) and os.path.exists(cachedir[:-1]): print("Migrating old SRTM folder") os.rename(cachedir[:-1], cachedir) self.debug = debug self.offline = offline self.offlinemessageshown = 0 if self.offline == 1 and self.debug: print("Map Module in Offline mode") self.first_failure = False self.server = server self.directory = "/" + directory +"/" self.cachedir = cachedir if self.debug: print("SRTMDownloader - server=%s, directory=%s." % (self.server, self.directory)) if not os.path.exists(cachedir): mp_util.mkdir_p(cachedir) self.filelist = {} self.filename_regex = re.compile( r"([NS])(\d{2})([EW])(\d{3})\.hgt\.zip") self.filelist_file = os.path.join(self.cachedir, "filelist_python") self.min_filelist_len = 14500 self.use_http = use_http def loadFileList(self): """Load a previously created file list or create a new one if none is available.""" try: data = open(self.filelist_file, 'rb') except IOError: '''print("No SRTM cached file list. Creating new one!")''' if self.offline == 0: self.createFileList() return try: self.filelist = pickle.load(data) data.close() if len(self.filelist) < self.min_filelist_len: self.filelist = {} if self.offline == 0: self.createFileList() except: '''print("Unknown error loading cached SRTM file list. Creating new one!")''' if self.offline == 0: self.createFileList() def createFileList(self): """SRTM data is split into different directories, get a list of all of them and create a dictionary for easy lookup.""" global childFileListDownload global filelistDownloadActive mypid = os.getpid() if mypid not in childFileListDownload or not childFileListDownload[mypid].is_alive(): childFileListDownload[mypid] = multiproc.Process(target=self.createFileListHTTP) filelistDownloadActive = 1 childFileListDownload[mypid].start() filelistDownloadActive = 0 def getURIWithRedirect(self, url): '''fetch a URL with redirect handling''' tries = 0 while tries < 5: if self.use_http: conn = httplib.HTTPConnection(self.server) else: conn = httplib.HTTPSConnection(self.server) conn.request("GET", url) r1 = conn.getresponse() if r1.status in [301, 302, 303, 307]: location = r1.getheader('Location') if self.debug: print("redirect from %s to %s" % (url, location)) url = location conn.close() tries += 1 continue data = r1.read() conn.close() if sys.version_info.major < 3: return data else: encoding = r1.headers.get_content_charset() if encoding is not None: return data.decode(encoding) elif ".zip" in url or ".hgt" in url: return data else: return data.decode('utf-8') return None def createFileListHTTP(self): """Create a list of the available SRTM files on the server using HTTP file transfer protocol (rather than ftp). 30may2010 GJ ORIGINAL VERSION """ mp_util.child_close_fds() if self.debug: print("Connecting to %s" % self.server, self.directory) try: data = self.getURIWithRedirect(self.directory) except Exception: return parser = parseHTMLDirectoryListing() parser.feed(data) continents = parser.getDirListing() # Flat structure if any(".hgt.zip" in mystring for mystring in continents): files = continents for filename in files: if ".hgt.zip" in filename: self.filelist[self.parseFilename(filename)] = ("/", filename) else: # tiles in subfolders if self.debug: print('continents: ', continents) for continent in continents: if not continent[0].isalpha() or continent.startswith('README'): continue if self.debug: print("Downloading file list for: ", continent) url = "%s%s" % (self.directory,continent) if self.debug: print("fetching %s" % url) try: data = self.getURIWithRedirect(url) except Exception as ex: print("Failed to download %s : %s" % (url, ex)) continue parser = parseHTMLDirectoryListing() parser.feed(data) files = parser.getDirListing() for filename in files: self.filelist[self.parseFilename(filename)] = ( continent, filename) '''print(self.filelist)''' # Add meta info self.filelist["server"] = self.server self.filelist["directory"] = self.directory tmpname = self.filelist_file + ".tmp" with open(tmpname , 'wb') as output: pickle.dump(self.filelist, output) output.close() try: os.unlink(self.filelist_file) except Exception: pass try: os.rename(tmpname, self.filelist_file) except Exception: pass if self.debug: print("created file list with %u entries" % len(self.filelist)) def parseFilename(self, filename): """Get lat/lon values from filename.""" match = self.filename_regex.match(filename) if match is None: # TODO?: Raise exception? '''print("Filename", filename, "unrecognized!")''' return None lat = int(match.group(2)) lon = int(match.group(4)) if match.group(1) == "S": lat = -lat if match.group(3) == "W": lon = -lon return lat, lon def getTile(self, lat, lon): """Get a SRTM tile object. This function can return either an SRTM1 or SRTM3 object depending on what is available, however currently it only returns SRTM3 objects.""" global childFileListDownload global filelistDownloadActive mypid = os.getpid() if mypid in childFileListDownload and childFileListDownload[mypid].is_alive(): if self.debug: print("still getting file list") return 0 elif not os.path.isfile(self.filelist_file) and filelistDownloadActive == 0: self.createFileList() return 0 elif not self.filelist: if self.debug: print("Filelist download complete, loading data ", self.filelist_file) data = open(self.filelist_file, 'rb') self.filelist = pickle.load(data) data.close() try: continent, filename = self.filelist[(int(lat), int(lon))] except KeyError: if len(self.filelist) > self.min_filelist_len: # we appear to have a full filelist - this must be ocean return SRTMOceanTile(int(lat), int(lon)) return 0 global childTileDownload mypid = os.getpid() if not os.path.exists(os.path.join(self.cachedir, filename)): if not mypid in childTileDownload or not childTileDownload[mypid].is_alive(): try: childTileDownload[mypid] = multiproc.Process(target=self.downloadTile, args=(str(continent), str(filename))) childTileDownload[mypid].start() except Exception as ex: if mypid in childTileDownload: childTileDownload.pop(mypid) return 0 '''print("Getting Tile")''' return 0 elif mypid in childTileDownload and childTileDownload[mypid].is_alive(): '''print("Still Getting Tile")''' return 0 # TODO: Currently we create a new tile object each time. # Caching is required for improved performance. try: return SRTMTile(os.path.join(self.cachedir, filename), int(lat), int(lon)) except InvalidTileError: return 0 def downloadTile(self, continent, filename): #Use HTTP mp_util.child_close_fds() if self.offline == 1: return filepath = "%s%s%s" % \ (self.directory,continent,filename) try: data = self.getURIWithRedirect(filepath) if data: self.ftpfile = open(os.path.join(self.cachedir, filename), 'wb') self.ftpfile.write(data) self.ftpfile.close() self.ftpfile = None except Exception as e: if not self.first_failure: print("SRTM Download failed %s on server %s" % (filepath, self.server)) self.first_failure = True pass class SRTMTile: """Base class for all SRTM tiles. Each SRTM tile is size x size pixels big and contains data for the area from (lat, lon) to (lat+1, lon+1) inclusive. This means there is a 1 pixel overlap between tiles. This makes it easier for as to interpolate the value, because for every point we only have to look at a single tile. """ def __init__(self, f, lat, lon): try: zipf = zipfile.ZipFile(f, 'r') except Exception: raise InvalidTileError(lat, lon) names = zipf.namelist() if len(names) != 1: raise InvalidTileError(lat, lon) data = zipf.read(names[0]) self.size = int(math.sqrt(len(data)/2)) # 2 bytes per sample # Currently only SRTM1/3 is supported if self.size not in (1201, 3601): raise InvalidTileError(lat, lon) self.data = array.array('h', data) self.data.byteswap() if len(self.data) != self.size * self.size: raise InvalidTileError(lat, lon) self.lat = lat self.lon = lon @staticmethod def _avg(value1, value2, weight): """Returns the weighted average of two values and handles the case where one value is None. If both values are None, None is returned. """ if value1 is None: return value2 if value2 is None: return value1 return value2 * weight + value1 * (1 - weight) def calcOffset(self, x, y): """Calculate offset into data array. Only uses to test correctness of the formula.""" # Datalayout # X = longitude # Y = latitude # Sample for size 1201x1201 # ( 0/1200) ( 1/1200) ... (1199/1200) (1200/1200) # ( 0/1199) ( 1/1199) ... (1199/1199) (1200/1199) # ... ... ... ... # ( 0/ 1) ( 1/ 1) ... (1199/ 1) (1200/ 1) # ( 0/ 0) ( 1/ 0) ... (1199/ 0) (1200/ 0) # Some offsets: # (0/1200) 0 # (1200/1200) 1200 # (0/1199) 1201 # (1200/1199) 2401 # (0/0) 1201*1200 # (1200/0) 1201*1201-1 return x + self.size * (self.size - y - 1) def getPixelValue(self, x, y): """Get the value of a pixel from the data, handling voids in the SRTM data.""" assert x < self.size, "x: %d<%d" % (x, self.size) assert y < self.size, "y: %d<%d" % (y, self.size) # Same as calcOffset, inlined for performance reasons offset = x + self.size * (self.size - y - 1) #print(offset) value = self.data[offset] if value == -32768: return -1 # -32768 is a special value for areas with no data return value def getAltitudeFromLatLon(self, lat, lon): """Get the altitude of a lat lon pair, using the four neighbouring pixels for interpolation. """ # print("-----\nFromLatLon", lon, lat) lat -= self.lat lon -= self.lon # print("lon, lat", lon, lat) if lat < 0.0 or lat >= 1.0 or lon < 0.0 or lon >= 1.0: raise WrongTileError(self.lat, self.lon, self.lat+lat, self.lon+lon) x = lon * (self.size - 1) y = lat * (self.size - 1) # print("x,y", x, y) x_int = int(x) x_frac = x - int(x) y_int = int(y) y_frac = y - int(y) # print("frac", x_int, x_frac, y_int, y_frac) value00 = self.getPixelValue(x_int, y_int) value10 = self.getPixelValue(x_int+1, y_int) value01 = self.getPixelValue(x_int, y_int+1) value11 = self.getPixelValue(x_int+1, y_int+1) value1 = self._avg(value00, value10, x_frac) value2 = self._avg(value01, value11, x_frac) value = self._avg(value1, value2, y_frac) # print("%4d %4d | %4d\n%4d %4d | %4d\n-------------\n%4d" % ( # value00, value10, value1, value01, value11, value2, value)) return value class SRTMOceanTile(SRTMTile): '''a tile for areas of zero altitude''' def __init__(self, lat, lon): self.lat = lat self.lon = lon def getAltitudeFromLatLon(self, lat, lon): return 0 class parseHTMLDirectoryListing(HTMLParser): def __init__(self): #print("parseHTMLDirectoryListing.__init__") HTMLParser.__init__(self) self.title="Undefined" self.isDirListing = False self.dirList=[] self.inTitle = False self.inHyperLink = False self.currAttrs="" self.currHref="" def handle_starttag(self, tag, attrs): #print("Encountered the beginning of a %s tag" % tag) if tag=="title": self.inTitle = True if tag == "a": self.inHyperLink = True self.currAttrs=attrs for attr in attrs: if attr[0]=='href': self.currHref = attr[1] def handle_endtag(self, tag): #print("Encountered the end of a %s tag" % tag) if tag=="title": self.inTitle = False if tag == "a": # This is to avoid us adding the parent directory to the list. if self.currHref!="": self.dirList.append(self.currHref) self.currAttrs="" self.currHref="" self.inHyperLink = False def handle_data(self,data): if self.inTitle: self.title = data '''print("title=%s" % data)''' if "Index of" in self.title: #print("it is an index!!!!") self.isDirListing = True if self.inHyperLink: # We do not include parent directory in listing. if "Parent Directory" in data: self.currHref="" def getDirListing(self): return self.dirList #DEBUG ONLY if __name__ == '__main__': from argparse import ArgumentParser parser = ArgumentParser(description='srtm test') parser.add_argument("--lat", type=float, default=-35.363261) parser.add_argument("--lon", type=float, default=149.165230) parser.add_argument("--debug", action='store_true', default=False) parser.add_argument("--use-http", action='store_true', default=False) parser.add_argument("--database", type=str, default="SRTM3", choices=["SRTM1", "SRTM3"]) args = parser.parse_args() if args.database == "SRTM1": downloader = SRTMDownloader(debug=args.debug, use_http=args.use_http, directory="SRTM1") else: #SRTM3 downloader = SRTMDownloader(debug=args.debug, use_http=args.use_http, directory="SRTM3") downloader.loadFileList() import time from math import floor start = time.time() while time.time() - start < 30: tile = downloader.getTile(int(floor(args.lat)), int(floor(args.lon))) if tile: print("Download took %.1fs alt=%.1f" % (time.time()-start, tile.getAltitudeFromLatLon(args.lat, args.lon))) break time.sleep(0.2) MAVProxy-1.8.74/MAVProxy/modules/lib/textconsole.py000066400000000000000000000024221504324515000221230ustar00rootroot00000000000000#!/usr/bin/env python3 """ MAVProxy default console """ import sys class SimpleConsole(): ''' a message console for MAVProxy ''' def __init__(self): pass def write(self, text, fg='black', bg='white'): '''write to the console''' if isinstance(text, str): sys.stdout.write(text) else: sys.stdout.write(str(text)) sys.stdout.flush() def writeln(self, text, fg='black', bg='white'): '''write to the console with linefeed''' if not isinstance(text, str): text = str(text) self.write(text + '\n', fg=fg, bg=bg) def set_status(self, name, text='', row=0, fg='black', bg='white'): '''set a status value''' pass def error(self, text, fg='red', bg='white'): self.writeln(text, fg=fg, bg=bg) def close(self): pass def is_alive(self): '''check if we are alive''' return True def set_menu(self, menu, callback): pass if __name__ == "__main__": # test the console import time console = SimpleConsole() while console.is_alive(): console.write('Tick', fg='red') console.write(" %s " % time.asctime()) console.writeln('tock', bg='yellow') time.sleep(0.5) MAVProxy-1.8.74/MAVProxy/modules/lib/wavefront.py000066400000000000000000000270231504324515000215730ustar00rootroot00000000000000# Copyright (C) 2016 Intel Corporation. All rights reserved. # # This file is free software: you can redistribute it and/or modify it # under the terms of the GNU General Public License as published by the # Free Software Foundation, either version 3 of the License, or # (at your option) any later version. # # This file is distributed in the hope that it will be useful, but # WITHOUT ANY WARRANTY; without even the implied warranty of # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. # See the GNU General Public License for more details. # # You should have received a copy of the GNU General Public License along # with this program. If not, see . ''' Module for parsing Wavefront objects. Currently, only a small subset of the directives are supported. The directives supported by the object parser are: - v - vn - f - mtlib - usemtl The directives supported by the material library parser are: - newmtl - Ka r g b - Kd r g b - Ks r g b - Ns Unsupported directives found while parsing are stored in the parser's ignored_directives attribute. ''' from __future__ import print_function import os try: import cPickle as pickle except ImportError: import pickle import threading import sys class Parser(object): def __init__(self, filename=None, string='', enable_cache=False): self.filename = filename self.string = string self.enable_cache = enable_cache self.deps = [] def parse(self, progress_callback=None): if self.filename: return self.parse_file(progress_callback) return self.parse_str(progress_callback) def from_cache(self, progress_callback=None): deps_filename = self.filename + '.deps' if not os.path.exists(deps_filename): return None with open(deps_filename, 'r') as f: for line in f: filename = line.strip() if not os.path.exists(filename): return None cache_filename = filename + '.cache' if not os.path.exists(cache_filename): return None s = os.stat(filename) sc = os.stat(cache_filename) if sc.st_mtime < s.st_mtime: return None if progress_callback: progress_callback(-1, -1) with open(self.filename + '.cache', 'r') as f: try: obj = pickle.load(f) except: print("wavefront parser: error on loading cache, falling back to parsing", file=sys.stderr) return None else: return obj def parse_file(self, progress_callback=None): if self.enable_cache: obj = self.from_cache(progress_callback=progress_callback) if obj: return obj s = os.stat(self.filename) try: blksize = s.st_blksize except AttributeError: blksize = 4096 num_lines = None if progress_callback: num_lines = 0 with open(self.filename, 'r') as f: try: read = f.raw.read except AttributeError: read = f.read blk = read(blksize) while blk: num_lines += blk.count("\n") blk = read(blksize) self.deps = [self.filename] with open(self.filename, 'r') as f: obj = self.parse_lines( f, num_lines=num_lines, progress_callback=progress_callback, ) if self.enable_cache: # FIXME: this will make the cache files be located at the same # location as the source file, which might be somewhere the # user doesn't have write access. with open(self.filename + '.deps', 'w') as deps_file: for filename in self.deps: print(filename, file=deps_file) with open(self.filename + '.cache', 'w') as cache_file: pickle.dump(obj, cache_file) return obj def parse_str(self, progress_callback=None): self.deps = [] lines = self.string.splitlines() return self.parse_lines( lines, num_lines=len(lines) if progress_callback else None, progress_callback=progress_callback, ) def parse_lines(self, lines, num_lines=None, progress_callback=None): obj = self.new_target() self.reset() i = 0 for line in lines: line = self.filter_line(line) i += 1 if not line: continue self.parse_line(line, obj) if progress_callback and num_lines: progress_callback(i, num_lines) return obj def filter_line(self, line): i = line.find('#') if i != -1: line = line[:i] return line.strip() class ParserWorker(threading.Thread): def __init__(self, parser, progress_callback=None, complete_callback=None): super(ParserWorker, self).__init__() self.lock = threading.Lock() self.parser = parser self.complete_callback = complete_callback self.progress = 0, 0 def run(self): self.obj = self.parser.parse(progress_callback=self.progress_callback) if self.complete_callback: self.complete_callback() def progress_callback(self, i, num_lines): self.lock.acquire() self.progress = i, num_lines self.lock.release() def get_progress(self): self.lock.acquire() p = self.progress self.lock.release() return p class Mtl: def __init__(self): self.name = None self.Ka = 1.0, 1.0, 1.0 self.Kd = 1.0, 1.0, 1.0 self.Ks = 1.0, 1.0, 1.0 self.Ns = 1.0 class Obj: def __init__(self): self.vertices = [] self.normals = [] self.faces = [] self.materials = {} class ObjParser(Parser): def reset(self): self.ignored_directives = set() self.current_mtl = Mtl() self.mtl_map = {} def new_target(self): return Obj() def parse_line(self, line, obj): def parse_vertex_data_ref(v): if not v: return 0 try: v = int(v) except ValueError: raise Exception("vertex data references must be integers") if not v: raise Exception("vertex data references can not be zero") return v split = line.split() directive = split[0] args = split[1:] n = len(args) if directive == 'v': if n == 3: x, y, z = args w = 1.0 elif n == 4: x, y, z, w = args else: raise Exception("wrong number of arguments for directive v") try: obj.vertices.append((float(x), float(y), float(z), float(w))) except ValueError: raise Exception("arguments for directive v must be floating point numbers") elif directive == 'vn': if n == 3: x, y, z = args else: raise Exception("wrong number of arguments for directive vn") try: obj.normals.append((float(x), float(y), float(z))) except ValueError: raise Exception("arguments for directive vn must be floating point numbers") elif directive == 'f': if n < 3: raise Exception("directive f requires at least 3 vertices") vertex_data = [] for s in args: s = s.split('/') if len(s) != 3: raise Exception("invalid number of references") v, t, n = s v = parse_vertex_data_ref(v) t = parse_vertex_data_ref(t) n = parse_vertex_data_ref(n) # TODO: address illegal statements like "f 1//1 2/2/2" vertex_data.append((v, t, n)) obj.faces.append((vertex_data, self.current_mtl)) elif directive == 'mtllib': if n < 1: raise Exception("wrong number of arguments for directive mtllib") d = os.path.dirname(self.filename) for filename in args: parser = MtlParser(filename=os.path.join(d, filename)) l = parser.parse() self.deps += parser.deps for mtl in l: if mtl.name in self.mtl_map: continue self.mtl_map[mtl.name] = mtl elif directive == 'usemtl': if n != 1: raise Exception("wrong number of arguments for directive usemtl") name = args[0] if name not in self.mtl_map: raise Exception("material %s not found" % name) if name not in obj.materials: obj.materials[name] = self.mtl_map[name] self.current_mtl = obj.materials[name] else: self.ignored_directives.add(directive) class MtlParser(Parser): def reset(self): self.current_mtl = None self.ignored_directives = set() def new_target(self): return [] def parse_line(self, line, mtl_list): def rgb(): try: if n == 1: r = float(args[0]) g = r b = r elif n == 3: r, g, b = float(args[0]), float(args[1]), float(args[2]) else: raise Exception("wrong number of arguments for directive %s" % directive) except ValueError: raise Exception("arguments for directive %s must be floating point numbers" % directive) else: return r, g, b def ignore_unsupported_color_statement(): if n > 0 and args[0] in ('spectral', 'xyz'): self.ignored_directives.add('%s %s' % (directive, arg[0])) return True return False split = line.split() directive = split[0] args = split[1:] n = len(args) if directive == 'newmtl': if n != 1: raise Exception("wrong number of arguments to directive newmtl") self.current_mtl = Mtl() self.current_mtl.name = args[0] mtl_list.append(self.current_mtl) else: if not self.current_mtl: raise Exception("create a new material with newmtl before any other statement") if directive == 'Ka': if ignore_unsupported_color_statement(): return self.current_mtl.Ka = rgb() elif directive == 'Kd': if ignore_unsupported_color_statement(): return self.current_mtl.Kd = rgb() elif directive == 'Ks': if ignore_unsupported_color_statement(): return self.current_mtl.Ks = rgb() elif directive == 'Ns': if n != 1: raise Exception("wrong number of arguments for directive Ns") try: self.current_mtl.Ns = float(args[0]) except ValueError: raise Exception("argument for directive Ns must be a floating point number") else: self.ignored_directives.add(directive) MAVProxy-1.8.74/MAVProxy/modules/lib/win_layout.py000066400000000000000000000076661504324515000217650ustar00rootroot00000000000000#!/usr/bin/env python3 from __future__ import print_function import os, wx, pickle from MAVProxy.modules.lib import mp_util ''' handle saving/loading of window positions ''' window_list = {} display_size = None loaded_layout = None pending_load = False vehiclename = None class WinLayout(object): '''represent window layout''' def __init__(self, name, pos, size, dsize): self.name = name self.pos = pos self.size = size self.dsize = dsize def __str__(self): return "%s(%ux%u@%u-%u)" % (self.name, self.size[0], self.size[1], self.pos[0], self.pos[1]) class ManagedWindow(object): '''a layout plus callback for setting window position and size''' def __init__(self, layout, callback): self.layout = layout self.callback = callback def get_wx_window_layout(wx_window): '''get a WinLayout for a wx window''' dsize = wx.DisplaySize() pos = wx_window.GetPosition() size = wx_window.GetSize() name = wx_window.GetTitle() return WinLayout(name, pos, size, dsize) def set_wx_window_layout(wx_window, layout): '''set a WinLayout for a wx window''' try: wx_window.SetSize(layout.size) wx_window.SetPosition(layout.pos) except Exception as ex: print(ex) def set_layout(wlayout, callback): '''set window layout''' global display_size global window_list global loaded_layout global pending_load global vehiclename #if not wlayout.name in window_list: # print("layout %s" % wlayout) if not wlayout.name in window_list and loaded_layout is not None and wlayout.name in loaded_layout: callback(loaded_layout[wlayout.name]) window_list[wlayout.name] = ManagedWindow(wlayout, callback) display_size = wlayout.dsize if pending_load: pending_load = False load_layout(vehiclename) def layout_filename(fallback): '''get location of layout file''' global display_size global vehiclename (dw,dh) = display_size dirname = mp_util.dot_mavproxy() if vehiclename: fname = os.path.join(dirname, "layout-%s-%ux%u" % (vehiclename,dw,dh)) if not fallback or os.path.exists(fname): return fname return os.path.join(dirname, "layout-%ux%u" % (dw,dh)) def save_layout(vehname): '''save window layout''' global display_size global window_list global vehiclename if display_size is None: print("No layouts to save") return vehiclename = vehname fname = layout_filename(False) if fname is None: print("No file to save layout to") return layout = {} try: # include previous layout, so we retain layouts for widows not # currently displayed layout = pickle.load(open(fname,"rb")) except Exception: pass count = 0 for name in window_list: layout[name] = window_list[name].layout count += 1 pickle.dump(layout, open(fname,"wb")) print("Saved layout for %u windows" % count) def load_layout(vehname): '''load window layout''' global display_size global window_list global loaded_layout global pending_load global vehiclename if display_size is None: pending_load = True return vehiclename = vehname fname = layout_filename(True) if fname is None: print("No file to load layout from") return try: layout = pickle.load(open(fname,"rb")) except Exception: layout = {} print("Unable to load %s" % fname) loaded_layout = layout return count = 0 for name in window_list: if name in layout: try: window_list[name].callback(layout[name]) count += 1 except Exception as ex: print(ex) loaded_layout = layout print("Loaded layout for %u windows" % count) MAVProxy-1.8.74/MAVProxy/modules/lib/wx_addlink.py000066400000000000000000000136651504324515000217130ustar00rootroot00000000000000#!/usr/bin/env python3 ''' GUI for adding new links to MAVProxy ''' import wx from pymavlink import mavutil from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import multiproc import MAVProxy.modules.mavproxy_link class linkAddDialog(wx.Dialog): def __init__(self, *args, **kwds): super(linkAddDialog, self).__init__(*args, **kwds) self.panelGUI = wx.Panel(self, wx.ID_ANY) self.sizerGUI = wx.FlexGridSizer(5, 2, 0, 0) self.addLink = None self.conStr = None label_1 = wx.StaticText(self.panelGUI, wx.ID_ANY, "Connection Type:") self.sizerGUI.Add(label_1, 0, wx.ALIGN_CENTER_VERTICAL | wx.ALL | wx.RESERVE_SPACE_EVEN_IF_HIDDEN, 3) self.choiceConnection = wx.Choice(self.panelGUI, wx.ID_ANY, choices=["udpin", "udpout", "tcpin", "tcp", "Serial"]) self.choiceConnection.SetSelection(0) self.sizerGUI.Add(self.choiceConnection, 0, wx.ALL, 3) self.labelConType = wx.StaticText(self.panelGUI, wx.ID_ANY, "IP:Port") self.sizerGUI.Add(self.labelConType, 0, wx.ALIGN_CENTER_VERTICAL | wx.ALL, 3) self.textConIPPort = wx.TextCtrl(self.panelGUI, wx.ID_ANY, "127.0.0.1:14550") self.textConIPPort.SetMinSize((150, 34)) self.sizerGUI.Add(self.textConIPPort, 0, wx.ALL | wx.EXPAND, 3) self.labelSerialPort = wx.StaticText(self.panelGUI, wx.ID_ANY, "Port:") self.sizerGUI.Add(self.labelSerialPort, 0, wx.ALIGN_CENTER_VERTICAL | wx.ALL | wx.RESERVE_SPACE_EVEN_IF_HIDDEN, 3) self.choiceSerialPort = wx.Choice(self.panelGUI, wx.ID_ANY, choices=[]) self.sizerGUI.Add(self.choiceSerialPort, 0, wx.ALL | wx.RESERVE_SPACE_EVEN_IF_HIDDEN, 3) self.labelBaud = wx.StaticText(self.panelGUI, wx.ID_ANY, "Baud Rate:") self.sizerGUI.Add(self.labelBaud, 0, wx.ALIGN_CENTER_VERTICAL | wx.ALL | wx.RESERVE_SPACE_EVEN_IF_HIDDEN, 3) self.choiceBaud = wx.Choice(self.panelGUI, wx.ID_ANY, choices=["9600", "19200", "38400", "57600", "115200", "921600", "1500000"]) self.choiceBaud.SetSelection(3) self.sizerGUI.Add(self.choiceBaud, 0, wx.ALL | wx.RESERVE_SPACE_EVEN_IF_HIDDEN, 3) self.buttonAdd = wx.Button(self.panelGUI, wx.ID_ADD, "Add Link") self.sizerGUI.Add(self.buttonAdd, 0, wx.ALL, 3) self.buttonExit = wx.Button(self.panelGUI, wx.ID_CANCEL, "") self.sizerGUI.Add(self.buttonExit, 0, wx.ALIGN_CENTER_VERTICAL, 0) self.panelGUI.SetSizer(self.sizerGUI) self.Layout() self.Bind(wx.EVT_CHOICE, self.onChangeType, self.choiceConnection) self.Bind(wx.EVT_BUTTON, self.onAdd, self.buttonAdd) self.Bind(wx.EVT_BUTTON, self.onClose, self.buttonExit) self.Bind(wx.EVT_CLOSE, self.onClose) # Set initial state self.choiceSerialPort.Disable() self.choiceBaud.Disable() self.labelSerialPort.Disable() self.labelBaud.Disable() self.textConIPPort.Enable() self.labelConType.Enable() ports = mavutil.auto_detect_serial(preferred_list=MAVProxy.modules.mavproxy_link.preferred_ports) for p in ports: self.choiceSerialPort.Append(p.device) self.choiceSerialPort.SetSelection(0) def onChangeType(self, event): ''' Change between network and serial connection options ''' choice = self.choiceConnection.GetString( self.choiceConnection.GetSelection()) if choice in ["udpin", "udpout", "tcpin", "tcp"]: self.choiceSerialPort.Disable() self.choiceBaud.Disable() self.labelSerialPort.Disable() self.labelBaud.Disable() self.textConIPPort.Enable() self.labelConType.Enable() else: self.choiceSerialPort.Enable() self.choiceBaud.Enable() self.labelSerialPort.Enable() self.labelBaud.Enable() self.textConIPPort.Disable() self.labelConType.Disable() self.choiceSerialPort.Clear() ports = mavutil.auto_detect_serial(preferred_list=MAVProxy.modules.mavproxy_link.preferred_ports) for p in ports: self.choiceSerialPort.Append(p.device) self.choiceSerialPort.SetSelection(0) def onAdd(self, event): '''Return connection string''' choice = self.choiceConnection.GetString( self.choiceConnection.GetSelection()) self.conStr = None if choice in ["udpin", "udpout", "tcpin", "tcp"]: self.conStr = "" + choice + ":" + self.textConIPPort.GetValue() else: self.conStr = "" + self.choiceSerialPort.GetString(self.choiceSerialPort.GetSelection()) + ":" + self.choiceBaud.GetString(self.choiceBaud.GetSelection()) #print("1. " + self.conStr) self.EndModal(wx.ID_ADD) def onClose(self, event): ''' Exit the dialog (cancel) ''' if event is None and self.IsModal(): self.EndModal(wx.ID_ADD) elif self.IsModal(): self.EndModal(event.EventObject.Id) else: self.Close() class MPMenulinkAddDialog(object): '''used to create a file dialog callback''' def __init__(self): pass def call(self): '''show a file dialog''' from MAVProxy.modules.lib.wx_loader import wx dlg = linkAddDialog(None, title='Add New Link') if dlg.ShowModal() != wx.ID_ADD: return None else: # get the connection string before closing dialog Constr = dlg.conStr dlg.Destroy() return Constr if __name__ == "__main__": app = wx.App(False) dlg = linkAddDialog(None, title='Add New Link') if dlg.ShowModal() != wx.ID_ADD: print("cancelled") dlg.Destroy() else: # get the connection string before closing dialog Constr = dlg.conStr print("OK: " + Constr) dlg.Destroy() app.MainLoop() MAVProxy-1.8.74/MAVProxy/modules/lib/wx_loader.py000066400000000000000000000003531504324515000215410ustar00rootroot00000000000000from MAVProxy.modules.lib import wx_util if not wx_util.safe: print('Cannot access wx from main thread.') import traceback print(traceback.print_stack()) raise Exception('Cannot access wx from main thread') import wx MAVProxy-1.8.74/MAVProxy/modules/lib/wx_processguard.py000066400000000000000000000002531504324515000227730ustar00rootroot00000000000000# Explicit information for the Python loader # that this subprocess can load wx, which is not process-safe. from MAVProxy.modules.lib import wx_util wx_util.safe = True MAVProxy-1.8.74/MAVProxy/modules/lib/wx_util.py000066400000000000000000000003161504324515000212470ustar00rootroot00000000000000# Maintain the guard for wx being able to be # loaded on this process. This is only needed # for Darwin, so to reduce error cases, only # implement it on Darwin. import sys safe = sys.platform != 'darwin' MAVProxy-1.8.74/MAVProxy/modules/lib/wxconsole.py000077500000000000000000000070311504324515000216010ustar00rootroot00000000000000#!/usr/bin/env python3 """ MAVProxy message console, implemented in a child process """ import threading import sys, time from MAVProxy.modules.lib.wxconsole_util import Value, Text from MAVProxy.modules.lib import textconsole from MAVProxy.modules.lib import win_layout from MAVProxy.modules.lib import multiproc class MessageConsole(textconsole.SimpleConsole): ''' a message console for MAVProxy ''' def __init__(self, title='MAVProxy: console'): textconsole.SimpleConsole.__init__(self) self.title = title self.menu_callback = None self.parent_pipe_recv,self.child_pipe_send = multiproc.Pipe(duplex=False) self.child_pipe_recv,self.parent_pipe_send = multiproc.Pipe(duplex=False) self.close_event = multiproc.Event() self.close_event.clear() self.child = multiproc.Process(target=self.child_task) self.child.start() self.child_pipe_send.close() self.child_pipe_recv.close() t = threading.Thread(target=self.watch_thread) t.daemon = True t.start() def child_task(self): '''child process - this holds all the GUI elements''' self.parent_pipe_send.close() self.parent_pipe_recv.close() from MAVProxy.modules.lib import wx_processguard from MAVProxy.modules.lib.wx_loader import wx from MAVProxy.modules.lib.wxconsole_ui import ConsoleFrame app = wx.App(False) app.frame = ConsoleFrame(state=self, title=self.title) app.frame.SetDoubleBuffered(True) app.frame.Show() app.MainLoop() def watch_thread(self): '''watch for menu events from child''' from MAVProxy.modules.lib.mp_settings import MPSetting try: while True: msg = self.parent_pipe_recv.recv() if isinstance(msg, win_layout.WinLayout): win_layout.set_layout(msg, self.set_layout) elif self.menu_callback is not None: self.menu_callback(msg) time.sleep(0.1) except EOFError: pass def set_layout(self, layout): '''set window layout''' self.parent_pipe_send.send(layout) def write(self, text, fg='black', bg='white'): '''write to the console''' try: self.parent_pipe_send.send(Text(text, fg, bg)) except Exception: pass def set_status(self, name, text='', row=0, fg='black', bg='white'): '''set a status value''' if self.is_alive(): self.parent_pipe_send.send(Value(name, text, row, fg, bg)) def set_menu(self, menu, callback): if self.is_alive(): self.parent_pipe_send.send(menu) self.menu_callback = callback def close(self): '''close the console''' self.close_event.set() if self.is_alive(): self.child.join(2) def is_alive(self): '''check if child is still going''' return self.child.is_alive() if __name__ == "__main__": # test the console multiproc.freeze_support() console = MessageConsole() while console.is_alive(): console.write('Tick', fg='red') console.write(" %s " % time.asctime()) console.writeln('tock', bg='yellow') console.set_status('GPS', 'GPS: OK', fg='blue', bg='green') console.set_status('Link1', 'Link1: OK', fg='green', bg='white') console.set_status('Date', 'Date: %s' % time.asctime(), fg='red', bg='white', row=2) time.sleep(0.5) MAVProxy-1.8.74/MAVProxy/modules/lib/wxconsole_ui.py000066400000000000000000000137521504324515000223020ustar00rootroot00000000000000import errno import time import platform import socket from MAVProxy.modules.lib import mp_menu from MAVProxy.modules.lib.wxconsole_util import Value, Text from MAVProxy.modules.lib.wx_loader import wx from MAVProxy.modules.lib import win_layout from MAVProxy.modules.lib import icon class ConsoleFrame(wx.Frame): """ The main frame of the console""" def __init__(self, state, title): self.state = state wx.Frame.__init__(self, None, title=title, size=(800,300)) # different icons for MAVExplorer and MAVProxy try: if title == "MAVExplorer": self.SetIcon(icon.SimpleIcon("EXPLORER").get_ico()) else: self.SetIcon(icon.SimpleIcon("CONSOLE").get_ico()) except Exception: pass self.panel = wx.Panel(self) self.panel.SetBackgroundColour('white') state.frame = self # values for the status bar self.values = {} self.menu = None self.menu_callback = None self.last_layout_send = time.time() self.control = wx.TextCtrl(self.panel, style=wx.TE_MULTILINE | wx.TE_READONLY | wx.TE_AUTO_URL) self.vbox = wx.BoxSizer(wx.VERTICAL) # start with one status row self.status = [wx.BoxSizer(wx.HORIZONTAL)] self.vbox.Add(self.status[0], 0, flag=wx.ALIGN_LEFT | wx.TOP) self.vbox.Add(self.control, 1, flag=wx.LEFT | wx.BOTTOM | wx.GROW) self.panel.SetSizer(self.vbox) self.timer = wx.Timer(self) self.Bind(wx.EVT_TIMER, self.on_timer, self.timer) self.timer.Start(100) self.Bind(wx.EVT_IDLE, self.on_idle) self.Bind(wx.EVT_TEXT_URL, self.on_text_url) self.Show(True) self.pending = [] def on_menu(self, event): '''handle menu selections''' state = self.state ret = self.menu.find_selected(event) if ret is None: return ret.call_handler() state.child_pipe_send.send(ret) def on_text_url(self, event): '''handle double clicks on URL text''' try: import webbrowser except ImportError: return mouse_event = event.GetMouseEvent() if mouse_event.LeftDClick(): url_start = event.GetURLStart() url_end = event.GetURLEnd() url = self.control.GetRange(url_start, url_end) try: # attempt to use google-chrome browser_controller = webbrowser.get('google-chrome') browser_controller.open_new_tab(url) except webbrowser.Error: # use the system configured default browser webbrowser.open_new_tab(url) def on_idle(self, event): time.sleep(0.05) now = time.time() if now - self.last_layout_send > 1: self.last_layout_send = now self.state.child_pipe_send.send(win_layout.get_wx_window_layout(self)) def on_timer(self, event): state = self.state if state.close_event.wait(0.001): self.timer.Stop() self.Destroy() return while True: try: poll_success = state.child_pipe_recv.poll() if not poll_success: return except socket.error as e: if e.errno == errno.EPIPE: break else: raise e try: obj = state.child_pipe_recv.recv() except Exception: break if isinstance(obj, Value): # request to set a status field if not obj.name in self.values: # create a new status field value = wx.StaticText(self.panel, -1, obj.text) # possibly add more status rows for i in range(len(self.status), obj.row+1): self.status.append(wx.BoxSizer(wx.HORIZONTAL)) self.vbox.Insert(len(self.status)-1, self.status[i], 0, flag=wx.ALIGN_LEFT | wx.TOP) self.vbox.Layout() self.status[obj.row].Add(value, border=5) self.status[obj.row].AddSpacer(20) self.values[obj.name] = value value = self.values[obj.name] value.SetForegroundColour(obj.fg) value.SetBackgroundColour(obj.bg) # workaround wx bug on windows value._foregroundColour = obj.fg value.SetLabel(obj.text) if platform.system() == 'Windows': # more working around wx bugs in windows; without # these the display does not update on colour change value.Refresh() value.Update() self.panel.Layout() elif isinstance(obj, Text): '''request to add text to the console''' self.pending.append(obj) for p in self.pending: # we're scrolled at the bottom oldstyle = self.control.GetDefaultStyle() style = wx.TextAttr() style.SetTextColour(p.fg) style.SetBackgroundColour(p.bg) self.control.SetDefaultStyle(style) self.control.AppendText(p.text) self.control.SetDefaultStyle(oldstyle) self.pending = [] elif isinstance(obj, mp_menu.MPMenuTop): if obj is not None: self.SetMenuBar(None) self.menu = obj self.SetMenuBar(self.menu.wx_menu()) self.Bind(wx.EVT_MENU, self.on_menu) self.Refresh() self.Update() elif isinstance(obj, win_layout.WinLayout): win_layout.set_wx_window_layout(self, obj) self.timer.Stop() self.Destroy() return MAVProxy-1.8.74/MAVProxy/modules/lib/wxconsole_util.py000066400000000000000000000006241504324515000226340ustar00rootroot00000000000000class Text(): '''text to write to console''' def __init__(self, text, fg='black', bg='white'): self.text = text self.fg = fg self.bg = bg class Value(): '''a value for the status bar''' def __init__(self, name, text, row=0, fg='black', bg='white'): self.name = name self.text = text self.row = row self.fg = fg self.bg = bgMAVProxy-1.8.74/MAVProxy/modules/lib/wxgrapheditor.py000066400000000000000000000056111504324515000224460ustar00rootroot00000000000000''' Graphical editing of graph definition ''' from MAVProxy.modules.lib.wx_loader import wx from MAVProxy.modules.lib.graphdefinition import GraphDefinition class GraphDialog(wx.Dialog): def __init__(self, title, graphdef, callback): wx.Dialog.__init__(self, None, -1, title, size=(900, 400)) self.callback = callback self.graphdef = graphdef self.panel = wx.Panel(self, -1) vbox = wx.BoxSizer(wx.VERTICAL) # name entry hbox_name = wx.BoxSizer(wx.HORIZONTAL) st_name = wx.StaticText(self.panel, -1, 'Name: ') self.tc_name = wx.TextCtrl(self.panel, -1, size=(400, -1)) try: self.tc_name.Value = self.graphdef.name except Exception: self.tc_name.Value = 'UNKNOWN' hbox_name.Add(st_name, 0, wx.LEFT, 10) hbox_name.Add(self.tc_name, 0, wx.LEFT, 35) vbox.Add(hbox_name, 0, wx.TOP, 10) # expression entry st = wx.StaticText(self.panel, -1, 'Expressions: ') vbox.Add(st, 0, wx.LEFT, 10) hbox_expressions = wx.BoxSizer(wx.HORIZONTAL) self.tc_expressions = wx.TextCtrl(self.panel, -1, style=wx.TE_MULTILINE|wx.HSCROLL, size=(800, 80)) elist = [] for e in self.graphdef.expressions: e = ' '.join(e.split()) elist.append(e) self.tc_expressions.Value = '\n'.join(elist) vbox.Add(self.tc_expressions, 0, wx.LEFT, 15) # description entry st = wx.StaticText(self.panel, -1, 'Description: ') vbox.Add(st, 0, wx.LEFT, 10) self.tc_description = wx.TextCtrl(self.panel, -1, style=wx.TE_MULTILINE) vbox.Add(self.tc_description, 1, wx.EXPAND | wx.TOP | wx.RIGHT | wx.LEFT, 15) self.tc_description.Value = self.graphdef.description # buttons button_save = wx.Button(self.panel, 1, 'Save') button_cancel = wx.Button(self.panel, 2, 'Cancel') button_test = wx.Button(self.panel, 3, 'Test') hbox_buttons = wx.BoxSizer(wx.HORIZONTAL) hbox_buttons.Add(button_save, 0, wx.LEFT, 10) hbox_buttons.Add(button_cancel, 0, wx.LEFT, 10) hbox_buttons.Add(button_test, 0, wx.LEFT, 10) vbox.Add(hbox_buttons, 0, wx.TOP, 10) self.Bind(wx.EVT_BUTTON, self.OnSave, id=1) self.Bind(wx.EVT_BUTTON, self.OnCancel, id=2) self.Bind(wx.EVT_BUTTON, self.OnTest, id=3) self.panel.SetSizer(vbox) self.Centre() def update_values(self): self.graphdef.name = self.tc_name.Value.strip() self.graphdef.expressions = self.tc_expressions.Value.split('\n') self.graphdef.description = self.tc_description.Value def OnCancel(self, event): self.Close() def OnTest(self, event): self.update_values() self.callback('test', self.graphdef) def OnSave(self, event): self.update_values() self.callback('save', self.graphdef) MAVProxy-1.8.74/MAVProxy/modules/lib/wxhorizon.py000077500000000000000000000032021504324515000216230ustar00rootroot00000000000000#!/usr/bin/env python3 """ MAVProxy horizon indicator. """ from MAVProxy.modules.lib import multiproc import time class HorizonIndicator(): ''' A horizon indicator for MAVProxy. ''' def __init__(self,title='MAVProxy: Horizon Indicator'): self.title = title # Create Pipe to send attitude information from module to UI self.child_pipe_recv,self.parent_pipe_send = multiproc.Pipe() self.close_event = multiproc.Event() self.close_event.clear() self.child = multiproc.Process(target=self.child_task) self.child.start() self.child_pipe_recv.close() def child_task(self): '''child process - this holds all the GUI elements''' self.parent_pipe_send.close() from MAVProxy.modules.lib import wx_processguard from MAVProxy.modules.lib.wx_loader import wx from MAVProxy.modules.lib.wxhorizon_ui import HorizonFrame # Create wx application app = wx.App(False) app.frame = HorizonFrame(state=self, title=self.title) app.frame.SetDoubleBuffered(True) app.frame.Show() app.MainLoop() self.close_event.set() # indicate that the GUI has closed def close(self): '''Close the window.''' self.close_event.set() if self.is_alive(): self.child.join(2) def is_alive(self): '''check if child is still going''' return self.child.is_alive() if __name__ == "__main__": # test the console multiproc.freeze_support() horizon = HorizonIndicator() while horizon.is_alive(): print('test') time.sleep(0.5) MAVProxy-1.8.74/MAVProxy/modules/lib/wxhorizon_ui.py000066400000000000000000000776251504324515000223410ustar00rootroot00000000000000import time from MAVProxy.modules.lib.wxhorizon_util import Attitude, VFR_HUD, Global_Position_INT, BatteryInfo, FlightState, WaypointInfo, FPS from MAVProxy.modules.lib.wx_loader import wx import math, time import matplotlib matplotlib.use('wxAgg') from matplotlib.backends.backend_wxagg import FigureCanvasWxAgg as FigureCanvas from matplotlib.figure import Figure from matplotlib.pyplot import Polygon import matplotlib.patheffects as PathEffects from matplotlib import patches import matplotlib as mpl class HorizonFrame(wx.Frame): """ The main frame of the horizon indicator.""" def __init__(self, state, title): self.state = state # Create Frame and Panel(s) wx.Frame.__init__(self, None, title=title) state.frame = self # Initialisation self.initData() self.initUI() self.startTime = time.time() self.nextTime = 0.0 self.fps = 10.0 def initData(self): # Initialise Attitude self.pitch = 0.0 # Degrees self.roll = 0.0 # Degrees self.yaw = 0.0 # Degrees # History Values self.oldRoll = 0.0 # Degrees # Initialise Rate Information self.airspeed = 0.0 # m/s self.relAlt = 0.0 # m relative to home position self.relAltTime = 0.0 # s The time that the relative altitude was recorded self.climbRate = 0.0 # m/s self.altHist = [] # Altitude History self.timeHist = [] # Time History self.altMax = 0.0 # Maximum altitude since startup # Initialise HUD Info self.heading = 0.0 # 0-360 # Initialise Battery Info self.voltage = 0.0 self.current = 0.0 self.batRemain = 0.0 # Initialise Mode and State self.mode = 'UNKNOWN' self.armed = '' self.safetySwitch = '' # Intialise Waypoint Information self.currentWP = 0 self.finalWP = 0 self.wpDist = 0 self.nextWPTime = 0 self.wpBearing = 0 def initUI(self): # Create Event Timer and Bindings self.timer = wx.Timer(self) self.Bind(wx.EVT_TIMER, self.on_timer, self.timer) self.timer.Start(100) self.Bind(wx.EVT_IDLE, self.on_idle) self.Bind(wx.EVT_CHAR_HOOK,self.on_KeyPress) # Create Panel self.panel = wx.Panel(self) self.vertSize = 0.09 self.resized = False # Create Matplotlib Panel self.createPlotPanel() # Fix Axes - vertical is of length 2, horizontal keeps the same lengthscale self.rescaleX() self.calcFontScaling() # Create Horizon Polygons self.createHorizonPolygons() # Center Pointer Marker self.thick = 0.015 self.createCenterPointMarker() # Pitch Markers self.dist10deg = 0.2 # Graph distance per 10 deg self.createPitchMarkers() # Add Roll, Pitch, Yaw Text self.createRPYText() # Add Airspeed, Altitude, Climb Rate Text self.createAARText() # Create Heading Pointer self.createHeadingPointer() # Create North Pointer self.createNorthPointer() # Create Battery Bar self.batWidth = 0.1 self.batHeight = 0.2 self.rOffset = 0.35 self.createBatteryBar() # Create Mode & State Text self.createStateText() # Create Waypoint Text self.createWPText() # Create Waypoint Pointer self.createWPPointer() # Create Altitude History Plot self.createAltHistoryPlot() # Show Frame self.Show(True) self.pending = [] def createPlotPanel(self): '''Creates the figure and axes for the plotting panel.''' self.figure = Figure() self.axes = self.figure.add_subplot(111) self.canvas = FigureCanvas(self,-1,self.figure) self.canvas.SetSize(wx.Size(300,300)) self.axes.axis('off') self.figure.subplots_adjust(left=0,right=1,top=1,bottom=0) self.sizer = wx.BoxSizer(wx.VERTICAL) self.sizer.Add(self.canvas,1,wx.EXPAND,wx.ALL) self.SetSizerAndFit(self.sizer) self.Fit() def rescaleX(self): '''Rescales the horizontal axes to make the lengthscales equal.''' self.ratio = self.figure.get_size_inches()[0]/float(self.figure.get_size_inches()[1]) self.axes.set_xlim(-self.ratio,self.ratio) self.axes.set_ylim(-1,1) def calcFontScaling(self): '''Calculates the current font size and left position for the current window.''' self.ypx = self.figure.get_size_inches()[1]*self.figure.dpi self.xpx = self.figure.get_size_inches()[0]*self.figure.dpi self.fontSize = self.vertSize*(self.ypx/2.0) self.leftPos = self.axes.get_xlim()[0] self.rightPos = self.axes.get_xlim()[1] def checkReszie(self): '''Checks if the window was resized.''' if not self.resized: oldypx = self.ypx oldxpx = self.xpx self.ypx = self.figure.get_size_inches()[1]*self.figure.dpi self.xpx = self.figure.get_size_inches()[0]*self.figure.dpi if (oldypx != self.ypx) or (oldxpx != self.xpx): self.resized = True else: self.resized = False def createHeadingPointer(self): '''Creates the pointer for the current heading.''' self.headingTri = patches.RegularPolygon((0.0,0.80),3,radius=0.05,color='k',zorder=4) self.axes.add_patch(self.headingTri) self.headingText = self.axes.text(0.0,0.675,'0',color='k',size=self.fontSize,horizontalalignment='center',verticalalignment='center',zorder=4) def adjustHeadingPointer(self): '''Adjust the value of the heading pointer.''' self.headingText.set_text(str(self.heading)) self.headingText.set_size(self.fontSize) def createNorthPointer(self): '''Creates the north pointer relative to current heading.''' self.headingNorthTri = patches.RegularPolygon((0.0,0.80),3,radius=0.05,color='k',zorder=4) self.axes.add_patch(self.headingNorthTri) self.headingNorthText = self.axes.text(0.0,0.675,'N',color='k',size=self.fontSize,horizontalalignment='center',verticalalignment='center',zorder=4) def adjustNorthPointer(self): '''Adjust the position and orientation of the north pointer.''' self.headingNorthText.set_size(self.fontSize) headingRotate = mpl.transforms.Affine2D().rotate_deg_around(0.0,0.0,self.heading)+self.axes.transData self.headingNorthText.set_transform(headingRotate) if (self.heading > 90) and (self.heading < 270): headRot = self.heading-180 else: headRot = self.heading self.headingNorthText.set_rotation(headRot) self.headingNorthTri.set_transform(headingRotate) # Adjust if overlapping with heading pointer if (self.heading <= 10.0) or (self.heading >= 350.0): self.headingNorthText.set_text('') else: self.headingNorthText.set_text('N') def toggleWidgets(self,widgets): '''Hides/shows the given widgets.''' for wig in widgets: if wig.get_visible(): wig.set_visible(False) else: wig.set_visible(True) def createRPYText(self): '''Creates the text for roll, pitch and yaw.''' self.rollText = self.axes.text(self.leftPos+(self.vertSize/10.0),-0.97+(2*self.vertSize)-(self.vertSize/10.0),'Roll: %.2f' % self.roll,color='w',size=self.fontSize) self.pitchText = self.axes.text(self.leftPos+(self.vertSize/10.0),-0.97+self.vertSize-(0.5*self.vertSize/10.0),'Pitch: %.2f' % self.pitch,color='w',size=self.fontSize) self.yawText = self.axes.text(self.leftPos+(self.vertSize/10.0),-0.97,'Yaw: %.2f' % self.yaw,color='w',size=self.fontSize) self.rollText.set_path_effects([PathEffects.withStroke(linewidth=1,foreground='k')]) self.pitchText.set_path_effects([PathEffects.withStroke(linewidth=1,foreground='k')]) self.yawText.set_path_effects([PathEffects.withStroke(linewidth=1,foreground='k')]) def updateRPYLocations(self): '''Update the locations of roll, pitch, yaw text.''' # Locations self.rollText.set_position((self.leftPos+(self.vertSize/10.0),-0.97+(2*self.vertSize)-(self.vertSize/10.0))) self.pitchText.set_position((self.leftPos+(self.vertSize/10.0),-0.97+self.vertSize-(0.5*self.vertSize/10.0))) self.yawText.set_position((self.leftPos+(self.vertSize/10.0),-0.97)) # Font Size self.rollText.set_size(self.fontSize) self.pitchText.set_size(self.fontSize) self.yawText.set_size(self.fontSize) def updateRPYText(self): 'Updates the displayed Roll, Pitch, Yaw Text' self.rollText.set_text('Roll: %.2f' % self.roll) self.pitchText.set_text('Pitch: %.2f' % self.pitch) self.yawText.set_text('Yaw: %.2f' % self.yaw) def createCenterPointMarker(self): '''Creates the center pointer in the middle of the screen.''' self.axes.add_patch(patches.Rectangle((-0.75,-self.thick),0.5,2.0*self.thick,facecolor='orange',zorder=3)) self.axes.add_patch(patches.Rectangle((0.25,-self.thick),0.5,2.0*self.thick,facecolor='orange',zorder=3)) self.axes.add_patch(patches.Circle((0,0),radius=self.thick,facecolor='orange',edgecolor='none',zorder=3)) def createHorizonPolygons(self): '''Creates the two polygons to show the sky and ground.''' # Sky Polygon vertsTop = [[-1,0],[-1,1],[1,1],[1,0],[-1,0]] self.topPolygon = Polygon(vertsTop,facecolor='dodgerblue',edgecolor='none') self.axes.add_patch(self.topPolygon) # Ground Polygon vertsBot = [[-1,0],[-1,-1],[1,-1],[1,0],[-1,0]] self.botPolygon = Polygon(vertsBot,facecolor='brown',edgecolor='none') self.axes.add_patch(self.botPolygon) def calcHorizonPoints(self): '''Updates the verticies of the patches for the ground and sky.''' ydiff = math.tan(math.radians(-self.roll))*float(self.ratio) pitchdiff = self.dist10deg*(self.pitch/10.0) if (self.roll > 90) or (self.roll < -90): pitchdiff = pitchdiff*-1 # Draw Polygons vertsTop = [(-self.ratio,ydiff-pitchdiff),(-self.ratio,1),(self.ratio,1),(self.ratio,-ydiff-pitchdiff),(-self.ratio,ydiff-pitchdiff)] vertsBot = [(-self.ratio,ydiff-pitchdiff),(-self.ratio,-1),(self.ratio,-1),(self.ratio,-ydiff-pitchdiff),(-self.ratio,ydiff-pitchdiff)] if (self.roll > 90) or (self.roll < -90): vertsTop = [(-self.ratio,ydiff-pitchdiff),(-self.ratio,-1),(self.ratio,-1),(self.ratio,-ydiff-pitchdiff),(-self.ratio,ydiff-pitchdiff)] vertsBot = [(-self.ratio,ydiff-pitchdiff),(-self.ratio,1),(self.ratio,1),(self.ratio,-ydiff-pitchdiff),(-self.ratio,ydiff-pitchdiff)] self.topPolygon.set_xy(vertsTop) self.botPolygon.set_xy(vertsBot) def createPitchMarkers(self): '''Creates the rectangle patches for the pitch indicators.''' self.pitchPatches = [] # Major Lines (multiple of 10 deg) for i in [-9,-8,-7,-6,-5,-4,-3,-2,-1,0,1,2,3,4,5,6,7,8,9]: width = self.calcPitchMarkerWidth(i) currPatch = patches.Rectangle((-width/2.0,self.dist10deg*i-(self.thick/2.0)),width,self.thick,facecolor='w',edgecolor='none') self.axes.add_patch(currPatch) self.pitchPatches.append(currPatch) # Add Label for +-30 deg self.vertSize = 0.09 self.pitchLabelsLeft = [] self.pitchLabelsRight = [] i=0 for j in [-90,-60,-30,30,60,90]: self.pitchLabelsLeft.append(self.axes.text(-0.55,(j/10.0)*self.dist10deg,str(j),color='w',size=self.fontSize,horizontalalignment='center',verticalalignment='center')) self.pitchLabelsLeft[i].set_path_effects([PathEffects.withStroke(linewidth=1,foreground='k')]) self.pitchLabelsRight.append(self.axes.text(0.55,(j/10.0)*self.dist10deg,str(j),color='w',size=self.fontSize,horizontalalignment='center',verticalalignment='center')) self.pitchLabelsRight[i].set_path_effects([PathEffects.withStroke(linewidth=1,foreground='k')]) i += 1 def calcPitchMarkerWidth(self,i): '''Calculates the width of a pitch marker.''' if (i % 3) == 0: if i == 0: width = 1.5 else: width = 0.9 else: width = 0.6 return width def adjustPitchmarkers(self): '''Adjusts the location and orientation of pitch markers.''' pitchdiff = self.dist10deg*(self.pitch/10.0) rollRotate = mpl.transforms.Affine2D().rotate_deg_around(0.0,-pitchdiff,self.roll)+self.axes.transData j=0 for i in [-9,-8,-7,-6,-5,-4,-3,-2,-1,0,1,2,3,4,5,6,7,8,9]: width = self.calcPitchMarkerWidth(i) self.pitchPatches[j].set_xy((-width/2.0,self.dist10deg*i-(self.thick/2.0)-pitchdiff)) self.pitchPatches[j].set_transform(rollRotate) j+=1 # Adjust Text Size and rotation i=0 for j in [-9,-6,-3,3,6,9]: self.pitchLabelsLeft[i].set_y(j*self.dist10deg-pitchdiff) self.pitchLabelsRight[i].set_y(j*self.dist10deg-pitchdiff) self.pitchLabelsLeft[i].set_size(self.fontSize) self.pitchLabelsRight[i].set_size(self.fontSize) self.pitchLabelsLeft[i].set_rotation(self.roll) self.pitchLabelsRight[i].set_rotation(self.roll) self.pitchLabelsLeft[i].set_transform(rollRotate) self.pitchLabelsRight[i].set_transform(rollRotate) i += 1 def createAARText(self): '''Creates the text for airspeed, altitude and climb rate.''' self.airspeedText = self.axes.text(self.rightPos-(self.vertSize/10.0),-0.97+(2*self.vertSize)-(self.vertSize/10.0),'AS: %.1f m/s' % self.airspeed,color='w',size=self.fontSize,ha='right') self.altitudeText = self.axes.text(self.rightPos-(self.vertSize/10.0),-0.97+self.vertSize-(0.5*self.vertSize/10.0),'ALT: %.1f m ' % self.relAlt,color='w',size=self.fontSize,ha='right') self.climbRateText = self.axes.text(self.rightPos-(self.vertSize/10.0),-0.97,'CR: %.1f m/s' % self.climbRate,color='w',size=self.fontSize,ha='right') self.airspeedText.set_path_effects([PathEffects.withStroke(linewidth=1,foreground='k')]) self.altitudeText.set_path_effects([PathEffects.withStroke(linewidth=1,foreground='k')]) self.climbRateText.set_path_effects([PathEffects.withStroke(linewidth=1,foreground='k')]) def updateAARLocations(self): '''Update the locations of airspeed, altitude and Climb rate.''' # Locations self.airspeedText.set_position((self.rightPos-(self.vertSize/10.0),-0.97+(2*self.vertSize)-(self.vertSize/10.0))) self.altitudeText.set_position((self.rightPos-(self.vertSize/10.0),-0.97+self.vertSize-(0.5*self.vertSize/10.0))) self.climbRateText.set_position((self.rightPos-(self.vertSize/10.0),-0.97)) # Font Size self.airspeedText.set_size(self.fontSize) self.altitudeText.set_size(self.fontSize) self.climbRateText.set_size(self.fontSize) def updateAARText(self): 'Updates the displayed airspeed, altitude, climb rate Text' self.airspeedText.set_text('AR: %.1f m/s' % self.airspeed) self.altitudeText.set_text('ALT: %.1f m ' % self.relAlt) self.climbRateText.set_text('CR: %.1f m/s' % self.climbRate) def createBatteryBar(self): '''Creates the bar to display current battery percentage.''' self.batOutRec = patches.Rectangle((self.rightPos-(1.3+self.rOffset)*self.batWidth,1.0-(0.1+1.0+(2*0.075))*self.batHeight),self.batWidth*1.3,self.batHeight*1.15,facecolor='darkgrey',edgecolor='none') self.batInRec = patches.Rectangle((self.rightPos-(self.rOffset+1+0.15)*self.batWidth,1.0-(0.1+1+0.075)*self.batHeight),self.batWidth,self.batHeight,facecolor='lawngreen',edgecolor='none') self.batPerText = self.axes.text(self.rightPos - (self.rOffset+0.65)*self.batWidth,1-(0.1+1+(0.075+0.15))*self.batHeight,'%.f' % self.batRemain,color='w',size=self.fontSize,ha='center',va='top') self.batPerText.set_path_effects([PathEffects.withStroke(linewidth=1,foreground='k')]) self.voltsText = self.axes.text(self.rightPos-(self.rOffset+1.3+0.2)*self.batWidth,1-(0.1+0.05+0.075)*self.batHeight,'%.1f V' % self.voltage,color='w',size=self.fontSize,ha='right',va='top') self.ampsText = self.axes.text(self.rightPos-(self.rOffset+1.3+0.2)*self.batWidth,1-self.vertSize-(0.1+0.05+0.1+0.075)*self.batHeight,'%.1f A' % self.current,color='w',size=self.fontSize,ha='right',va='top') self.voltsText.set_path_effects([PathEffects.withStroke(linewidth=1,foreground='k')]) self.ampsText.set_path_effects([PathEffects.withStroke(linewidth=1,foreground='k')]) self.axes.add_patch(self.batOutRec) self.axes.add_patch(self.batInRec) def updateBatteryBar(self): '''Updates the position and values of the battery bar.''' # Bar self.batOutRec.set_xy((self.rightPos-(1.3+self.rOffset)*self.batWidth,1.0-(0.1+1.0+(2*0.075))*self.batHeight)) self.batInRec.set_xy((self.rightPos-(self.rOffset+1+0.15)*self.batWidth,1.0-(0.1+1+0.075)*self.batHeight)) self.batPerText.set_position((self.rightPos - (self.rOffset+0.65)*self.batWidth,1-(0.1+1+(0.075+0.15))*self.batHeight)) self.batPerText.set_fontsize(self.fontSize) self.voltsText.set_text('%.1f V' % self.voltage) self.ampsText.set_text('%.1f A' % self.current) self.voltsText.set_position((self.rightPos-(self.rOffset+1.3+0.2)*self.batWidth,1-(0.1+0.05)*self.batHeight)) self.ampsText.set_position((self.rightPos-(self.rOffset+1.3+0.2)*self.batWidth,1-self.vertSize-(0.1+0.05+0.1)*self.batHeight)) self.voltsText.set_fontsize(self.fontSize) self.ampsText.set_fontsize(self.fontSize) if self.batRemain >= 0: self.batPerText.set_text(int(self.batRemain)) self.batInRec.set_height(self.batRemain*self.batHeight/100.0) if self.batRemain/100.0 > 0.5: self.batInRec.set_facecolor('lawngreen') elif self.batRemain/100.0 <= 0.5 and self.batRemain/100.0 > 0.2: self.batInRec.set_facecolor('yellow') elif self.batRemain/100.0 <= 0.2 and self.batRemain >= 0.0: self.batInRec.set_facecolor('r') elif self.batRemain == -1: self.batInRec.set_height(self.batHeight) self.batInRec.set_facecolor('k') def createStateText(self): '''Creates the mode and arm state text.''' self.modeText = self.axes.text(self.leftPos+(self.vertSize/10.0),0.97,'UNKNOWN',color='grey',size=1.5*self.fontSize,ha='left',va='top') self.modeText.set_path_effects([PathEffects.withStroke(linewidth=self.fontSize/10.0,foreground='black')]) def updateStateText(self): '''Updates the mode and colours red or green depending on arm state.''' self.modeText.set_position((self.leftPos+(self.vertSize/10.0),0.97)) self.modeText.set_text(self.mode) self.modeText.set_size(1.5*self.fontSize) if self.armed: self.modeText.set_color('red') self.modeText.set_path_effects([PathEffects.withStroke(linewidth=self.fontSize/10.0,foreground='yellow')]) elif (self.armed == False): self.modeText.set_color('lightgreen') self.modeText.set_bbox(None) self.modeText.set_path_effects([PathEffects.withStroke(linewidth=1,foreground='black')]) else: # Fall back if unknown self.modeText.set_color('grey') self.modeText.set_bbox(None) self.modeText.set_path_effects([PathEffects.withStroke(linewidth=self.fontSize/10.0,foreground='black')]) def createWPText(self): '''Creates the text for the current and final waypoint, and the distance to the new waypoint.''' self.wpText = self.axes.text(self.leftPos+(1.5*self.vertSize/10.0),0.97-(1.5*self.vertSize)+(0.5*self.vertSize/10.0),'0/0\n(0 m, 0 s)',color='w',size=self.fontSize,ha='left',va='top') self.wpText.set_path_effects([PathEffects.withStroke(linewidth=1,foreground='black')]) def updateWPText(self): '''Updates the current waypoint and distance to it.''' self.wpText.set_position((self.leftPos+(1.5*self.vertSize/10.0),0.97-(1.5*self.vertSize)+(0.5*self.vertSize/10.0))) self.wpText.set_size(self.fontSize) if type(self.nextWPTime) is str: self.wpText.set_text('%.f/%.f\n(%.f m, ~ s)' % (self.currentWP,self.finalWP,self.wpDist)) else: self.wpText.set_text('%.f/%.f\n(%.f m, %.f s)' % (self.currentWP,self.finalWP,self.wpDist,self.nextWPTime)) def createWPPointer(self): '''Creates the waypoint pointer relative to current heading.''' self.headingWPTri = patches.RegularPolygon((0.0,0.55),3,radius=0.05,facecolor='lime',zorder=4,ec='k') self.axes.add_patch(self.headingWPTri) self.headingWPText = self.axes.text(0.0,0.45,'1',color='lime',size=self.fontSize,horizontalalignment='center',verticalalignment='center',zorder=4) self.headingWPText.set_path_effects([PathEffects.withStroke(linewidth=1,foreground='k')]) def adjustWPPointer(self): '''Adjust the position and orientation of the waypoint pointer.''' self.headingWPText.set_size(self.fontSize) headingRotate = mpl.transforms.Affine2D().rotate_deg_around(0.0,0.0,-self.wpBearing+self.heading)+self.axes.transData self.headingWPText.set_transform(headingRotate) angle = self.wpBearing - self.heading if angle < 0: angle += 360 if (angle > 90) and (angle < 270): headRot = angle-180 else: headRot = angle self.headingWPText.set_rotation(-headRot) self.headingWPTri.set_transform(headingRotate) self.headingWPText.set_text('%.f' % (angle)) def createAltHistoryPlot(self): '''Creates the altitude history plot.''' self.altHistRect = patches.Rectangle((self.leftPos+(self.vertSize/10.0),-0.25),0.5,0.5,facecolor='grey',edgecolor='none',alpha=0.4,zorder=4) self.axes.add_patch(self.altHistRect) self.altPlot, = self.axes.plot([self.leftPos+(self.vertSize/10.0),self.leftPos+(self.vertSize/10.0)+0.5],[0.0,0.0],color='k',marker=None,zorder=4) self.altMarker, = self.axes.plot(self.leftPos+(self.vertSize/10.0)+0.5,0.0,marker='o',color='k',zorder=4) self.altText2 = self.axes.text(self.leftPos+(4*self.vertSize/10.0)+0.5,0.0,'%.f m' % self.relAlt,color='k',size=self.fontSize,ha='left',va='center',zorder=4) def updateAltHistory(self): '''Updates the altitude history plot.''' self.altHist.append(self.relAlt) self.timeHist.append(self.relAltTime) # Delete entries older than x seconds histLim = 10 currentTime = time.time() point = 0 for i in range(0,len(self.timeHist)): if (self.timeHist[i] > (currentTime - 10.0)): break # Remove old entries self.altHist = self.altHist[i:] self.timeHist = self.timeHist[i:] # Transform Data x = [] y = [] tmin = min(self.timeHist) tmax = max(self.timeHist) x1 = self.leftPos+(self.vertSize/10.0) y1 = -0.25 altMin = 0 altMax = max(self.altHist) # Keep alt max for whole mission if altMax > self.altMax: self.altMax = altMax else: altMax = self.altMax if tmax != tmin: mx = 0.5/(tmax-tmin) else: mx = 0.0 if altMax != altMin: my = 0.5/(altMax-altMin) else: my = 0.0 for t in self.timeHist: x.append(mx*(t-tmin)+x1) for alt in self.altHist: val = my*(alt-altMin)+y1 # Crop extreme noise if val < -0.25: val = -0.25 elif val > 0.25: val = 0.25 y.append(val) # Display Plot self.altHistRect.set_x(self.leftPos+(self.vertSize/10.0)) self.altPlot.set_data(x,y) self.altMarker.set_data([self.leftPos+(self.vertSize/10.0)+0.5],[val]) self.altText2.set_position((self.leftPos+(4*self.vertSize/10.0)+0.5,val)) self.altText2.set_size(self.fontSize) self.altText2.set_text('%.f m' % self.relAlt) # =============== Event Bindings =============== # def on_idle(self, event): '''To adjust text and positions on rescaling the window when resized.''' # Check for resize self.checkReszie() if self.resized: # Fix Window Scales self.rescaleX() self.calcFontScaling() # Recalculate Horizon Polygons self.calcHorizonPoints() # Update Roll, Pitch, Yaw Text Locations self.updateRPYLocations() # Update Airpseed, Altitude, Climb Rate Locations self.updateAARLocations() # Update Pitch Markers self.adjustPitchmarkers() # Update Heading and North Pointer self.adjustHeadingPointer() self.adjustNorthPointer() # Update Battery Bar self.updateBatteryBar() # Update Mode and State self.updateStateText() # Update Waypoint Text self.updateWPText() # Adjust Waypoint Pointer self.adjustWPPointer() # Update History Plot self.updateAltHistory() # Update Matplotlib Plot self.canvas.draw() self.canvas.Refresh() self.resized = False time.sleep(0.05) def on_timer(self, event): '''Main Loop.''' state = self.state self.loopStartTime = time.time() if state.close_event.wait(0.001): self.timer.Stop() self.Destroy() return # Check for resizing self.checkReszie() if self.resized: self.on_idle(0) # Get attitude information while state.child_pipe_recv.poll(): objList = state.child_pipe_recv.recv() for obj in objList: self.calcFontScaling() if isinstance(obj,Attitude): self.oldRoll = self.roll self.pitch = obj.pitch*180/math.pi self.roll = obj.roll*180/math.pi self.yaw = obj.yaw*180/math.pi # Update Roll, Pitch, Yaw Text Text self.updateRPYText() # Recalculate Horizon Polygons self.calcHorizonPoints() # Update Pitch Markers self.adjustPitchmarkers() elif isinstance(obj,VFR_HUD): self.heading = obj.heading self.airspeed = obj.airspeed self.climbRate = obj.climbRate # Update Airpseed, Altitude, Climb Rate Locations self.updateAARText() # Update Heading North Pointer self.adjustHeadingPointer() self.adjustNorthPointer() elif isinstance(obj,Global_Position_INT): self.relAlt = obj.relAlt self.relAltTime = obj.curTime # Update Airpseed, Altitude, Climb Rate Locations self.updateAARText() # Update Altitude History self.updateAltHistory() elif isinstance(obj,BatteryInfo): self.voltage = obj.voltage self.current = obj.current self.batRemain = obj.batRemain # Update Battery Bar self.updateBatteryBar() elif isinstance(obj,FlightState): self.mode = obj.mode self.armed = obj.armState # Update Mode and Arm State Text self.updateStateText() elif isinstance(obj,WaypointInfo): self.currentWP = obj.current self.finalWP = obj.final self.wpDist = obj.currentDist self.nextWPTime = obj.nextWPTime if obj.wpBearing < 0.0: self.wpBearing = obj.wpBearing + 360 else: self.wpBearing = obj.wpBearing # Update waypoint text self.updateWPText() # Adjust Waypoint Pointer self.adjustWPPointer() elif isinstance(obj, FPS): # Update fps target self.fps = obj.fps # Quit Drawing if too early if (time.time() > self.nextTime): # Update Matplotlib Plot self.canvas.draw() self.canvas.Refresh() self.Refresh() self.Update() # Calculate next frame time if (self.fps > 0): fpsTime = 1/self.fps self.nextTime = fpsTime + self.loopStartTime else: self.nextTime = time.time() def on_KeyPress(self,event): '''To adjust the distance between pitch markers.''' if event.GetKeyCode() == wx.WXK_UP: self.dist10deg += 0.1 print('Dist per 10 deg: %.1f' % self.dist10deg) elif event.GetKeyCode() == wx.WXK_DOWN: self.dist10deg -= 0.1 if self.dist10deg <= 0: self.dist10deg = 0.1 print('Dist per 10 deg: %.1f' % self.dist10deg) # Toggle Widgets elif event.GetKeyCode() == 49: # 1 widgets = [self.modeText,self.wpText] self.toggleWidgets(widgets) elif event.GetKeyCode() == 50: # 2 widgets = [self.batOutRec,self.batInRec,self.voltsText,self.ampsText,self.batPerText] self.toggleWidgets(widgets) elif event.GetKeyCode() == 51: # 3 widgets = [self.rollText,self.pitchText,self.yawText] self.toggleWidgets(widgets) elif event.GetKeyCode() == 52: # 4 widgets = [self.airspeedText,self.altitudeText,self.climbRateText] self.toggleWidgets(widgets) elif event.GetKeyCode() == 53: # 5 widgets = [self.altHistRect,self.altPlot,self.altMarker,self.altText2] self.toggleWidgets(widgets) elif event.GetKeyCode() == 54: # 6 widgets = [self.headingTri,self.headingText,self.headingNorthTri,self.headingNorthText,self.headingWPTri,self.headingWPText] self.toggleWidgets(widgets) # Update Matplotlib Plot self.canvas.draw() self.canvas.Refresh() self.Refresh() self.Update() MAVProxy-1.8.74/MAVProxy/modules/lib/wxhorizon_util.py000066400000000000000000000032301504324515000226560ustar00rootroot00000000000000class Attitude(): '''The current Attitude Data''' def __init__(self, attitudeMsg): self.pitch = attitudeMsg.pitch self.roll = attitudeMsg.roll self.yaw = attitudeMsg.yaw class VFR_HUD(): '''HUD Information.''' def __init__(self,hudMsg): self.airspeed = hudMsg.airspeed self.groundspeed = hudMsg.groundspeed self.heading = hudMsg.heading self.throttle = hudMsg.throttle self.climbRate = hudMsg.climb class Global_Position_INT(): '''Altitude relative to ground (GPS).''' def __init__(self,gpsINT,curTime): self.relAlt = gpsINT.relative_alt/1000.0 self.curTime = curTime class BatteryInfo(): '''Voltage, current and remaning battery.''' def __init__(self,batMsg): self.voltage = batMsg.voltage_battery/1000.0 # Volts self.current = batMsg.current_battery/100.0 # Amps self.batRemain = batMsg.battery_remaining # % class FlightState(): '''Mode and arm state.''' def __init__(self,mode,armState): self.mode = mode self.armState = armState class WaypointInfo(): '''Current and final waypoint numbers, and the distance to the current waypoint.''' def __init__(self,current,final,currentDist,nextWPTime,wpBearing): self.current = current self.final = final self.currentDist = currentDist self.nextWPTime = nextWPTime self.wpBearing = wpBearing class FPS(): '''Stores intended frame rate information.''' def __init__(self,fps): self.fps = fps # if fps is zero, then the frame rate is unrestricted MAVProxy-1.8.74/MAVProxy/modules/lib/wxrc.py000066400000000000000000000145031504324515000205420ustar00rootroot00000000000000#!/usr/bin/env python3 """ MAVProxy RC GUI """ from MAVProxy.modules.lib import multiproc from MAVProxy.modules.lib.wx_loader import wx import wx.lib.agw.pygauge as PG import wx.lib.scrolledpanel import time from enum import Enum class PanelType(Enum): SERVO_OUT = (0, "Servo Out", "Servo") RC_IN = (1, "RC In", "RC") def __new__(cls, value, display_string, short_string): obj = object.__new__(cls) obj._value_ = value obj.display_string = display_string obj.short_string = short_string return obj class RCPanel(wx.lib.scrolledpanel.ScrolledPanel): def __init__(self, parent, panelType=PanelType.RC_IN): super().__init__(parent) self.rc_labels = [] self.rc_gauges = [] self.rc_sizers = [] self.panelType = panelType self.sizer_main = wx.BoxSizer(wx.VERTICAL) if self.panelType == PanelType.RC_IN: self.create_rc_widgets(18) else: self.create_rc_widgets(16) self.SetSizer(self.sizer_main) self.SetupScrolling() def create_rc_widgets(self, num_channels, starting_id=0): for i in range(num_channels): curChanSizer = wx.BoxSizer(wx.HORIZONTAL) label = wx.StaticText(self, label="{0} Channel {1}:".format(str(self.panelType.short_string), str(i+1+starting_id))) gauge = PG.PyGauge(self, range=2000, size=(200, 25), style=wx.GA_HORIZONTAL) # Assuming RC values range from 1000 to 2000 gauge.SetDrawValue(draw=True, drawPercent=False, font=None, colour=wx.BLACK, formatString=None) gauge.SetBarColour(wx.GREEN) gauge.SetBackgroundColour(wx.WHITE) gauge.SetBorderColor(wx.BLACK) gauge.SetValue(0) self.sizer_main.Add(curChanSizer, 1, wx.EXPAND, 0) self.rc_labels.append(label) self.rc_gauges.append(gauge) curChanSizer.Add(label, 0, wx.ALIGN_CENTER_VERTICAL | wx.ALL, 5) curChanSizer.Add(gauge, 1, wx.ALL | wx.EXPAND, 5) self.rc_sizers.append(curChanSizer) def update_gauges(self, msg): # Update the gauges based on the relevant mavlink packet info # Returns 1 if the window needs to be resized to fit additional gauges # If the vehicle is using >16 servo_outs, need to update the GUI if len(self.rc_gauges) == 16 and self.panelType == PanelType.SERVO_OUT and getattr(msg, 'port', 0) == 1: # add another 16 gauges self.create_rc_widgets(16, starting_id=16) self.Layout() self.SetupScrolling() return 1 for i, gauge in enumerate(self.rc_gauges): if msg.get_type() == 'RC_CHANNELS' and self.panelType == PanelType.RC_IN: value = getattr(msg, 'chan{0}_raw'.format(i+1), 0) if value > gauge.GetRange(): gauge.SetRange(value + 50) gauge.SetValue(value) gauge.Refresh() elif (msg.get_type() == 'SERVO_OUTPUT_RAW' and self.panelType == PanelType.SERVO_OUT and getattr(msg, 'port', 0) == 0) and i < 16: value = getattr(msg, 'servo{0}_raw'.format(i+1), 0) if value > gauge.GetRange(): gauge.SetRange(value + 50) gauge.SetValue(value) gauge.Refresh() elif (msg.get_type() == 'SERVO_OUTPUT_RAW' and self.panelType == PanelType.SERVO_OUT and getattr(msg, 'port', 0) == 1) and i >= 17: # 2nd bank of servos (17-32), if used value = getattr(msg, 'servo{0}_raw'.format(i+1-16), 0) if value > gauge.GetRange(): gauge.SetRange(value + 50) gauge.SetValue(value) gauge.Refresh() return 0 class RCFrame(wx.Frame): def __init__(self, panelType, child_pipe_recv): super().__init__(None, title=panelType.display_string) self.panel = RCPanel(self, panelType) self.Bind(wx.EVT_CLOSE, self.on_close) self.panel.sizer_main.Fit(self) # self.Center() self.Layout() self.child_pipe_recv = child_pipe_recv # Start a separate timer to update RC data self.timer = wx.Timer(self) self.Bind(wx.EVT_TIMER, self.on_timer, self.timer) self.timer.Start(100) def on_timer(self, event): '''Main Loop.''' while self.child_pipe_recv.poll(): msg = self.child_pipe_recv.recv() if msg: if self.panel.update_gauges(msg) == 1: self.SetSize(self.GetSize()[0] + 30, self.GetSize()[1]) def on_close(self, event): self.Destroy() class RCStatus(): ''' A RC input and Servo output GUI for MAVProxy. ''' def __init__(self, panelType=PanelType.RC_IN): self.panelType = panelType # Create Pipe to send attitude information from module to UI self.child_pipe_recv, self.parent_pipe_send = multiproc.Pipe() self.close_event = multiproc.Event() self.close_event.clear() self.child = multiproc.Process(target=self.child_task) self.child.start() def child_task(self): '''child process - this holds all the GUI elements''' # from MAVProxy.modules.lib import wx_processguard from MAVProxy.modules.lib.wx_loader import wx # Create wx application app = wx.App(False) app.frame = RCFrame(panelType=self.panelType, child_pipe_recv=self.child_pipe_recv) app.frame.SetDoubleBuffered(True) app.frame.Show() app.MainLoop() self.close_event.set() # indicate that the GUI has closed def close(self): '''Close the window.''' self.close_event.set() if self.is_alive(): self.child.join(2) self.parent_pipe_send.close() self.child_pipe_recv.close() def is_alive(self): '''check if child is still going''' return self.child.is_alive() def processPacket(self, m): '''Send mavlink packet onwards to panel''' self.parent_pipe_send.send(m) if __name__ == "__main__": # test the console multiproc.freeze_support() rc_gui = RCStatus() while rc_gui.is_alive(): print('test') time.sleep(0.5) MAVProxy-1.8.74/MAVProxy/modules/lib/wxsaildash.py000066400000000000000000000043311504324515000217240ustar00rootroot00000000000000#!/usr/bin/env python3 """ MAVProxy sailing dashboard """ from MAVProxy.modules.lib import multiproc import time class SailingDashboard(object): ''' A sailing dashboard for MAVProxy ''' def __init__(self, title="MAVProxy: Sailing Dashboard"): self.title = title # create a pipe for communication from the module to the GUI self.child_pipe_recv, self.parent_pipe_send = multiproc.Pipe(duplex=False) self.close_event = multiproc.Event() self.close_event.clear() # create and start the child process self.child = multiproc.Process(target=self.child_task) self.child.start() # prevent the parent from using the child connection self.child_pipe_recv.close() def child_task(self): '''The child process hosts the GUI elements''' # prevent the child from using the parent connection self.parent_pipe_send.close() from MAVProxy.modules.lib import wx_processguard from MAVProxy.modules.lib.wx_loader import wx from MAVProxy.modules.lib.wxsaildash_ui import SailingDashboardFrame # create the wx application and pass self as the state app = wx.App() app.frame = SailingDashboardFrame(state=self, title=self.title, size=(800, 300)) app.frame.SetDoubleBuffered(True) app.frame.Show() app.MainLoop() # trigger a close event when the main app window is closed. # the event is monitored by the MAVProxy module which will # flag the module for unloading self.close_event.set() def close(self): '''Close the GUI''' # trigger a close event which is monitored by the # child gui process - it will close allowing the # process to be joined self.close_event.set() if self.is_alive(): self.child.join(timeout=2.0) def is_alive(self): '''Check if the GUI process is alive''' return self.child.is_alive() if __name__ == "__main__": '''A stand alone test for the sailing dashboard''' multiproc.freeze_support() sail_dash = SailingDashboard() while sail_dash.is_alive(): print('sailing dashboard is alive') time.sleep(0.5) MAVProxy-1.8.74/MAVProxy/modules/lib/wxsaildash_ui.py000066400000000000000000000310611504324515000224210ustar00rootroot00000000000000""" MAVProxy sailing dashboard gui elements """ from MAVProxy.modules.lib.wx_loader import wx from MAVProxy.modules.lib.wxsaildash_util import WindReference, SpeedUnit, WindAngleAndSpeed, WaterSpeedAndHeading import wx.lib.agw.speedmeter as SM import math import time class SailingDashboardFrame(wx.Frame): '''The main frame of the sailing dashboard''' def __init__(self, state, title, size): super(SailingDashboardFrame, self).__init__(None, title=title, size=size) self._state = state self._title = title # control update rate self._timer = wx.Timer(self) self._fps = 10.0 self._start_time = time.time() # events self.Bind(wx.EVT_TIMER, self.OnTimer, self._timer) self.Bind(wx.EVT_IDLE, self.OnIdle) self.Bind(wx.EVT_CHAR_HOOK, self.OnKeyPress) # restart the timer self._timer.Start(milliseconds=100) # create wind meters for true and apparent wind self._wind_meter1 = WindMeter(self) self._wind_meter1.SetWindReference(WindReference.RELATIVE) self._wind_meter1.SetWindSpeedUnit(SpeedUnit.KNOTS) self._wind_meter1.SetWindAngle(0) self._wind_meter1.SetWindSpeed(0) self._wind_meter2 = WindMeter(self) self._wind_meter2.SetWindReference(WindReference.TRUE) self._wind_meter2.SetWindSpeedUnit(SpeedUnit.KNOTS) self._wind_meter2.SetWindAngle(0) self._wind_meter2.SetWindSpeed(0) # instrument display self._instr1 = InstrumentDisplay(self) self._instr1.label = "AWS" self._instr1.unit = "kn" self._instr1.value = 0.0 self._instr2 = InstrumentDisplay(self) self._instr2.label = "TWS" self._instr2.unit = "kn" self._instr2.value = 0.0 self._instr3 = InstrumentDisplay(self) self._instr3.label = "STW" self._instr3.unit = "kn" self._instr3.value = 0.0 self._instr4 = InstrumentDisplay(self) self._instr4.label = "AWA" self._instr4.unit = "deg" self._instr4.value = 0.0 self._instr5 = InstrumentDisplay(self) self._instr5.label = "TWA" self._instr5.unit = "deg" self._instr5.value = 0.0 self._instr6 = InstrumentDisplay(self) self._instr6.label = "HDT" self._instr6.unit = "deg" self._instr3.value = 0.0 # instrument panel sizers self._instr_sizer1 = wx.BoxSizer(wx.VERTICAL) self._instr_sizer1.Add(self._instr1, 1, wx.EXPAND) self._instr_sizer1.Add(self._instr2, 1, wx.EXPAND) self._instr_sizer1.Add(self._instr3, 1, wx.EXPAND) self._instr_sizer2 = wx.BoxSizer(wx.VERTICAL) self._instr_sizer2.Add(self._instr4, 1, wx.EXPAND) self._instr_sizer2.Add(self._instr5, 1, wx.EXPAND) self._instr_sizer2.Add(self._instr6, 1, wx.EXPAND) # top level sizers self._top_sizer = wx.BoxSizer(wx.HORIZONTAL) self._top_sizer.Add(self._wind_meter1, 2, wx.EXPAND) self._top_sizer.Add(self._wind_meter2, 2, wx.EXPAND) self._top_sizer.Add(self._instr_sizer1, 1, wx.EXPAND) self._top_sizer.Add(self._instr_sizer2, 1, wx.EXPAND) # layout sizers self.SetSizer(self._top_sizer) self.SetAutoLayout(1) # self.sizer.Fit(self) def OnIdle(self, event): '''Handle idle events - e.g. managed scaling when window resized if needed ''' pass def OnTimer(self, event): '''Handle timed tasks''' # check for close events if self._state.close_event.wait(timeout=0.001): # stop the timer and destroy the window - this ensures # the window is closed whhen the module is unloaded self._timer.Stop() self.Destroy() return # receive data from the module while self._state.child_pipe_recv.poll(): obj_list = self._state.child_pipe_recv.recv() for obj in obj_list: if isinstance(obj, WindAngleAndSpeed): if obj.wind_reference == WindReference.RELATIVE: # apparent wind meter self._wind_meter1.SetWindReference(obj.wind_reference) self._wind_meter1.SetWindAngle(obj.wind_angle) self._wind_meter1.SetWindSpeed(obj.wind_speed) self._wind_meter1.SetWindSpeedUnit(obj.wind_speed_unit) # apparent wind displays self._instr1.value = obj.wind_speed self._instr4.value = obj.wind_angle elif obj.wind_reference == WindReference.TRUE: # apparent wind meter self._wind_meter2.SetWindReference(obj.wind_reference) self._wind_meter2.SetWindAngle(obj.wind_angle) self._wind_meter2.SetWindSpeed(obj.wind_speed) self._wind_meter2.SetWindSpeedUnit(obj.wind_speed_unit) # apparent wind displays self._instr2.value = obj.wind_speed self._instr5.value = obj.wind_angle elif isinstance(obj, WaterSpeedAndHeading): # water speed and heading self._instr3.value = obj.water_speed self._instr6.value = obj.heading_true # reset counters self._start_time = time.time() def OnKeyPress(self, event): '''Handle keypress events''' pass class WindMeter(SM.SpeedMeter): ''' class: `WindMeter` is a custom `SpeedMeter`for displaying true or apparent wind ''' def __init__(self, *args, **kwargs): # customise the agw style kwargs.setdefault('agwStyle', SM.SM_DRAW_HAND |SM.SM_DRAW_PARTIAL_SECTORS |SM.SM_DRAW_SECONDARY_TICKS |SM.SM_DRAW_MIDDLE_TEXT) # initialise super class super(WindMeter, self).__init__(*args, **kwargs) # non-public attributes self._wind_reference = WindReference.RELATIVE self._wind_speed = 0 self._wind_speed_unit = SpeedUnit.KNOTS # colours dial_colour = wx.ColourDatabase().Find('DARK SLATE GREY') port_arc_colour = wx.ColourDatabase().Find('RED') stbd_arc_colour = wx.ColourDatabase().Find('GREEN') bottom_arc_colour = wx.ColourDatabase().Find('TAN') self.SetSpeedBackground(dial_colour) # set lower limit to 2.999/2 to prevent the partial sectors from filling # the entire dial self.SetAngleRange(- 2.995/2 * math.pi, math.pi/2) # create the intervals intervals = range(0, 361, 20) self.SetIntervals(intervals) # assign colours to sectors colours = [dial_colour] \ + [stbd_arc_colour] * 2 \ + [dial_colour] * 4 \ + [bottom_arc_colour] * 4 \ + [dial_colour] * 4 \ + [port_arc_colour] * 2 \ + [dial_colour] self.SetIntervalColours(colours) # assign the ticks, colours and font ticks = ['0', '20', '40', '60', '80', '100', '120', '140', '160', '180', '-160', '-140', '-120', '-100', '-80', '-60', '-40', '-20', ''] self.SetTicks(ticks) self.SetTicksColour(wx.WHITE) self.SetNumberOfSecondaryTicks(1) self.SetTicksFont(wx.Font(12, wx.FONTFAMILY_SWISS, wx.FONTSTYLE_NORMAL, wx.FONTWEIGHT_NORMAL)) # set the colour for the first hand indicator self.SetHandColour(wx.Colour(210, 210, 210)) self.SetHandStyle("Hand") # do not draw the external (container) arc self.DrawExternalArc(False) # initialise the meter to zero self.SetWindAngle(0.0) # wind speed display self.SetMiddleTextColour(wx.WHITE) self.SetMiddleTextFont(wx.Font(16, wx.FONTFAMILY_SWISS, wx.FONTSTYLE_NORMAL, wx.FONTWEIGHT_NORMAL)) self.SetWindSpeed(0.0) def SetWindAngle(self, wind_angle): '''Set the wind angle The wind angle is measured with respect to the front of the vehicle, so: -180 <= wind_angle <= 180 ''' # Convert the wind angle to the meter interval [0 - 360] dial_value = wind_angle if wind_angle < 0: dial_value += 360 self.SetSpeedValue(dial_value) def SetWindSpeed(self, wind_speed): '''Set the wind speed''' self._wind_speed = wind_speed reference_code = None if self._wind_reference == WindReference.RELATIVE: reference_code ='AWS' elif self._wind_reference == WindReference.TRUE: reference_code ='TWS' else: reference_code ='INVALID' unit_code = None if self._wind_speed_unit == SpeedUnit.KPH: unit_code ='kph' elif self._wind_speed_unit == SpeedUnit.MPH: unit_code ='mph' elif self._wind_speed_unit == SpeedUnit.KNOTS: unit_code ='kn' else: unit_code ='INVALID' txt = reference_code + " {:.2f}".format(self._wind_speed) + ' ' + unit_code self.SetMiddleText(txt) def SetWindReference(self, reference): '''Set the wind reference (i.e relative(apparent) or true)''' if not (reference == WindReference.RELATIVE or reference == WindReference.TRUE): raise Exception("Invalid wind reference. Must be 'RELATIVE' or 'TRUE'") self._wind_reference = reference def SetWindSpeedUnit(self, unit): '''Set the wind speed units''' if not (unit == SpeedUnit.KPH or unit == SpeedUnit.MPH or unit == SpeedUnit.KNOTS): raise Exception("Invalid wind speed unit. Must be 'KPH' or 'MPH' or 'KNOTS'") self._wind_speed_unit = unit class InstrumentDisplay(wx.Panel): ''' class: `InstrumentDisplay` is a panel for displaying sailing instrument data ''' def __init__(self, *args, **kwargs): # customise the style kwargs.setdefault('style', wx.TE_READONLY) # initialise super class super(InstrumentDisplay, self).__init__(*args, **kwargs) # set the background colour (also for text controls) # self.SetBackgroundColour(wx.WHITE) # text controls self._label_text = wx.TextCtrl(self, style=wx.BORDER_NONE) self._label_text.SetFont(wx.Font(12, wx.FONTFAMILY_SWISS, wx.FONTSTYLE_NORMAL, wx.FONTWEIGHT_NORMAL)) self._label_text.SetBackgroundColour(self.GetBackgroundColour()) self._label_text.ChangeValue("---") self._value_text = wx.TextCtrl(self, style=wx.BORDER_NONE|wx.TE_CENTRE) self._value_text.SetFont(wx.Font(30, wx.FONTFAMILY_SWISS, wx.FONTSTYLE_NORMAL, wx.FONTWEIGHT_NORMAL)) self._value_text.SetBackgroundColour(self.GetBackgroundColour()) self._value_text.ChangeValue("-.-") self._value_text.SetMinSize((60, 40)) self._unit_text = wx.TextCtrl(self, style=wx.BORDER_NONE|wx.TE_RIGHT) self._unit_text.SetFont(wx.Font(12, wx.FONTFAMILY_SWISS, wx.FONTSTYLE_NORMAL, wx.FONTWEIGHT_NORMAL)) self._unit_text.SetBackgroundColour(self.GetBackgroundColour()) self._unit_text.ChangeValue("--") # value text needs a nested sizer to centre vertically self._value_sizer = wx.BoxSizer(wx.HORIZONTAL) self._value_sizer.Add(self._value_text, wx.SizerFlags(1).Align(wx.ALIGN_CENTRE_VERTICAL).Border(wx.ALL, 0)) # top level sizers self._top_sizer = wx.BoxSizer(wx.VERTICAL) self._top_sizer.Add(self._label_text, wx.SizerFlags(0).Align(wx.ALIGN_TOP|wx.ALIGN_LEFT).Border(wx.ALL, 2)) self._top_sizer.Add(self._value_sizer, wx.SizerFlags(1).Expand().Border(wx.ALL, 1)) self._top_sizer.Add(self._unit_text, wx.SizerFlags(0).Align(wx.ALIGN_RIGHT).Border(wx.ALL, 2)) # layout sizers self._top_sizer.SetSizeHints(self) self.SetSizer(self._top_sizer) self.SetAutoLayout(True) @property def label(self): return self._label_text.GetValue() @label.setter def label(self, label): self._label_text.ChangeValue(label) @property def value(self): return self._value_text.GetValue() @value.setter def value(self, value): self._value_text.ChangeValue("{:.2f}".format(value)) @property def unit(self): return self._unit_text.GetValue() @unit.setter def unit(self, unit): self._unit_text.ChangeValue(unit) MAVProxy-1.8.74/MAVProxy/modules/lib/wxsaildash_util.py000066400000000000000000000015401504324515000227600ustar00rootroot00000000000000''' MAVProxy sailing dashboard utility classes ''' import enum class WindReference(enum.Enum): ''' An enumeration for the wind reference (either RELATIVE or TRUE) ''' RELATIVE = 1 TRUE = 2 class SpeedUnit(enum.Enum): ''' An enumeration for the units of speed: kph, mph, or knots ''' KPH = 1 MPH = 2 KNOTS = 3 class WindAngleAndSpeed(object): ''' Wind angle and speed attributes ''' def __init__(self, reference, angle, speed, unit): self.wind_reference = reference self.wind_angle = angle self.wind_speed = speed self.wind_speed_unit = unit class WaterSpeedAndHeading(object): ''' Water speed and heading attributes ''' def __init__(self, water_speed, heading_true): self.water_speed = water_speed self.heading_true = heading_true MAVProxy-1.8.74/MAVProxy/modules/lib/wxsettings.py000066400000000000000000000050431504324515000217750ustar00rootroot00000000000000''' Graphical editing of mp_settings object ''' import os, sys from MAVProxy.modules.lib import multiproc import threading class WXSettings(object): ''' a graphical settings dialog for mavproxy ''' def __init__(self, settings): self.settings = settings self.parent_pipe,self.child_pipe = multiproc.Pipe() self.close_event = multiproc.Event() self.close_event.clear() self.child = multiproc.Process(target=self.child_task) self.child.start() t = threading.Thread(target=self.watch_thread) t.daemon = True t.start() def child_task(self): '''child process - this holds all the GUI elements''' from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import wx_processguard from MAVProxy.modules.lib.wx_loader import wx from MAVProxy.modules.lib.wxsettings_ui import SettingsDlg mp_util.child_close_fds() app = wx.App(False) dlg = SettingsDlg(self.settings) dlg.parent_pipe = self.parent_pipe dlg.ShowModal() dlg.Destroy() def watch_thread(self): '''watch for settings changes from child''' from MAVProxy.modules.lib.mp_settings import MPSetting while True: setting = self.child_pipe.recv() if not isinstance(setting, MPSetting): break try: self.settings.set(setting.name, setting.value) except Exception: print("Unable to set %s to %s" % (setting.name, setting.value)) def is_alive(self): '''check if child is still going''' return self.child.is_alive() if __name__ == "__main__": multiproc.freeze_support() def test_callback(setting): '''callback on apply''' print("Changing %s to %s" % (setting.name, setting.value)) # test the settings from MAVProxy.modules.lib import mp_settings, time from MAVProxy.modules.lib.mp_settings import MPSetting settings = mp_settings.MPSettings( [ MPSetting('link', int, 1, tab='TabOne'), MPSetting('altreadout', int, 10, range=(-30,1017), increment=1), MPSetting('pvalue', float, 0.3, range=(-3.0,1e6), increment=0.1, digits=2), MPSetting('enable', bool, True, tab='TabTwo'), MPSetting('colour', str, 'Blue', choice=['Red', 'Green', 'Blue']), MPSetting('foostr', str, 'blah', label='Foo String') ]) settings.set_callback(test_callback) dlg = WXSettings(settings) while dlg.is_alive(): time.sleep(0.1) MAVProxy-1.8.74/MAVProxy/modules/lib/wxsettings_ui.py000066400000000000000000000172471504324515000225030ustar00rootroot00000000000000import sys from MAVProxy.modules.lib.wx_loader import wx class TabbedDialog(wx.Dialog): def __init__(self, tab_names, title='Title', size=wx.DefaultSize): wx.Dialog.__init__(self, None, -1, title, style=wx.DEFAULT_DIALOG_STYLE|wx.RESIZE_BORDER) self.tab_names = tab_names self.notebook = wx.Notebook(self, -1, size=size) self.panels = {} self.sizers = {} for t in tab_names: self.panels[t] = wx.Panel(self.notebook) self.notebook.AddPage(self.panels[t], t) self.sizers[t] = wx.BoxSizer(wx.VERTICAL) self.panels[t].SetSizer(self.sizers[t]) self.dialog_sizer = wx.BoxSizer(wx.VERTICAL) self.dialog_sizer.Add(self.notebook, 1, wx.EXPAND|wx.ALL, 5) self.controls = {} self.browse_option_map = {} self.control_map = {} self.setting_map = {} button_box = wx.BoxSizer(wx.HORIZONTAL) self.button_apply = wx.Button(self, -1, "Apply") self.button_cancel = wx.Button(self, -1, "Cancel") self.button_save = wx.Button(self, -1, "Save") self.button_load = wx.Button(self, -1, "Load") button_box.Add(self.button_cancel, 0, wx.ALL) button_box.Add(self.button_apply, 0, wx.ALL) button_box.Add(self.button_save, 0, wx.ALL) button_box.Add(self.button_load, 0, wx.ALL) self.dialog_sizer.Add(button_box, 0, wx.GROW|wx.ALL, 5) self.Bind(wx.EVT_BUTTON, self.on_cancel, self.button_cancel) self.Bind(wx.EVT_BUTTON, self.on_apply, self.button_apply) self.Bind(wx.EVT_BUTTON, self.on_save, self.button_save) self.Bind(wx.EVT_BUTTON, self.on_load, self.button_load) self.Centre() def on_cancel(self, event): '''called on cancel''' self.Destroy() def on_apply(self, event): '''called on apply''' for label in self.setting_map.keys(): setting = self.setting_map[label] ctrl = self.controls[label] value = ctrl.GetValue() if str(value) != str(setting.value): oldvalue = setting.value if not setting.set(value): print("Invalid value %s for %s" % (value, setting.name)) continue if str(oldvalue) != str(setting.value): self.parent_pipe.send(setting) def on_save(self, event): '''called on save button''' dlg = wx.FileDialog(None, self.settings.get_title(), '', "", '*.*', wx.FD_SAVE | wx.FD_OVERWRITE_PROMPT) if dlg.ShowModal() == wx.ID_OK: self.settings.save(dlg.GetPath()) def on_load(self, event): '''called on load button''' dlg = wx.FileDialog(None, self.settings.get_title(), '', "", '*.*', wx.FD_OPEN) if dlg.ShowModal() == wx.ID_OK: self.settings.load(dlg.GetPath()) # update the controls with new values for label in self.setting_map.keys(): setting = self.setting_map[label] ctrl = self.controls[label] value = ctrl.GetValue() # Python 2 compatiblility - alternative is: # import six # isinstance(value, six.string_types) if isinstance(value, str) \ or isinstance(value, str if sys.version_info[0] >= 3 else unicode): ctrl.SetValue(str(setting.value)) else: ctrl.SetValue(setting.value) def panel(self, tab_name): '''return the panel for a named tab''' return self.panels[tab_name] def sizer(self, tab_name): '''return the sizer for a named tab''' return self.sizers[tab_name] def refit(self): '''refit after elements are added''' self.SetSizerAndFit(self.dialog_sizer) def _add_input(self, setting, ctrl, ctrl2=None, value=None): tab_name = setting.tab label = setting.label tab = self.panel(tab_name) box = wx.BoxSizer(wx.HORIZONTAL) labelctrl = wx.StaticText(tab, -1, label ) box.Add(labelctrl, 0, wx.ALIGN_CENTRE|wx.ALL, 5) box.Add( ctrl, 1, wx.ALIGN_CENTRE|wx.ALL, 5 ) if ctrl2 is not None: box.Add( ctrl2, 0, wx.ALIGN_CENTRE|wx.ALL, 5 ) self.sizer(tab_name).Add(box, 0, wx.GROW|wx.ALL, 5) self.controls[label] = ctrl if value is not None: ctrl.Value = value else: ctrl.Value = str(setting.value) self.control_map[ctrl.GetId()] = label self.setting_map[label] = setting def add_text(self, setting, width=300, height=100, multiline=False): '''add a text input line''' tab = self.panel(setting.tab) if multiline: ctrl = wx.TextCtrl(tab, -1, "", size=(width,height), style=wx.TE_MULTILINE|wx.TE_PROCESS_ENTER) else: ctrl = wx.TextCtrl(tab, -1, "", size=(width,-1) ) self._add_input(setting, ctrl) def add_choice(self, setting, choices): '''add a choice input line''' tab = self.panel(setting.tab) default = setting.value if default is None: default = choices[0] ctrl = wx.ComboBox(tab, -1, choices=choices, value = str(default), style = wx.CB_DROPDOWN | wx.CB_READONLY | wx.CB_SORT ) self._add_input(setting, ctrl) def add_intspin(self, setting): '''add a spin control''' tab = self.panel(setting.tab) default = setting.value (minv, maxv) = setting.range ctrl = wx.SpinCtrl(tab, -1, initial = default, min = minv, max = maxv) self._add_input(setting, ctrl, value=default) def add_floatspin(self, setting): '''add a floating point spin control''' from wx.lib.agw.floatspin import FloatSpin tab = self.panel(setting.tab) default = setting.value (minv, maxv) = setting.range ctrl = FloatSpin(tab, -1, value = default, min_val = minv, max_val = maxv, increment = setting.increment) if setting.format is not None: ctrl.SetFormat(setting.format) if setting.digits is not None: ctrl.SetDigits(setting.digits) self._add_input(setting, ctrl, value=default) #---------------------------------------------------------------------- class SettingsDlg(TabbedDialog): def __init__(self, settings): title = "Resize the dialog and see how controls adapt!" self.settings = settings tabs = [] for k in self.settings.list(): setting = self.settings.get_setting(k) tab = setting.tab if tab is None: tab = 'Settings' if not tab in tabs: tabs.append(tab) title = self.settings.get_title() if title is None: title = 'Settings' TabbedDialog.__init__(self, tabs, title) for name in self.settings.list(): setting = self.settings.get_setting(name) if setting.type == bool: self.add_choice(setting, ['True', 'False']) elif setting.choice is not None: self.add_choice(setting, setting.choice) elif setting.type == int and setting.increment is not None and setting.range is not None: self.add_intspin(setting) elif setting.type == float and setting.increment is not None and setting.range is not None: self.add_floatspin(setting) else: self.add_text(setting) self.refit() MAVProxy-1.8.74/MAVProxy/modules/mavproxy_DGPS.py000066400000000000000000000053721504324515000215170ustar00rootroot00000000000000#!/usr/bin/env python3 ''' support for a GCS attached DGPS system ''' import socket, errno from pymavlink import mavutil from MAVProxy.modules.lib import mp_module class DGPSModule(mp_module.MPModule): def __init__(self, mpstate): super(DGPSModule, self).__init__(mpstate, "DGPS", "DGPS injection support for SBP/RTCP/UBC") self.portnum = 13320 self.port = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) self.port.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) self.port.bind(("127.0.0.1", self.portnum)) mavutil.set_close_on_exec(self.port.fileno()) self.port.setblocking(0) self.inject_seq_nr = 0 print("DGPS: Listening for RTCM packets on UDP://%s:%s" % ("127.0.0.1", self.portnum)) def send_rtcm_msg(self, data): msglen = 180; if (len(data) > msglen * 4): print("DGPS: Message too large", len(data)) return # How many messages will we send? msgs = 0 if (len(data) % msglen == 0): msgs = len(data) // msglen else: msgs = (len(data) // msglen) + 1 for a in range(0, msgs): flags = 0 # Set the fragment flag if we're sending more than 1 packet. if (msgs) > 1: flags = 1 # Set the ID of this fragment flags |= (a & 0x3) << 1 # Set an overall sequence number flags |= (self.inject_seq_nr & 0x1f) << 3 amount = min(len(data) - a * msglen, msglen) datachunk = data[a*msglen : a*msglen + amount] self.master.mav.gps_rtcm_data_send( flags, len(datachunk), bytearray(datachunk.ljust(180, b'\0'))) # Send a terminal 0-length message if we sent 2 or 3 exactly-full messages. if (msgs < 4) and (len(data) % msglen == 0) and (len(data) > msglen): flags = 1 | (msgs & 0x3) << 1 | (self.inject_seq_nr & 0x1f) << 3 self.master.mav.gps_rtcm_data_send( flags, 0, bytearray("".ljust(180, '\0'))) self.inject_seq_nr += 1 def idle_task(self): '''called in idle time''' try: data = self.port.recv(1024) # Attempt to read up to 1024 bytes. except socket.error as e: if e.errno in [ errno.EAGAIN, errno.EWOULDBLOCK ]: return raise try: self.send_rtcm_msg(data) except Exception as e: print("DGPS: GPS Inject Failed:", e) def init(mpstate): '''initialise module''' return DGPSModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_GPSInject.py000066400000000000000000000115661504324515000225520ustar00rootroot00000000000000""" inject data to GPS modules from a file or URL primarily used to inject uBlox AssistNow data """ import random import time import os from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_settings import urllib.request OFFLINE_MBX = "https://firmware.ardupilot.org/AssistNow/OFFLINE.UBX" class GPSInjectModule(mp_module.MPModule): def __init__(self, mpstate): super(GPSInjectModule, self).__init__(mpstate, "gpsinject", "gpsinject", public=False) self.gpsinject_settings = mp_settings.MPSettings( [('source', str, OFFLINE_MBX), ('send_rate_kps', float, 2.0), ('repeat', int, 2), ('gps_mask', int, 0)]) self.add_command('gpsinject', self.cmd_gpsinject, 'GPSInject control', ["", "set (GPSINJECTSETTING)"]) self.add_completion_function('(GPSINJECTSETTING)', self.gpsinject_settings.completion) self.buf = None self.sent_bytes = 0 self.sent_count = 0 self.started = False self.start_pending = False self.last_send = None def idle_task(self): '''called on idle''' if not self.started and not self.start_pending: return if self.buf is None: source = self.gpsinject_settings.source if source.startswith("http"): req = urllib.request.urlopen(self.gpsinject_settings.source) if req is not None: self.buf = req.read() elif os.path.isfile(self.gpsinject_settings.source): self.buf = open(self.gpsinject_settings.source,'rb').read() if self.buf is None: print("GPSInject: Bad source %s" % source) self.started = False self.start_pending = False return print("GPSInject: retrieved %u bytes" % len(self.buf)) if self.start_pending: GPS_RAW_INT = self.master.messages.get("GPS_RAW_INT", None) GPS2_RAW = self.master.messages.get("GPS2_RAW", None) if GPS_RAW_INT is None and GPS2_RAW is None: return have_gps = False have_gps = (GPS_RAW_INT is not None and GPS_RAW_INT.fix_type >= 1) or (GPS2_RAW is not None and GPS2_RAW.fix_type >= 1) if have_gps: self.started = True if not self.started: return max_send = 110 now = time.time() sec_per_byte = 1.0/(1024.0*self.gpsinject_settings.send_rate_kps) if self.last_send is not None and now - self.last_send < max_send*sec_per_byte: return if self.last_send is None: cansend = max_send else: cansend = int((now - self.last_send) / sec_per_byte) self.last_send = now while cansend > 0: n = min(max_send, len(self.buf) - self.sent_bytes) n = min(n, cansend) msg = self.buf[self.sent_bytes:self.sent_bytes+n] self.master.mav.gps_inject_data_send( self.target_system, self.target_component, len(msg), bytearray(msg.ljust(max_send, bytes([0])))) self.sent_bytes += n if self.sent_bytes == len(self.buf): self.sent_bytes = 0 self.sent_count += 1 if self.sent_count == self.gpsinject_settings.repeat: print("GPSInject: done") self.started = False self.start_pending = False break cansend -= n def cmd_gpsinject(self, args): '''GPSInject command handling''' if len(args) <= 0: print("Usage: gpsinject ") return if args[0] == "start": self.buf = None self.sent_bytes = 0 self.sent_count = 0 self.started = False self.start_pending = True self.last_send = None if args[0] == "stop": self.start_pending = False self.started = False elif args[0] == "status": self.gpsinject_status() elif args[0] == "set": self.gpsinject_settings.command(args[1:]) def gpsinject_status(self): '''show GPS inject status''' now = time.time() if not self.started: print("GPSInject: Not started") return if self.buf is None: print("GPSInject: download pending") return if self.start_pending: print("GPSInject: start pending GPS") return print("GPSInject: sent %u/%u bytes, repeat=%u" % (self.sent_bytes, len(self.buf), self.sent_count)) def init(mpstate): '''initialise module''' return GPSInjectModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_GPSInput.py000066400000000000000000000124661504324515000224350ustar00rootroot00000000000000#!/usr/bin/env python3 ''' support for GPS_INPUT message ''' import socket, errno import json from pymavlink import mavutil from MAVProxy.modules.lib import mp_module class GPSInputModule(mp_module.MPModule): IGNORE_FLAG_ALL = (mavutil.mavlink.GPS_INPUT_IGNORE_FLAG_ALT | mavutil.mavlink.GPS_INPUT_IGNORE_FLAG_HDOP | mavutil.mavlink.GPS_INPUT_IGNORE_FLAG_VDOP | mavutil.mavlink.GPS_INPUT_IGNORE_FLAG_VEL_HORIZ | mavutil.mavlink.GPS_INPUT_IGNORE_FLAG_VEL_VERT | mavutil.mavlink.GPS_INPUT_IGNORE_FLAG_SPEED_ACCURACY | mavutil.mavlink.GPS_INPUT_IGNORE_FLAG_HORIZONTAL_ACCURACY | mavutil.mavlink.GPS_INPUT_IGNORE_FLAG_VERTICAL_ACCURACY) def __init__(self, mpstate): super(GPSInputModule, self).__init__(mpstate, "GPSInput", "GPS_INPUT message support") self.add_command('GPSInput.port', self.cmd_port, 'Port selection', ['<25100>']) self.data = { 'time_usec' : 0, # (uint64_t) Timestamp (micros since boot or Unix epoch) 'gps_id' : 0, # (uint8_t) ID of the GPS for multiple GPS inputs 'ignore_flags' : self.IGNORE_FLAG_ALL, # (uint16_t) Flags indicating which fields to ignore (see GPS_INPUT_IGNORE_FLAGS enum). All other fields must be provided. 'time_week_ms' : 0, # (uint32_t) GPS time (milliseconds from start of GPS week) 'time_week' : 0, # (uint16_t) GPS week number 'fix_type' : 0, # (uint8_t) 0-1: no fix, 2: 2D fix, 3: 3D fix. 4: 3D with DGPS. 5: 3D with RTK 'lat' : 0, # (int32_t) Latitude (WGS84), in degrees * 1E7 'lon' : 0, # (int32_t) Longitude (WGS84), in degrees * 1E7 'alt' : 0, # (float) Altitude (AMSL, not WGS84), in m (positive for up) 'hdop' : 0, # (float) GPS HDOP horizontal dilution of position in m 'vdop' : 0, # (float) GPS VDOP vertical dilution of position in m 'vn' : 0, # (float) GPS velocity in m/s in NORTH direction in earth-fixed NED frame 've' : 0, # (float) GPS velocity in m/s in EAST direction in earth-fixed NED frame 'vd' : 0, # (float) GPS velocity in m/s in DOWN direction in earth-fixed NED frame 'speed_accuracy' : 0, # (float) GPS speed accuracy in m/s 'horiz_accuracy' : 0, # (float) GPS horizontal accuracy in m 'vert_accuracy' : 0, # (float) GPS vertical accuracy in m 'satellites_visible' : 0 # (uint8_t) Number of satellites visible. } self.BUFFER_SIZE = 4096 self.ip="127.0.0.1" self.portnum = 25100 self.port = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) self.port.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) self.port.bind((self.ip, self.portnum)) self.port.setblocking(0) mavutil.set_close_on_exec(self.port.fileno()) print("Listening for GPS Input packets on UDP://%s:%s" % (self.ip, self.portnum)) def idle_task(self): '''called in idle time''' try: datagram = self.port.recvfrom(self.BUFFER_SIZE) data = json.loads(datagram[0]) except socket.error as e: if e.errno in [ errno.EAGAIN, errno.EWOULDBLOCK ]: return raise for key in data.keys(): self.data[key] = data[key] try: self.master.mav.gps_input_send( self.data['time_usec'], self.data['gps_id'], self.data['ignore_flags'], self.data['time_week_ms'], self.data['time_week'], self.data['fix_type'], self.data['lat'], self.data['lon'], self.data['alt'], self.data['hdop'], self.data['vdop'], self.data['vn'], self.data['ve'], self.data['vd'], self.data['speed_accuracy'], self.data['horiz_accuracy'], self.data['vert_accuracy'], self.data['satellites_visible']) except Exception as e: print("GPS Input Failed:", e) def cmd_port(self, args): 'handle port selection' if len(args) != 1: print("Usage: port ") return self.port.close() self.portnum = int(args[0]) self.port = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) self.port.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) self.port.bind((self.ip, self.portnum)) self.port.setblocking(0) mavutil.set_close_on_exec(self.port.fileno()) print("Listening for GPS INPUT packets on UDP://%s:%s" % (self.ip, self.portnum)) def init(mpstate): '''initialise module''' return GPSInputModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_HIL.py000066400000000000000000000130471504324515000213740ustar00rootroot00000000000000#!/usr/bin/env python3 ''' HIL module Andrew Tridgell December 2012 This interfaces to Tools/autotest/jsbsim/runsim.py to run the JSBSim flight simulator ''' import sys, os, time, socket, errno, struct, math from math import degrees, radians from MAVProxy.modules.lib import mp_module from pymavlink import mavutil class HILModule(mp_module.MPModule): def __init__(self, mpstate): super(HILModule, self).__init__(mpstate, "HIL", "HIL simulation") self.last_sim_send_time = time.time() self.last_apm_send_time = time.time() self.rc_channels_scaled = mavutil.mavlink.MAVLink_rc_channels_scaled_message(0, 0, 0, 0, -10000, 0, 0, 0, 0, 0, 0) self.hil_state_msg = None sim_in_address = ('127.0.0.1', 5501) sim_out_address = ('127.0.0.1', 5502) self.sim_in = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) self.sim_in.bind(sim_in_address) self.sim_in.setblocking(0) self.sim_out = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) self.sim_out.connect(sim_out_address) self.sim_out.setblocking(0) # HIL needs very fast idle loop calls if self.settings.select_timeout > 0.001: self.settings.select_timeout = 0.001 def unload(self): '''unload module''' self.sim_in.close() self.sim_out.close() def mavlink_packet(self, m): '''handle an incoming mavlink packet''' if m.get_type() == 'RC_CHANNELS_SCALED': self.rc_channels_scaled = m def idle_task(self): '''called from main loop''' self.check_sim_in() self.check_sim_out() self.check_apm_out() def check_sim_in(self): '''check for FDM packets from runsim''' try: pkt = self.sim_in.recv(17*8 + 4) except socket.error as e: if not e.errno in [ errno.EAGAIN, errno.EWOULDBLOCK ]: raise return if len(pkt) != 17*8 + 4: # wrong size, discard it print("wrong size %u" % len(pkt)) return (latitude, longitude, altitude, heading, v_north, v_east, v_down, ax, ay, az, phidot, thetadot, psidot, roll, pitch, yaw, vcas, check) = struct.unpack('<17dI', pkt) (p, q, r) = self.convert_body_frame(radians(roll), radians(pitch), radians(phidot), radians(thetadot), radians(psidot)) try: self.hil_state_msg = self.master.mav.hil_state_encode(int(time.time()*1e6), radians(roll), radians(pitch), radians(yaw), p, q, r, int(latitude*1.0e7), int(longitude*1.0e7), int(altitude*1.0e3), int(v_north*100), int(v_east*100), 0, int(ax*1000/9.81), int(ay*1000/9.81), int(az*1000/9.81)) except Exception: return def check_sim_out(self): '''check if we should send new servos to flightgear''' now = time.time() if now - self.last_sim_send_time < 0.02 or self.rc_channels_scaled is None: return self.last_sim_send_time = now servos = [] for ch in range(1,9): servos.append(self.scale_channel(ch, getattr(self.rc_channels_scaled, 'chan%u_scaled' % ch))) servos.extend([0,0,0, 0,0,0]) buf = struct.pack('<14H', *servos) try: self.sim_out.send(buf) except socket.error as e: if not e.errno in [ errno.ECONNREFUSED ]: raise return def check_apm_out(self): '''check if we should send new data to the APM''' now = time.time() if now - self.last_apm_send_time < 0.02: return self.last_apm_send_time = now if self.hil_state_msg is not None: self.master.mav.send(self.hil_state_msg) def convert_body_frame(self, phi, theta, phiDot, thetaDot, psiDot): '''convert a set of roll rates from earth frame to body frame''' p = phiDot - psiDot*math.sin(theta) q = math.cos(phi)*thetaDot + math.sin(phi)*psiDot*math.cos(theta) r = math.cos(phi)*psiDot*math.cos(theta) - math.sin(phi)*thetaDot return (p, q, r) def scale_channel(self, ch, value): '''scale a channel to 1000/1500/2000''' v = value/10000.0 if v < -1: v = -1 elif v > 1: v = 1 if ch == 3 and self.mpstate.vehicle_type != 'rover': if v < 0: v = 0 return int(1000 + v*1000) return int(1500 + v*500) def init(mpstate): '''initialise module''' return HILModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_OpenDroneID.py000066400000000000000000000205771504324515000230740ustar00rootroot00000000000000''' Support for OpenDroneID ''' from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_settings from pymavlink import mavutil import time class OpenDroneIDModule(mp_module.MPModule): def __init__(self, mpstate): super(OpenDroneIDModule, self).__init__(mpstate, "OpenDroneID", "OpenDroneID Support", public = True) self.add_command('opendroneid', self.cmd_opendroneid, "opendroneid control", ["", "set (OPENDRONEIDSETTING)", "vehicle set (OPENDRONEIDVEHICLESETTING)"]) from MAVProxy.modules.lib.mp_settings import MPSetting self.OpenDroneID_settings = mp_settings.MPSettings([ MPSetting("rate_hz", float, 0.1), MPSetting("location_rate_hz", float, 1.0), # BASIC_ID MPSetting("UAS_ID_type", int, 0, choice=[("None",0), ("SerialNumber",1), ("CAA", 2), ("UTM_ASSIGNED", 3), ("SessionID", 4)]), MPSetting("UAS_ID", str, ""), MPSetting("UA_type", int, 0, choice=[("None",0), ("Aeroplane",1), ("HeliOrMulti",2), ("GyroPlane",3), ("HybridLift",4), ("Ornithopter",5), ("Glider",6), ("Kite",7), ("FreeBalloon",8), ("CaptiveBalloon",9), ("Airship", 10), ("Parachute",11), ("Rocket",12), ("TetheredPowered", 13), ("GroundObstacle", 14)]), # SELF_ID MPSetting("description_type", int, 0, choice=[("Text",0), ("Emergency",1), ("ExtendedStatus", 2)]), MPSetting("description", str, ""), # SYSTEM MPSetting("area_count", int, 1), MPSetting("area_radius", int, 0), MPSetting("area_ceiling", int, -1000), MPSetting("area_floor", int, -1000), MPSetting("category_eu", int, 0, choice=[("Undeclared",0), ("Open",1), ("Specific",2), ("Certified",3)]), MPSetting("class_eu", int, 0), MPSetting("classification_type", int, 0, choice=[("Undeclared",0),("EU",1)]), # OPERATOR_ID MPSetting("operator_location_type", int, 0, choice=[("Takeoff",0),("LiveGNSS",1),("Fixed",2)]), MPSetting("operator_id_type", int, 0), MPSetting("operator_id", str, ""), ]) self.OpenDroneID_vehicle_settings = mp_settings.MPSettings([ MPSetting("UAS_ID", str, ""), MPSetting("lock_id", int, 0), ]) self.add_completion_function('(OPENDRONEIDSETTING)', self.OpenDroneID_settings.completion) self.add_completion_function('(OPENDRONEIDVEHICLESETTING)', self.OpenDroneID_vehicle_settings.completion) self.last_send_s = time.time() self.last_loc_send_s = time.time() self.next_msg = 0 self.operator_latitude = 0 self.operator_longitude = 0 self.operator_altitude_geo = 0 def cmd_opendroneid(self, args): '''opendroneid command parser''' usage = "usage: opendroneid " if len(args) == 0: print(usage) return if args[0] == "vehicle": if args[1] == "set": self.OpenDroneID_vehicle_settings.command(args[2:]) return else: print(usage) if args[0] == "set": self.OpenDroneID_settings.command(args[1:]) else: print(usage) def mavlink_packet(self, m): '''handle an incoming mavlink packet''' pass def send_basic_id(self): '''send BASIC_ID''' self.master.mav.open_drone_id_basic_id_send( self.target_system, self.target_component, self.id_or_mac(), self.OpenDroneID_settings.UAS_ID_type, self.OpenDroneID_settings.UA_type, self.to_bytes(self.OpenDroneID_settings.UAS_ID, 20)) def send_system(self): '''send SYSTEM''' if self.mpstate.position is not None: pos = self.mpstate.position if pos.latitude is not None: self.operator_latitude = pos.latitude self.operator_longitude = pos.longitude if pos.altitude is not None: self.operator_altitude_geo = pos.altitude self.master.mav.open_drone_id_system_send( self.target_system, self.target_component, self.id_or_mac(), self.OpenDroneID_settings.operator_location_type, self.OpenDroneID_settings.classification_type, int(self.operator_latitude*1.0e7), int(self.operator_longitude*1.0e7), self.OpenDroneID_settings.area_count, self.OpenDroneID_settings.area_radius, self.OpenDroneID_settings.area_ceiling, self.OpenDroneID_settings.area_floor, self.OpenDroneID_settings.category_eu, self.OpenDroneID_settings.class_eu, self.operator_altitude_geo, self.timestamp_2019()) def send_system_update(self): '''send SYSTEM_UPDATE''' if self.mpstate.position is not None: pos = self.mpstate.position if pos.latitude is not None: self.operator_latitude = pos.latitude self.operator_longitude = pos.longitude if pos.altitude is not None: self.operator_altitude_geo = pos.altitude self.master.mav.open_drone_id_system_update_send( self.target_system, self.target_component, int(self.operator_latitude*1.0e7), int(self.operator_longitude*1.0e7), self.operator_altitude_geo, self.timestamp_2019()) def send_self_id(self): '''send SELF_ID''' self.master.mav.open_drone_id_self_id_send( self.target_system, self.target_component, self.id_or_mac(), self.OpenDroneID_settings.description_type, self.to_string(self.OpenDroneID_settings.description, 23)) def send_operator_id(self): '''send OPERATOR_ID''' self.master.mav.open_drone_id_operator_id_send( self.target_system, self.target_component, self.id_or_mac(), self.OpenDroneID_settings.operator_id_type, self.to_string(self.OpenDroneID_settings.operator_id, 20)) def to_string(self, s, maxlen): return s.encode("utf-8") def to_bytes(self, s, maxlen): b = bytearray(s.encode("utf-8")) b = b[:maxlen] if len(b) < maxlen: b.extend(bytearray([0]*(maxlen-len(b)))) return b def id_or_mac(self): return self.to_bytes("", 20) def timestamp_2019(self): jan_1_2019_s = 1546261200 return int(time.time() - jan_1_2019_s) def idle_task(self): '''called on idle''' now = time.time() if len(self.OpenDroneID_vehicle_settings.UAS_ID) != 0: # convert to bytes UAS_ID_Bytes = self.to_bytes(self.OpenDroneID_vehicle_settings.UAS_ID, 16) uas_id_len = self.param_set("DID_ID_LEN", len(self.OpenDroneID_vehicle_settings.UAS_ID)) if self.get_mav_param("DID_ID_LEN") != uas_id_len: self.param_set("DID_ID_LEN", len(self.OpenDroneID_vehicle_settings.UAS_ID)) for i in range(8): if self.get_mav_param("DID_ID{}".format(i)) != (UAS_ID_Bytes[2*i] | (UAS_ID_Bytes[2*i+1] << 8)): print("DID_ID{}".format(i), " {:x}{:x}".format(UAS_ID_Bytes[i+1] , UAS_ID_Bytes[i])) self.param_set("DID_ID{}".format(i), UAS_ID_Bytes[2*i] | (UAS_ID_Bytes[2*i+1] << 8)) if now - self.last_loc_send_s > 1.0/self.OpenDroneID_settings.location_rate_hz: self.last_loc_send_s = now self.send_system_update() if now - self.last_send_s > (1.0/self.OpenDroneID_settings.rate_hz)/4: self.last_send_s = now if self.next_msg == 0: self.send_basic_id() elif self.next_msg == 1: self.send_system() elif self.next_msg == 2: self.send_self_id() elif self.next_msg == 3: self.send_operator_id() self.next_msg = (self.next_msg + 1) % 4 def init(mpstate): '''initialise module''' return OpenDroneIDModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_SIYI/000077500000000000000000000000001504324515000211565ustar00rootroot00000000000000MAVProxy-1.8.74/MAVProxy/modules/mavproxy_SIYI/__init__.py000066400000000000000000002203061504324515000232720ustar00rootroot00000000000000''' control SIYI camera over UDP ''' ''' TODO: circle hottest area? ''' from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_settings from MAVProxy.modules.lib.mp_settings import MPSetting from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import camera_projection from pymavlink import mavutil from pymavlink import DFReader from pymavlink.rotmat import Matrix3 from pymavlink.rotmat import Vector3 import math from math import radians, degrees from threading import Thread import cv2 import traceback import copy import datetime import socket, time, os, struct if mp_util.has_wxpython: from MAVProxy.modules.lib.mp_menu import MPMenuCallTextDialog from MAVProxy.modules.lib.mp_menu import MPMenuItem from MAVProxy.modules.lib.mp_menu import MPMenuSubMenu from MAVProxy.modules.lib.mp_image import MPImage from MAVProxy.modules.mavproxy_map import mp_slipmap from MAVProxy.modules.lib.mp_image import MPImageOSD_HorizonLine from MAVProxy.modules.lib.mp_image import MPImageOSD_None from MAVProxy.modules.mavproxy_SIYI.camera_view import CameraView from MAVProxy.modules.mavproxy_SIYI.raw_thermal import RawThermal SIYI_RATE_MAX_DPS = 90.0 SIYI_HEADER1 = 0x55 SIYI_HEADER2 = 0x66 ACQUIRE_FIRMWARE_VERSION = 0x01 HARDWARE_ID = 0x02 AUTO_FOCUS = 0x04 MANUAL_ZOOM_AND_AUTO_FOCUS = 0x05 MANUAL_FOCUS = 0x06 GIMBAL_ROTATION = 0x07 CENTER = 0x08 ACQUIRE_GIMBAL_CONFIG_INFO = 0x0A FUNCTION_FEEDBACK_INFO = 0x0B PHOTO = 0x0C ACQUIRE_GIMBAL_ATTITUDE = 0x0D SET_ANGLE = 0x0E RESET_ATTITUDE = 0x08 ABSOLUTE_ZOOM = 0x0F READ_RANGEFINDER = 0x15 READ_ENCODERS = 0x26 READ_CONTROL_MODE = 0x27 READ_THRESHOLDS = 0x28 SET_THRESHOLDS = 0x29 READ_VOLTAGES = 0x2A READ_TEMP_FULL_SCREEN = 0x14 SET_IMAGE_TYPE = 0x11 SET_THERMAL_PALETTE = 0x1B REQUEST_CONTINUOUS_DATA = 0x25 ATTITUDE_EXTERNAL = 0x22 VELOCITY_EXTERNAL = 0x26 TEMPERATURE_BOX = 0x13 GET_THERMAL_MODE = 0x33 SET_THERMAL_MODE = 0x34 GET_TEMP_FRAME = 0x35 SET_WEAK_CONTROL = 0x71 GET_THERMAL_GAIN = 0x37 SET_THERMAL_GAIN = 0x38 GET_THERMAL_PARAM = 0x39 SET_THERMAL_PARAM = 0x3A GET_THERMAL_ENVSWITCH = 0x3B SET_THERMAL_ENVSWITCH = 0x3C SET_TIME = 0x30 GET_THERMAL_THRESH_STATE = 0x42 SET_THERMAL_THRESH_STATE = 0x43 GET_THERMAL_THRESH = 0x44 SET_THERMAL_THRESH = 0x45 GET_THERMAL_THRESH_PREC = 0x46 SET_THERMAL_THRESH_PREC = 0x47 class ThermalParameters: def __init__(self, distance, target_emissivity, humidity, air_temperature, reflection_temperature): self.distance = distance self.target_emissivity = target_emissivity self.humidity = humidity self.air_temperature = air_temperature self.reflection_temperature = reflection_temperature def __repr__(self): return "Dist=%.2f Emiss=%.2f Hum=%.2f AirTemp=%.2f RefTemp=%.2f" % (self.distance, self.target_emissivity, self.humidity, self.air_temperature, self.reflection_temperature) def args(self): return [int(self.distance*100), int(self.target_emissivity*100), int(self.humidity*100), int(self.air_temperature*100), int(self.reflection_temperature*100)] def crc16_from_bytes(bytes, initial=0): # CRC-16-CCITT # Initial value: 0xFFFF # Poly: 0x1021 # Reverse: no # Output xor: 0 # Check string: '123456789' # Check value: 0x29B1 try: if isinstance(bytes, basestring): # Python 2.7 compatibility bytes = map(ord, bytes) except NameError: if isinstance(bytes, str): # This branch will be taken on Python 3 bytes = map(ord, bytes) crc = initial for byte in bytes: crc ^= byte << 8 for bit in range(8): if crc & 0x8000: crc = ((crc << 1) ^ 0x1021) & 0xFFFF else: crc = (crc << 1) & 0xFFFF return crc & 0xFFFF class PI_controller: '''simple PI controller''' def __init__(self, settings, Pgain, Igain, IMAX): self.Pgain = Pgain self.Igain = Igain self.IMAX = IMAX self.I = 0.0 self.settings = settings self.last_t = time.time() def run(self, err, ff_rate): now = time.time() dt = now - self.last_t if now - self.last_t > 1.0: self.reset_I() dt = 0 self.last_t = now P = self.settings.get(self.Pgain) * self.settings.gain_mul I = self.settings.get(self.Igain) * self.settings.gain_mul IMAX = self.settings.get(self.IMAX) max_rate = self.settings.max_rate out = P*err saturated = err > 0 and (out + self.I) >= max_rate saturated |= err < 0 and (out + self.I) <= -max_rate if not saturated: self.I += I*err*dt self.I = mp_util.constrain(self.I, -IMAX, IMAX) ret = out + self.I + ff_rate return mp_util.constrain(ret, -max_rate, max_rate) def reset_I(self): self.I = 0 class DF_logger: '''write to a DF format log''' def __init__(self, filename): self.outf = open(filename,'wb') self.outf.write(bytes([0])) self.outf.flush() self.mlog = DFReader.DFReader_binary(filename) self.outf.seek(0) self.formats = {} self.last_flush = time.time() def write(self, name, fmt, fields, *args): if not name in self.formats: self.formats[name] = self.mlog.add_format(DFReader.DFFormat(0, name, 0, fmt, fields)) self.outf.write(self.mlog.make_format_msgbuf(self.formats[name])) nfields = len(fields.split(',')) if nfields <= 14: self.outf.write(self.mlog.make_msgbuf(self.formats[name], args)) now = time.time() if now - self.last_flush > 5: self.last_flush = now self.outf.flush() def rate_mapping(desired_rate): '''map from a desired rate in deg/sec to a siyi SDK rate''' drate = abs(desired_rate) rate_map = [ (70, 98.0), (60, 83.4), (50, 68.1), (40, 53.4), (30, 38.6), (25, 31.2), (20, 23.8), (15, 16.2), (10.0, 9.0), (9.0, 7.5), (8.0, 6.0), (7.0, 4.7), (6.0, 3.0), (5.0, 1.75), (4.0, 0.0), (0.0, 0.0), ] if drate >= rate_map[0][1]: ret = rate_map[0][0] if desired_rate < 0: ret = -ret return ret for i in range(1, len(rate_map)): (rate_to2, rate_from2) = rate_map[i-1] (rate_to1, rate_from1) = rate_map[i] if drate <= rate_from2 and drate >= rate_from1: p = (drate - rate_from1) / (rate_from2 - rate_from1) ret = rate_to1 + p * (rate_to2 - rate_to1) if desired_rate < 0: ret = -ret return ret return 0.0 class SIYIModule(mp_module.MPModule): def __init__(self, mpstate): super(SIYIModule, self).__init__(mpstate, "SIYI", "SIYI camera support") self.add_command('siyi', self.cmd_siyi, "SIYI camera control", ["", "", "", "set (SIYISETTING)", "imode <1|2|3|4|5|6|7|8|wide|zoom|split>", "palette ", "thermal_mode <0|1>", ]) # filter_dist is distance in metres self.siyi_settings = mp_settings.MPSettings([("port", int, 37260), ('ip', str, "192.168.144.25"), ('yaw_rate', float, 10), ('pitch_rate', float, 10), ('rates_hz', float, 5), ('gain_mul', float, 1.0), ('yaw_gain_P', float, 1), ('yaw_gain_I', float, 1), ('yaw_gain_IMAX', float, 5), ('pitch_gain_P', float, 1), ('pitch_gain_I', float, 1), ('pitch_gain_IMAX', float, 5), ('mount_pitch', float, 0), ('mount_alt', float, 0), ('mount_yaw', float, 0), ('lag', float, 0), ('target_rate', float, 10), ('telem_rate', float, 4), ('att_send_hz', float, 10), ('mode_hz', float, 0), ('temp_hz', float, 5), ('rtsp_rgb', str, 'rtsp://192.168.144.25:8554/video1'), ('rtsp_thermal', str, 'rtsp://192.168.144.25:8554/video2'), #('rtsp_rgb', str, 'rtsp://127.0.0.1:8554/video1'), #('rtsp_thermal', str, 'rtsp://127.0.0.1:8554/video2'), ('fps_thermal', int, 20), ('fps_rgb', int, 20), ('logfile', str, 'SIYI_log.bin'), ('thermal_fov', float, 24.2), ('zoom_fov', float, 62.0), ('wide_fov', float, 88.0), ('use_lidar', int, 0), ('use_encoders', int, 0), ('max_rate', float, 30.0), ('track_size_pct', float, 5.0), ('threshold_temp', int, 50), ('threshold_min', int, 240), ('los_correction', int, 0), ('att_control', int, 0), ('therm_cap_rate', float, 0), ('show_horizon', int, 0), ('autoflag_temp', float, 120), ('autoflag_enable', bool, False), ('autoflag_dist', float, 30), ('autoflag_history', float, 50), ('autoflag_slices', int, 4), ('autoflag_radius', int, 100), ('track_ROI', int, 1), ('fetch_timeout', float, 2.0), MPSetting('thresh_climit', int, 50, range=(10,50)), MPSetting('thresh_volt', int, 80, range=(20,80)), MPSetting('thresh_ang', int, 4000, range=(30,4000)), MPSetting('thresh_climit_dis', int, 20, range=(10,50)), MPSetting('thresh_volt_dis', int, 40, range=(20,80)), MPSetting('thresh_ang_dis', int, 40, range=(30,4000)), ('force_strong_gimballing', bool, False), ('stow_on_landing', bool, True), ('stow_heuristics_enabled', bool, True), ('stow_heuristics_minalt', float, 20.0), # metres above terrain ('stow_heuristics_maxhorvel', float, 2.0), # metres/second ]) self.add_completion_function('(SIYISETTING)', self.siyi_settings.completion) self.sock = None self.yaw_rate = None self.pitch_rate = None self.sequence = 0 self.last_req_send = time.time() self.last_version_send = time.time() self.have_version = False self.console.set_status('SIYI', 'SIYI - -', row=6) self.console.set_status('TEMP', 'TEMP -/-', row=6) self.yaw_end = None self.pitch_end = None self.rf_dist = 0 self.attitude = (0,0,0,0,0,0) self.encoders = (0,0,0) self.voltages = None self.tmax = -1 self.tmin = -1 self.spot_temp = -1 self.tmax_x = None self.tmax_y = None self.tmin_x = None self.tmin_y = None self.last_temp_t = None self.last_att_t = time.time() self.att_dt_lpf = 1.0 self.last_rf_t = None self.last_enc_t = None self.last_enc_recv_t = time.time() self.last_volt_t = None self.last_mode_t = time.time() self.last_thresh_t = None self.last_thresh_send_t = None self.GLOBAL_POSITION_INT = None self.ATTITUDE = None self.target_pos = None self.last_map_ROI = None self.icon = self.mpstate.map.icon('camera-small-red.png') self.click_icon = self.mpstate.map.icon('flag.png') self.last_target_send = time.time() self.last_rate_display = time.time() self.yaw_controller = PI_controller(self.siyi_settings, 'yaw_gain_P', 'yaw_gain_I', 'yaw_gain_IMAX') self.pitch_controller = PI_controller(self.siyi_settings, 'pitch_gain_P', 'pitch_gain_I', 'pitch_gain_IMAX') self.logf = DF_logger(os.path.join(self.logdir, self.siyi_settings.logfile)) self.start_time = time.time() self.last_att_send_t = time.time() self.last_temp_t = time.time() self.thermal_view = None self.rawthermal_view = None self.rgb_view = None self.last_zoom = 1.0 self.rgb_lens = "wide" self.bad_crc = 0 self.control_mode = -1 self.last_SIEA = time.time() self.last_therm_cap = time.time() self.thermal_capture_count = 0 self.thermal_data_count = 0 self.last_therm_mode = time.time() self.named_float_seq = 0 self.recv_thread = Thread(target=self.receive_thread, name='SIYI_Receive') self.recv_thread.daemon = True self.recv_thread.start() self.have_horizon_lines = False self.thermal_param = None self.last_armed = False self.getconfig_pending = False self.last_getconfig = time.time() self.click_mode = "Flag" # support for stowing the camera when we start to land: self.extended_sys_state_received_time = 0 self.extended_sys_state_request_time = 0 self.extended_sys_state_warn_time = 0 # last time we warned about not being able to auto-stow self.last_landed_state = None self.have_DATA96 = False # support retracting camera based on heuristics: self.landing_heuristics = { "armed": True, "last_warning_ms": 0, "current_terrain_alt": 0, } if mp_util.has_wxpython: menu = MPMenuSubMenu('SIYI', items=[ MPMenuItem('Center', 'Center', '# siyi center '), MPMenuItem('ModeFollow', 'ModeFollow', '# siyi follow '), MPMenuItem('ModeLock', 'ModeLock', '# siyi lock '), MPMenuItem('ModeFPV', 'ModeFPV', '# siyi fpv '), MPMenuItem('GetConfig', 'GetConfig', '# siyi getconfig '), MPMenuItem('TakePhoto', 'TakePhoto', '# siyi photo '), MPMenuItem('AutoFocus', 'AutoFocus', '# siyi autofocus '), MPMenuItem('ImageSplit', 'ImageSplit', '# siyi imode split '), MPMenuItem('ImageWide', 'ImageWide', '# siyi imode wide '), MPMenuItem('ImageZoom', 'ImageZoom', '# siyi imode zoom '), MPMenuItem('Recording', 'Recording', '# siyi recording '), MPMenuItem('ClearTarget', 'ClearTarget', '# siyi notarget '), MPMenuItem('ThermalView', 'Thermalview', '# siyi thermal '), MPMenuItem('RawThermalView', 'RawThermalview', '# siyi rawthermal '), MPMenuItem('RGBView', 'RGBview', '# siyi rgbview '), MPMenuItem('ResetAttitude', 'ResetAttitude', '# siyi resetattitude '), MPMenuSubMenu('Zoom', items=[MPMenuItem('Zoom%u'%z, 'Zoom%u'%z, '# siyi zoom %u ' % z) for z in range(1,11)]), MPMenuSubMenu('ThermalGain', items=[MPMenuItem('HighGain(LowTemp)', 'HighGain', '# siyi thermal_gain 1'), MPMenuItem('LowGain(HighTemp)', 'LowGain', '# siyi thermal_gain 0'), MPMenuItem('ThreshOff', 'ThreshOff', '# siyi therm_setthreshswitch 0')]), MPMenuSubMenu('Threshold', items=[MPMenuItem('Threshold%u'%z, 'Threshold%u'%z, '# siyi set threshold_temp %u ' % z) for z in range(20,115,5)]), MPMenuSubMenu('AutoFlag', items=[MPMenuItem('Enable', 'AutoFlagEnable', '# siyi set autoflag_enable 1'), MPMenuItem('Disable', 'AutoFlagDisable', '# siyi set autoflag_enable 0'), MPMenuItem('Clear', 'AutoFlagClear', '# siyi autoflag_clear'), MPMenuItem('Reload', 'AutoFlagReload', '# siyi autoflag_reload'), MPMenuItem('Discard', 'AutoFlagDiscard', '# siyi autoflag_discard'), ]), ]) map = self.module('map') if map is not None: map.add_menu(menu) console = self.module('console') if console is not None: console.add_menu(menu) def micros64(self): return int((time.time()-self.start_time)*1.0e6) def millis32(self): return int((time.time()-self.start_time)*1.0e3) def cmd_siyi(self, args): '''siyi command parser''' usage = "usage: siyi " if len(args) == 0: print(usage) return if args[0] == "set": self.siyi_settings.command(args[1:]) elif args[0] == "connect": self.cmd_connect() elif args[0] == "rates": self.cmd_rates(args[1:]) elif args[0] == "yaw": self.cmd_yaw(args[1:]) elif args[0] == "pitch": self.cmd_pitch(args[1:]) elif args[0] == "imode": self.cmd_imode(args[1:]) elif args[0] == "autofocus": self.send_packet_fmt(AUTO_FOCUS, " 0 and now - self.last_temp_t >= 1.0/self.siyi_settings.temp_hz: self.last_temp_t = now self.send_packet_fmt(READ_TEMP_FULL_SCREEN, " 5: self.last_att_t = now self.send_packet_fmt(REQUEST_CONTINUOUS_DATA, " 10: self.last_rf_t = now self.send_packet_fmt(REQUEST_CONTINUOUS_DATA, " 5: self.last_enc_t = now self.send_packet_fmt(REQUEST_CONTINUOUS_DATA, " 5: self.last_volt_t = now self.send_packet_fmt(REQUEST_CONTINUOUS_DATA, " 10: self.last_thresh_t = now self.send_packet_fmt(READ_THRESHOLDS, None) if self.siyi_settings.mode_hz > 0 and now - self.last_mode_t > 1.0/self.siyi_settings.mode_hz: self.last_mode_t = now self.send_packet_fmt(READ_CONTROL_MODE, None) if self.siyi_settings.therm_cap_rate > 0 and now - self.last_therm_mode > 2: self.last_therm_mode = now self.send_packet_fmt(GET_THERMAL_MODE, None) def send_attitude(self): '''send attitude to gimbal''' now = time.time() if self.siyi_settings.att_send_hz <= 0 or now - self.last_att_send_t < 1.0/self.siyi_settings.att_send_hz: return self.last_att_send_t = now att = self.master.messages.get('ATTITUDE',None) if att is None: return self.send_packet_fmt(ATTITUDE_EXTERNAL, " 8: args = args[:8] args.extend([0]*(8-len(args))) self.logf.write('SIOU', 'QBffffffff', 'TimeUS,Cmd,P1,P2,P3,P4,P5,P6,P7,P8', self.micros64(), command_id, *args) def unpack(self, command_id, fmt, data): '''unpack SIYI data and log''' fsize = struct.calcsize(fmt) if fsize != len(data): print("cmd 0x%02x needs %u bytes got %u" % (command_id, fsize, len(data))) return None v = struct.unpack(fmt, data[:fsize]) args = list(v) args.extend([0]*(12-len(args))) self.logf.write('SIIN', 'QBffffffffffff', 'TimeUS,Cmd,P1,P2,P3,P4,P5,P6,P7,P8,P9,P10,P11,P12', self.micros64(), command_id, *args) return v def parse_data(self, pkt): '''parse SIYI packet''' while len(pkt) >= 10: (h1,h2,rack,plen,seq,cmd) = struct.unpack(" len(pkt): #print("SIYI: short packet", plen+10, len(pkt)) break self.parse_packet(pkt[:plen+10]) pkt = pkt[plen+10:] def parse_packet(self, pkt): '''parse SIYI packet''' (h1,h2,rack,plen,seq,cmd) = struct.unpack(" (%u,%u,%u)" % (climit,volt_thresh,ang_thresh,new_thresh[0],new_thresh[1],new_thresh[2])) self.send_packet_fmt(SET_THRESHOLDS, " 0 and ok != 1: print("ThermalMode: %u" % ok) self.send_packet_fmt(SET_THERMAL_MODE, "= self.yaw_end: self.yaw_rate = 0 self.yaw_end = None if self.pitch_end is not None and now >= self.pitch_end: self.pitch_rate = 0 self.pitch_end = None def get_encoder_attitude(self): '''get attitude from encoders in vehicle frame''' now = time.time() att = self.master.messages.get('ATTITUDE',None) if now - self.last_enc_recv_t > 2.0 or att is None: return None m = Matrix3() # we use zero yaw as this is in vehicle frame m.from_euler(att.roll,att.pitch,0) m.rotate_312(radians(self.encoders[0]),radians(self.encoders[1]),radians(self.encoders[2])) (r,p,y) = m.to_euler() return degrees(r),degrees(p),mp_util.wrap_180(degrees(y)) def get_direct_attitude(self): '''get extrapolated gimbal attitude, returning r,p,y in degrees in vehicle frame''' now = time.time() dt = (now - self.last_att_t)+self.siyi_settings.lag dt = max(dt,0) yaw = self.attitude[2]+self.attitude[5]*dt pitch = self.attitude[1]+self.attitude[4]*dt yaw = mp_util.wrap_180(yaw) roll = self.attitude[0] return roll, pitch, yaw def get_gimbal_attitude(self): '''get extrapolated gimbal attitude, returning yaw and pitch''' ret = self.get_encoder_attitude() if ret is not None: (r,p,y) = ret now = time.time() if now - self.last_SIEA >= 0.2: self.last_SIEA = now self.logf.write('SIEA', 'Qfff', 'TimeUS,R,P,Y', self.micros64(), r,p,y) self.send_named_float('EA_R', r) self.send_named_float('EA_P', p) self.send_named_float('EA_Y', y) if self.siyi_settings.use_encoders: if ret is not None: return r,p,y return self.get_direct_attitude() def get_fov_attitude(self): '''get attitude for FOV calculations''' (r,p,y) = self.get_gimbal_attitude() return (r,p-self.siyi_settings.mount_pitch,mp_util.wrap_180(y-self.siyi_settings.mount_yaw)) def get_slantrange(self,x,y,FOV,aspect_ratio): ''' get range to ground x and y are from -1 to 1, relative to center of camera view ''' C = camera_projection.CameraParams(xresolution=1024, yresolution=int(1024/aspect_ratio), FOV=FOV) cproj = camera_projection.CameraProjection(C, elevation_model=self.module('terrain').ElevationModel) fov_att = self.get_fov_attitude() att = self.master.messages.get('ATTITUDE',None) gpi = self.master.messages.get('GLOBAL_POSITION_INT',None) GPS_RAW_INT = self.master.messages['GPS_RAW_INT'] if gpi is None or att is None or GPS_RAW_INT is None: return None myalt = GPS_RAW_INT.alt*1.0e-3 + self.siyi_settings.mount_alt return cproj.get_slantrange(gpi.lat*1.0e-7,gpi.lon*1.0e-7,myalt,fov_att[0],fov_att[1],fov_att[2]+math.degrees(att.yaw)) def get_latlonalt(self, slant_range, x, y, FOV, aspect_ratio, fov_att=None): ''' get ground lat/lon given vehicle orientation, camera orientation and slant range x and y are from -1 to 1, relative to center of camera view ''' C = camera_projection.CameraParams(xresolution=1024, yresolution=int(1024/aspect_ratio), FOV=FOV) cproj = camera_projection.CameraProjection(C, elevation_model=self.module('terrain').ElevationModel) px = int(C.xresolution * 0.5*(1+x)) py = int(C.yresolution * 0.5*(1+y)) fov_att = self.get_fov_attitude() att = self.master.messages.get('ATTITUDE',None) gpi = self.master.messages.get('GLOBAL_POSITION_INT',None) GPS_RAW_INT = self.master.messages['GPS_RAW_INT'] if gpi is None or att is None or GPS_RAW_INT is None: return None myalt = GPS_RAW_INT.alt*1.0e-3 + self.siyi_settings.mount_alt return cproj.get_latlonalt_for_pixel(px, py, gpi.lat*1.0e-7,gpi.lon*1.0e-7,myalt,fov_att[0],fov_att[1],fov_att[2]+math.degrees(att.yaw)) def get_target_yaw_pitch(self, lat, lon, alt, mylat, mylon, myalt, vehicle_yaw_rad): '''get target yaw/pitch in vehicle frame for a target lat/lon''' GPS_vector_x = (lon-mylon)*1.0e7*math.cos(math.radians((mylat + lat) * 0.5)) * 0.01113195 GPS_vector_y = (lat - mylat) * 0.01113195 * 1.0e7 GPS_vector_z = alt - myalt # was cm target_distance = math.sqrt(GPS_vector_x**2 + GPS_vector_y**2) # calculate pitch, yaw angles pitch = math.atan2(GPS_vector_z, target_distance) yaw = math.atan2(GPS_vector_x, GPS_vector_y) yaw -= vehicle_yaw_rad yaw_deg = mp_util.wrap_180(math.degrees(yaw)) pitch_deg = math.degrees(pitch) return yaw_deg, pitch_deg def update_target(self): '''update position targetting''' if not 'GLOBAL_POSITION_INT' in self.master.messages or not 'ATTITUDE' in self.master.messages: return # added rate of target update map_module = self.module('map') if self.siyi_settings.track_ROI == 1 and map_module is not None and map_module.current_ROI != self.last_map_ROI: self.last_map_ROI = map_module.current_ROI (lat, lon, alt) = self.last_map_ROI self.clear_target() self.set_target(lat, lon, alt) if self.target_pos is None or self.attitude is None: return now = time.time() if self.siyi_settings.target_rate <= 0 or now - self.last_target_send < 1.0 / self.siyi_settings.target_rate: return self.last_target_send = now GLOBAL_POSITION_INT = self.master.messages['GLOBAL_POSITION_INT'] GPS_RAW_INT = self.master.messages['GPS_RAW_INT'] ATTITUDE = self.master.messages['ATTITUDE'] lat, lon, alt = self.target_pos mylat = GLOBAL_POSITION_INT.lat*1.0e-7 mylon = GLOBAL_POSITION_INT.lon*1.0e-7 myalt = GPS_RAW_INT.alt*1.0e-3 + self.siyi_settings.mount_alt dt = now - GLOBAL_POSITION_INT._timestamp vn = GLOBAL_POSITION_INT.vx*0.01 ve = GLOBAL_POSITION_INT.vy*0.01 vd = GLOBAL_POSITION_INT.vz*0.01 (mylat, mylon) = mp_util.gps_offset(mylat, mylon, ve*dt, vn*dt) myalt -= vd*dt dt = now - ATTITUDE._timestamp vehicle_yaw_rad = ATTITUDE.yaw + ATTITUDE.yawspeed*dt yaw_deg, pitch_deg = self.get_target_yaw_pitch(lat, lon, alt, mylat, mylon, myalt, vehicle_yaw_rad) self.send_named_float('TYAW', yaw_deg) self.send_named_float('TPITCH', pitch_deg) if self.siyi_settings.att_control == 1: self.yaw_rate = None self.pitch_rate = None self.send_packet_fmt(SET_ANGLE, " 5: self.getconfig_pending = True self.last_getconfig = now self.send_packet(ACQUIRE_GIMBAL_CONFIG_INFO, None) def save_DATA96(self, data): '''save data from a DATA96 message''' dname = os.path.join(self.logdir, 'thermal_data') try: os.mkdir(dname) except Exception as ex: pass now = time.time() tstr = datetime.datetime.fromtimestamp(now).strftime("%Y_%m_%d_%H_%M_%S") subsec = now - math.floor(now) millis = int(subsec * 1000) fname = "data_%s_%03u.dat" % (tstr, millis) open(os.path.join(dname, fname),'wb').write(data) def process_DATA96(self, data): '''handle data from SIYI_control.lua''' msec,lat, lon, alt, gps_alt, tmax, tmax_x, tmax_y, siyi_roll, siyi_pitch, siyi_yaw, roll, pitch, yaw = struct.unpack(" self.siyi_settings.autoflag_radius: #print("roi_dist: ", roi_dist, lat, lon, roi_lat, roi_lon) return icon = self.mpstate.map.icon('flame.png') self.mpstate.map.add_object(mp_slipmap.SlipIcon( 'icon [%u]' % msec, (float(latlon[0]),float(latlon[1])), icon, layer='thermal_flag', rotation=0, follow=False)) def handle_DATA96(self, m): '''handle data from SIYI_control.lua''' self.have_DATA96 = True data = bytes(m.data[:m.len]) self.thermal_data_count = self.thermal_data_count + 1 self.console.set_status('TDAT', 'TDAT %u' % self.thermal_data_count, row=6) self.save_DATA96(data) self.process_DATA96(data) def autoflag_clear(self): '''clear auto flagged locations''' self.mpstate.map.add_object(mp_slipmap.SlipClearLayer('thermal_flag')) def autoflag_reload(self): '''reload auto flagged locations''' dname = os.path.join(self.logdir, 'thermal_data') try: dlist = os.listdir(dname) except Exception as ex: print(ex) return self.autoflag_clear() for d in sorted(dlist): if not d.startswith('data_') or not d.endswith('.dat'): continue data = open(os.path.join(dname, d),'rb').read() if len(data) != 52: continue self.process_DATA96(data) def autoflag_discard(self): '''discard flagged locations''' dname = os.path.join(self.logdir, 'thermal_data') try: dlist = os.listdir(dname) except Exception as ex: print(ex) return self.autoflag_clear() for d in dlist: os.unlink(os.path.join(dname, d)) def mavlink_packet(self, m): '''process a mavlink message''' mtype = m.get_type() self.armed_checks() if mtype == 'GPS_RAW_INT': gwk, gms = mp_util.get_gps_time(time.time()) self.logf.write('GPS', "QBIHLLff", "TimeUS,Status,GMS,GWk,Lat,Lng,Alt,Spd", self.micros64(), m.fix_type, gms, gwk, m.lat, m.lon, m.alt*0.001, m.vel*0.01) if mtype == 'ATTITUDE': self.logf.write('ATT', "Qffffff", "TimeUS,Roll,Pitch,Yaw,GyrX,GyrY,GyrZ", self.micros64(), math.degrees(m.roll), math.degrees(m.pitch), math.degrees(m.yaw), math.degrees(m.rollspeed), math.degrees(m.pitchspeed), math.degrees(m.yawspeed)) if mtype == 'GLOBAL_POSITION_INT': try: self.show_fov() except Exception as ex: print(traceback.format_exc()) elif mtype == 'EXTENDED_SYS_STATE': if self.siyi_settings.stow_on_landing: self.extended_sys_state_received_time = time.time() if (m.landed_state == mavutil.mavlink.MAV_LANDED_STATE_LANDING and self.last_landed_state != mavutil.mavlink.MAV_LANDED_STATE_LANDING): # we've just transition into landing self.retract() self.last_landed_state = m.landed_state elif mtype == 'DATA96' and m.type == 71: self.handle_DATA96(m) def retract(self): print("SIYI: stowing camera") self.cmd_angle([0, 0]) def receive_thread(self): '''thread for receiving UDP packets from SIYI''' while True: if self.sock is None: time.sleep(0.1) continue try: pkt = self.sock.recv(10240) except Exception as ex: print("SIYI receive failed", ex) continue self.parse_data(pkt) def therm_capture(self): if self.siyi_settings.therm_cap_rate <= 0: return now = time.time() dt = now - self.last_therm_cap if dt > 5: self.send_packet_fmt(SET_THERMAL_MODE, " 1.0 / self.siyi_settings.therm_cap_rate: self.send_packet_fmt(GET_TEMP_FRAME, None) self.last_therm_cap = now def idle_task(self): '''called on idle''' if not self.sock: return if not self.have_version and time.time() - self.last_version_send > 2.0: self.last_version_send = time.time() self.send_packet(ACQUIRE_FIRMWARE_VERSION, None) self.check_rate_end() self.update_target() self.send_rates() self.request_telem() if not self.have_DATA96: self.send_attitude() self.check_thermal_events() self.therm_capture() # we need EXTENDED_SYS_STATE to work out if we're landing: if self.siyi_settings.stow_on_landing: now = time.time() delta_t = now - self.extended_sys_state_received_time delta_sent_t = now - self.extended_sys_state_request_time if delta_t > 5 and delta_sent_t > 5: self.extended_sys_state_request_time = now self.master.mav.command_long_send( 1, # FIXME, target_system 1, # FIXME, target_component mavutil.mavlink.MAV_CMD_SET_MESSAGE_INTERVAL, 0, # confirmation mavutil.mavlink.MAVLINK_MSG_ID_EXTENDED_SYS_STATE, # p1 1e6, #p2 interval (microseconds) 0, #p3 instance 0, 0, 0, 0 ) delta_warn_t = now - self.extended_sys_state_warn_time if delta_t > 60 and delta_warn_t > 60: self.extended_sys_state_warn_time = now print("SIYI: no EXTENDED_SYS_STATE, can't auto-stow") if self.siyi_settings.stow_heuristics_enabled: self.check_stow_on_landing_heuristics() def check_stow_on_landing_heuristics(self): tr = self.master.messages.get('TERRAIN_REPORT', None) vfr_hud = self.master.messages.get('VFR_HUD', None) if tr is None or vfr_hud is None: now = time.time() if now - self.landing_heuristics["last_warning_ms"] > 60: self.landing_heuristics["last_warning_ms"] = now print("SIYI: missing messages, hueristics-stow not available") return # first work out whether we should "arm" the stowing; must # meet minimum conditions to do so: current_terrain_alt = tr.current_height if current_terrain_alt > self.siyi_settings.stow_heuristics_minalt + 1: # above trigger altitude self.landing_heuristics["armed"] = True # now work out whether to stow: if not self.landing_heuristics["armed"]: return if current_terrain_alt > self.siyi_settings.stow_heuristics_minalt: # above the minimum altitude return if vfr_hud.groundspeed > self.siyi_settings.stow_heuristics_maxhorvel: # travelling rapidly horizontally return if vfr_hud.climb > 0: # climbing return self.landing_heuristics["armed"] = False self.retract() def show_horizon_lines(self): '''show horizon lines''' if self.rgb_view is None or self.rgb_view.im is None: return att = self.master.messages.get('ATTITUDE',None) if att is None: return r,p,y = self.get_encoder_attitude() self.rgb_view.im.add_OSD(MPImageOSD_HorizonLine('hor1', r, p, self.siyi_settings.wide_fov, (255,0,255))) # convert SIYI 312 to 321 m = Matrix3() m.from_euler312(radians(self.attitude[0]), radians(self.attitude[1]), radians(self.attitude[2])) r,p,y = m.to_euler() self.rgb_view.im.add_OSD(MPImageOSD_HorizonLine('hor2', degrees(r), degrees(p), self.siyi_settings.wide_fov, (255,255,0))) def remove_horizon_lines(self): '''remove horizon lines''' self.rgb_view.im.add_OSD(MPImageOSD_None('hor1')) self.rgb_view.im.add_OSD(MPImageOSD_None('hor2')) def init(mpstate): '''initialise module''' return SIYIModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_SIYI/camera_view.py000066400000000000000000000252551504324515000240230ustar00rootroot00000000000000#!/usr/bin/env python3 from threading import Thread import cv2 import time, sys from MAVProxy.modules.lib.mp_menu import MPMenuItem from MAVProxy.modules.lib.mp_image import MPImage from MAVProxy.modules.lib.mp_image import MPImageTrackPos from MAVProxy.modules.lib.mp_image import MPImageFrameCounter from MAVProxy.modules.mavproxy_map import mp_slipmap from MAVProxy.modules.lib import mp_util import numpy as np class CameraView: """handle camera view image""" def __init__(self, siyi, rtsp_url, filename, res, thermal=False, fps=10, video_idx=-1): self.siyi = siyi self.thermal = thermal self.im = None self.im_colormap = "MAGMA" self.tracking = False self.cap = None self.res = res self.rtsp_url = rtsp_url self.filename = filename self.last_frame_t = time.time() self.fps = fps self.frame_counter = -1 self.video_idx = video_idx self.im = MPImage( title="Camera View", mouse_events=True, mouse_movement_events=self.thermal, width=self.res[0], height=self.res[1], key_events=True, can_drag=False, can_zoom=False, auto_size=False, auto_fit=True, fps = 30, ) popup = self.im.get_popup_menu() popup.add_to_submenu(["Mode"], MPMenuItem("ClickTrack", returnkey="Mode:ClickTrack")) popup.add_to_submenu(["Mode"], MPMenuItem("Flag", returnkey="Mode:Flag")) if self.thermal: colormaps = [ "Threshold", "GloryHot", "AUTUMN", "BONE", "JET", "WINTER", "RAINBOW", "OCEAN", "SUMMER", "SPRING", "COOL", "HSV", "PINK", "HOT", "PARULA", "MAGMA", "INFERNO", "PLASMA", "VIRIDIS", "CIVIDIS", "TWILIGHT", "TWILIGHT_SHIFTED", "TURBO", "DEEPGREEN", "None", ] for c in colormaps: popup.add_to_submenu( ["ColorMap"], MPMenuItem(c, returnkey="COLORMAP_" + c) ) else: popup.add_to_submenu( ["Lens"], MPMenuItem("WideAngle", returnkey="Lens:wide") ) popup.add_to_submenu(["Lens"], MPMenuItem("Zoom", returnkey="Lens:zoom")) popup.add_to_submenu( ["Lens"], MPMenuItem("SplitScreen", returnkey="Lens:split") ) for z in range(1, 11): popup.add_to_submenu( ["Zoom"], MPMenuItem("%ux" % z, returnkey="Zoom:%u" % z) ) popup.add_to_submenu(["Marker"], MPMenuItem("Flame", returnkey="Marker:flame")) popup.add_to_submenu(["Marker"], MPMenuItem("Flag", returnkey="Marker:flag")) popup.add_to_submenu(["Marker"], MPMenuItem("Barrell", returnkey="Marker:barrell")) gst_pipeline = "rtspsrc location={0} latency=0 protocols=tcp tcp-timeout=3000000 buffer-mode=auto ! rtph265depay ! tee name=tee1 tee1. ! queue ! h265parse ! avdec_h265 ! videoconvert ! video/x-raw,format=BGRx ! appsink tee1. ! queue ! h265parse config-interval=15 ! video/x-h265 ! mpegtsmux ! filesink location={1}".format( self.rtsp_url, self.filename ) self.im.set_gstreamer(gst_pipeline) if self.thermal: self.im.set_colormap(self.im_colormap) self.im.set_colormap("None") self.siyi.cmd_palette(["WhiteHot"]) def create_colormap_threshold(self, threshold): '''create a yellow->red colormap for a given threshold''' def pixel(c): p = np.zeros((1,1,3), np.uint8) p[:] = c return p lightyellow = pixel((255,255,0)) red = pixel((255,0,0)) white = pixel((threshold,threshold,threshold)) black = pixel((0,0,0)) threshold = mp_util.constrain(threshold, 1, 255) lut1 = cv2.resize(np.concatenate((black,white), axis=0), (1,threshold), interpolation=cv2.INTER_CUBIC) lut2 = cv2.resize(np.concatenate((lightyellow,red), axis=0), (1,256-threshold), interpolation=cv2.INTER_CUBIC) lut = np.concatenate((lut1, lut2), axis=0) return lut def create_colormap_dict(self): '''create a yellow->red colormap for all thresholds''' ret = dict() for i in range(256): ret[i] = self.create_colormap_threshold(i) return ret def set_threshold(self, threshold_value): '''set pixel value for thermal colormap''' if self.im is not None: self.im.set_colormap_index(threshold_value) def set_title(self, title): """set image title""" if self.im is None: return title += " (mode %s)" % self.siyi.click_mode self.im.set_title(title) def get_pixel_temp(self, event): """get temperature of a pixel""" if event.pixel is None: return -1 v = event.pixel[0] gmin = 0 gmax = 255 if self.siyi is None: return -1 return self.siyi.tmin + ((v - gmin) / float(gmax - gmin)) * ( self.siyi.tmax - self.siyi.tmin ) def end_tracking(self): '''end object tracking''' self.tracking = False if self.im is not None: self.im.end_tracking() def update_title(self): """update thermal view title""" if self.siyi is None: return if self.thermal: self.set_title( "Thermal View TEMP=%.2fC RANGE(%.2fC to %.2fC)" % (self.siyi.spot_temp, self.siyi.tmin, self.siyi.tmax) ) elif self.siyi.rgb_lens == "zoom": self.set_title("Zoom View %.1fx" % self.siyi.last_zoom) else: self.set_title("Wide View (frame %u)" % self.frame_counter) def xy_to_latlon(self, x, y, shape): '''convert x,y pixel coordinates to a latlon tuple''' (yres, xres, depth) = shape x = (2 * x / float(xres)) - 1.0 y = (2 * y / float(yres)) - 1.0 aspect_ratio = float(xres) / yres if self.thermal: FOV = self.siyi.siyi_settings.thermal_fov elif self.siyi.rgb_lens == "zoom": FOV = self.siyi.siyi_settings.zoom_fov / self.siyi.last_zoom else: FOV = self.siyi.siyi_settings.wide_fov slant_range = self.siyi.get_slantrange(x, y, FOV, aspect_ratio) if slant_range is None: return None return self.siyi.get_latlonalt(slant_range, x, y, FOV, aspect_ratio) def check_events(self): """check for image events""" if self.im is None: return if not self.im.is_alive(): self.im = None return for event in self.im.events(): if isinstance(event, MPMenuItem): if event.returnkey.startswith("COLORMAP_Threshold"): d = self.create_colormap_dict() self.im.set_colormap(d) self.siyi.cmd_palette(["WhiteHot"]) if event.returnkey.startswith("COLORMAP_GloryHot"): self.im.set_colormap("None") self.siyi.cmd_palette(["GloryHot"]) elif event.returnkey.startswith("COLORMAP_"): self.im.set_colormap(event.returnkey[9:]) self.siyi.cmd_palette(["WhiteHot"]) elif event.returnkey.startswith("Mode:"): self.siyi.click_mode = event.returnkey[5:] print("ViewMode: %s" % self.siyi.click_mode) elif event.returnkey.startswith("Marker:"): self.siyi.handle_marker(event.returnkey[7:]) elif event.returnkey.startswith("Lens:") and self.siyi is not None: self.siyi.cmd_imode([event.returnkey[5:]]) elif event.returnkey.startswith("Zoom:") and self.siyi is not None: self.siyi.cmd_zoom([event.returnkey[5:]]) elif event.returnkey == "fitWindow": self.im.fit_to_window() elif event.returnkey == "fullSize": self.im.full_size() continue if isinstance(event, MPImageTrackPos): if not self.tracking: continue latlonalt = self.xy_to_latlon(event.x, event.y, event.shape) if latlonalt is None: return self.siyi.set_target(latlonalt[0], latlonalt[1], latlonalt[2]) continue if isinstance(event, MPImageFrameCounter): self.frame_counter = event.frame self.siyi.log_frame_counter(self.video_idx, self.thermal, self.frame_counter) continue if event.ClassName == "wxMouseEvent": if event.pixel is not None: self.siyi.spot_temp = self.get_pixel_temp(event) self.update_title() if ( event.ClassName == "wxMouseEvent" and event.leftIsDown and event.pixel is not None and self.siyi is not None ): latlonalt = self.xy_to_latlon(event.x, event.y, event.shape) if latlonalt is None: continue if event.shiftDown: (xres,yres) = (event.shape[1], event.shape[0]) twidth = int(yres*0.01*self.siyi.siyi_settings.track_size_pct) self.siyi.end_tracking() self.im.start_tracker(event.X, event.Y, twidth, twidth) self.tracking = True elif event.controlDown: self.siyi.end_tracking() else: self.siyi.camera_click(self.siyi.click_mode, latlonalt) if __name__ == '__main__': from optparse import OptionParser parser = OptionParser("camera_view.py [options]") parser.add_option("--rtsp-server", default=None, type=str, help="RTSP UTL") parser.add_option("--thermal", action='store_true', help="thermal camera") parser.add_option("--fps", type=int, help="frames per second") (opts, args) = parser.parse_args() if opts.rtsp_server is None: print("Must specify an RTSP URL") sys.exit(1) c = CameraView(None, opts.rtsp_server, "output.mts", (1280, 1024), thermal=opts.thermal, fps=opts.fps) while True: time.sleep(0.1) c.check_events() MAVProxy-1.8.74/MAVProxy/modules/mavproxy_SIYI/raw_thermal.py000066400000000000000000000323001504324515000240330ustar00rootroot00000000000000#!/usr/bin/env python3 from threading import Thread import cv2 import os import socket import struct import datetime import math import zlib import time, sys from MAVProxy.modules.lib.mp_menu import MPMenuItem from MAVProxy.modules.lib.mp_image import MPImage from MAVProxy.modules.lib.mp_image import MPImageTrackPos from MAVProxy.modules.lib.mp_image import MPImageFrameCounter from MAVProxy.modules.mavproxy_map import mp_slipmap from MAVProxy.modules.lib import mp_util import numpy as np EXPECTED_DATA_SIZE = 640 * 512 * 2 C_TO_KELVIN = 273.15 class RawThermal: """handle raw thermal image""" def __init__(self, siyi, res): self.siyi = siyi self.uri = ("192.168.144.25", 7345) self.im = None self.tracking = False self.cap = None self.res = res self.FOV = 24.2 self.last_frame_t = time.time() self.logdir = 'thermal' self.should_exit = False self.last_data = None self.tmin = -1 self.tmax = -1 self.mouse_temp = -1 self.image_count = 0 self.marker_history = [] self.last_tstamp = None if siyi is not None: self.logdir = self.siyi.logdir self.im = MPImage( title="Raw Thermal", mouse_events=True, mouse_movement_events=True, width=self.res[0], height=self.res[1], key_events=True, can_drag=False, can_zoom=False, auto_size=False, auto_fit=True ) popup = self.im.get_popup_menu() popup.add_to_submenu(["Mode"], MPMenuItem("ClickTrack", returnkey="Mode:ClickTrack")) popup.add_to_submenu(["Mode"], MPMenuItem("Flag", returnkey="Mode:Flag")) popup.add_to_submenu(["Marker"], MPMenuItem("Flame", returnkey="Marker:flame")) popup.add_to_submenu(["Marker"], MPMenuItem("Flag", returnkey="Marker:flag")) popup.add_to_submenu(["Marker"], MPMenuItem("Barrell", returnkey="Marker:barrell")) dname = os.path.join(self.logdir, 'thermal') try: os.mkdir(dname) except Exception as ex: pass self.thread = Thread(target=self.fetch_loop, name='fetch_loop') self.thread.daemon = False self.thread.start() def fetch_loop(self): '''main thread''' while True: if self.im is None: break time.sleep(0.1) ret = self.fetch_latest_compressed() if ret is None: continue (fname, tstamp, data) = ret if self.last_tstamp is not None and tstamp == self.last_tstamp: continue self.last_tstamp = tstamp self.display_image(fname, data) self.save_image(fname, tstamp, data) def in_history(self, latlon): '''check if latlon in the history''' autoflag_dist = self.siyi.siyi_settings.autoflag_dist for (lat1,lon1) in self.marker_history: dist = mp_util.gps_distance(lat1,lon1,latlon[0],latlon[1]) if dist < autoflag_dist: return True # add to history self.marker_history.append(latlon) if len(self.marker_history) > self.siyi.siyi_settings.autoflag_history: self.marker_history.pop(0) return False def handle_auto_flag(self): if not self.siyi.siyi_settings.autoflag_enable or self.siyi.have_DATA96: return if self.tmax < self.siyi.siyi_settings.autoflag_temp: return map = self.siyi.module('map') if not map: return width = self.res[0] height = self.res[1] latlonalt = self.xy_to_latlon(width//2, height//2) if latlonalt is None: return slices = self.siyi.siyi_settings.autoflag_slices slice_width = width // slices slice_height = height // slices data = self.last_data.reshape(height, width) for sx in range(slices): for sy in range(slices): sub = data[sx*slice_width:(sx+1)*slice_width, sy*slice_height:(sy+1)*slice_height] maxv = sub.max() - C_TO_KELVIN if maxv < self.siyi.siyi_settings.autoflag_temp: continue X = (sx*slice_width) + slice_width//2 Y = (sy*slice_height) + slice_height//2 latlonalt = self.xy_to_latlon(X, Y) if latlonalt is None: continue latlon = (latlonalt[0], latlonalt[1]) if self.in_history(latlon): continue map.cmd_map_marker(["flame"], latlon=latlon) def display_image(self, fname, data): '''display an image''' a = np.frombuffer(data, dtype='>u2') if len(a) != 640 * 512: print("Bad size %u" % len(a)) return # get in Kelvin a = (a / 64.0) maxv = a.max() minv = a.min() self.tmin = minv - C_TO_KELVIN self.tmax = maxv - C_TO_KELVIN if maxv <= minv: maxv = minv + 1 self.last_data = a self.handle_auto_flag() # convert to 0 to 255 a = (a - minv) * 255 / (maxv - minv) # convert to uint8 greyscale as 640x512 image a = a.astype(np.uint8) a = a.reshape(512, 640) a = cv2.cvtColor(a, cv2.COLOR_GRAY2RGB) if self.im is None: return self.im.set_image(a) self.image_count += 1 self.update_title() def decompress_zlib_buffer(self, compressed_buffer): try: # Decompress the buffer using zlib uncompressed_buffer = zlib.decompress(compressed_buffer) return uncompressed_buffer except zlib.error as e: # Handle any errors during decompression return None def fetch_latest_compressed(self): '''fetch a compressed thermal image''' tcp = socket.socket(socket.AF_INET, socket.SOCK_STREAM) timeout = self.siyi.siyi_settings.fetch_timeout if timeout >= 0: tcp.settimeout(2) try: tcp.connect(self.uri) except Exception: return None buf = bytearray() while True: try: b = tcp.recv(1024) except Exception: break if not b: break buf += b header_len = 128 + 12 if len(buf) < header_len: return None fname = buf[:128].decode("utf-8").strip('\x00') compressed_size,tstamp = struct.unpack("= 0: tcp.settimeout(2) try: tcp.connect(self.uri) except Exception: return None buf = bytearray() while True: try: b = tcp.recv(1024) except Exception: break if not b: break buf += b if len(buf) != 128 + 8 + EXPECTED_DATA_SIZE: return None fname = buf[:128].decode("utf-8").strip('\x00') tstamp, = struct.unpack("red colormap for a given threshold''' def pixel(c): p = np.zeros((1,1,3), np.uint8) p[:] = c return p lightyellow = pixel((255,255,0)) red = pixel((255,0,0)) white = pixel((threshold,threshold,threshold)) black = pixel((0,0,0)) threshold = mp_util.constrain(threshold, 1, 255) lut1 = cv2.resize(np.concatenate((black,white), axis=0), (1,threshold), interpolation=cv2.INTER_CUBIC) lut2 = cv2.resize(np.concatenate((lightyellow,red), axis=0), (1,256-threshold), interpolation=cv2.INTER_CUBIC) lut = np.concatenate((lut1, lut2), axis=0) return lut def create_colormap_dict(self): '''create a yellow->red colormap for all thresholds''' ret = dict() for i in range(256): ret[i] = self.create_colormap_threshold(i) return ret def set_threshold(self, threshold_value): '''set pixel value for thermal colormap''' if self.im is not None: self.im.set_colormap_index(threshold_value) def set_title(self, title): """set image title""" if self.im is None: return self.im.set_title(title) def get_pixel_temp(self, event): """get temperature of a pixel""" x = event.x y = event.y if self.last_data is None: return -1 try: p = self.last_data[y*640+x] return p - C_TO_KELVIN except Exception: return -1 def end_tracking(self): '''end object tracking''' self.tracking = False if self.im is not None: self.im.end_tracking() def update_title(self): """update thermal view title""" self.set_title("RawThermal(%u): (%.1fC to %.1fC) %.1fC (mode %s)" % (self.image_count, self.tmin, self.tmax, self.mouse_temp, self.siyi.click_mode)) def xy_to_latlon(self, x, y): '''convert x,y pixel coordinates to a latlon tuple''' (xres, yres) = self.res x = (2 * x / float(xres)) - 1.0 y = (2 * y / float(yres)) - 1.0 aspect_ratio = float(xres) / yres FOV = self.FOV slant_range = self.siyi.get_slantrange(x, y, FOV, aspect_ratio) if slant_range is None: return None return self.siyi.get_latlonalt(slant_range, x, y, FOV, aspect_ratio) def check_events(self): """check for image events""" if self.im is None: return if not self.im.is_alive(): self.im = None return for event in self.im.events(): if isinstance(event, MPMenuItem): if event.returnkey.startswith("Mode:"): self.siyi.click_mode = event.returnkey[5:] print("ViewMode: %s" % self.siyi.click_mode) elif event.returnkey.startswith("Marker:"): self.siyi.handle_marker(event.returnkey[7:]) elif event.returnkey == "fitWindow": self.im.fit_to_window() elif event.returnkey == "fullSize": self.im.full_size() continue if isinstance(event, MPImageTrackPos): if not self.tracking: continue latlonalt = self.xy_to_latlon(event.x, event.y) if latlonalt is None: return self.siyi.set_target(latlonalt[0], latlonalt[1], latlonalt[2]) continue if isinstance(event, MPImageFrameCounter): self.frame_counter = event.frame continue if event.ClassName == "wxMouseEvent": self.mouse_temp = self.get_pixel_temp(event) self.update_title() if ( event.ClassName == "wxMouseEvent" and event.leftIsDown and self.siyi is not None ): latlonalt = self.xy_to_latlon(event.x, event.y) if latlonalt is None: continue if event.shiftDown: (xres,yres) = self.res twidth = int(yres*0.01*self.siyi.siyi_settings.track_size_pct) self.siyi.end_tracking() self.im.start_tracker(event.x, event.y, twidth, twidth) self.tracking = True elif event.controlDown: self.siyi.end_tracking() else: self.siyi.camera_click(self.siyi.click_mode, latlonalt) if __name__ == '__main__': from optparse import OptionParser parser = OptionParser("camera_view.py [options]") (opts, args) = parser.parse_args() c = RawThermal(None, (640, 512)) while True: time.sleep(0.1) c.check_events() MAVProxy-1.8.74/MAVProxy/modules/mavproxy_SIYI/tools/000077500000000000000000000000001504324515000223165ustar00rootroot00000000000000MAVProxy-1.8.74/MAVProxy/modules/mavproxy_SIYI/tools/playback.py000077500000000000000000000202511504324515000244610ustar00rootroot00000000000000#!/usr/bin/env python3 ''' playback videos with temperature data ''' from MAVProxy.modules.lib.mp_image import MPImage from MAVProxy.modules.lib.mp_image import MPImageFrameCounter from MAVProxy.modules.lib.mp_image import MPImageOSD_HorizonLine import time import numpy as np import cv2 from MAVProxy.modules.lib import mp_util from pymavlink import mavutil import math from argparse import ArgumentParser parser = ArgumentParser(description=__doc__) parser.add_argument("video", help="video file") parser.add_argument("--seek", default=None, type=float, help="seek start percentage") parser.add_argument("--fps", default=None, type=float, help="max playback FPS") parser.add_argument("--siyi-log", default=None, help="SIYI log file") parser.add_argument("--video-idx", type=int, default=1, help="SIYI video index") parser.add_argument("--thermal", action='store_true', help="assume thermal") parser.add_argument("--attitude", action='store_true', help="show attitude in title") parser.add_argument("--threshold", type=int, default=60, help="temperature threshold") parser.add_argument("--min-threshold", type=int, default=250, help="temperature threshold min pixel") parser.add_argument("--aspect-ratio", type=float, default=1280.0/720.0, help="aspect ratio") parser.add_argument("--start-frame", type=int, default=None, help="start frame") parser.add_argument("--fov", type=float, default=88.0, help="horizontal FOV") args = parser.parse_args() if args.siyi_log is not None: mlog = mavutil.mavlink_connection(args.siyi_log) else: mlog = None im = MPImage( title="Camera View", mouse_events=True, mouse_movement_events=True, width=640, height=480, key_events=True, can_drag=False, can_zoom=False, auto_size=False, auto_fit=True, fps = 30, ) tstart = time.time() im.set_video(args.video) if args.fps is not None: im.set_fps_max(args.fps) if args.seek is not None: im.seek_percentage(args.seek) if args.start_frame is not None: im.seek_frame(args.start_frame) def create_colormap_threshold(threshold): '''create a yellow->red colormap for a given threshold''' def pixel(c): p = np.zeros((1,1,3), np.uint8) p[:] = c return p lightyellow = pixel((255,255,0)) red = pixel((255,0,0)) white = pixel((threshold,threshold,threshold)) black = pixel((0,0,0)) threshold = mp_util.constrain(threshold, 1, 255) lut1 = cv2.resize(np.concatenate((black,white), axis=0), (1,threshold), interpolation=cv2.INTER_CUBIC) lut2 = cv2.resize(np.concatenate((lightyellow,red), axis=0), (1,256-threshold), interpolation=cv2.INTER_CUBIC) lut = np.concatenate((lut1, lut2), axis=0) return lut def create_colormap_dict(): '''create a yellow->red colormap for all thresholds''' ret = dict() for i in range(256): ret[i] = create_colormap_threshold(i) return ret def get_pixel_temp(event): """get temperature of a pixel""" if event.pixel is None: return -1 global tmax, tmin v = event.pixel[0] gmin = 0 gmax = 255 return tmin + ((v - gmin) / float(gmax - gmin)) * (tmax - tmin) d = create_colormap_dict() im.set_colormap(d) im.set_colormap_index(256) tmax = 0 tmin = 0 frame_counter = 0 paused = False threshold_value = -1 fps = args.fps def check_events(): global frame_counter, paused, im, threshold_value, fps for event in im.events(): if isinstance(event, MPImageFrameCounter): frame_counter = event.frame continue if getattr(event,'ClassName',None) == 'wxKeyEvent': print('key %u' % event.KeyCode) if event.KeyCode == ord('P'): print("PAUSE") paused = not paused im.set_fps_max(0 if paused else fps) if event.KeyCode == ord('F'): fps *= 1.1 print("Speed %.1f" % fps) im.set_fps_max(0 if paused else fps) if event.KeyCode == ord('S'): fps /= 1.1 print("Speed %.1f" % fps) im.set_fps_max(0 if paused else fps) if event.KeyCode == ord('N'): fps = args.fps print("Speed %.1f" % fps) im.set_fps_max(0 if paused else fps) if getattr(event,'ClassName',None) == "wxMouseEvent": if event.pixel is not None: spot_temp = get_pixel_temp(event) if args.thermal: print("TEMP: %.1f px=%u range=(%.1f %.1f) tv=%d" % (spot_temp, event.pixel[0], tmin, tmax, threshold_value)) if args.attitude: ATT = mlog.messages.get('ATT',None) SIEN = mlog.messages.get('SIEN',None) GPS = mlog.messages.get('GPS',None) if ATT is None or SIEN is None or GPS is None: return print("SIEN (%.1f %.1f %.1f) ATT (%.1f %.1f %.1f)" % (SIEN.R, SIEN.P, SIEN.Y, ATT.Roll, ATT.Pitch, ATT.Yaw)) def att_from_encoders(ATT,SIEN): from pymavlink.rotmat import Matrix3 from math import radians, degrees m1 = Matrix3() # we use zero yaw as this is in vehicle frame m1.from_euler(radians(ATT.Roll),radians(ATT.Pitch),0) m1.rotate_312(radians(SIEN.R),radians(SIEN.P),radians(SIEN.Y)) (r,p,y) = m1.to_euler() return degrees(r),degrees(p),degrees(y) def add_horizon_line(label, roll_deg, pitch_deg, color): '''draw a horizon line for given roll/pitch''' global im im.add_OSD(MPImageOSD_HorizonLine(label, roll_deg, pitch_deg, args.fov, color)) def show_attitude(): global mlog, im, frame_counter SIGA = mlog.messages.get('SIGA',None) ATT = mlog.messages.get('ATT',None) SIEN = mlog.messages.get('SIEN',None) SIEA = mlog.messages.get('SIEA',None) GPS = mlog.messages.get('GPS',None) SIVL = mlog.messages.get('SIVL',None) if SIGA is None or ATT is None or SIEN is None or GPS is None or SIEA is None: return from pymavlink.rotmat import Matrix3 from pymavlink.rotmat import Vector3 from math import radians, degrees m = Matrix3() m.from_euler312(radians(SIGA.R),radians(SIGA.P),radians(SIGA.Y)) (r2,p2,y2) = m.to_euler() title = "SIGA=(%.1f/%.1f %.1f/%.1f %.1f/%.1f)" % (SIGA.R, degrees(r2), SIGA.P, degrees(p2), SIGA.Y, degrees(y2)) #title += " SIEA=(%.1f %.1f %.1f)" % (SIEA.R, SIEA.P, SIEA.Y) title += " ATT=(%.1f %.1f %.1f)" % (ATT.Roll, ATT.Pitch, ATT.Yaw) rpy = att_from_encoders(ATT,SIEN) title += " EA2=(%.1f %.1f %.1f)" % (rpy[0],rpy[1],rpy[2]) title += " SIEN=(%.1f %.1f %.1f)" % (SIEN.R,SIEN.P,SIEN.Y) title += " GPS=(%.0fm spd=%.0fm/s)" % (GPS.Alt, GPS.Spd) title += " M=%u FC=%u" % (SIVL.Mode, frame_counter) im.set_title(title) add_horizon_line('hor1', rpy[0], rpy[1], (255,0,255)) add_horizon_line('hor2', degrees(r2), degrees(p2), (255,255,0)) while True: #time.sleep(0.01) if mlog is not None: m = mlog.recv_match(type=['SITR','SIEN','SIGA','ATT','SIFC','GPS','SIVL']) if m is None: print("EOF") break mtype = m.get_type() if mtype == 'SIFC': vtype = 1 if args.thermal else 0 if m.Type != vtype: continue if m.Idx != args.video_idx: continue while frame_counter < m.Frame: check_events() time.sleep(0.01) if frame_counter > m.Frame+5: check_events() continue if args.attitude: show_attitude() if args.thermal and mtype == 'SITR': threshold = args.threshold threshold_value = int(255*(threshold - m.TMin)/max(1,(m.TMax-m.TMin))) threshold_value = mp_util.constrain(threshold_value, 0, 255) if m.TMax < threshold: threshold_value = -1 else: threshold_value = max(threshold_value, args.min_threshold) im.set_colormap_index(threshold_value) tmax = m.TMax tmin = m.TMin im.set_title("Range (%.1f %.1f) TV=%d t=%.1f" % (tmin, tmax, threshold_value, frame_counter/30.0)) print(m.TMin, m.TMax, threshold_value, vtime, frame_counter/30.0) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_SIYI/tools/temp_dir.py000077500000000000000000000040031504324515000244730ustar00rootroot00000000000000#!/usr/bin/env python3 # save images in therm cap import sys import numpy as np import cv2 import time import glob import os from MAVProxy.modules.lib.mp_image import MPImage from pymavlink import mavutil from argparse import ArgumentParser parser = ArgumentParser(description=__doc__) parser.add_argument("--min-temp", default=None, type=float, help="min temperature") parser.add_argument("--siyi-log", default=None, type=float, help="SIYI binlog") parser.add_argument("dirname", default=None, type=str, help="directory") args = parser.parse_args() DNAME=args.dirname mouse_temp=-1 tmin = -1 tmax = -1 last_data = None C_TO_KELVIN = 273.15 def update_title(): global tmin, tmax, mouse_temp cv2.setWindowTitle('Thermal', "Thermal: (%.1fC to %.1fC) %.1fC" % (tmin, tmax, mouse_temp)) def click_callback(event, x, y, flags, param): global last_data, mouse_temp if last_data is None: return p = last_data[y*640+x] mouse_temp = p - C_TO_KELVIN update_title() def display_file(fname): global mouse_temp, tmin, tmax, last_data print('Importing: ', fname) a = np.fromfile(fname, dtype='>u2') if len(a) != 640 * 512: print("Bad size %u" % len(a)) return # get in Kelvin a = (a / 64.0) C_TO_KELVIN = 273.15 maxv = a.max() minv = a.min() tmin = minv - C_TO_KELVIN tmax = maxv - C_TO_KELVIN if args.min_temp is not None and tmax < args.min_temp: return print("Max=%.3fC Min=%.3fC" % (tmax, tmin)) if maxv <= minv: print("Bad range") return last_data = a # convert to 0 to 255 a = (a - minv) * 65535.0 / (maxv - minv) # convert to uint8 greyscale as 640x512 image a = a.astype(np.uint16) a = a.reshape(512, 640) cv2.imshow('Thermal', a) cv2.setMouseCallback('Thermal', click_callback) cv2.setWindowTitle('Thermal', "Thermal: (%.1fC to %.1fC) %.1fC" % (tmin, tmax, mouse_temp)) cv2.waitKey(0) flist = sorted(glob.glob(DNAME + "/*bin")) for f in flist: display_file(f) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_SIYI/tools/temp_view.py000077500000000000000000000013651504324515000246770ustar00rootroot00000000000000#!/usr/bin/env python3 import sys import numpy as np import cv2 import time from MAVProxy.modules.lib.mp_image import MPImage FNAME=sys.argv[1] # little-endian 16 bit data # Celsius temp = Raw data/64-273.15. print('Importing: ', FNAME) a = np.fromfile(FNAME, dtype='>u2') # get in Kelvin a = (a / 64.0) C_TO_KELVIN = 273.15 #a = np.clip(a, C_TO_KELVIN+50, C_TO_KELVIN+200) maxv = a.max() minv = a.min() print("Max=%.3fC Min=%.3fC" % (maxv-273.15, minv-273.15)) if maxv <= minv: print("Bad range") sys.exit(1) # convert to 0 to 255 a = (a - minv) * 65535.0 / (maxv - minv) # convert to uint8 greyscale as 640x512 image a = a.astype(np.uint16) a = a.reshape(512, 640) #im.set_image(a) cv2.imshow('Grey16', a) while True: cv2.waitKey(1) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_SecureCommand.py000066400000000000000000000256571504324515000235170ustar00rootroot00000000000000''' Support for MAVLink SECURE_COMMAND ''' from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_settings from pymavlink import mavutil import time import base64 import struct import random import glob try: import monocypher except ImportError: print("Please install monocypher with: python3 -m pip install pymonocypher") class SecureCommandModule(mp_module.MPModule): def __init__(self, mpstate): super(SecureCommandModule, self).__init__(mpstate, "SecureCommand", "SecureCommand Support", public = True) self.add_command('securecommand', self.cmd_securecommand, "SecureCommand control", ["", "set (SECURECOMMANDSETTING)"]) from MAVProxy.modules.lib.mp_settings import MPSetting self.SecureCommand_settings = mp_settings.MPSettings([ MPSetting("private_keyfile", str, None), ]) self.add_completion_function('(SECURECOMMANDSETTING)', self.SecureCommand_settings.completion) self.session_key = None self.public_keys = [None]*10 self.sequence = random.randint(0, 0xFFFFFFFF) self.sent_sequence = None def cmd_securecommand(self, args): '''securecommand command parser''' usage = "usage: securecommand " if len(args) == 0: print(usage) return if args[0] == "set": self.SecureCommand_settings.command(args[1:]) elif args[0] == "getsessionkey": self.cmd_getsessionkey() elif args[0] == "getpublickeys": self.cmd_getpublickeys(args[1:]) elif args[0] == "setpublickeys": self.cmd_setpublickeys(args[1:]) elif args[0] == "removepublickeys": self.cmd_removepublickeys(args[1:]) elif args[0] == "setconfig": self.cmd_setconfig(args[1:]) else: print(usage) def advance_sequence(self): '''add one to sequence''' self.sequence = (self.sequence+1) & 0xFFFFFFFF def get_private_key(self): '''get private key, return 32 byte key or None''' if self.SecureCommand_settings.private_keyfile is None: return None try: d = open(self.SecureCommand_settings.private_keyfile,'r').read() except Exception as ex: return None ktype = "PRIVATE_KEYV1:" if not d.startswith(ktype): return None return base64.b64decode(d[len(ktype):]) def read_public_key(self, keyfile): '''read a public key, return 32 byte key or None''' try: d = open(keyfile,'r').read() except Exception as ex: return None ktype = "PUBLIC_KEYV1:" if not d.startswith(ktype): return None return base64.b64decode(d[len(ktype):]) def have_private_key(self): '''return true if we have a valid private key''' return self.get_private_key() is not None def make_signature(self, seq, command, data): '''make a signature''' private_key = self.get_private_key() d = struct.pack(" 0: idx = int(args[0]) if len(args) > 1: nkeys = int(args[1]) req = struct.pack(" 6: print("Too many keys %u - max is 6" % len(keys)) return if len(keys) == 0: print("No keys found") return req = struct.pack("= len(self.public_keys): print("Invalid key index %u" % idx) return keys = bytearray(m.data[1:m.data_length]) numkeys = len(keys) // 32 if numkeys == 0: print("No public keys returned") return for i in range(idx, numkeys): self.public_keys[i] = keys[32*i:32*(i+1)] keyfile = "public_key%u.dat" % i open(keyfile, "w").write("PUBLIC_KEYV1:" + base64.b64encode(self.public_keys[i]).decode('utf-8') + "\n") print("Wrote %s" % keyfile) print("Got public keys %u to %u" % (idx, numkeys+idx-1)) else: print("Get public keys failed: %u" % m.result) if m.operation == mavutil.mavlink.SECURE_COMMAND_SET_PUBLIC_KEYS: if m.result == mavutil.mavlink.MAV_RESULT_ACCEPTED: print("Set public keys OK") else: print("Set public keys failed: %u" % m.result) if m.operation == mavutil.mavlink.SECURE_COMMAND_REMOVE_PUBLIC_KEYS: if m.result == mavutil.mavlink.MAV_RESULT_ACCEPTED: print("Remove public keys OK") else: print("Remove public keys failed: %u" % m.result) def init(mpstate): '''initialise module''' return SecureCommandModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_adsb.py000066400000000000000000000304031504324515000216640ustar00rootroot00000000000000''' Support for ADS-B data Samuel Dudley Dec 2015 ''' from math import * from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_settings from MAVProxy.modules.lib import mp_util from pymavlink import mavutil from PIL import ImageColor obc_icons = { 100 : 'greenplane.png', 101 : 'greenplane.png', 102 : 'cloud.png', 103 : 'migbird.png', 104 : 'hawk.png' } obc_radius = { 100 : 300, 101 : 300, 102 : 173, 103 : 100, 104 : 200 } def get_threat_radius(emitter_type, squawk): if emitter_type == 255: ''' objectAvoidance Database item, squawk contains radius in cm''' return squawk * 0.01 '''get threat radius for an OBC item''' return obc_radius.get(emitter_type,0) def get_threat_icon(emitter_type, default_icon): if emitter_type == 255: ''' objectAvoidance Database item, do not draw an icon''' return None '''get threat radius for an OBC item, else the true ADSB icon''' return obc_icons.get(emitter_type, default_icon) class ADSBVehicle(object): '''a generic ADS-B threat''' def __init__(self, id, state): self.id = id self.state = state self.vehicle_colour = 'green' # use plane icon for now self.vehicle_type = 'plane' self.icon = self.vehicle_colour + self.vehicle_type + '.png' self.update_time = 0 self.is_evading_threat = False self.v_distance = None self.h_distance = None self.distance = None def update(self, state, tnow): '''update the threat state''' self.state = state self.update_time = tnow class ADSBModule(mp_module.MPModule): def __init__(self, mpstate): super(ADSBModule, self).__init__(mpstate, "adsb", "ADS-B data support", public = True) self.threat_vehicles = {} self.active_threat_ids = [] # holds all threat ids the vehicle is evading self.add_command('adsb', self.cmd_ADSB, "adsb control", ["", "set (ADSBSETTING)"]) self.ADSB_settings = mp_settings.MPSettings([("timeout", int, 5), # seconds ("threat_radius", int, 200), # meters ("show_threat_radius", bool, False), # threat_radius_clear = threat_radius*threat_radius_clear_multiplier ("threat_radius_clear_multiplier", int, 2), ("show_threat_radius_clear", bool, False), ("show_callsign", bool, True), ("traffic_warning", bool, False), ("alt_color1", str, "blue"), ("alt_color2", str, "red"), ("alt_color_alt_thresh", int, 300), ("alt_color_dist_thresh", int, 3000)]) self.add_completion_function('(ADSBSETTING)', self.ADSB_settings.completion) self.threat_detection_timer = mavutil.periodic_event(2) self.threat_timeout_timer = mavutil.periodic_event(2) self.tnow = self.get_time() self.last_traffic = self.tnow def cmd_ADSB(self, args): '''adsb command parser''' usage = "usage: adsb " if len(args) == 0: print(usage) return if args[0] == "status": print("total threat count: %u active threat count: %u" % (len(self.threat_vehicles), len(self.active_threat_ids))) for id in self.threat_vehicles.keys(): print("id: %s distance: %.2f m callsign: %s alt: %.2f" % (id, self.threat_vehicles[id].distance, self.threat_vehicles[id].state['callsign'], self.threat_vehicles[id].state['altitude'])) elif args[0] == "set": self.ADSB_settings.command(args[1:]) else: print(usage) def perform_threat_detection(self): '''determine threats''' # TODO: perform more advanced threat detection threat_radius_clear = self.ADSB_settings.threat_radius * \ self.ADSB_settings.threat_radius_clear_multiplier for id in self.threat_vehicles.keys(): if self.threat_vehicles[id].distance is not None: if self.threat_vehicles[id].distance <= self.ADSB_settings.threat_radius and not self.threat_vehicles[id].is_evading_threat: # if the threat is in the threat radius and not currently # known to the module... # set flag to action threat self.threat_vehicles[id].is_evading_threat = True if self.threat_vehicles[id].distance > threat_radius_clear and self.threat_vehicles[id].is_evading_threat: # if the threat is known to the module and outside the # threat clear radius... # clear flag to action threat self.threat_vehicles[id].is_evading_threat = False self.active_threat_ids = [id for id in self.threat_vehicles.keys( ) if self.threat_vehicles[id].is_evading_threat] def update_threat_distances(self, latlonalt): '''update the distance between threats and vehicle''' for id in self.threat_vehicles.keys(): threat_latlonalt = (self.threat_vehicles[id].state['lat'] * 1e-7, self.threat_vehicles[id].state['lon'] * 1e-7, self.threat_vehicles[id].state['altitude']) self.threat_vehicles[id].h_distance = self.get_h_distance(latlonalt, threat_latlonalt) self.threat_vehicles[id].v_distance = self.get_v_distance(latlonalt, threat_latlonalt) # calculate and set the total distance between threat and vehicle self.threat_vehicles[id].distance = sqrt( self.threat_vehicles[id].h_distance**2 + (self.threat_vehicles[id].v_distance)**2) def get_h_distance(self, latlonalt1, latlonalt2): '''get the horizontal distance between threat and vehicle''' (lat1, lon1, alt1) = latlonalt1 (lat2, lon2, alt2) = latlonalt2 lat1 = radians(lat1) lon1 = radians(lon1) lat2 = radians(lat2) lon2 = radians(lon2) dLat = lat2 - lat1 dLon = lon2 - lon1 # math as per mavextra.distance_two() a = sin(0.5 * dLat)**2 + sin(0.5 * dLon)**2 * cos(lat1) * cos(lat2) c = 2.0 * atan2(sqrt(a), sqrt(1.0 - a)) return 6371 * 1000 * c def get_v_distance(self, latlonalt1, latlonalt2): '''get the horizontal distance between threat and vehicle''' (lat1, lon1, alt1) = latlonalt1 (lat2, lon2, alt2) = latlonalt2 return alt2 - alt1 def check_threat_timeout(self): '''check and handle threat time out''' for id in self.threat_vehicles.keys(): if self.threat_vehicles[id].update_time == 0: self.threat_vehicles[id].update_time = self.get_time() dt = self.get_time() - self.threat_vehicles[id].update_time if dt > self.ADSB_settings.timeout: # if the threat has timed out... del self.threat_vehicles[id] # remove the threat from the dict for mp in self.module_matching('map*'): # remove the threat from the map mp.map.remove_object(id) mp.map.remove_object(id+":circle") # we've modified the dict we're iterating over, so # we'll get any more timed-out threats next time we're # called: return def add_vehicle(self, state): '''handle an incoming vehicle packet''' id = 'ADSB-' + str(state['ICAO_address']) lat = state['lat'] lon = state['lon'] altitude_km = state['altitude'] callsign = state['callsign'] heading = state['heading'] emitter_type = state['emitter_type'] squawk = state['squawk'] if id not in self.threat_vehicles.keys(): # check to see if the vehicle is in the dict #print("NEW: ", state) # if not then add it self.threat_vehicles[id] = ADSBVehicle(id=id, state=state) #print("NEW: ", state) for mp in self.module_matching('map*'): from MAVProxy.modules.lib import mp_menu from MAVProxy.modules.mavproxy_map import mp_slipmap self.threat_vehicles[id].menu_item = mp_menu.MPMenuItem(name=id, returnkey=None) threat_radius = get_threat_radius(emitter_type, squawk) selected_icon = get_threat_icon(emitter_type, self.threat_vehicles[id].icon) if selected_icon is not None: #print("map add ", state) # draw the vehicle on the map popup = mp_menu.MPMenuSubMenu('ADSB', items=[self.threat_vehicles[id].menu_item]) icon = mp.map.icon(selected_icon) mp.map.add_object(mp_slipmap.SlipIcon(id, (lat * 1e-7, lon * 1e-7), icon, layer=3, rotation=heading*0.01, follow=False, trail=mp_slipmap.SlipTrail(colour=(0, 255, 255)), popup_menu=popup)) if threat_radius > 0: mp.map.add_object(mp_slipmap.SlipCircle(id+":circle", 3, (lat * 1e-7, lon * 1e-7), threat_radius, (0, 255, 255), linewidth=1)) else: # the vehicle is in the dict # update the dict entry self.threat_vehicles[id].update(state, self.get_time()) for mp in self.module_matching('map*'): # update the map, labelling alt above/below our alt GPI = self.master.messages.get("GLOBAL_POSITION_INT", None) if GPI is None: return ref_alt = GPI.alt*0.001 lat_deg = lat * 1.0e-7 lon_deg = lon * 1.0e-7 our_lat_deg = GPI.lat*1.0e-7 our_lon_deg = GPI.lon*1.0e-7 dist = mp_util.gps_distance(our_lat_deg, our_lon_deg, lat_deg, lon_deg) alt_amsl = altitude_km * 0.001 color = ImageColor.getrgb(self.ADSB_settings.alt_color1) label = "" if self.ADSB_settings.show_callsign: label = "[%s] " % callsign.rstrip() if alt_amsl > 0: alt = int(alt_amsl - ref_alt) label += self.height_string(alt) if abs(alt) < self.ADSB_settings.alt_color_alt_thresh and dist < self.ADSB_settings.alt_color_dist_thresh: tnow = self.get_time() if self.ADSB_settings.traffic_warning and tnow - self.last_traffic > 5: self.last_traffic = tnow self.say("traffic") color = ImageColor.getrgb(self.ADSB_settings.alt_color2) mp.map.set_position(id, (lat_deg, lon_deg), rotation=heading*0.01, label=label, colour=color) mp.map.set_position(id+":circle", (lat_deg, lon_deg)) def mavlink_packet(self, m): '''handle an incoming mavlink packet''' if m.get_type() == "ADSB_VEHICLE": state = m.to_dict() self.add_vehicle(state) def idle_task(self): '''called on idle''' if self.threat_timeout_timer.trigger(): self.check_threat_timeout() if self.threat_detection_timer.trigger(): self.perform_threat_detection() # TODO: possibly evade detected threats with ids in # self.active_threat_ids def init(mpstate): '''initialise module''' return ADSBModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_ais.py000066400000000000000000000145701504324515000215360ustar00rootroot00000000000000''' Support for AIS data Stephen Dade June 2021 ''' from pymavlink import mavutil from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_settings from MAVProxy.modules.lib import mp_util if mp_util.has_wxpython: from MAVProxy.modules.lib import mp_menu from MAVProxy.modules.mavproxy_map import mp_slipmap class AISVehicle(): '''a generic AIS threat''' def __init__(self, id, state): self.id = id self.state = state self.vehicle_colour = 'blue' # use boat icon for now self.vehicle_type = 'boat' self.icon = self.vehicle_colour + self.vehicle_type + '.png' self.update_time = 0 self.onMap = False def update(self, state, tnow): self.state = state self.update_time = tnow def getThreatRadius(self, default_radius): ''' get threat radius, based on ship type''' # threat radius is the maximum of distance to AIS location if self.state.flags & mavutil.mavlink.AIS_FLAGS_LARGE_BOW_DIMENSION or self.state.flags & mavutil.mavlink.AIS_FLAGS_LARGE_STERN_DIMENSION: threat_radius = 511 elif self.state.flags & mavutil.mavlink.AIS_FLAGS_LARGE_PORT_DIMENSION or self.state.flags & mavutil.mavlink.AIS_FLAGS_LARGE_STARBOARD_DIMENSION: threat_radius = 63 else: threat_radius = max(self.state.dimension_bow, self.state.dimension_stern, self.state.dimension_port, self.state.dimension_starboard) #default to threat_radius setting if threat_radius == 0: return default_radius return threat_radius class AISModule(mp_module.MPModule): def __init__(self, mpstate): super(AISModule, self).__init__(mpstate, "ais", "AIS data support", public=True) self.threat_vehicles = {} self.add_command('ais', self.cmd_AIS, "ais control", ["", "set (AISSETTING)"]) self.AIS_settings = mp_settings.MPSettings([("timeout", int, 60), # seconds ("threat_radius", int, 200)]) # meters self.add_completion_function('(AISSETTING)', self.AIS_settings.completion) self.threat_timeout_timer = mavutil.periodic_event(2) self.update_map_timer = mavutil.periodic_event(1) self.tnow = self.get_time() def cmd_AIS(self, args): '''ais command parser''' usage = "usage: ais " if len(args) == 0: print(usage) elif args[0] == "set": self.AIS_settings.command(args[1:]) else: print(usage) def check_threat_timeout(self): '''check and handle threat time out''' for id in self.threat_vehicles: if self.threat_vehicles[id].update_time == 0: self.threat_vehicles[id].update_time = self.get_time() dt = self.get_time() - self.threat_vehicles[id].update_time if dt > self.AIS_settings.timeout: # if the threat has timed out... del self.threat_vehicles[id] # remove the threat from the dict for mp in self.module_matching('map*'): # remove the threat from the map mp.map.remove_object(id) mp.map.remove_object(id+":circle") # we've modified the dict we're iterating over, so # we'll get any more timed-out threats next time we're # called: return def update_map(self): '''update the map graphics''' for mp in self.module_matching('map*'): for id in self.threat_vehicles.keys(): mstate = self.threat_vehicles[id].state threat_radius = self.threat_vehicles[id].getThreatRadius(self.AIS_settings.threat_radius) # update if existing object on map, else create if self.threat_vehicles[id].onMap: mp.map.set_position(id, (mstate.lat * 1e-7, mstate.lon * 1e-7), 3, rotation=mstate.heading*0.01, label=str(mstate.callsign)) # Turns out we can't edit the circle's radius, so have to remove and re-add mp.map.remove_object(id+":circle") mp.map.add_object(mp_slipmap.SlipCircle(id+":circle", 3, (mstate.lat * 1e-7, mstate.lon * 1e-7), threat_radius, (0, 255, 255), linewidth=1)) else: self.threat_vehicles[id].menu_item = mp_menu.MPMenuItem(name=id, returnkey=None) # draw the vehicle on the map popup = mp_menu.MPMenuSubMenu('AIS', items=[self.threat_vehicles[id].menu_item]) icon = mp_slipmap.SlipIcon( id, (mstate.lat * 1e-7, mstate.lon * 1e-7), mp.map.icon(self.threat_vehicles[id].icon), 3, rotation=mstate.heading*0.01, follow=False, trail=mp_slipmap.SlipTrail(colour=(0, 255, 255)), popup_menu=popup, ) mp.map.add_object(icon) mp.map.add_object(mp_slipmap.SlipCircle(id+":circle", 3, (mstate.lat * 1e-7, mstate.lon * 1e-7), threat_radius, (0, 255, 255), linewidth=1)) self.threat_vehicles[id].onMap = True def mavlink_packet(self, m): '''handle an incoming mavlink packet''' if m.get_type() == "AIS_VESSEL": id = 'AIS-' + str(m.MMSI) if id not in self.threat_vehicles.keys(): # check to see if the vehicle is in the dict # if not then add it self.threat_vehicles[id] = AISVehicle(id=id, state=m) else: # the vehicle is in the dict # update the dict entry self.threat_vehicles[id].update(m, self.get_time()) def idle_task(self): '''called on idle''' if self.threat_timeout_timer.trigger(): self.check_threat_timeout() if self.update_map_timer.trigger(): self.update_map() def init(mpstate): '''initialise module''' return AISModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_antenna.py000066400000000000000000000040151504324515000223770ustar00rootroot00000000000000#!/usr/bin/env python3 ''' antenna pointing module Andrew Tridgell June 2012 ''' import sys, os, time from cuav.lib import cuav_util from MAVProxy.modules.lib import mp_module class AntennaModule(mp_module.MPModule): def __init__(self, mpstate): super(AntennaModule, self).__init__(mpstate, "antenna", "antenna pointing module") self.gcs_location = None self.last_bearing = 0 self.last_announce = 0 self.add_command('antenna', self.cmd_antenna, "antenna link control") def cmd_antenna(self, args): '''set gcs location''' if len(args) != 2: if self.gcs_location is None: print("GCS location not set") else: print("GCS location %s" % str(self.gcs_location)) return self.gcs_location = (float(args[0]), float(args[1])) def mavlink_packet(self, m): '''handle an incoming mavlink packet''' if self.gcs_location is None and self.module('wp').wploader.count() > 0: home = self.module('wp').get_home() self.gcs_location = (home.x, home.y) print("Antenna home set") if self.gcs_location is None: return if m.get_type() == 'GPS_RAW' and self.gcs_location is not None: (gcs_lat, gcs_lon) = self.gcs_location bearing = cuav_util.gps_bearing(gcs_lat, gcs_lon, m.lat, m.lon) elif m.get_type() == 'GPS_RAW_INT' and self.gcs_location is not None: (gcs_lat, gcs_lon) = self.gcs_location bearing = cuav_util.gps_bearing(gcs_lat, gcs_lon, m.lat / 1.0e7, m.lon / 1.0e7) else: return self.console.set_status('Antenna', 'Antenna %.0f' % bearing, row=0) if abs(bearing - self.last_bearing) > 5 and (time.time() - self.last_announce) > 15: self.last_bearing = bearing self.last_announce = time.time() self.say("Antenna %u" % int(bearing + 0.5)) def init(mpstate): '''initialise module''' return AntennaModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_anufireproject/000077500000000000000000000000001504324515000234215ustar00rootroot00000000000000MAVProxy-1.8.74/MAVProxy/modules/mavproxy_anufireproject/__init__.py000066400000000000000000000145111504324515000255340ustar00rootroot00000000000000''' Add functionality to help with the ANU Fire Project e.g. download data from ACT government website and create KML layers from same AP_FLAKE8_CLEAN ''' import json import math import os import pathlib import time from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_util class ANUFireProject(mp_module.MPModule): def __init__(self, mpstate): super(ANUFireProject, self).__init__(mpstate, "anufireproject", "") self.kml_module_initialised = False # stores the directory into which our persistent state should # be dropped: self.dot_mavproxy_path = mp_util.dot_mavproxy("anufp") pathlib.Path(self.dot_mavproxy_path).mkdir(parents=True, exist_ok=True) self.add_command( 'anufp', self.cmd, "ANU FireProject utility functions", ["", " (BURNID)"], ) self.burn_data_url = 'https://services1.arcgis.com/E5n4f1VY84i0xSjy/arcgis/rest/services/Prescribed_Burns_Public/FeatureServer/0/query?f=json&where=1%3D1&spatialRel=esriSpatialRelIntersects&geometry=%7B%22xmin%22%3A16505903.50821903%2C%22ymin%22%3A-4198481.646243979%2C%22xmax%22%3A16627897.005362216%2C%22ymax%22%3A-4144822.852387765%2C%22spatialReference%22%3A%7B%22wkid%22%3A102100%7D%7D&geometryType=esriGeometryEnvelope&inSR=102100&outFields=BURN_NAME%2CBOP_ID%2CHECTARES%2CWORKS_DESCRIPTION%2CBURN_TIMEFRAME%2CESRI_OID&orderByFields=ESRI_OID%20ASC&outSR=102100' # noqa self.burn_json = None self.burn_json_time = 0 self.burn_json_lifetime = 600 # seconds we cache the json for self.burn_json_refresh_attempt_time = 0 try: # try not to set one variable without setting the other here. cache_path = self.burn_data_cache_path() content = cache_path.read_bytes() mtime = cache_path.stat().st_mtime self.burn_json = content self.burn_json_time = mtime except FileNotFoundError: pass def burn_data_cache_path(self): '''returns a pathlib object corresponding to the filepath where we cache the downloaded burn JSON''' return pathlib.Path(os.path.join(self.dot_mavproxy_path, "burn_json.txt")) def usage(self): '''returns usage string''' return "Usage: anufp " def cmd(self, args): '''handle commands from stdin''' if len(args) < 1: print(self.usage()) return if args[0] == "burnkml": return self.cmd_burnkml(args[1:]) print(self.usage()) def get_burn_json_object(self): '''returns a json object containing the burn data''' self.ensure_burn_json() return json.loads(self.burn_json) def cmd_burnkml(self, args): '''command to trigger creation of a KML layer from a burn ID (e.g. FB511)''' kml = self.module('kmlread') if kml is None: self.message("Need kmlread module") return if len(args) != 1: print(self.usage()) print("BURNID is usually of the form FBxxx e.g. FB511") return burn_name = args[0] burn_json = self.get_burn_json_object() if burn_json is None: return found_feature = None seen_bops = [] for feature in burn_json["features"]: bop_id = feature["attributes"]["BOP_ID"] seen_bops.append(bop_id) if bop_id == burn_name: found_feature = feature break if found_feature is None: self.message(f"Burn {burn_name} not found in downloaded JSON (found {seen_bops})") return if "geometry" not in feature: self.message(f"geometry missing from feature {burn_name}") return rings = feature["geometry"]["rings"] for ring in rings: coordinates = [] for item in ring: lat, lon = self.MetersToLatLon(item[0], item[1]) coordinates.append((lat, lon)) kml.add_polygon(burn_name, coordinates) # from: https://gist.githubusercontent.com/maptiler/fddb5ce33ba995d5523de9afdf8ef118/raw/d7565390d2480bfed3c439df5826f1d9e4b41761/globalmaptiles.py # noqa def MetersToLatLon(self, mx, my): "Converts XY point from Spherical Mercator EPSG:900913 to lat/lon in WGS84 Datum" originShift = 2 * math.pi * 6378137 / 2.0 # 20037508.342789244 lon = (mx / originShift) * 180.0 lat = (my / originShift) * 180.0 lat = 180 / math.pi * (2 * math.atan(math.exp(lat * math.pi / 180.0)) - math.pi / 2.0) return lat, lon def should_refresh_burn_json(self): '''returns true if we should download the data from the ACT government website again''' now = time.time() if now - self.burn_json_refresh_attempt_time < 60: return False if self.burn_json is None: return True if now - self.burn_json_time > self.burn_json_lifetime: return True return False def message(self, msg): '''simply emit msg prefixed with an identifying string''' print(f"anufp: {msg}") def refresh_burn_json(self): '''downloads content from ACT Government URL, caches it in the filesystem''' tstart = time.time() self.message("Refreshing burn data JSON") self.burn_json_refresh_attempt_time = tstart content = mp_util.download_url(self.burn_data_url) if content is None: return self.burn_json = content tstop = time.time() self.burn_json_time = tstop # cache the data: cache_path = self.burn_data_cache_path() cache_path.write_bytes(content) self.message(f"Refreshed burn data JSON ({tstop-tstart}s)") def ensure_burn_json(self): '''checks to see if we should refresh the JSON data, and does that if required''' if not self.should_refresh_burn_json(): return self.refresh_burn_json() def idle_task(self): # download the burn JSON once at startup to avoid delay on # first kml command. if self.burn_json is None: self.ensure_burn_json() def init(mpstate): '''initialise module''' return ANUFireProject(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_arm.py000066400000000000000000000205201504324515000215310ustar00rootroot00000000000000#!/usr/bin/env python3 '''arm/disarm command handling''' import time, os from MAVProxy.modules.lib import mp_module from pymavlink import mavutil # note that the number of bits here is contrained by the float # transport mechanism. 25 bits is the limit. Given the transport # limit, if all bits are set, or all but the lowest bit it set, it is # reasonable to set the mask to "all" for simplicity. arming_masks = { "all" : 1 << 0, "baro" : 1 << 1, "compass" : 1 << 2, "gps" : 1 << 3, "ins" : 1 << 4, "params" : 1 << 5, "rc" : 1 << 6, "voltage" : 1 << 7, "battery" : 1 << 8, "airspeed": 1 << 9, "logging" : 1 << 10, "switch" : 1 << 11, "gps_config": 1 << 12, "system": 1 << 13, "mission": 1 << 14, "rangefinder": 1 << 15, "unknown16": 1 << 16, "unknown17": 1 << 17, "unknown18": 1 << 18, "unknown19": 1 << 19, "unknown20": 1 << 20, "unknown21": 1 << 21, "unknown22": 1 << 22, "unknown23": 1 << 23, "unknown24": 1 << 24, } # on the assumption we may not always know about all arming bits, we # use this "full" mask to transition from using 0x1 (all checks # enabled) to having checks disabled by turning its bit off. full_arming_mask = 0b1111111111111111111111110 class ArmModule(mp_module.MPModule): def __init__(self, mpstate): super(ArmModule, self).__init__(mpstate, "arm", "arm/disarm handling", public=True) checkables = "<" + "|".join(arming_masks.keys()) + ">" self.add_command('arm', self.cmd_arm, 'arm motors', ['check ' + self.checkables(), 'uncheck ' + self.checkables(), 'list', 'throttle', 'safetyon', 'safetystatus', 'safetyoff', 'bits', 'prearms']) self.add_command('disarm', self.cmd_disarm, 'disarm motors') self.was_armed = False def checkables(self): return "<" + "|".join(arming_masks.keys()) + ">" def cmd_arm(self, args): '''arm commands''' usage = "usage: arm " if len(args) <= 0: print(usage) return if args[0] == "check": if (len(args) < 2): print("usage: arm check " + self.checkables()) return arming_mask = int(self.get_mav_param("ARMING_CHECK")) name = args[1].lower() if name == 'all': arming_mask = 1 elif name in arming_masks: arming_mask |= arming_masks[name] else: print("unrecognized arm check:", name) return if (arming_mask & ~0x1) == full_arming_mask: arming_mask = 0x1 self.param_set("ARMING_CHECK", arming_mask) return if args[0] == "uncheck": if (len(args) < 2): print("usage: arm uncheck " + self.checkables()) return arming_mask = int(self.get_mav_param("ARMING_CHECK")) name = args[1].lower() if name == 'all': arming_mask = 0 elif name in arming_masks: if arming_mask == arming_masks["all"]: arming_mask = full_arming_mask arming_mask &= ~arming_masks[name] else: print("unrecognized arm check:", args[1]) return self.param_set("ARMING_CHECK", arming_mask) return if args[0] == "list": arming_mask = int(self.get_mav_param("ARMING_CHECK")) if arming_mask == 0: print("NONE") for name in sorted(arming_masks, key=lambda x : arming_masks[x]): if arming_masks[name] & arming_mask: print(name) return if args[0] == "bits": for mask in sorted(arming_masks, key=lambda x : arming_masks[x]): print("%s" % mask) return if args[0] == "prearms": self.master.mav.command_long_send( self.target_system, # target_system self.target_component, mavutil.mavlink.MAV_CMD_RUN_PREARM_CHECKS, # command 0, # confirmation 0, # param1 0, # param2 0, # param3 0, # param4 0, # param5 0, # param6 0) # param7 return if args[0] == "throttle": p2 = 0 if len(args) == 2 and args[1] == 'force': p2 = 2989 self.master.mav.command_long_send( self.target_system, # target_system self.target_component, mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM, # command 0, # confirmation 1, # param1 (1 to indicate arm) p2, # param2 (all other params meaningless) 0, # param3 0, # param4 0, # param5 0, # param6 0) # param7 return if args[0] == "safetyon": self.master.mav.set_mode_send(self.target_system, mavutil.mavlink.MAV_MODE_FLAG_DECODE_POSITION_SAFETY, 1) return if args[0] == "safetystatus": try: sys_status = self.master.messages['SYS_STATUS'] except KeyError: print("Unknown; no SYS_STATUS") return if sys_status.onboard_control_sensors_enabled & mavutil.mavlink.MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS: print("Safety is OFF (vehicle is dangerous)") else: print("Safety is ON (vehicle allegedly safe)") return if args[0] == "safetyoff": self.master.mav.set_mode_send(self.target_system, mavutil.mavlink.MAV_MODE_FLAG_DECODE_POSITION_SAFETY, 0) return print(usage) def cmd_disarm(self, args): '''disarm motors''' p2 = 0 if len(args) == 1 and args[0] == 'force': p2 = 21196 self.master.mav.command_long_send( self.target_system, # target_system 0, mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM, # command 0, # confirmation 0, # param1 (0 to indicate disarm) p2, # param2 (all other params meaningless) 0, # param3 0, # param4 0, # param5 0, # param6 0) # param7 def all_checks_enabled(self): ''' returns true if the UAV is skipping any arming checks''' arming_check = self.get_mav_param("ARMING_CHECK") if arming_check is None: # AntennaTracker doesn't have arming checks return False arming_mask = int(arming_check) if arming_mask == 1: return True for bit in arming_masks.values(): if not arming_mask & bit and bit != 1: return False return True def mavlink_packet(self, m): mtype = m.get_type() if mtype == 'HEARTBEAT' and m.type != mavutil.mavlink.MAV_TYPE_GCS: armed = self.master.motors_armed() if armed != self.was_armed: self.was_armed = armed if armed and not self.all_checks_enabled(): self.say("Arming checks disabled") ice_enable = self.get_mav_param('ICE_ENABLE', 0) if ice_enable == 1: rc = self.master.messages["RC_CHANNELS"] v = self.mav_param.get('ICE_START_CHAN', None) if v is None: return v = getattr(rc, 'chan%u_raw' % v) if v <= 1300: self.say("ICE Disabled") def init(mpstate): '''initialise module''' return ArmModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_asterix.py000066400000000000000000000320701504324515000224340ustar00rootroot00000000000000''' support for asterix SDPS data, setup for OBC 2018 This listens for SDPS on UDP and translates to ADSB_VEHICLE messages ''' import pickle from math import * from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_settings from MAVProxy.modules.lib import mp_util from pymavlink import mavutil import asterix, socket, time, os, struct class Track: def __init__(self, adsb_pkt): self.pkt = adsb_pkt self.last_time = 0 def update(self, pkt, tnow): dt = tnow - self.last_time if dt < 0 or dt > 10: self.last_time = tnow return if dt < 0.1: return self.last_time = tnow dist = mp_util.gps_distance(self.pkt.lat*1e-7, self.pkt.lon*1e-7, pkt.lat*1e-7, pkt.lon*1e-7) if dist > 0.01: heading = mp_util.gps_bearing(self.pkt.lat*1e-7, self.pkt.lon*1e-7, pkt.lat*1e-7, pkt.lon*1e-7) spd = dist / dt pkt.heading = int(heading*100) new_vel = int(spd * 100) #print(pkt.ICAO_address, new_vel*0.01, pkt.hor_velocity*0.01) pkt.hor_velocity = new_vel if pkt.hor_velocity > 65535: pkt.hor_velocity = 65535 self.pkt = pkt class VehiclePos(object): def __init__(self, GPI): self.lat = GPI.lat * 1.0e-7 self.lon = GPI.lon * 1.0e-7 self.alt = GPI.alt * 1.0e-3 self.vx = GPI.vx * 1.0e-2 self.vy = GPI.vy * 1.0e-2 class AsterixModule(mp_module.MPModule): def __init__(self, mpstate): super(AsterixModule, self).__init__(mpstate, "asterix", "asterix SDPS data support") self.threat_vehicles = {} self.active_threat_ids = [] # holds all threat ids the vehicle is evading self.add_command('asterix', self.cmd_asterix, "asterix control", ["","set (ASTERIXSETTING)"]) # filter_dist is distance in metres self.asterix_settings = mp_settings.MPSettings([("port", int, 45454), ('debug', int, 0), ('filter_dist_xy', int, 1000), ('filter_dist_z', int, 250), ('filter_time', int, 20), ('wgs84_to_AMSL', float, -41.2), ('filter_use_vehicle2', bool, True), ]) self.add_completion_function('(ASTERIXSETTING)', self.asterix_settings.completion) self.sock = None self.tracks = {} self.start_listener() # storage for vehicle positions, used for filtering self.vehicle_pos = None self.vehicle2_pos = None self.adsb_packets_sent = 0 self.adsb_packets_not_sent = 0 self.adsb_byterate = 0 # actually bytes... self.adsb_byterate_update_timestamp = 0 self.adsb_last_packets_sent = 0 if self.logdir is not None: logpath = os.path.join(self.logdir, 'asterix.log') else: logpath = 'asterix.log' self.logfile = open(logpath, 'wb') self.pkt_count = 0 self.console.set_status('ASTX', 'ASTX --/--', row=6) def print_status(self): print("ADSB packets sent: %u" % self.adsb_packets_sent) print("ADSB packets not sent: %u" % self.adsb_packets_not_sent) print("ADSB bitrate: %u bytes/s" % int(self.adsb_byterate)) def cmd_asterix(self, args): '''asterix command parser''' usage = "usage: asterix " if len(args) == 0: print(usage) return if args[0] == "set": self.asterix_settings.command(args[1:]) elif args[0] == "start": self.start_listener() elif args[0] == "stop": self.stop_listener() elif args[0] == "restart": self.stop_listener() self.start_listener() elif args[0] == "status": self.print_status() else: print(usage) def start_listener(self): '''start listening for packets''' if self.sock is not None: self.sock.close() self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP) self.sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) self.sock.bind(('', self.asterix_settings.port)) self.sock.setblocking(False) print("Started on port %u" % self.asterix_settings.port) def stop_listener(self): '''stop listening for packets''' if self.sock is not None: self.sock.close() self.sock = None self.tracks = {} def set_secondary_vehicle_position(self, m): '''store second vehicle position for filtering purposes''' if m.get_type() != 'GLOBAL_POSITION_INT': return (lat, lon, heading) = (m.lat*1.0e-7, m.lon*1.0e-7, m.hdg*0.01) if abs(lat) < 1.0e-3 and abs(lon) < 1.0e-3: return self.vehicle2_pos = VehiclePos(m) def could_collide_hor(self, vpos, adsb_pkt): '''return true if vehicle could come within filter_dist_xy meters of adsb vehicle in timeout seconds''' margin = self.asterix_settings.filter_dist_xy timeout = self.asterix_settings.filter_time alat = adsb_pkt.lat * 1.0e-7 alon = adsb_pkt.lon * 1.0e-7 avel = adsb_pkt.hor_velocity * 0.01 vvel = sqrt(vpos.vx**2 + vpos.vy**2) dist = mp_util.gps_distance(vpos.lat, vpos.lon, alat, alon) dist -= avel * timeout dist -= vvel * timeout if dist <= margin: return True return False def could_collide_ver(self, vpos, adsb_pkt): '''return true if vehicle could come within filter_dist_z meters of adsb vehicle in timeout seconds''' if adsb_pkt.emitter_type < 100 or adsb_pkt.emitter_type > 104: return True margin = self.asterix_settings.filter_dist_z vtype = adsb_pkt.emitter_type - 100 valt = vpos.alt aalt1 = adsb_pkt.altitude * 0.001 if vtype == 2: # weather, always yes return True if vtype == 4: # bird of prey, always true return True # planes and migrating birds have 150m margin aalt2 = aalt1 + adsb_pkt.ver_velocity * 0.01 * self.asterix_settings.filter_time altsep1 = abs(valt - aalt1) altsep2 = abs(valt - aalt2) if altsep1 > 150 + margin and altsep2 > 150 + margin: return False return True def should_send_adsb_pkt(self, adsb_pkt): if self.vehicle_pos is not None: if self.could_collide_hor(self.vehicle_pos, adsb_pkt) and self.could_collide_ver(self.vehicle_pos, adsb_pkt): return True if self.vehicle2_pos is not None: if self.could_collide_hor(self.vehicle2_pos, adsb_pkt) and self.could_collide_ver(self.vehicle2_pos, adsb_pkt): return True return False def idle_task(self): '''called on idle''' if self.sock is None: return try: pkt = self.sock.recv(10240) except Exception: return try: if pkt.startswith(b'PICKLED:'): pkt = pkt[8:] # pickled packet try: amsg = [pickle.loads(pkt)] except pickle.UnpicklingError: amsg = asterix.parse(pkt) else: amsg = asterix.parse(pkt) self.pkt_count += 1 self.console.set_status('ASTX', 'ASTX %u/%u' % (self.pkt_count, self.adsb_packets_sent), row=6) except Exception: print("bad packet") return try: logpkt = b'AST:' + struct.pack(' 1: print(m) lat = m['I105']['Lat']['val'] lon = m['I105']['Lon']['val'] alt_f = m['I130']['Alt']['val'] climb_rate_fps = m['I220']['RoC']['val'] sac = m['I010']['SAC']['val'] sic = m['I010']['SIC']['val'] trkn = m['I040']['TrkN']['val'] # fake ICAO_address icao_address = trkn & 0xFFFF # use squawk for time in 0.1 second increments. This allows for old msgs to be discarded on vehicle # when using more than one link to vehicle squawk = (int(self.mpstate.attitude_time_s * 10) & 0xFFFF) alt_m = alt_f * 0.3048 # asterix is WGS84, ArduPilot uses AMSL, which is EGM96 alt_m += self.asterix_settings.wgs84_to_AMSL # consider filtering this packet out; if it's not close to # either home or the vehicle position don't send it adsb_pkt = self.master.mav.adsb_vehicle_encode(icao_address, int(lat*1e7), int(lon*1e7), mavutil.mavlink.ADSB_ALTITUDE_TYPE_GEOMETRIC, int(alt_m*1000), # mm 0, # heading 0, # hor vel int(climb_rate_fps * 0.3048 * 100), # cm/s ("%08x" % icao_address).encode("ascii"), 100 + (trkn // 10000), 1, (mavutil.mavlink.ADSB_FLAGS_VALID_COORDS | mavutil.mavlink.ADSB_FLAGS_VALID_ALTITUDE | mavutil.mavlink.ADSB_FLAGS_VALID_VELOCITY | mavutil.mavlink.ADSB_FLAGS_VALID_HEADING), squawk) if icao_address in self.tracks: self.tracks[icao_address].update(adsb_pkt, self.get_time()) else: self.tracks[icao_address] = Track(adsb_pkt) if self.asterix_settings.debug > 0: print(adsb_pkt) # send on all links if self.should_send_adsb_pkt(adsb_pkt): self.adsb_packets_sent += 1 for i in range(len(self.mpstate.mav_master)): conn = self.mpstate.mav_master[i] #if adsb_pkt.hor_velocity < 1: # print(adsb_pkt) conn.mav.send(adsb_pkt) else: self.adsb_packets_not_sent += 1 adsb_mod = self.module('adsb') if adsb_mod: # the adsb module is loaded, display on the map adsb_mod.mavlink_packet(adsb_pkt) try: for sysid in self.mpstate.sysid_outputs: # fwd to sysid clients adsb_pkt.pack(self.mpstate.sysid_outputs[sysid].mav) self.mpstate.sysid_outputs[sysid].write(adsb_pkt.get_msgbuf()) except Exception: pass now = time.time() delta = now - self.adsb_byterate_update_timestamp if delta > 5: self.adsb_byterate_update_timestamp = now bytes_per_adsb_packet = 38 # FIXME: find constant self.adsb_byterate = (self.adsb_packets_sent - self.adsb_last_packets_sent)/delta * bytes_per_adsb_packet self.adsb_last_packets_sent = self.adsb_packets_sent def mavlink_packet(self, m): '''get time from mavlink ATTITUDE''' if m.get_type() == 'GLOBAL_POSITION_INT': if abs(m.lat) < 1000 and abs(m.lon) < 1000: return self.vehicle_pos = VehiclePos(m) def init(mpstate): '''initialise module''' return AsterixModule(mpstate) if __name__ == '__main__': import sys logname = sys.argv[1] logf = open(logname, 'rb') sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP) sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) sock.connect(('', 45454)) t0 = None tstart = time.time() while True: header = logf.read(16) if header[0:4] != 'AST:': print("Bad header", header[0:4]) break (t,len) = struct.unpack(' ', 'reset <7|8|all>', '']) def aux_show(self, channel): param = "CH%s_OPT" % channel opt_num = str(int(self.get_mav_param(param))) option = None for k in aux_options.keys(): if opt_num == aux_options[k]: option = k break else: print("AUX Channel is currently set to unknown value " + opt_num) return print("AUX Channel is currently set to " + option) def aux_option_validate(self, option): for k in aux_options: if option.upper() == k.upper(): return k return None def cmd_auxopt(self, args): '''handle AUX switches (CH7, CH8) settings''' if self.mpstate.vehicle_type != 'copter': print("This command is only available for copter") return if len(args) == 0 or args[0] not in ('set', 'show', 'reset', 'list'): print("Usage: auxopt set|show|reset|list") return if args[0] == 'list': print("Options available:") for s in sorted(aux_options.keys()): print(' ' + s) elif args[0] == 'show': if len(args) > 2 and args[1] not in ['7', '8', 'all']: print("Usage: auxopt show [7|8|all]") return if len(args) < 2 or args[1] == 'all': self.aux_show('7') self.aux_show('8') return self.aux_show(args[1]) elif args[0] == 'reset': if len(args) < 2 or args[1] not in ['7', '8', 'all']: print("Usage: auxopt reset 7|8|all") return if args[1] == 'all': self.param_set('CH7_OPT', '0') self.param_set('CH8_OPT', '0') return param = "CH%s_OPT" % args[1] self.param_set(param, '0') elif args[0] == 'set': if len(args) < 3 or args[1] not in ['7', '8']: print("Usage: auxopt set 7|8 OPTION") return option = self.aux_option_validate(args[2]) if not option: print("Invalid option " + args[2]) return param = "CH%s_OPT" % args[1] self.param_set(param, aux_options[option]) else: print("Usage: auxopt set|show|list") def init(mpstate): '''initialise module''' return AuxoptModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_battery.py000066400000000000000000000167661504324515000224450ustar00rootroot00000000000000#!/usr/bin/env python3 '''battery commands''' import time, math from pymavlink import mavutil from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib.mp_settings import MPSetting class BatteryModule(mp_module.MPModule): def __init__(self, mpstate): super(BatteryModule, self).__init__(mpstate, "battery", "battery commands") self.add_command('bat', self.cmd_bat, "show battery information") self.last_battery_announce = 0 self.last_battery_announce_time = 0 self.last_battery_cell_announce_time = 0 self.battery_level = {} self.voltage_level = {} self.current_battery = {} self.per_cell = {} self.servo_voltage = -1 self.high_servo_voltage = -1 self.last_servo_warn_time = 0 self.last_vcc_warn_time = 0 self.settings.append( MPSetting('battwarn', int, 1, 'Battery Warning Time', tab='Battery')) self.settings.append( MPSetting('batwarncell', float, 3.7, 'Battery cell Warning level')) self.settings.append( MPSetting('servowarn', float, 4.3, 'Servo voltage warning level')) self.settings.append( MPSetting('vccwarn', float, 4.3, 'Vcc voltage warning level')) self.settings.append(MPSetting('numcells', int, 0, range=(0,50), increment=1)) self.settings.append(MPSetting('numcells2', int, 0, range=(0,50), increment=1)) self.settings.append(MPSetting('numcells3', int, 0, range=(0,50), increment=1)) self.settings.append(MPSetting('numcells4', int, 0, range=(0,50), increment=1)) self.settings.append(MPSetting('numcells5', int, 0, range=(0,50), increment=1)) self.settings.append(MPSetting('numcells6', int, 0, range=(0,50), increment=1)) self.settings.append(MPSetting('numcells7', int, 0, range=(0,50), increment=1)) self.settings.append(MPSetting('numcells8', int, 0, range=(0,50), increment=1)) self.settings.append(MPSetting('numcells9', int, 0, range=(0,50), increment=1)) self.battery_period = mavutil.periodic_event(5) def idstr(self, id): return "" if id == 0 else "%u" % (id+1) def numcells(self, id): ncells = "numcells" + self.idstr(id) return self.settings.get_setting(ncells).value def cmd_bat(self, args): '''show battery levels''' if 0 not in self.battery_level: print("No battery information") return print("Flight battery: %u%%" % self.battery_level[0]) for id in range(9): if self.numcells(id) != 0 and id in self.voltage_level: print("Bat%u %.2f V/cell for %u cells %.1fA %.2f%%" % (id+1, self.per_cell[id], self.numcells(id), self.current_battery[id], self.battery_level[id])) def battery_report(self): battery_string = '' for id in range(9): if not id in self.voltage_level: continue batt_mon = int(self.get_mav_param('BATT%s_MONITOR' % self.idstr(id),0)) if batt_mon == 0: continue # show per-cell voltage if number of cells is set if self.numcells(id) != 0: #this is a workaround for the race condition since self.per_cell only gets filled in once the setting is set if not id in self.per_cell: continue if batt_mon == 3: battery_string += 'Batt%u: %.2fV*%uS ' % (id+1, self.per_cell[id], self.numcells(id)) continue if batt_mon >= 4: battery_string += 'Batt%u: %u%%/%.2fV*%uS %.1fA ' % (id+1, self.battery_level[id], self.per_cell[id], self.numcells(id), self.current_battery[id]) continue #show full battery voltage when number of cells is not set if batt_mon == 3: battery_string += 'Batt%u: %.2fV ' % (id+1, self.voltage_level[id]) elif batt_mon >= 4: battery_string += 'Batt%u: %u%%/%.2fV %.1fA ' % (id+1, self.battery_level[id], self.voltage_level[id], self.current_battery[id]) self.console.set_status('Battery', battery_string, row=1) # only announce first battery if not 0 in self.battery_level: return batt_mon = int(self.get_mav_param('BATT_MONITOR',0)) if batt_mon == 0: return rbattery_level = int((self.battery_level[0]+5)/10)*10 if batt_mon >= 4 and self.settings.battwarn > 0 and time.time() > self.last_battery_announce_time + 60*self.settings.battwarn: if rbattery_level != self.last_battery_announce: self.say("Flight battery %u percent" % rbattery_level, priority='notification') if rbattery_level <= 20: self.say("Flight battery warning") self.last_battery_announce_time = time.time() if (self.numcells(0) != 0 and 0 in self.per_cell and self.per_cell[0] < self.settings.batwarncell and self.settings.battwarn > 0 and time.time() > self.last_battery_cell_announce_time + 60*self.settings.battwarn): self.say("Cell warning") self.last_battery_cell_announce_time = time.time() def battery_update(self, BATTERY_STATUS): '''update battery level''' # main flight battery id = BATTERY_STATUS.id self.battery_level[id] = BATTERY_STATUS.battery_remaining self.voltage_level[id] = 0.0 for vraw in BATTERY_STATUS.voltages: if vraw != 65535: self.voltage_level[id] += vraw * 0.001 self.current_battery[id] = BATTERY_STATUS.current_battery*0.01 if self.numcells(id) > 0: self.per_cell[id] = self.voltage_level[id] / self.numcells(id) def power_status_update(self, POWER_STATUS): '''update POWER_STATUS warnings level''' now = time.time() Vservo = POWER_STATUS.Vservo * 0.001 Vcc = POWER_STATUS.Vcc * 0.001 self.high_servo_voltage = max(self.high_servo_voltage, Vservo) if self.high_servo_voltage > 1 and Vservo < self.settings.servowarn: if now - self.last_servo_warn_time > 30: self.last_servo_warn_time = now self.say("Servo volt %.1f" % Vservo) if Vservo < 1: # prevent continuous announcements on power down self.high_servo_voltage = Vservo if Vcc > 0 and Vcc < self.settings.vccwarn: if now - self.last_vcc_warn_time > 30: self.last_vcc_warn_time = now self.say("Vcc %.1f" % Vcc) def mavlink_packet(self, m): '''handle a mavlink packet''' mtype = m.get_type() if mtype == "BATTERY_STATUS": self.battery_update(m) if mtype == "BATTERY2": self.battery2_voltage = m.voltage * 0.001 if mtype == "POWER_STATUS": self.power_status_update(m) if self.battery_period.trigger(): self.battery_report() def init(mpstate): '''initialise module''' return BatteryModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_calibration.py000066400000000000000000000222531504324515000232460ustar00rootroot00000000000000#!/usr/bin/env python3 '''calibration command handling''' import time, os from pymavlink import mavutil from MAVProxy.modules.lib import mp_module class CalibrationModule(mp_module.MPModule): def __init__(self, mpstate): super(CalibrationModule, self).__init__(mpstate, "calibration") self.add_command('ground', self.cmd_ground, 'do a ground start') self.add_command('level', self.cmd_level, 'set level on a multicopter') self.add_command('compassmot', self.cmd_compassmot, 'do compass/motor interference calibration') self.add_command('calpress', self.cmd_calpressure,'calibrate pressure sensors') self.add_command('accelcal', self.cmd_accelcal, 'do 3D accelerometer calibration') self.add_command('accelcalsimple', self.cmd_accelcal_simple, 'do simple accelerometer calibration') self.add_command('gyrocal', self.cmd_gyrocal, 'do gyro calibration') self.add_command('ahrstrim', self.cmd_ahrstrim, 'do AHRS trim') self.add_command('magcal', self.cmd_magcal, "magcal") self.add_command('forcecal', self.cmd_forcecal, "force calibration save") self.accelcal_count = -1 self.accelcal_wait_enter = False self.compassmot_running = False self.empty_input_count = 0 self.magcal_progess = [] def cmd_ground(self, args): '''do a ground start mode''' self.master.calibrate_imu() def cmd_level(self, args): '''run a accel level''' print("level is no longer supported; use ahrstrim, accelcal or accelcalsimple") def cmd_accelcal(self, args): '''do a full 3D accel calibration''' mav = self.master # ack the APM to begin 3D calibration of accelerometers mav.mav.command_long_send(mav.target_system, mav.target_component, mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION, 0, 0, 0, 0, 0, 1, 0, 0) self.accelcal_count = 0 self.accelcal_wait_enter = False def cmd_accelcal_simple(self, args): '''do a simple accel calibration''' mav = self.master mav.mav.command_long_send(mav.target_system, mav.target_component, mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION, 0, 0, 0, 0, 0, 4, 0, 0) def cmd_forcecal(self, args): '''force calibration save''' usage = "usage: forcecal accel|compass|both" if len(args) < 1: print(usage) return param2 = 0 param5 = 0 if args[0].lower() == "accel": param5 = 76 elif args[0].lower() == "compass": param2 = 76 elif args[0].lower() == "both": param2 = 76 param5 = 76 else: print(usage) return mav = self.master mav.mav.command_long_send(mav.target_system, mav.target_component, mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION, 0, 0, param2, 0, 0, param5, 0, 0) def cmd_gyrocal(self, args): '''do a full gyro calibration''' mav = self.master mav.mav.command_long_send(mav.target_system, mav.target_component, mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION, 0, 1, 0, 0, 0, 0, 0, 0) def cmd_ahrstrim(self, args): '''do a AHRS trim''' mav = self.master mav.mav.command_long_send(mav.target_system, mav.target_component, mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION, 0, 0, 0, 0, 0, 2, 0, 0) def mavlink_packet(self, m): '''handle mavlink packets''' mtype = m.get_type() if self.accelcal_count != -1: if mtype == 'STATUSTEXT': # handle accelcal packet text = str(m.text) if text.startswith('Place '): self.accelcal_wait_enter = True self.empty_input_count = self.mpstate.empty_input_count if mtype == 'MAG_CAL_PROGRESS': while m.compass_id >= len(self.magcal_progess): self.magcal_progess.append("") self.magcal_progess[m.compass_id] = "%u%%" % m.completion_pct self.console.set_status('Progress', 'Calibration Progress: ' + " ".join(self.magcal_progess), row=4) elif mtype == 'MAG_CAL_REPORT': if m.cal_status == mavutil.mavlink.MAG_CAL_SUCCESS: result = "SUCCESS" else: result = "FAILED" self.magcal_progess[m.compass_id] = result self.console.set_status('Progress', 'Calibration Progress: ' + " ".join(self.magcal_progess), row=4) print("Calibration of compass %u %s: fitness %.3f" % (m.compass_id, result, m.fitness)) mav = self.master mav.mav.command_long_send(mav.target_system, mav.target_component, mavutil.mavlink.MAV_CMD_DO_ACCEPT_MAG_CAL, 0, 1<= 6: self.accelcal_count = -1 if self.compassmot_running: if self.mpstate.empty_input_count != self.empty_input_count: # user has hit enter, stop the process self.compassmot_running = False print("sending stop") self.master.mav.command_ack_send(0, 1) def cmd_compassmot(self, args): '''do a compass/motor interference calibration''' mav = self.master print("compassmot starting") mav.mav.command_long_send(mav.target_system, mav.target_component, mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION, 0, 0, 0, 0, 0, 0, 1, 0) self.compassmot_running = True self.empty_input_count = self.mpstate.empty_input_count def cmd_calpressure(self, args): '''calibrate pressure sensors''' self.master.calibrate_pressure() def print_magcal_usage(self): print("Usage: magcal ") def cmd_magcal(self, args): '''control magnetometer calibration''' if len(args) < 1: self.print_magcal_usage() return if args[0] == 'start': self.master.mav.command_long_send( self.settings.target_system, # target_system 0, # target_component mavutil.mavlink.MAV_CMD_DO_START_MAG_CAL, # command 0, # confirmation 0, # p1: mag_mask 0, # p2: retry 1, # p3: autosave 0, # p4: delay 0, # param5 0, # param6 0) # param7 elif args[0] == 'accept': self.master.mav.command_long_send( self.settings.target_system, # target_system 0, # target_component mavutil.mavlink.MAV_CMD_DO_ACCEPT_MAG_CAL, # command 0, # confirmation 0, # p1: mag_mask 0, # param2 1, # param3 0, # param4 0, # param5 0, # param6 0) # param7 elif args[0] == 'cancel': self.master.mav.command_long_send( self.settings.target_system, # target_system 0, # target_component mavutil.mavlink.MAV_CMD_DO_CANCEL_MAG_CAL, # command 0, # confirmation 0, # p1: mag_mask 0, # param2 1, # param3 0, # param4 0, # param5 0, # param6 0) # param7 elif args[0] == 'yaw': if len(args) < 2: print("Usage: magcal yaw YAW_DEGREES ") return yaw_deg = float(args[1]) mask = 0 if len(args) > 2: mask = int(args[2]) print("Calibrating for yaw %.1f degrees with mask 0x%02x" % (yaw_deg, mask)) self.master.mav.command_long_send( self.settings.target_system, # target_system 0, # target_component mavutil.mavlink.MAV_CMD_FIXED_MAG_CAL_YAW, # command 0, # confirmation yaw_deg, # p1: yaw in degrees mask, # p2: mask 0, # p3: lat_deg 0, # p4: lon_deg 0, # param5 0, # param6 0) # param7 else: self.print_magcal_usage() return def init(mpstate): '''initialise module''' return CalibrationModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_cameraview.py000066400000000000000000000150111504324515000230740ustar00rootroot00000000000000#!/usr/bin/env python3 ''' camera view module Malcolm Gill Feb 2014 ''' import math from MAVProxy.modules.mavproxy_map import mp_slipmap from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import mp_settings from cuav.lib import cuav_util from cuav.camera.cam_params import CameraParams # documented in common.xml, can't find these constants in code scale_latlon = 1e-7 scale_hdg = 1e-2 scale_relative_alt = 1e-3 from MAVProxy.modules.lib import mp_module class CameraViewModule(mp_module.MPModule): def __init__(self, mpstate): super(CameraViewModule, self).__init__(mpstate, "cameraview") self.add_command('cameraview', self.cmd_cameraview, "camera view") self.roll = 0 self.pitch = 0 self.yaw = 0 self.mount_roll = 0 self.mount_pitch = 0 self.mount_yaw = 0 self.height = 0 self.lat = 0 self.lon = 0 self.home_height = 0 self.hdg = 0 self.camera_params = CameraParams() # TODO how to get actual camera params self.view_settings = mp_settings.MPSettings( [ ('r', float, 0.5), ('g', float, 0.5), ('b', float, 1.0), ]) self.update_col() def update_col(self): self.col = tuple(int(255*c) for c in (self.view_settings.r, self.view_settings.g, self.view_settings.b)) def cmd_cameraview(self, args): '''camera view commands''' state = self if args and args[0] == 'set': if len(args) < 3: state.view_settings.show_all() else: state.view_settings.set(args[1], args[2]) state.update_col() else: print('usage: cameraview set') def unload(self): '''unload module''' pass def scale_rc(self, servo, min, max, param): '''scale a PWM value''' # default to servo range of 1000 to 2000 min_pwm = self.get_mav_param('%s_MIN' % param, 0) max_pwm = self.get_mav_param('%s_MAX' % param, 0) if min_pwm == 0 or max_pwm == 0: return 0 if max_pwm == min_pwm: p = 0.0 else: p = (servo-min_pwm) / float(max_pwm-min_pwm) v = min + p*(max-min) if v < min: v = min if v > max: v = max return v def mavlink_packet(self, m): '''handle an incoming mavlink packet''' state = self mtype = m.get_type() if mtype == 'GLOBAL_POSITION_INT': state.lat, state.lon = m.lat*scale_latlon, m.lon*scale_latlon state.hdg = m.hdg*scale_hdg agl = self.module('terrain').ElevationModel.GetElevation(state.lat, state.lon) if agl is not None: state.height = m.relative_alt*scale_relative_alt + state.home_height - agl elif mtype == 'ATTITUDE': state.roll, state.pitch, state.yaw = math.degrees(m.roll), math.degrees(m.pitch), math.degrees(m.yaw) elif mtype in ['GPS_RAW', 'GPS_RAW_INT']: if self.module('wp').wploader.count() > 0: home = self.module('wp').wploader.wp(0).x, self.module('wp').wploader.wp(0).y else: home = [self.master.field('HOME', c)*scale_latlon for c in ['lat', 'lon']] old = state.home_height # TODO TMP agl = self.module('terrain').ElevationModel.GetElevation(*home) if agl is None: return state.home_height = agl # TODO TMP if state.home_height != old: # tridge said to get home pos from wploader, # but this is not the same as from master() below...!! # using master() gives the right coordinates # (i.e. matches GLOBAL_POSITION_INT coords, and $IMHOME in sim_arduplane.sh) # and wploader is a bit off print('home height changed from',old,'to',state.home_height) elif mtype == 'SERVO_OUTPUT_RAW': for (axis, attr) in [('ROLL', 'mount_roll'), ('TILT', 'mount_pitch'), ('PAN', 'mount_yaw')]: channel = int(self.get_mav_param('MNT_RC_IN_{0}'.format(axis), 0)) if self.get_mav_param('MNT_STAB_{0}'.format(axis), 0) and channel: # enabled stabilisation on this axis # TODO just guessing that RC_IN_ROLL gives the servo number, but no idea if this is really the case servo = 'servo{0}_raw'.format(channel) centidegrees = self.scale_rc(getattr(m, servo), self.get_mav_param('MNT_ANGMIN_{0}'.format(axis[:3])), self.get_mav_param('MNT_ANGMAX_{0}'.format(axis[:3])), param='RC{0}'.format(channel)) setattr(state, attr, centidegrees*0.01) #state.mount_roll = min(max(-state.roll,-45),45)#TODO TMP #state.mount_yaw = min(max(-state.yaw,-45),45)#TODO TMP #state.mount_pitch = min(max(-state.pitch,-45),45)#TODO TMP else: return if self.mpstate.map: # if the map module is loaded, redraw polygon # get rid of the old polygon self.mpstate.map.add_object(mp_slipmap.SlipClearLayer('CameraView')) # camera view polygon determined by projecting corner pixels of the image onto the ground pixel_positions = [cuav_util.pixel_position(px[0],px[1], state.height, state.pitch+state.mount_pitch, state.roll+state.mount_roll, state.yaw+state.mount_yaw, state.camera_params) for px in [(0,0), (state.camera_params.xresolution,0), (state.camera_params.xresolution,state.camera_params.yresolution), (0,state.camera_params.yresolution)]] if any(pixel_position is None for pixel_position in pixel_positions): # at least one of the pixels is not on the ground # so it doesn't make sense to try to draw the polygon return gps_positions = [mp_util.gps_newpos(state.lat, state.lon, math.degrees(math.atan2(*pixel_position)), math.hypot(*pixel_position)) for pixel_position in pixel_positions] # draw new polygon self.mpstate.map.add_object(mp_slipmap.SlipPolygon('cameraview', gps_positions+[gps_positions[0]], # append first element to close polygon layer='CameraView', linewidth=2, colour=state.col)) def init(mpstate): '''initialise module''' return CameraViewModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_cesium/000077500000000000000000000000001504324515000216665ustar00rootroot00000000000000MAVProxy-1.8.74/MAVProxy/modules/mavproxy_chat/000077500000000000000000000000001504324515000213205ustar00rootroot00000000000000MAVProxy-1.8.74/MAVProxy/modules/mavproxy_chat/__init__.py000066400000000000000000000102011504324515000234230ustar00rootroot00000000000000''' AI Chat Module Randy Mackay, December 2023 This module allows MAVProxy to interface with OpenAI Assitants OpenAI Assistant API: https://platform.openai.com/docs/api-reference/assistants OpenAI Assistant Playground: https://platform.openai.com/playground MAVProxy chat wiki: https://ardupilot.org/mavproxy/docs/modules/chat.html AP_FLAKE8_CLEAN ''' from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_util from MAVProxy.modules.mavproxy_chat import chat_window from pymavlink import mavutil from threading import Thread import time class chat(mp_module.MPModule): def __init__(self, mpstate): # call parent class super(chat, self).__init__(mpstate, "chat", "OpenAI chat support") # register module and commands self.add_command('chat', self.cmd_chat, "chat module", ["show"]) # keep reference to mpstate self.mpstate = mpstate # a dictionary of command_ack mavcmds we are waiting for # key is the mavcmd, value is None or the MAV_RESULT (e.g. 0 to 9) # we assume we will never be waiting for two of the same mavcmds at the same time self.command_ack_waiting = {} # run chat window in a separate thread self.thread = Thread(target=self.create_chat_window) self.thread.start() # create chat window (should be called from a new thread) def create_chat_window(self): if mp_util.has_wxpython: # create chat window self.chat_window = chat_window.chat_window(self.mpstate, self.wait_for_command_ack) else: print("chat: wx support required") # show help on command line options def usage(self): return "Usage: chat " # control behaviour of the module def cmd_chat(self, args): if len(args) == 0: print(self.usage()) elif args[0] == "show": self.show() else: print(self.usage()) # show chat input window def show(self): self.chat_window.show() # handle mavlink packet def mavlink_packet(self, m): if m.get_type() == 'COMMAND_ACK': self.handle_command_ack(m) # handle_command_ack. should be called if module receives a COMMAND_ACK command def handle_command_ack(self, m): # return immediately if we are not waiting for this command ack if m.command not in self.command_ack_waiting: return # throw away value if result in progress if m.result == mavutil.mavlink.MAV_RESULT_IN_PROGRESS: return # set the mav result for this command self.command_ack_waiting[m.command] = m.result # wait for COMMAND_ACK with the specified mav_cmd # this should be called immediately after sending a command_long or command_int # mav_cmd should be set to the command id that was sent # returns MAV_RESULT if command ack received, False if timed out # Note: this should not be called from the main thread because it blocks for up to "timeout" seconds def wait_for_command_ack(self, mav_cmd, timeout=1): # error if we are already waiting for this command ack if mav_cmd in self.command_ack_waiting: print("chat: already waiting for command ack for mavcmd:" + str(mav_cmd)) return False # add to list of commands we are waiting for (None indicates we don't know result yet) self.command_ack_waiting[mav_cmd] = None # wait for ack, checking for a response every 0.1 seconds start_time = time.time() while time.time() - start_time < timeout: # check if we got the ack we were waiting for result = self.command_ack_waiting.get(mav_cmd, None) if result is not None: # remove from list of commands we are waiting for del self.command_ack_waiting[mav_cmd] return result time.sleep(0.1) # timeout, remove from list of commands we are waiting for # return False indicating timeout del self.command_ack_waiting[mav_cmd] return False # initialise module def init(mpstate): return chat(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_chat/assistant_setup/000077500000000000000000000000001504324515000245515ustar00rootroot00000000000000MAVProxy-1.8.74/MAVProxy/modules/mavproxy_chat/assistant_setup/assistant_instructions.txt000066400000000000000000000214071504324515000321530ustar00rootroot00000000000000You are a helpful assistant that helps users control unmanned vehicles running the ArduPilot software. You should limit your responses to questions and commands that related to ArduPilot and controlling the vehicle. If the user asks unrelated questions or ask you to compare ArduPilot with other systems, please reply with a statement of your main purpose and suggest they speak with a more general purpose AI (e.g. ChatGPT). Responses should be concise. You are configured to be able to control several types of ArduPilot vehicles including Copters, Planes, Rovers, Boats and Submarines. Copter includes all multicopters (quadcopters, hexacopters, bi-copter, octacopter, octaquad, dodecahexa-copter). Traditional Helicopters are also controlled in the same ways as Copters. Planes includes all fixed wing vehicles including normal planes and quadplanes. Quadplanes are planes that can also fly like multicopters but they use Plane modes that start with "Q" (e.g. QAltHold) Rovers (aka cars) and Boats are controlled in the same way. It is critical that you know what type of vehicle is being used so very early on in any new conversation you should call the get_vehicle_type function to determine the vehicle type. Each type of vehicle (e.g. copter, plane, rover, sub) has different flight modes available. Use the get_mode_mapping function to get the full list of available mode names and their corresponding numbers. Note that the mapping is different for each vehicle type. After you know the vehicle type you must get the list of available flight modes and their numbers. Users normally specify the flight mode using its name. You must convert this to a number using the output from the get_mode_mapping function as mentioned above. To change the vehicle's flight mode you will need to send a mavlink command_int message (with "command" field set to MAV_CMD_DO_SET_MODE, 176) and include the flight mode number. Param1, the "Mode" field should be set to 1 (e.g. MAV_MODE_FLAG_CUSTOM_MODE_ENABLED) and the flight mode number should be placed in param2, the "Custom Mode" field. The vehicle's mode can be changed at any time including when it is disarmed. Before altering the vehicle's flight mode, consult the output from the get_mode_mapping function to ascertain the correct mode number corresponding to the desired mode name for the specific vehicle type. Once verified, proceed to send the command to change the mode. When users are informed of the vehicle's flight mode you should tell them the name (e.g. GUIDED, LOITER, AUTO, etc) not the number. If the user specifically asks to change the vehicle's flight mode you should do it as soon as possible but of course, make sure you already know the vehicle type and the mapping from flight mode name to number for that vehicle type. Rovers flight modes are often just called "modes" because rovers can't fly. Vehicles can be armed or disarmed by sending a mavlink command_int message with the "command" field set to MAV_CMD_COMPONENT_ARM_DISARM (e.g 400) and the "param1" field (aka "Arm") set to 1 to arm or 0 to disarm. Arming the vehicle sometimes fails because of pre-arm checks. Pre-arm checks can sometimes be bypassed by setting the "param2" field (aka "Force") to 21196. You should only try to force arming if specifically asked by the user. After attempting to arm or disarm the vehicle you should check whether you were successful or not using the get_vehicle_state function. Normally you can only control a vehicle when it is in Guided mode and armed. When asked to move the vehicle (e.g. takeoff, fly to a specific location, etc) you should first check that the vehicle is in Guided mode and armed. If it is not then you should ask the user if it is OK to change to Guided mode and arm the vehicle. After changing the vehicle's mode, you should confirm that the mode was changed successfully by looking at the HEARTBEAT mavlink messages's "custom_mode" field. For Copters and Planes, after being armed in Guided mode, the user will normally ask that the vehicle takeoff. Before attempting to takeoff you must check the vehicle is armed (use the get_vehicle_state function) and in guided mode (check the HEARTBEAT mavlink message). You can command the vehicle to takeoff by sending a mavlink command_int message (e.g. MAV_CMD_NAV_TAKEOFF) with the desired altitude placed in the "z" field. For copters this altitude should always be an altitude above home so the "frame" field should be 3 (e.g. MAV_FRAME_GLOBAL_RELATIVE_ALT). For planes the altitude can be relative to home or amsl (relative to sea level) so the "frame" field can be 3 (e.g. MAV_FRAME_GLOBAL_RELATIVE_ALT) or 0 (MAV_FRAME_GLOBAL). To move the vehicle to a specified location use the send_mavlink_set_position_target_global_int function. Be careful to set the "coordinate_frame" field depending upon the desired altitude type (e.g. amsl (relative to sea level), relative to home, or relative to terrain). If you are given or can calculate a target latitude, longitude and altitude then these values should be placed in the "latitude", "longitude" and "alt" fields respectively. Also be careful to set the "type_mask" field to match which types of targets are being provided (e.g. position target, velocity targets, yaw target). If the user requests to move the vehicle forward, left, right or back by some distance they mean that the vehicle should move relative to the vehicle's current heading so you must always first call get_vehicle_location_and_yaw to get the vehicle's current yaw. Next calculate the direction of movement (aka bearing) by taking the vehicle's current yaw and adding an angle based on the user specified direction. For example if the vehicle's current yaw is 45 degrees and the user requests the vehicle move to its right, the bearing would be 45+90=135 degrees. It is fine for the resulting bearing to be any value between -360 and +360 degrees. Finally pass this bearing, the distance and the current latitude and longitude into the get_location_plus_dist_at_bearing function. The resulting latitude and longitude should be sent using the send_mavlink_set_position_target_global_int function as described above. If the user does not specify an altitude change then you can assume they want the vehicle to remain at its current altitude. If a user is not clear about the altitude type then it is normally safe to assume they mean altitude above home. Sometimes "altitude above home" is referred to as "relative altitude". If the user asks to change the yaw (aka heading) of the vehicle, you should first determine if they mean a relative angle or absolute angle. For example if the user says, "rotate to 180deg" they means an absolute heading of 180 degrees. If they say "rotate by 180deg" they mean they want the vehicle to rotate relative to its current heading. Next you should send a command_int message with the "command" field set to MAV_CMD_CONDITION_YAW (e.g. 115). Normally the desired yaw angle should be placed in param1 (aka "Angle") and param2 ("Angular Speed"), param3 ("Direction") and param4 ("Relative") can be left as zero but if the user specifies the angle is relative to the vehicle's current heading then param3 ("Direction") should be set to -1 to rotate left (e.g. counter-clockwise) or +1 to rotate right (e.g. clockwise) and param4 (e.g. "Relative") should be set to 1. The short form of "altitude" is "alt". The short form of "latitude" is "lat". The short form of "longitude" is "lon". The words "position" and "location" are often used synonymously. Rovers and Boats cannot control their altitude Parameters on the vehicle hold many settings that affect how the vehicle behaves. When responding to users requests to get or set parameter values first use the get_parameter_description function to get the description, units, min and max values for the parameters. Before any action is taken to set or get vehicle parameters, be sure you know the vehicle type. The easiest way to do this may be to call the get_vehicle_type function. Once you know the vehicle type, the vehicle specific parameter definition file must be accessed and read to confirm the correct parameter names and the expected data types and units. For copters refer to the copter_parameter_definitions.xml file, for planes refer to plane_parameter_definitions.xml, for rovers and boats refer to rover_parameter_definitions.xml, and for subs (aka submarines) refer to sub_parameter_definitions.xml. If the file cannot be found or accessed, please report to the user that the parameter definitions file is required before proceeding. Once the file is accessed, utilize the parameter information within it to validate parameter names and units against any user request for setting or getting vehicle parameter values. Perform the requested action (set or get) only if the parameter definitions have been successfully verified to match the request. MAVProxy-1.8.74/MAVProxy/modules/mavproxy_chat/assistant_setup/copter_flightmodes.txt000066400000000000000000000050371504324515000312000ustar00rootroot00000000000000This file holds the Copter flight mode name to number mapping STABILIZE = 0, // pilot directly controls the airframe angle with roll, pitch and yaw stick inputs. Pilot directly controls throttle ACRO = 1, // pilot directly controls the body-frame angular rate. pilot directly controls throttle ALT_HOLD = 2, // pilot directly controls the vehicle roll, pitch and yaw angles. Pilot's throttle control controls climb rate AUTO = 3, // fully automatic waypoint control using mission commands GUIDED = 4, // fully automatic fly to coordinate or fly at velocity/direction using mavlink commands. LOITER = 5, // pilot controls the vehicle's 3D speed and acceleration with roll, pitch and throttle input. Heading is controlled with the yaw stick RTL = 6, // automatic return to launching point CIRCLE = 7, // automatic circular flight with automatic throttle LAND = 9, // automatic landing with horizontal position control DRIFT = 11, // semi-autonomous position, yaw and throttle control. rarely used. SPORT = 13, // manual earth-frame angular rate control with manual throttle. very rarely used FLIP = 14, // automatically flip the vehicle 360 degrees AUTOTUNE = 15, // automatically tune the vehicle's roll and pitch gains POSHOLD = 16, // automatic position hold with manual override, with automatic throttle. very similar to Loiter mode BRAKE = 17, // full-brake using inertial/GPS system, no pilot input THROW = 18, // throw to launch mode using inertial/GPS system, no pilot input AVOID_ADSB = 19, // automatic avoidance of manned vehicle. very rarely used GUIDED_NOGPS = 20, // guided mode but only accepts attitude and altitude commands SMART_RTL = 21, // SMART_RTL returns vehicle home by retracing its steps FLOWHOLD = 22, // FLOWHOLD holds position with optical flow without rangefinder. similar to Loiter. very rarely used FOLLOW = 23, // follow attempts to follow another vehicle or ground station ZIGZAG = 24, // ZIGZAG mode is able to fly in a zigzag manner with predefined point A and point B. Normally used for crop spraying vehicles. SYSTEMID = 25, // System ID mode produces automated system identification signals in the controllers. very rarely used AUTOROTATE = 26, // Autonomous autorotation. Used only for traditional helicopters AUTO_RTL = 27, // return to launch but using an Auto mission starting from the DO_LAND_START command TURTLE = 28, // Flip vehicle to recover after crash MAVProxy-1.8.74/MAVProxy/modules/mavproxy_chat/assistant_setup/delete_wakeup_timers.json000066400000000000000000000015341504324515000316500ustar00rootroot00000000000000{ "type": "function", "function": { "name": "delete_wakeup_timers", "description": "Delete all active wakeup timers. You can optionally provide a message parameter to filter which timers will be deleted based on their message. When specifying the message parameter, you can use regular expressions (regex) to match patterns within the timer messages. This is useful when you want to delete timers with specific keywords or patterns in their message. For example, to delete all timers containing the word 'hello', you can use the regex '.*hello.*', where the dot-star (.*) pattern matches any character sequence.", "parameters": { "type": "object", "properties": { "message": {"type": "string", "description": "wakeup message of timers to be deleted. regex values are accepted."} }, "required": [] } } } MAVProxy-1.8.74/MAVProxy/modules/mavproxy_chat/assistant_setup/get_all_parameters.json000066400000000000000000000003621504324515000312770ustar00rootroot00000000000000{ "type": "function", "function": { "name": "get_all_parameters", "description": "Get all available parameter names and values", "parameters": { "type": "object", "properties": {}, "required": [] } } } MAVProxy-1.8.74/MAVProxy/modules/mavproxy_chat/assistant_setup/get_available_mavlink_messages.json000066400000000000000000000004621504324515000336350ustar00rootroot00000000000000{ "type": "function", "function": { "name": "get_available_mavlink_messages", "description": "Get a list of mavlink message names that can be retrieved using the get_mavlink_message function", "parameters": { "type": "object", "properties": {}, "required": [] } } } MAVProxy-1.8.74/MAVProxy/modules/mavproxy_chat/assistant_setup/get_current_datetime.json000066400000000000000000000004171504324515000316430ustar00rootroot00000000000000{ "type": "function", "function": { "name": "get_current_datetime", "description": "Get the current date and time, e.g. 'Saturday, June 24, 2023 6:14:14 PM'", "parameters": { "type": "object", "properties": {}, "required": [] } } }get_location_plus_dist_at_bearing.json000066400000000000000000000013511504324515000342750ustar00rootroot00000000000000MAVProxy-1.8.74/MAVProxy/modules/mavproxy_chat/assistant_setup{ "type": "function", "function": { "name": "get_location_plus_dist_at_bearing", "description": "Calculate the latitude and longitude given an existing latitude and longitude and a distance in meters and a bearing in degrees", "parameters": { "type": "object", "properties": { "latitude": {"type": "number", "description": "latitude in degrees"}, "longitude": {"type": "number", "description": "longitude in degrees"}, "distance": {"type": "number", "description": "distance to move meters"}, "bearing": {"type": "number", "description": "bearing in degrees. 0 is North, 90 is East, etc"} }, "required": ["latitude", "longitude", "distance", "bearing"] } } } MAVProxy-1.8.74/MAVProxy/modules/mavproxy_chat/assistant_setup/get_location_plus_offset.json000066400000000000000000000013501504324515000325230ustar00rootroot00000000000000{ "type": "function", "function": { "name": "get_location_plus_offset", "description": "Calculate the latitude and longitude given an existing latitude and longitude and distances (in meters) North and East", "parameters": { "type": "object", "properties": { "latitude": {"type": "number", "description": "latitude in degrees"}, "longitude": {"type": "number", "description": "longitude in degrees"}, "distance_north": {"type": "number", "description": "distance to move North in meters"}, "distance_east": {"type": "number", "description": "distance to move East in meters"} }, "required": ["latitude", "longitude", "distance_north", "distance_east"] } } } MAVProxy-1.8.74/MAVProxy/modules/mavproxy_chat/assistant_setup/get_mavlink_message.json000066400000000000000000000007761504324515000314620ustar00rootroot00000000000000{ "type": "function", "function": { "name": "get_mavlink_message", "description": "Get a mavlink message including all fields and values sent by the vehicle. The list of available messages can be retrieved using the get_available_mavlink_messages", "parameters": { "type": "object", "properties": { "message": {"type": "string", "description": "mavlink message name (e.g. HEARTBEAT, VFR_HUD, GLOBAL_POSITION_INT, etc)"} }, "required": ["message"] } } } MAVProxy-1.8.74/MAVProxy/modules/mavproxy_chat/assistant_setup/get_mode_mapping.json000066400000000000000000000011711504324515000307420ustar00rootroot00000000000000{ "type": "function", "function": { "name": "get_mode_mapping", "description": "Get a list of mode names to mode numbers available for this vehicle. If the name or number parameter is provided only that mode's name and number will be returned. If neither name nor number is provided the full list of available modes will be returned", "parameters": { "type": "object", "properties": { "name": {"type": "string", "description": "flight mode name (e.g. Guided, Loiter, RTL)"}, "number": {"type": "number", "description": "flight mode number"} }, "required": [] } } } MAVProxy-1.8.74/MAVProxy/modules/mavproxy_chat/assistant_setup/get_parameter.json000066400000000000000000000010531504324515000302620ustar00rootroot00000000000000{ "type": "function", "function": { "name": "get_parameter", "description": "Get a vehicle parameter's value. The full list of available parameters and their values is available using the get_all_parameters function", "parameters": { "type": "object", "properties": { "name": {"type": "string", "description": "parameter name (e.g. ARMING_CHECK, LOG_BITMASK). Regex expressions are supported"}, "value": {"type": "number", "description": "parameter value"} }, "required": ["name"] } } } MAVProxy-1.8.74/MAVProxy/modules/mavproxy_chat/assistant_setup/get_parameter_description.json000066400000000000000000000007331504324515000326710ustar00rootroot00000000000000{ "type": "function", "function": { "name": "get_parameter_description", "description": "Get vehicle parameter descriptions including description, units, min and max", "parameters": { "type": "object", "properties": { "name": {"type": "string", "description": "parameter name (e.g. ARMING_CHECK, LOG_BITMASK). Regex expressions are supported. set to * to get all parameter descriptions"} }, "required": ["name"] } } } MAVProxy-1.8.74/MAVProxy/modules/mavproxy_chat/assistant_setup/get_vehicle_location_and_yaw.json000066400000000000000000000014321504324515000333140ustar00rootroot00000000000000{ "type": "function", "function": { "name": "get_vehicle_location_and_yaw", "description": "Get the vehicle's current location including latitude, longitude, altitude above sea level and altitude above home", "parameters": { "type": "object", "properties": { "latitude": {"type": "number", "description": "latitude in degrees"}, "longitude": {"type": "number", "description": "longitude in degrees"}, "altitude_amsl": {"type": "number", "description": "altitude above sea level in meters (aka AMSL)"}, "altitude_above_home": {"type": "number", "description": "altitude above home in meters"}, "yaw": {"type": "number", "description": "vehicle yaw (aka heading) in degrees"} }, "required": [] } } } MAVProxy-1.8.74/MAVProxy/modules/mavproxy_chat/assistant_setup/get_vehicle_state.json000066400000000000000000000010361504324515000311220ustar00rootroot00000000000000{ "type": "function", "function": { "name": "get_vehicle_state", "description": "Get the vehicle state including armed status and (flight) mode", "parameters": { "type": "object", "properties": { "armed": {"type": "boolean", "description": "vehicle armed status. True means motors can spin and vehicle can move."}, "mode": {"type": "number", "description": "flight flight mode. The number is specific to the vehicle type (e.g. Copter, Plane, Rover"} }, "required": [] } } } MAVProxy-1.8.74/MAVProxy/modules/mavproxy_chat/assistant_setup/get_vehicle_type.json000066400000000000000000000006041504324515000307630ustar00rootroot00000000000000{ "type": "function", "function": { "name": "get_vehicle_type", "description": "Get the vehicle type (e.g. Copter, Plane, Rover, Boat, etc)", "parameters": { "type": "object", "properties": { "vehicle_type": {"type": "string", "description": "the vehicle type. Unknown if not known"} }, "required": [] } } } MAVProxy-1.8.74/MAVProxy/modules/mavproxy_chat/assistant_setup/get_wakeup_timers.json000066400000000000000000000015311504324515000311620ustar00rootroot00000000000000{ "type": "function", "function": { "name": "get_wakeup_timers", "description": "Retrieves a list of all active wakeup timers. You can optionally provide a message parameter to filter timers by their associated messages. When specifying the message parameter, you can use regular expressions (regex) to match patterns within the timer messages. This is useful when you want to find timers with specific keywords or patterns in their messages. For example, to retrieve all timers containing the word 'hello', you can use the regex '.*hello.*', where the dot-star (.*) pattern matches any character sequence.", "parameters": { "type": "object", "properties": { "message": {"type": "string", "description": "wakeup message of timers to be retrieved. regex values are accepted."} }, "required": [] } } } MAVProxy-1.8.74/MAVProxy/modules/mavproxy_chat/assistant_setup/plane_flightmodes.txt000066400000000000000000000033511504324515000310000ustar00rootroot00000000000000This file holds the Plane flight mode name to number mapping. Modes starting with Q are only for use with QuadPlanes. MANUAL = 0, // pilot has direct control over servos without stabilization CIRCLE = 1, // Circle around a GPS waypoint STABILIZE = 2, // Level flight stabilization TRAINING = 3, // Limits the roll and pitch angles to keep the aircraft stable ACRO = 4, // Full manual aerobatic control with some stabilization FLY_BY_WIRE_A = 5, // Stabilized flight with manual throttle FLY_BY_WIRE_B = 6, // More stabilization than FLY_BY_WIRE_A CRUISE = 7, // Mixed manual and automatic throttle control AUTOTUNE = 8, // Automatically tune the PID controller for optimal performance AUTO = 10, // Fully autonomous flight, following a pre-programmed mission RTL = 11, // Return to Launch point LOITER = 12, // Circle around a point while maintaining altitude TAKEOFF = 13, // Automated takeoff sequence AVOID_ADSB = 14, // Avoidance maneuver triggered by ADS-B aircraft detection GUIDED = 15, // Remotely guided commands from GCS or companion computer INITIALISING = 16, // Initialization mode at startup QSTABILIZE = 17, // QuadPlane's stabilize mode. Similar to Copter's stabilize mode QHOVER = 18, // QuadPlane's hover mode. Similar to Copter's AltHold mode QLOITER = 19, // QuadPlane's loiter mode. Similar to Copter's Loiter mode QLAND = 20, // QuadPlane's land mode. Similar to Copter's Land mode QRTL = 21, // QuadPlane's Return to Launch mode. Similar to Copter's RTL mode QAUTOTUNE = 22, // QuadPlane's autotune mode. Similar to Copter's AutoTune mode QACRO = 23, // QuadPlane's acrobatic mode. Similar to Copter's Acro mode THERMAL = 24, // Thermal detection and exploitation mode LOITER_ALT_QLAND = 25, // QuadPlane's loiter to alt then land mode MAVProxy-1.8.74/MAVProxy/modules/mavproxy_chat/assistant_setup/rover_modes.txt000066400000000000000000000023651504324515000276440ustar00rootroot00000000000000This file holds the Rover (aka car) and boat mode name to number mapping. Rover "modes" are the same as "flight modes" for other vehicles. "Rover" is synonymous with "car" MANUAL = 0, // Pilot directly controls the vehicle's steering and throttle ACRO = 1, // Pilot controls the turn rate and speed STEERING = 3, // Pilot controls the steering using lateral acceleration. throttle stick controls speed HOLD = 4, // motor and steering outputs are disabled. Rovers will stop, boats will drift in this mode LOITER = 5, // hold position at the current location FOLLOW = 6, // follow a GPS-enabled device SIMPLE = 7, // Pilot controls the vehicles by moving the combined steering and throttle stick in the direction they wish to move. The direction of movement is relative to the vehicle's heading when first powered on DOCK = 8, // Automatic docking mode CIRCLE = 9, // Circle around a location recorded when the vehicle entered this mode AUTO = 10, // Fully autonomous mode following pre-programmed waypoints RTL = 11, // Return to Launch point SMART_RTL = 12, // Creates a path back to the launch point based on the rover's traveled path GUIDED = 15, // Guided control via a ground station or companion computer INITIALISING = 16, // Initialization mode at startup MAVProxy-1.8.74/MAVProxy/modules/mavproxy_chat/assistant_setup/send_mavlink_command_int.json000066400000000000000000000035521504324515000324730ustar00rootroot00000000000000{ "type": "function", "function": { "name": "send_mavlink_command_int", "description": "Send a mavlink COMMAND_INT message to the vehicle. Available commands including changing the flight mode, arming, disarming, takeoff and commanding the vehicle to fly to a specific location", "parameters": { "type": "object", "properties": { "target_system": {"type": "integer", "minimum":0, "maximum":255, "description": "vehicle autopilot System ID. can be omitted"}, "target_component": {"type": "integer", "minimum":0, "maximum":255, "description": "vehicle autopilot Component ID. can be omitted"}, "frame": {"type": "integer", "minimum":0, "maximum":21, "description": "altitude type. see MAV_FRAME. 0 for altitude above sea level, 3 for altitude above home, 10 for altitude above terrain"}, "command": {"type": "integer", "minimum":0, "maximum":65535, "description": "MAVLink command id. See MAV_CMD for a full list of available commands"}, "current": {"type": "integer", "description": "not used. always zero"}, "autocontinue": {"type": "integer", "description": "not used. always zero"}, "param1": {"type": "number", "description": "parameter 1. see MAV_CMD enum"}, "param2": {"type": "number", "description": "parameter 2. see MAV_CMD enum"}, "param3": {"type": "number", "description": "parameter 3. see MAV_CMD enum"}, "param4": {"type": "number", "description": "parameter 4. see MAV_CMD enum"}, "x": {"type": "integer", "description": "latitude in degrees * 10^7"}, "y": {"type": "integer", "description": "longitude in degrees * 10^7"}, "z": {"type": "number", "description": "altitude in meters (relative to sea level, home or terrain depending on frame field)."} }, "required": ["frame", "command"] } } } send_mavlink_set_position_target_global_int.json000066400000000000000000000050521504324515000364000ustar00rootroot00000000000000MAVProxy-1.8.74/MAVProxy/modules/mavproxy_chat/assistant_setup{ "type": "function", "function": { "name": "send_mavlink_set_position_target_global_int", "description": "Send a mavlink SET_POSITION_TARGET_GLOBAL_INT message to the vehicle. This message is the preferred way to command a vehicle to fly to a specified location or to fly at a specfied velocity", "parameters": { "type": "object", "properties": { "time_boot_ms": {"type": "integer", "description": "system timestamp. can be left as 0"}, "target_system": {"type": "integer", "minimum":0, "maximum":255, "description": "vehicle autopilot System ID. can be omitted"}, "target_component": {"type": "integer", "minimum":0, "maximum":255, "description": "vehicle autopilot Component ID. can be omitted"}, "coordinate_frame": {"type": "integer", "minimum":0, "maximum":21, "description": "altitude type. see MAV_FRAME. 5 for altitude above sea level, 6 for altitude above home, 11 for altitude above terrain"}, "type_mask": {"type": "integer", "minimum":0, "maximum":65535, "description": "Bitmap to indicate which dimensions should be ignored by the vehicle. see POSITION_TARGET_TYPEMASK. If only location (e.g. lat_int, lon_int and alt) is sent use 3576. If location and yaw are sent use 2552. If only velocity (e.g. vx, vy, vz) is sent use 2552. if velocity and yaw are sent use 2503. If only yaw is sent use 2559"}, "latitude": {"type": "number", "description": "latitude in degrees"}, "longitude": {"type": "number", "description": "longitude in degrees"}, "alt": {"type": "number", "description": "altitude in meters (relative to sea level, home or terrain depending on frame field)"}, "vx": {"type": "number", "description": "velocity North in m/s"}, "vy": {"type": "number", "description": "velocity East in m/s"}, "vz": {"type": "number", "description": "velocity Down in m/s"}, "afx": {"type": "number", "description": "acceleration North in m/s/s. rarely used, normally 0"}, "afy": {"type": "number", "description": "acceleration East in m/s/s. rarely used, normally 0"}, "afz": {"type": "number", "description": "acceleration Down in m/s/s. rarely used, normally 0"}, "yaw": {"type": "number", "minimum":-6.28318530717959, "maximum":6.28318530717959, "description": "yaw (aka heading) in radians"}, "yaw_rate": {"type": "number", "description": "yaw (aka heading) rotation rate in radians/second. rarely used, normally 0"} }, "required": ["coordinate_frame", "type_mask"] } } } MAVProxy-1.8.74/MAVProxy/modules/mavproxy_chat/assistant_setup/set_parameter.json000066400000000000000000000007671504324515000303110ustar00rootroot00000000000000{ "type": "function", "function": { "name": "set_parameter", "description": "Set a vehicle parameter's value. The full list of parameters is available using the get_all_parameters function", "parameters": { "type": "object", "properties": { "name": {"type": "string", "description": "parameter name (e.g. ARMING_CHECK, LOG_BITMASK)"}, "value": {"type": "number", "description": "parameter value"} }, "required": ["name", "value"] } } } MAVProxy-1.8.74/MAVProxy/modules/mavproxy_chat/assistant_setup/set_wakeup_timer.json000066400000000000000000000012731504324515000310160ustar00rootroot00000000000000{ "type": "function", "function": { "name": "set_wakeup_timer", "description": "Set a timer to wake you up in a specified number of seconds in the future. This allows taking actions in the future. The wakeup message will appear with the user role but will look something like WAKEUP:. Multiple wakeup messages are supported", "parameters": { "type": "object", "properties": { "seconds": {"type": "number", "description": "number of seconds in the future that the timer will wake you up"}, "message": {"type": "string", "description": "wakeup message that will be sent to you"} }, "required": ["seconds", "message"] } } } MAVProxy-1.8.74/MAVProxy/modules/mavproxy_chat/assistant_setup/setup_assistant.py000066400000000000000000000257001504324515000303600ustar00rootroot00000000000000''' AI Chat Module Setup Assistant Randy Mackay, December 2023 This script is used to setup the OpenAI assistant for the AI Chat Module. OpenAI Assistant API: https://platform.openai.com/docs/api-reference/assistants OpenAI Assistant Playground: https://platform.openai.com/playground AP_FLAKE8_CLEAN ''' import requests import glob import json import xmltodict import os try: from openai import OpenAI except Exception: print("chat: failed to import openai. See https://ardupilot.org/mavproxy/docs/modules/chat.html") exit() # main function def main(openai_api_key=None, assistant_name=None, model_name=None, upgrade=False): print("Starting assistant setup") # create connection object try: # if api key is provided, use it to create connection object if openai_api_key is not None: client = OpenAI(api_key=openai_api_key) else: # if no api key is provided, attempt to create connection object without it # user may have set the OPENAI_API_KEY environment variable client = OpenAI() except Exception: # if connection object creation fails, exit with error message print("setup_assistant: failed to connect to OpenAI. Perhaps the API key was incorrect?") exit() # use assistant name if provided, otherwise use default if assistant_name is None: assistant_name = "ArduPilot Vehicle Control via MAVLink" # use model name if provided, otherwise use default if model_name is None: model_name = "gpt-4o" # check that assistant_instructions.txt file exists instructions_filename = os.path.join(os.getcwd(), "assistant_instructions.txt") if not os.path.isfile(instructions_filename): print("setup_assistant: " + instructions_filename + " not found") exit() # check that at least one text file exists. E.g. text files holding the flight mode number to name mappings text_filenames = glob.glob(os.path.join(os.getcwd(), "*.txt")) if len(text_filenames) == 0: print("setup_assistant: no txt files found") exit() # check function definition files exist function_filenames = glob.glob(os.path.join(os.getcwd(), "*.json")) if len(function_filenames) == 0: print("setup_assistant: no function json files found") exit() # parse function definition files function_tools = [{"type": "file_search"}] for function_filename in function_filenames: try: # skip over files with xml in the name if "xml" in function_filename: print("skipping xml file: " + os.path.basename(function_filename)) continue function_file = open(function_filename, 'r') function_object = json.load(function_file) function_tools.append(function_object) print("setup_assistant: parsed function file: " + os.path.basename(function_filename)) except Exception: print("setup_assistant: failed to parse json file: " + function_filename) exit() # check that at least one function was parsed if len(function_tools) == 0: print("setup_assistant: no function json files found") exit() # download latest MAVLink files from ardupilot MAVLink repo, minimal.xml, common.xml and ardupilotmega.xml # convert to xml so they can be accessed by the assistant mavlink_filenames = ["minimal.xml", "common.xml", "ardupilotmega.xml"] mavlink_filenames_json = [] for mavlink_filename in mavlink_filenames: if not download_file("https://raw.githubusercontent.com/ArduPilot/mavlink/master/message_definitions/v1.0/" + mavlink_filename, mavlink_filename): # noqa exit() if not convert_xml_to_json(mavlink_filename): exit() mavlink_filenames_json.append(mavlink_filename + ".json") # variable to hold new assistant assistant = None # if assistant exists, use it assistants_list = client.beta.assistants.list() for existing_assistant in assistants_list.data: if existing_assistant.name == assistant_name: print("setup_assistant: using existing assistant: " + existing_assistant.name + " id:" + existing_assistant.id) assistant = existing_assistant break # exit if assistant was found but upgrade was not requested if assistant is not None and not upgrade: print("setup_assistant: assistant already exists, not upgrading") exit() # if assistant was not found, create it if assistant is None: assistant = client.beta.assistants.create(name=assistant_name, model=model_name, tools=function_tools) print("setup_assistant: created new assistant: " + assistant.name + " id:" + assistant.id) # update assistant's instructions try: instructions_content = open(instructions_filename, 'r').read() client.beta.assistants.update(assistant.id, instructions=instructions_content, tools=function_tools) except Exception: print("setup_assistant: failed to update assistant instructions") exit() # upload MAVLink and text files existing_files = client.files.list() uploaded_file_ids = [] for filename in text_filenames + mavlink_filenames_json: try: # open local file as read-only file = open(filename, 'rb') except Exception: print("setup_assistant: failed to open file: " + filename) exit() # check if OpenAI has existing files with the same name filename_short = os.path.basename(filename) file_needs_uploading = True for existing_file in existing_files: if filename_short == existing_file.filename: # if not upgrading, we associate the existing file with our assistant if not upgrade: uploaded_file_ids.append(existing_file.id) print("setup_assistant: using existing file: " + existing_file.filename) file_needs_uploading = False else: # if upgrading them we delete and re-upload the file # Note: this is slightly dangerous because files in use by another assistant could be deleted try: client.files.delete(existing_file.id) print("setup_assistant: deleted existing file: " + existing_file.filename) except Exception: print("setup_assistant: failed to delete file from OpenAI: " + existing_file.filename) exit() # upload file to OpenAI if file_needs_uploading: try: uploaded_file = client.files.create(file=file, purpose="assistants") uploaded_file_ids.append(uploaded_file.id) print("setup_assistant: uploaded: " + filename_short) except Exception: print("setup_assistant: failed to upload file to OpenAI: " + filename) exit() # delete and recreate a vector store on OpenAI vector_store_name = assistant_name + " vector_store" try: # retrieve list of vector stores vector_store_list = client.beta.vector_stores.list() for vs in vector_store_list: # check for valid names vs_name = vs.name if vs_name is None: vs_name = "no name" # delete empty vector stores if vs.file_counts.total == 0: print("deleting empty vector store id:" + vs.id + " name:" + vs_name) client.beta.vector_stores.delete(vector_store_id=vs.id) continue # delete our assistant's vector store if found if vs_name == vector_store_name: print("deleting existing vector store id:" + vs.id + " name:" + vs_name) client.beta.vector_stores.delete(vector_store_id=vs.id) break # create vector store for our assistant vector_store = client.beta.vector_stores.create(name=vector_store_name, file_ids=uploaded_file_ids) print("setup_assistant: created vector store id: " + vector_store.id + " name:" + vector_store_name + " files:" + str(vector_store.file_counts.total)) except Exception as e: print("setup_assistant: failed to create vector store" + e) exit() # update assistant to use the vector store try: print("setup_assistant: updating assistant vector store to id:" + vector_store.id + " name:" + vector_store_name) client.beta.assistants.update(assistant.id, tool_resources={"file_search": {"vector_store_ids": [vector_store.id]}}) except Exception: print("setup_assistant: failed to update assistant vector store") exit() # delete downloaded mavlink files for mavlink_filename in mavlink_filenames + mavlink_filenames_json: try: os.remove(mavlink_filename) print("setup_assistant: deleted local file: " + mavlink_filename) except Exception: print("setup_assistant: failed to delete file: " + mavlink_filename) # print completion message print("Assistant setup complete") def download_file(url, filename): # download file from url to filename # return True if successful, False if not try: response = requests.get(url) if response.ok: file = open(os.path.join(os.getcwd(), filename), 'wb') file.write(response.content) file.close() print("setup_assistant: downloaded file: " + filename) return True else: print("setup_assistant: failed to download file: " + url) return False except Exception: print("setup_assistant: failed to download file: " + url) return False def convert_xml_to_json(filename): # convert xml file to json file # return True if successful, False if not try: xml_file = open(filename) xml_file_dict = xmltodict.parse(xml_file.read()) xml_file_json = json.dumps(xml_file_dict) json_file = open(filename + ".json", "w") json_file.write(xml_file_json) return True except Exception: print("setup_assistant: failed to convert xml to json: " + filename) return False # call main function if this is run as standalone script if __name__ == "__main__": # parse command line arguments from argparse import ArgumentParser parser = ArgumentParser(description="MAVProxy AI chat module OpenAI Assistant setup script") parser.add_argument("--api-key", default=None, help="OpenAI API Key") parser.add_argument("--name", default=None, help="Assistant name") parser.add_argument("--model", default=None, help="model name") parser.add_argument("--upgrade", action='store_true', help="upgrade existing assistant") args = parser.parse_args() main(openai_api_key=args.api_key, assistant_name=args.name, model_name=args.model, upgrade=args.upgrade) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_chat/assistant_setup/sub_modes.txt000066400000000000000000000014251504324515000272740ustar00rootroot00000000000000This file holds the Sub (aka submarine) mode name to number mapping. STABILIZE = 0, // manual angle with manual depth/throttle ACRO = 1, // manual body-frame angular rate with manual depth/throttle ALT_HOLD = 2, // manual angle with automatic depth/throttle AUTO = 3, // fully automatic waypoint control using mission commands GUIDED = 4, // fully automatic fly to coordinate or fly at velocity/direction using GCS immediate commands CIRCLE = 7, // automatic circular flight with automatic throttle SURFACE = 9, // automatically return to surface, pilot maintains horizontal control POSHOLD = 16, // automatic position hold with manual override, with automatic throttle MANUAL = 19, // Pass-through input with no stabilization MOTOR_DETECT = 20 // Automatically detect motors orientation MAVProxy-1.8.74/MAVProxy/modules/mavproxy_chat/chat_openai.py000066400000000000000000001012501504324515000241430ustar00rootroot00000000000000''' AI Chat Module OpenAi interface Randy Mackay, December 2023 OpenAI Assistant API: https://platform.openai.com/docs/api-reference/assistants OpenAI Assistant Playground: https://platform.openai.com/playground MAVProxy chat wiki: https://ardupilot.org/mavproxy/docs/modules/chat.html AP_FLAKE8_CLEAN ''' from pymavlink import mavutil import time import re from datetime import datetime from threading import Thread, Lock from typing_extensions import override import json import math from MAVProxy.modules.lib import param_help try: from openai import OpenAI, AssistantEventHandler except Exception: print("chat: failed to import openai. See https://ardupilot.org/mavproxy/docs/modules/chat.html") exit() class EventHandler(AssistantEventHandler): def __init__(self, chat_openai): # record reference to chat_openai object self.chat_openai = chat_openai # initialise parent class (assistant event handler) super().__init__() @override def on_event(self, event): # record run id so that it can be cancelled if required self.chat_openai.latest_run_id = event.data.id # display the event in the status field event_string_array = event.event.split(".") event_string = event_string_array[-1] self.chat_openai.send_status(event_string) # requires_action events handled by function calls if event.event == 'thread.run.requires_action': self.chat_openai.handle_function_call(event) # display reply text in the reply window if (event.event == "thread.message.delta"): stream_text = event.data.delta.content[0].text.value self.chat_openai.send_reply(stream_text) class chat_openai(): def __init__(self, mpstate, status_cb=None, reply_cb=None, wait_for_command_ack_fn=None): # keep reference to mpstate self.mpstate = mpstate # keep reference to status callback self.status_cb = status_cb self.reply_cb = reply_cb # keep reference to wait_for_command_ack_fn self.wait_for_command_ack_fn = wait_for_command_ack_fn # lock to prevent multiple threads sending text to the assistant at the same time self.send_lock = Lock() # wakeup timer array self.wakeup_schedule = [] self.thread = Thread(target=self.check_wakeup_timers) self.thread.start() # initialise OpenAI connection self.client = None self.assistant = None self.assistant_thread = None self.latest_run_id = None # check connection to OpenAI assistant and connect if necessary # returns True if connection is good, False if not def check_connection(self): # create connection object if self.client is None: try: self.client = OpenAI() except Exception: print("chat: failed to connect to OpenAI") return False # check connection again just to be sure if self.client is None: print("chat: failed to connect to OpenAI") return False # get assistant id if self.assistant is None: # get list of available assistants my_assistants = self.client.beta.assistants.list() if my_assistants is None or my_assistants.data is None or len(my_assistants.data) == 0: print("chat: no assistants available") return False # search for assistant with the expected name for existing_assistant in my_assistants.data: if existing_assistant.name == "ArduPilot Vehicle Control via MAVLink": self.assistant = existing_assistant break # raise error if assistant not found if self.assistant is None: print("chat: failed to connect to OpenAI assistant") return False # create new thread if self.assistant_thread is None: self.assistant_thread = self.client.beta.threads.create() if self.assistant_thread is None: return "chat: failed to create assistant thread" # if we got this far the connection must be good return True # set the OpenAI API key def set_api_key(self, api_key_str): self.client = OpenAI(api_key=api_key_str) self.assistant = None self.assistant_thread = None # cancel the active run def cancel_run(self): # check the active thread and run id if self.assistant_thread and self.latest_run_id is not None: # cancel the run self.client.beta.threads.runs.cancel( thread_id=self.assistant_thread.id, run_id=self.latest_run_id ) else: self.send_status("No active run to cancel") # send text to assistant def send_to_assistant(self, text): # get lock with self.send_lock: # check connection if not self.check_connection(): self.send_reply("chat: failed to connect to OpenAI") return # create a new message input_message = self.client.beta.threads.messages.create( thread_id=self.assistant_thread.id, role="user", content=text ) if input_message is None: self.send_reply("chat: failed to create input message") return # create event handler event_handler = EventHandler(self) # create a run with self.client.beta.threads.runs.stream( thread_id=self.assistant_thread.id, assistant_id=self.assistant.id, event_handler=event_handler ) as stream: stream.until_done() # retrieve the run and print its final status if self.assistant_thread and self.latest_run_id: run = self.client.beta.threads.runs.retrieve( thread_id=self.assistant_thread.id, run_id=self.latest_run_id ) if run is not None: self.send_status(run.status) else: self.send_status("done") # handle function call request from assistant def handle_function_call(self, event): # sanity check required action (this should never happen) if (event.event != "thread.run.requires_action"): print("chat::handle_function_call: assistant function call empty") return # check format if event.data.required_action.submit_tool_outputs is None: print("chat::handle_function_call: submit tools outputs empty") return tool_outputs = [] for tool_call in event.data.required_action.submit_tool_outputs.tool_calls: # init output to None output = "invalid function call" # handle supported functions supported_funcs = ["get_current_datetime", "get_vehicle_type", "get_mode_mapping", "get_vehicle_state", "get_vehicle_location_and_yaw", "get_location_plus_offset", "get_location_plus_dist_at_bearing", "send_mavlink_command_int", "send_mavlink_set_position_target_global_int", "get_available_mavlink_messages", "get_mavlink_message", "get_all_parameters", "get_parameter", "set_parameter", "get_parameter_description", "set_wakeup_timer", "get_wakeup_timers", "delete_wakeup_timers"] # convert function name to a callable function func_name = tool_call.function.name func = getattr(self, func_name, None) if func_name in supported_funcs and func is not None: stage_str = None try: # parse arguments stage_str = "parse arguments" arguments = json.loads(tool_call.function.arguments) # call function stage_str = "function call" output = func(arguments) # convert to json stage_str = "convert output to json" output = json.dumps(output) except Exception: error_message = str(func_name) + ": " + stage_str + " failed" print("chat: " + error_message) output = error_message else: print("chat: unrecognised function name: " + func_name) output = "unrecognised function call: " + func_name # append output to list of outputs tool_outputs.append({"tool_call_id": tool_call.id, "output": output}) # send function replies to assistant try: stream = self.client.beta.threads.runs.submit_tool_outputs( thread_id=event.data.thread_id, run_id=event.data.id, tool_outputs=tool_outputs, stream=True) for event in stream: # requires_action events handled by function calls if event.event == 'thread.run.requires_action': self.handle_function_call(event) # display reply text in the reply window if (event.event == "thread.message.delta"): stream_text = event.data.delta.content[0].text.value self.send_reply(stream_text) except Exception: print("chat: error replying to function call") print(tool_outputs) return # get the current date and time in the format, Saturday, June 24, 2023 6:14:14 PM def get_current_datetime(self, arguments): return datetime.now().strftime("%A, %B %d, %Y %I:%M:%S %p") # get vehicle vehicle type (e.g. "Copter", "Plane", "Rover", "Boat", etc) def get_vehicle_type(self, arguments): # get vehicle type from latest HEARTBEAT message hearbeat_msg = self.mpstate.master().messages.get('HEARTBEAT', None) vehicle_type_str = "unknown" if hearbeat_msg is not None: if hearbeat_msg.type in [mavutil.mavlink.MAV_TYPE_FIXED_WING, mavutil.mavlink.MAV_TYPE_VTOL_DUOROTOR, mavutil.mavlink.MAV_TYPE_VTOL_QUADROTOR, mavutil.mavlink.MAV_TYPE_VTOL_TILTROTOR]: vehicle_type_str = "Plane" if hearbeat_msg.type == mavutil.mavlink.MAV_TYPE_GROUND_ROVER: vehicle_type_str = "Rover" if hearbeat_msg.type == mavutil.mavlink.MAV_TYPE_SURFACE_BOAT: vehicle_type_str = "Boat" if hearbeat_msg.type == mavutil.mavlink.MAV_TYPE_SUBMARINE: vehicle_type_str = "Sub" if hearbeat_msg.type in [mavutil.mavlink.MAV_TYPE_QUADROTOR, mavutil.mavlink.MAV_TYPE_COAXIAL, mavutil.mavlink.MAV_TYPE_HEXAROTOR, mavutil.mavlink.MAV_TYPE_OCTOROTOR, mavutil.mavlink.MAV_TYPE_TRICOPTER, mavutil.mavlink.MAV_TYPE_DODECAROTOR]: vehicle_type_str = "Copter" if hearbeat_msg.type == mavutil.mavlink.MAV_TYPE_HELICOPTER: vehicle_type_str = "Heli" if hearbeat_msg.type == mavutil.mavlink.MAV_TYPE_ANTENNA_TRACKER: vehicle_type_str = "Tracker" if hearbeat_msg.type == mavutil.mavlink.MAV_TYPE_AIRSHIP: vehicle_type_str = "Blimp" return { "vehicle_type": vehicle_type_str } # get mode mapping def get_mode_mapping(self, arguments): # get name and/or number arguments mode_name = arguments.get("name", None) if mode_name is not None: mode_name = mode_name.upper() mode_number = arguments.get("number", None) if mode_number is not None: mode_number = int(mode_number) # check mode mapping is available if self.mpstate.master() is None or self.mpstate.master().mode_mapping() is None: return "get_mode_mapping: failed to retrieve mode mapping" # prepare list of modes mode_list = [] mode_mapping = self.mpstate.master().mode_mapping() # handle request for all modes if mode_name is None and mode_number is None: for mname in mode_mapping: mnumber = mode_mapping[mname] mode_list.append({"name": mname.upper(), "number": mnumber}) # handle request using mode name elif mode_name is not None: for mname in mode_mapping: if mname.upper() == mode_name: mode_list.append({"name": mname.upper(), "number": mode_mapping[mname]}) # handle request using mode number elif mode_number is not None: for mname in mode_mapping: mnumber = mode_mapping[mname] if mnumber == mode_number: mode_list.append({"name": mname.upper(), "number": mnumber}) # return list of modes return mode_list # get vehicle state including armed, mode def get_vehicle_state(self, arguments): # get mode from latest HEARTBEAT message hearbeat_msg = self.mpstate.master().messages.get('HEARTBEAT', None) if hearbeat_msg is None: mode_number = 0 print("chat: get_vehicle_state: vehicle mode is unknown") else: mode_number = hearbeat_msg.custom_mode return { "armed": (self.mpstate.master().motors_armed() > 0), "mode": mode_number } # return the vehicle's location and yaw def get_vehicle_location_and_yaw(self, arguments): lat_deg = 0 lon_deg = 0 alt_amsl_m = 0 alt_rel_m = 0 yaw_deg = 0 gpi = self.mpstate.master().messages.get('GLOBAL_POSITION_INT', None) if gpi: lat_deg = gpi.lat * 1e-7, lon_deg = gpi.lon * 1e-7, alt_amsl_m = gpi.alt * 1e-3, alt_rel_m = gpi.relative_alt * 1e-3 yaw_deg = gpi.hdg * 1e-2 location = { "latitude": lat_deg, "longitude": lon_deg, "altitude_amsl": alt_amsl_m, "altitude_above_home": alt_rel_m, "yaw" : yaw_deg } return location # Calculate the latitude and longitude given distances (in meters) North and East def get_location_plus_offset(self, arguments): lat = arguments.get("latitude", 0) lon = arguments.get("longitude", 0) dist_north = arguments.get("distance_north", 0) dist_east = arguments.get("distance_east", 0) lat_with_offset, lon_with_offset = self.get_latitude_longitude_given_offset(lat, lon, dist_north, dist_east) return { "latitude": lat_with_offset, "longitude": lon_with_offset } # Calculate the latitude and longitude given a distance (in meters) and bearing (in degrees) def get_location_plus_dist_at_bearing(self, arguments): lat = arguments.get("latitude", 0) lon = arguments.get("longitude", 0) distance = arguments.get("distance", 0) bearing_deg = arguments.get("bearing", 0) dist_north = math.cos(math.radians(bearing_deg)) * distance dist_east = math.sin(math.radians(bearing_deg)) * distance lat_with_offset, lon_with_offset = self.get_latitude_longitude_given_offset(lat, lon, dist_north, dist_east) return { "latitude": lat_with_offset, "longitude": lon_with_offset } # send a mavlink command_int message to the vehicle def send_mavlink_command_int(self, arguments): target_system = arguments.get("target_system", self.mpstate.settings.target_system) target_component = arguments.get("target_component", 1) frame = arguments.get("frame", 0) if ("command" not in arguments): return "command_int not sent. command field required" command = arguments.get("command", 0) current = arguments.get("current", 0) autocontinue = arguments.get("autocontinue", 0) param1 = arguments.get("param1", 0) param2 = arguments.get("param2", 0) param3 = arguments.get("param3", 0) param4 = arguments.get("param4", 0) x = arguments.get("x", 0) y = arguments.get("y", 0) z = arguments.get("z", 0) # sanity check arguments if command == mavutil.mavlink.MAV_CMD_NAV_TAKEOFF and z == 0: return "command_int not sent. MAV_CMD_NAV_TAKEOFF requires alt in z field" self.mpstate.master().mav.command_int_send(target_system, target_component, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z) # wait for command ack mav_result = self.wait_for_command_ack_fn(command) # check for timeout if mav_result is None: print("send_mavlink_command_int: timed out") return "command_int timed out" # update assistant with result if mav_result == mavutil.mavlink.MAV_RESULT_ACCEPTED: return "command_int succeeded" if mav_result == mavutil.mavlink.MAV_RESULT_FAILED: return "command_int failed" if mav_result == mavutil.mavlink.MAV_RESULT_DENIED: return "command_int denied" if mav_result == mavutil.mavlink.MAV_RESULT_UNSUPPORTED: return "command_int unsupported" if mav_result == mavutil.mavlink.MAV_RESULT_TEMPORARILY_REJECTED: return "command_int temporarily rejected" print("send_mavlink_command_int: received unexpected command ack result") return "command_int unknown result" # send a mavlink send_mavlink_set_position_target_global_int message to the vehicle def send_mavlink_set_position_target_global_int(self, arguments): if arguments is None: return "send_mavlink_set_position_target_global_int: arguments is None" time_boot_ms = arguments.get("time_boot_ms", 0) target_system = arguments.get("target_system", self.mpstate.settings.target_system) target_component = arguments.get("target_component", 1) coordinate_frame = arguments.get("coordinate_frame", 5) type_mask = arguments.get("type_mask", 0) lat_int = int(arguments.get("latitude", 0) * 1e7) lon_int = int(arguments.get("longitude", 0) * 1e7) alt = arguments.get("alt", 0) vx = arguments.get("vx", 0) vy = arguments.get("vy", 0) vz = arguments.get("vz", 0) afx = arguments.get("afx", 0) afy = arguments.get("afy", 0) afz = arguments.get("afz", 0) yaw = arguments.get("yaw", 0) yaw_rate = arguments.get("yaw_rate", 0) # sanity check arguments if type_mask == 3576: # if position is specified check lat, lon, alt are provided if "latitude" not in arguments.keys(): return "send_mavlink_set_position_target_global_int: latitude field required" if "longitude" not in arguments.keys(): return "send_mavlink_set_position_target_global_int: longitude field required" if "alt" not in arguments.keys(): return "send_mavlink_set_position_target_global_int: alt field required" self.mpstate.master().mav.set_position_target_global_int_send(time_boot_ms, target_system, target_component, coordinate_frame, type_mask, lat_int, lon_int, alt, vx, vy, vz, afx, afy, afz, yaw, yaw_rate) return "set_position_target_global_int sent" # get a list of mavlink message names that can be retrieved using the get_mavlink_message function def get_available_mavlink_messages(self, arguments): # check if no messages available if self.mpstate.master().messages is None or len(self.mpstate.master().messages) == 0: return "get_available_mavlink_messages: no messages available" # retrieve each available message's name mav_msg_names = [] for msg in self.mpstate.master().messages: # append all message names except MAV if msg != "MAV": mav_msg_names.append(msg) # return list of message names return mav_msg_names # get a mavlink message including all fields and values sent by the vehicle def get_mavlink_message(self, arguments): if arguments is None: return "get_mavlink_message: arguments is None" # retrieve requested message's name mav_msg_name = arguments.get("message", None) if mav_msg_name is None: return "get_mavlink_message: message not specified" # retrieve message mav_msg = self.mpstate.master().messages.get(mav_msg_name, None) if mav_msg is None: return "get_mavlink_message: message not found" # return message return mav_msg.to_dict() # get all available parameters names and their values def get_all_parameters(self, arguments): # check if any parameters are available if self.mpstate.mav_param is None or len(self.mpstate.mav_param) == 0: return "get_all_parameters: no parameters are available" param_list = {} for param_name in sorted(self.mpstate.mav_param.keys()): param_list[param_name] = self.mpstate.mav_param.get(param_name) return param_list # get a vehicle parameter's value def get_parameter(self, arguments): param_name = arguments.get("name", None) if param_name is None: print("get_parameter: name not specified") return "get_parameter: name not specified" # start with empty parameter list param_list = {} # handle param name containing regex if self.contains_regex(param_name): pattern = re.compile(param_name) for existing_param_name in sorted(self.mpstate.mav_param.keys()): if pattern.match(existing_param_name) is not None: param_value = self.mpstate.functions.get_mav_param(existing_param_name, None) if param_value is None: print("chat: get_parameter unable to get " + existing_param_name) else: param_list[existing_param_name] = param_value else: # handle simple case of a single parameter name param_value = self.mpstate.functions.get_mav_param(param_name, None) if param_value is None: return "get_parameter: " + param_name + " parameter not found" param_list[param_name] = param_value return param_list # set a vehicle parameter's value def set_parameter(self, arguments): param_name = arguments.get("name", None) if param_name is None: return "set_parameter: parameter name not specified" param_value = arguments.get("value", None) if param_value is None: return "set_parameter: value not specified" self.mpstate.functions.param_set(param_name, param_value, retries=3) return "set_parameter: parameter value set" # get vehicle parameter descriptions including description, units, min and max def get_parameter_description(self, arguments): param_name = arguments.get("name", None) if param_name is None: return "get_parameter_description: name not specified" # get parameter definitions phelp = param_help.ParamHelp() phelp.vehicle_name = "ArduCopter" param_help_tree = phelp.param_help_tree(True) # start with an empty parameter description dictionary param_descriptions = {} # handle param name containing regex if self.contains_regex(param_name): pattern = re.compile(param_name) for existing_param_name in sorted(self.mpstate.mav_param.keys()): if pattern.match(existing_param_name) is not None: param_desc = self.get_single_parameter_description(param_help_tree, existing_param_name) if param_desc is not None: param_descriptions[existing_param_name] = param_desc else: # handle simple case of a single parameter name param_desc = self.get_single_parameter_description(param_help_tree, param_name) if param_desc is None: return "get_parameter_description: " + param_name + " parameter description not found" param_descriptions[param_name] = param_desc return param_descriptions # get a single parameter's descriptions as a dictionary # returns None if parameter description cannot be found def get_single_parameter_description(self, param_help_tree, param_name): # search for parameter param_info = None if param_name in param_help_tree.keys(): param_info = param_help_tree[param_name] else: # check each possible vehicle name for vehicle_name in ["ArduCopter", "ArduPlane", "Rover", "Sub"]: vehicle_param_name = vehicle_name + ":" + param_name if vehicle_param_name in param_help_tree.keys(): param_info = param_help_tree[vehicle_param_name] break if param_info is None: return None # start with empty dictionary param_desc_dict = {} # add name param_desc_dict['name'] = param_name # get description param_desc_dict['description'] = param_info.get('documentation') # iterate over fields to get units and range param_fields = param_info.find('field') if param_fields is not None: for field in param_info.field: field_name = field.get('name') if field_name == 'Units': param_desc_dict['units'] = str(field) if field_name == 'Range': if ' ' in str(field): param_desc_dict['min'] = str(field).split(' ')[0] param_desc_dict['max'] = str(field).split(' ')[1] # iterate over values param_values = param_info.find('values') if param_values is not None: param_value_dict = {} for c in param_values.getchildren(): value_int = int(c.get('code')) param_value_dict[value_int] = str(c) if len(param_value_dict) > 0: param_desc_dict['values'] = param_value_dict # return dictionary return param_desc_dict # set a wakeup timer def set_wakeup_timer(self, arguments): # check required arguments are specified seconds = arguments.get("seconds", -1) if seconds < 0: return "set_wakeup_timer: seconds not specified" message = arguments.get("message", None) if message is None: return "set_wakeup_timer: message not specified" # add timer to wakeup schedule self.wakeup_schedule.append({"time": time.time() + seconds, "message": message}) return "set_wakeup_timer: wakeup timer set" # get wake timers def get_wakeup_timers(self, arguments): # check message argument, default to None meaning all message = arguments.get("message", None) # prepare list of matching timers matching_timers = [] # handle simple case of all timers if message is None: matching_timers = self.wakeup_schedule # handle regex in message elif self.contains_regex(message): message_pattern = re.compile(message, re.IGNORECASE) for wakeup_timer in self.wakeup_schedule: if message_pattern.match(wakeup_timer["message"]) is not None: matching_timers.append(wakeup_timer) # handle case of a specific message else: for wakeup_timer in self.wakeup_schedule: if wakeup_timer["message"] == message: matching_timers.append(wakeup_timer) # return matching timers return matching_timers # delete wake timers def delete_wakeup_timers(self, arguments): # check message argument, default to all message = arguments.get("message", None) # find matching timers num_timers_deleted = 0 # handle simple case of deleting all timers if message is None: num_timers_deleted = len(self.wakeup_schedule) self.wakeup_schedule.clear() # handle regex in message elif self.contains_regex(message): message_pattern = re.compile(message, re.IGNORECASE) for wakeup_timer in self.wakeup_schedule: if message_pattern.match(wakeup_timer["message"]) is not None: num_timers_deleted = num_timers_deleted + 1 self.wakeup_schedule.remove(wakeup_timer) else: # handle simple case of a single message for wakeup_timer in self.wakeup_schedule: if wakeup_timer["message"] == message: num_timers_deleted = num_timers_deleted + 1 self.wakeup_schedule.remove(wakeup_timer) # return number deleted and remaining return "delete_wakeup_timers: deleted " + str(num_timers_deleted) + " timers, " + str(len(self.wakeup_schedule)) + " remaining" # noqa # check if any wakeup timers have expired and send messages if they have # this function never returns so it should be called from a new thread def check_wakeup_timers(self): while True: # wait for one second time.sleep(1) # check if any timers are set if len(self.wakeup_schedule) == 0: continue # get current time now = time.time() # check if any timers have expired for wakeup_timer in self.wakeup_schedule: if now >= wakeup_timer["time"]: # send message to assistant message = "WAKEUP:" + wakeup_timer["message"] self.send_to_assistant(message) # remove from wakeup schedule self.wakeup_schedule.remove(wakeup_timer) # wrap latitude to range -90 to 90 def wrap_latitude(self, latitude_deg): if latitude_deg > 90: return 180 - latitude_deg if latitude_deg < -90: return -(180 + latitude_deg) return latitude_deg # wrap longitude to range -180 to 180 def wrap_longitude(self, longitude_deg): if longitude_deg > 180: return longitude_deg - 360 if longitude_deg < -180: return longitude_deg + 360 return longitude_deg # calculate latitude and longitude given distances (in meters) North and East # returns latitude and longitude in degrees def get_latitude_longitude_given_offset(self, latitude, longitude, dist_north, dist_east): lat_lon_to_meters_scaling = 89.8320495336892 * 1e-7 lat_diff = dist_north * lat_lon_to_meters_scaling lon_diff = dist_east * lat_lon_to_meters_scaling / max(0.01, math.cos(math.radians((latitude+lat_diff)/2))) return self.wrap_latitude(latitude + lat_diff), self.wrap_longitude(longitude + lon_diff) # send status to chat window via callback def send_status(self, status): if self.status_cb is not None: self.status_cb(status) def send_reply(self, reply): if self.reply_cb is not None: self.reply_cb(reply) # returns true if string contains regex characters def contains_regex(self, string): regex_characters = ".^$*+?{}[]\\|()" for x in regex_characters: if string.count(x): return True return False MAVProxy-1.8.74/MAVProxy/modules/mavproxy_chat/chat_voice_to_text.py000066400000000000000000000053461504324515000255540ustar00rootroot00000000000000''' AI Chat Module voice-to-text class Randy Mackay, December 2023 AP_FLAKE8_CLEAN ''' import wave try: import pyaudio # install using, "sudo apt-get install python3-pyaudio" from openai import OpenAI except Exception: print("chat: failed to import pyaudio or openai. See https://ardupilot.org/mavproxy/docs/modules/chat.html") exit() # initializing the global list to keep and update the stop_recording state stop_recording = [False] class chat_voice_to_text(): def __init__(self): # initialise variables self.client = None self.assistant = None # set the OpenAI API key def set_api_key(self, api_key_str): self.client = OpenAI(api_key=api_key_str) # check connection to OpenAI assistant and connect if necessary # returns True if connection is good, False if not def check_connection(self): # create connection object if self.client is None: try: self.client = OpenAI() except Exception: print("chat: failed to connect to OpenAI") return False # return True if connected return self.client is not None # record audio from microphone # returns filename of recording or None if failed def record_audio(self): # Initialize PyAudio p = pyaudio.PyAudio() # Open stream try: stream = p.open(format=pyaudio.paInt16, channels=1, rate=44100, input=True, frames_per_buffer=1024) except Exception: print("chat: failed to connect to microphone") return None # record until specified time frames = [] while not stop_recording[0]: data = stream.read(1024) frames.append(data) # Stop and close the stream stream.stop_stream() stream.close() p.terminate() # update the recording state back to false globally stop_recording[0] = False # Save audio file wf = wave.open("recording.wav", "wb") wf.setnchannels(1) wf.setsampwidth(pyaudio.PyAudio().get_sample_size(pyaudio.paInt16)) wf.setframerate(44100) wf.writeframes(b''.join(frames)) wf.close() return "recording.wav" # convert audio to text # returns transcribed text on success or None if failed def convert_audio_to_text(self, audio_filename): # check connection if not self.check_connection(): return None # Process with Whisper audio_file = open(audio_filename, "rb") transcript = self.client.audio.transcriptions.create( model="whisper-1", file=audio_file, response_format="text") return transcript MAVProxy-1.8.74/MAVProxy/modules/mavproxy_chat/chat_window.py000066400000000000000000000214321504324515000242020ustar00rootroot00000000000000''' AI Chat Module Window Randy Mackay, December 2023 Chat window for input and output of AI chat AP_FLAKE8_CLEAN ''' from MAVProxy.modules.lib.wx_loader import wx from MAVProxy.modules.mavproxy_chat import chat_openai, chat_voice_to_text from threading import Thread class chat_window(): def __init__(self, mpstate, wait_for_command_ack_fn): # keep reference to mpstate self.mpstate = mpstate # create chat_openai object self.chat_openai = chat_openai.chat_openai(self.mpstate, self.set_status_text, self.append_chat_replies, wait_for_command_ack_fn) # create chat_voice_to_text object self.chat_voice_to_text = chat_voice_to_text.chat_voice_to_text() # create chat window self.app = wx.App() self.frame = wx.Frame(None, title="Chat", size=(650, 200)) self.frame.SetBackgroundColour(wx.SystemSettings.GetColour(wx.SYS_COLOUR_WINDOW)) # add menu self.menu = wx.Menu() self.menu.Append(1, "Set API Key", "Set OpenAI API Key") self.menu_bar = wx.MenuBar() self.menu_bar.Append(self.menu, "Menu") self.frame.SetMenuBar(self.menu_bar) self.frame.Bind(wx.EVT_MENU, self.menu_set_api_key_show, id=1) # add api key input window self.apikey_frame = wx.Frame(None, title="Input OpenAI API Key", size=(560, 50)) self.apikey_text_input = wx.TextCtrl(self.apikey_frame, id=-1, pos=(10, 10), size=(450, -1), style=wx.TE_PASSWORD | wx.TE_PROCESS_ENTER) self.apikey_set_button = wx.Button(self.apikey_frame, id=-1, label="Set", pos=(470, 10), size=(75, 25)) self.apikey_frame.Bind(wx.EVT_BUTTON, self.apikey_set_button_click, self.apikey_set_button) self.apikey_frame.Bind(wx.EVT_TEXT_ENTER, self.apikey_set_button_click, self.apikey_text_input) self.apikey_frame.Bind(wx.EVT_CLOSE, self.apikey_close_button_click) # add a vertical and horizontal sizers self.vert_sizer = wx.BoxSizer(wx.VERTICAL) self.horiz_sizer = wx.BoxSizer(wx.HORIZONTAL) # add a read-only reply text box self.text_reply = wx.TextCtrl(self.frame, id=-1, size=(600, 80), style=wx.TE_READONLY | wx.TE_MULTILINE | wx.TE_RICH) # add a read-only status text box self.text_status = wx.TextCtrl(self.frame, id=-1, size=(600, -1), style=wx.TE_READONLY) # add a record button self.record_button = wx.Button(self.frame, id=-1, label="Rec", size=(75, 25)) self.record_button.Bind(wx.EVT_LEFT_DOWN, self.record_button_pushed, self.record_button) self.record_button.Bind(wx.EVT_LEFT_UP, self.record_button_released, self.record_button) self.horiz_sizer.Add(self.record_button, proportion=0, flag=wx.ALIGN_TOP | wx.ALL, border=5) # add an input text box self.text_input = wx.TextCtrl(self.frame, id=-1, value="", size=(450, -1), style=wx.TE_PROCESS_ENTER) self.frame.Bind(wx.EVT_TEXT_ENTER, self.text_input_change, self.text_input) self.horiz_sizer.Add(self.text_input, proportion=1, flag=wx.ALIGN_TOP | wx.ALL, border=5) # add a send button self.send_button = wx.Button(self.frame, id=-1, label="Send", size=(75, 25)) self.frame.Bind(wx.EVT_BUTTON, self.send_button_click, self.send_button) self.horiz_sizer.Add(self.send_button, proportion=0, flag=wx.ALIGN_TOP | wx.ALL, border=5) # add a cancel button self.cancel_button = wx.Button(self.frame, id=-1, label="cancel", size=(75, 25)) self.frame.Bind(wx.EVT_BUTTON, self.cancel_button_click , self.cancel_button) self.horiz_sizer.Add(self.cancel_button, proportion=0, flag=wx.ALIGN_TOP | wx.ALL, border=5) wx.CallAfter(self.cancel_button.Disable) # set size hints and add sizer to frame self.vert_sizer.Add(self.text_reply, proportion=1, flag=wx.EXPAND, border=5) self.vert_sizer.Add(self.text_status, proportion=0, flag=wx.EXPAND, border=5) self.vert_sizer.Add(self.horiz_sizer, proportion=0, flag=wx.EXPAND) self.frame.SetSizer(self.vert_sizer) # set focus on the input text box self.text_input.SetFocus() # show frame self.frame.Show() # chat window loop (this does not return until the window is closed) self.app.MainLoop() # show the chat window def show(self): wx.CallAfter(self.frame.Show()) # hide the chat window def hide(self): self.frame.Hide() # close the chat window # this is called when the module is unloaded def close(self): self.frame.Close() # menu set API key handling. Shows the API key input window def menu_set_api_key_show(self, event): self.apikey_frame.Show() # set API key set button clicked def apikey_set_button_click(self, event): self.chat_openai.set_api_key(self.apikey_text_input.GetValue()) self.chat_voice_to_text.set_api_key(self.apikey_text_input.GetValue()) self.apikey_frame.Hide() # API key close button clicked def apikey_close_button_click(self, event): self.apikey_frame.Hide() # record button clicked def record_button_click_execute(self, event): # record audio self.set_status_text("recording audio") rec_filename = self.chat_voice_to_text.record_audio() if rec_filename is None: self.set_status_text("audio recording failed") return # convert audio to text and place in input box self.set_status_text("converting audio to text") text = self.chat_voice_to_text.convert_audio_to_text(rec_filename) if text is None or len(text) == 0: self.set_status_text("audio to text conversion failed") return wx.CallAfter(self.text_input.SetValue, text) # send text to assistant self.set_status_text("sending text to assistasnt") self.send_text_to_assistant() # record button pushed def record_button_pushed(self, event): # run record_button_click_execute in a new thread th = Thread(target=self.record_button_click_execute, args=(event,)) th.start() # record button released def record_button_released(self, event): # Run when mouse click is released # set the stop_recording status to True chat_voice_to_text.stop_recording[0] = True # cancel button clicked def cancel_button_click(self, event): self.chat_openai.cancel_run() # send button clicked def send_button_click(self, event): self.text_input_change(event) # handle text input def text_input_change(self, event): # protect against sending empty text if self.text_input.GetValue() == "": return # send text to assistant in a separate thread th = Thread(target=self.send_text_to_assistant) th.start() # send text to assistant. should be called from a separate thread to avoid blocking def send_text_to_assistant(self): # store current focus so it can be restored later focus = wx.Window.FindFocus() if focus is not None and focus == self.send_button: # if send button has focus, override to text input focus = self.text_input # disable buttons and text input to stop multiple inputs (can't be done from a thread or must use CallAfter) # enable the cancel button to cancel the current run wx.CallAfter(self.cancel_button.Enable) wx.CallAfter(self.record_button.Disable) wx.CallAfter(self.text_input.Disable) wx.CallAfter(self.send_button.Disable) # get text from text input and clear text input send_text = self.text_input.GetValue() wx.CallAfter(self.text_input.Clear) # copy user input text to reply box wx.CallAfter(self.text_reply.SetDefaultStyle, wx.TextAttr(wx.RED)) wx.CallAfter(self.text_reply.AppendText, "\n" + send_text + "\n") # send text to assistant. replies will be handled by append_chat_replies self.chat_openai.send_to_assistant(send_text) # reenable buttons and text input (can't be done from a thread or must use CallAfter) # disable the cancel button wx.CallAfter(self.cancel_button.Disable) wx.CallAfter(self.record_button.Enable) wx.CallAfter(self.text_input.Enable) wx.CallAfter(self.send_button.Enable) # restore focus if focus is not None: wx.CallAfter(focus.SetFocus) # set status text def set_status_text(self, text): wx.CallAfter(self.text_status.SetValue, text) # append chat to reply box def append_chat_replies(self, text): wx.CallAfter(self.text_reply.SetDefaultStyle, wx.TextAttr(wx.BLACK)) wx.CallAfter(self.text_reply.AppendText, text) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_checklist.py000077500000000000000000000120651504324515000227330ustar00rootroot00000000000000#!/usr/bin/env python3 ''' Checklist module Stephen Dade July 2014 ''' import math, sys, os, time from MAVProxy.modules.lib import mp_checklist from MAVProxy.modules.lib import mp_module from pymavlink import mavutil class ChecklistModule(mp_module.MPModule): def __init__(self, mpstate): super(ChecklistModule, self).__init__(mpstate, "checklist", "checklist module") checklist_file = None if mpstate.aircraft_dir is not None: path = os.path.join(mpstate.aircraft_dir, "checklist.txt") if os.path.exists(path): checklist_file = path self.checklist = mp_checklist.CheckUI(checklist_file=checklist_file, logdir=self.logdir) def mavlink_packet(self, msg): '''handle an incoming mavlink packet''' if self.checklist is None: return if not isinstance(self.checklist, mp_checklist.CheckUI): return if not self.checklist.is_alive(): self.needs_unloading = True return type = msg.get_type() master = self.master if type == 'HEARTBEAT': '''beforeEngineList - APM booted''' if self.mpstate.status.heartbeat_error == True: self.checklist.set_check("Pixhawk Booted", 0) else: self.checklist.set_check("Pixhawk Booted", 1) '''beforeEngineList - Flight mode MANUAL''' if self.mpstate.status.flightmode == "MANUAL": self.checklist.set_check("Flight mode MANUAL", 1) else: self.checklist.set_check("Flight mode MANUAL", 0) if type in [ 'GPS_RAW', 'GPS_RAW_INT' ]: '''beforeEngineList - GPS lock''' if ((msg.fix_type >= 3 and master.mavlink10()) or (msg.fix_type == 2 and not master.mavlink10())): self.checklist.set_check("GPS lock", 1) else: self.checklist.set_check("GPS lock", 0) '''beforeEngineList - Radio Links > 6db margin TODO: figure out how to read db levels''' if type in ['RADIO', 'RADIO_STATUS']: if msg.rssi < msg.noise+6 or msg.remrssi < msg.remnoise+6: self.checklist.set_check("Radio links > 6db margin", 0) else: self.checklist.set_check("Radio Links > 6db margin", 0) if type == 'HWSTATUS': '''beforeEngineList - Avionics Battery''' if msg.Vcc >= 4600 and msg.Vcc <= 5300: self.checklist.set_check("Avionics Power", 1) else: self.checklist.set_check("Avionics Power", 0) if type == 'POWER_STATUS': '''beforeEngineList - Servo Power''' if msg.Vservo >= 4900 and msg.Vservo <= 6500: self.checklist.set_check("Servo Power", 1) else: self.checklist.set_check("Servo Power", 0) '''beforeEngineList - Waypoints Loaded''' if type == 'HEARTBEAT': if self.module('wp').wploader.count() == 0: self.checklist.set_check("Waypoints Loaded", 0) else: self.checklist.set_check("Waypoints Loaded", 1) '''beforeTakeoffList - Compass active''' if type == 'GPS_RAW': if math.fabs(msg.hdg - master.field('VFR_HUD', 'heading', '-')) < 10 or math.fabs(msg.hdg - master.field('VFR_HUD', 'heading', '-')) > 355: self.checklist.set_check("Compass active", 1) else: self.checklist.set_check("Compass active", 0) '''beforeCruiseList - Airspeed > 10 m/s , Altitude > 30 m''' if type == 'VFR_HUD': rel_alt = master.field('GLOBAL_POSITION_INT', 'relative_alt', 0) * 1.0e-3 if rel_alt > 30: self.checklist.set_check("Altitude > 30 m", 1) else: self.checklist.set_check("Altitude > 30 m", 0) if msg.airspeed > 10 or msg.groundspeed > 10: self.checklist.set_check("Airspeed > 10 m/s", 1) else: self.checklist.set_check("Airspeed > 10 m/s", 0) '''beforeEngineList - IMU''' if type in ['SYS_STATUS']: sensors = { 'AS' : mavutil.mavlink.MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE, 'MAG' : mavutil.mavlink.MAV_SYS_STATUS_SENSOR_3D_MAG, 'INS' : mavutil.mavlink.MAV_SYS_STATUS_SENSOR_3D_ACCEL | mavutil.mavlink.MAV_SYS_STATUS_SENSOR_3D_GYRO, 'AHRS' : mavutil.mavlink.MAV_SYS_STATUS_AHRS} bits = sensors['INS'] present = ((msg.onboard_control_sensors_enabled & bits) == bits) healthy = ((msg.onboard_control_sensors_health & bits) == bits) if not present or not healthy: self.checklist.set_check("IMU Check", 1) else: self.checklist.set_check("IMU Check", 0) def unload(self): '''unload module''' if self.checklist is not None: self.checklist.close() self.checklist = None def init(mpstate): '''initialise module''' return ChecklistModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_cmdlong.py000066400000000000000000000444231504324515000224050ustar00rootroot00000000000000#!/usr/bin/env python3 '''command long''' import time, os from numpy import equal from pymavlink import mavutil from math import * from MAVProxy.modules.lib import mp_module class CmdlongModule(mp_module.MPModule): def __init__(self, mpstate): super(CmdlongModule, self).__init__(mpstate, "cmdlong", public=True) self.add_command('setspeed', self.cmd_do_change_speed, "do_change_speed") self.add_command('setyaw', self.cmd_condition_yaw, "condition_yaw") self.add_command('takeoff', self.cmd_takeoff, "takeoff") self.add_command('velocity', self.cmd_velocity, "velocity") self.add_command('position', self.cmd_position, "position") self.add_command('attitude', self.cmd_attitude, "attitude") self.add_command('cammsg', self.cmd_cammsg, "cammsg") self.add_command('cammsg_old', self.cmd_cammsg_old, "cammsg_old") self.add_command('camctrlmsg', self.cmd_camctrlmsg, "camctrlmsg") self.add_command('posvel', self.cmd_posvel, "posvel") self.add_command('parachute', self.cmd_parachute, "parachute", ['']) self.add_command('long', self.cmd_long, "execute mavlink long command", self.cmd_long_commands()) self.add_command('command_int', self.cmd_command_int, "execute mavlink command_int", self.cmd_long_commands()) self.add_command('engine', self.cmd_engine, "engine") self.add_command('pause', self.cmd_pause, "pause AUTO/GUIDED modes") self.add_command('resume', self.cmd_resume, "resume AUTO/GUIDED modes") def cmd_long_commands(self): atts = dir(mavutil.mavlink) atts = filter( lambda x : x.lower().startswith("mav_cmd"), atts) ret = [] for att in atts: ret.append(att) ret.append(str(att[8:])) return ret def cmd_takeoff(self, args): '''take off''' if ( len(args) != 1): print("Usage: takeoff ALTITUDE_IN_METERS") return if (len(args) == 1): altitude = float(args[0]) print("Take Off started") self.master.mav.command_long_send( self.settings.target_system, # target_system self.settings.target_component, # target_component mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, # command 0, # confirmation 0, # param1 0, # param2 0, # param3 0, # param4 0, # param5 0, # param6 altitude) # param7 def cmd_parachute(self, args): '''parachute control''' usage = "Usage: parachute " if len(args) != 1: print(usage) return cmds = { 'enable' : mavutil.mavlink.PARACHUTE_ENABLE, 'disable' : mavutil.mavlink.PARACHUTE_DISABLE, 'release' : mavutil.mavlink.PARACHUTE_RELEASE } if not args[0] in cmds: print(usage) return cmd = cmds[args[0]] self.master.mav.command_long_send( self.settings.target_system, # target_system 0, # target_component mavutil.mavlink.MAV_CMD_DO_PARACHUTE, 0, cmd, 0, 0, 0, 0, 0, 0) def cmd_camctrlmsg(self, args): '''camctrlmsg''' print("Sent DIGICAM_CONFIGURE CMD_LONG") self.master.mav.command_long_send( self.settings.target_system, # target_system 0, # target_component mavutil.mavlink.MAV_CMD_DO_DIGICAM_CONFIGURE, # command 0, # confirmation 10, # param1 20, # param2 30, # param3 40, # param4 50, # param5 60, # param6 70) # param7 def cmd_cammsg(self, args): '''cammsg''' params = [0, 0, 0, 0, 1, 0, 0] # fill in any args passed by user for i in range(min(len(args),len(params))): params[i] = float(args[i]) print("Sent DIGICAM_CONTROL CMD_LONG") self.master.mav.command_long_send( self.settings.target_system, # target_system 0, # target_component mavutil.mavlink.MAV_CMD_DO_DIGICAM_CONTROL, # command 0, # confirmation params[0], # param1 params[1], # param2 params[2], # param3 params[3], # param4 params[4], # param5 params[5], # param6 params[6]) # param7 def cmd_engine(self, args): '''engine control''' if len(args) < 1: print("usage: engine <1|0>") return params = [0, 0, 0, 0, 0, 0, 0] if args[0] == 'start': args[0] = '1' if args[0] == 'stop': args[0] = '0' # fill in any args passed by user for i in range(min(len(args),len(params))): params[i] = float(args[i]) self.master.mav.command_long_send( self.settings.target_system, # target_system 0, # target_component mavutil.mavlink.MAV_CMD_DO_ENGINE_CONTROL, # command 0, # confirmation params[0], # param1 params[1], # param2 params[2], # param3 params[3], # param4 params[4], # param5 params[5], # param6 params[6]) # param7 def cmd_cammsg_old(self, args): '''cammsg_old''' print("Sent old DIGICAM_CONTROL") self.master.mav.digicam_control_send( self.settings.target_system, # target_system 0, # target_component 0, 0, 0, 0, 1, 0, 0, 0) def cmd_do_change_speed(self, args): '''speed value''' if ( len(args) != 1): print("Usage: setspeed SPEED_VALUE") return if (len(args) == 1): speed = float(args[0]) print("SPEED %s" % (str(speed))) self.master.mav.command_long_send( self.settings.target_system, # target_system self.settings.target_component, # target_component mavutil.mavlink.MAV_CMD_DO_CHANGE_SPEED, # command 0, # confirmation 0, # param1 speed, # param2 (Speed value) 0, # param3 0, # param4 0, # param5 0, # param6 0) # param7 def cmd_condition_yaw(self, args): '''yaw angle angular_speed angle_mode''' if ( len(args) != 3): print("Usage: yaw ANGLE ANGULAR_SPEED MODE:[0 absolute / 1 relative]") return if (len(args) == 3): angle = float(args[0]) angular_speed = float(args[1]) angle_mode = float(args[2]) print("ANGLE %s" % (str(angle))) self.master.mav.command_long_send( self.settings.target_system, # target_system self.settings.target_component, # target_component mavutil.mavlink.MAV_CMD_CONDITION_YAW, # command 0, # confirmation angle, # param1 (angle value) angular_speed, # param2 (angular speed value) 0, # param3 angle_mode, # param4 (mode: 0->absolute / 1->relative) 0, # param5 0, # param6 0) # param7 def cmd_velocity(self, args): '''velocity x-ms y-ms z-ms''' if (len(args) != 3): print("Usage: velocity x y z (m/s)") return if (len(args) == 3): x_mps = float(args[0]) y_mps = float(args[1]) z_mps = float(args[2]) print("x:%f, y:%f, z:%f" % (x_mps, y_mps, z_mps)) self.master.mav.set_position_target_local_ned_send( 0, # system time in milliseconds self.settings.target_system, # target system 0, # target component 8, # coordinate frame MAV_FRAME_BODY_NED 4039, # type mask (vel only) 0, 0, 0, # position x,y,z x_mps, y_mps, z_mps, # velocity x,y,z 0, 0, 0, # accel x,y,z 0, 0) # yaw, yaw rate def cmd_position(self, args): '''position x-m y-m z-m''' if (len(args) != 3): print("Usage: position x y z (meters)") return if (len(args) == 3): x_m = float(args[0]) y_m = float(args[1]) z_m = float(args[2]) print("x:%f, y:%f, z:%f" % (x_m, y_m, z_m)) self.master.mav.set_position_target_local_ned_send( 0, # system time in milliseconds self.settings.target_system, # target system 0, # target component 8, # coordinate frame MAV_FRAME_BODY_NED 3576, # type mask (pos only) x_m, y_m, z_m, # position x,y,z 0, 0, 0, # velocity x,y,z 0, 0, 0, # accel x,y,z 0, 0) # yaw, yaw rate def cmd_attitude(self, args): '''attitude mask q0 q1 q2 q3 roll_rate pitch_rate yaw_rate thrust''' if len(args) < 5: print("Usage: attitude q0 q1 q2 q3 thrust") print("q0 q1 q2 q3: [w, x, y, z] order, zero-rotation is [1, 0, 0, 0], unit-length") print("thrust: (0~1)") return elif len(args) not in [5, 9]: print("Usage: attitude mask q0 q1 q2 q3 roll_rate pitch_rate yaw_rate thrust") print("mask : Example 7 (0b00000111): Ignore roll rate, pitch rate, yaw rate") print("mask : Example 128 (0b10000000): Ignore attitude") print("mask : Example 132 (0b10000100): Ignore yaw rate, Ignore attitude") print(" : See https://mavlink.io/en/messages/common.html#ATTITUDE_TARGET_TYPEMASK") print("q0 q1 q2 q3: [w, x, y, z] order, zero-rotation is [1, 0, 0, 0], unit-length") print("roll_rate pitch_rate yaw_rate: in degrees per second") print("thrust: (0~1)") return if len(args) == 5: mask = 7 # ignore angular rates q0 = float(args[0]) q1 = float(args[1]) q2 = float(args[2]) q3 = float(args[3]) thrust = float(args[4]) roll_rate = 0.0 pitch_rate = 0.0 yaw_rate = 0.0 print("q0:%.3f, q1:%.3f, q2:%.3f q3:%.3f, thrust:%.3f" % (q0, q1, q2, q3, thrust)) elif len(args) == 9: mask = int(args[0]) q0 = float(args[1]) q1 = float(args[2]) q2 = float(args[3]) q3 = float(args[4]) roll_rate = float(args[5]) pitch_rate = float(args[6]) yaw_rate = float(args[7]) thrust = float(args[8]) print("mask:%i, q0:%.3f, q1:%.3f, q2:%.3f q3:%.3f, roll_rate:%.3f, pitch_rate:%.3f, yaw_rate:%.3f, thrust:%.3f" % (mask, q0, q1, q2, q3, roll_rate, pitch_rate, yaw_rate, thrust)) att_target = [q0, q1, q2, q3] self.master.mav.set_attitude_target_send( 0, # system time in milliseconds self.settings.target_system, # target system 0, # target component mask, # type mask att_target, # quaternion attitude radians(roll_rate), # body roll rate radians(pitch_rate), # body pitch rate radians(yaw_rate), # body yaw rate thrust) # thrust def cmd_posvel(self, args): '''posvel mapclick vN vE vD''' ignoremask = 511 latlon = None latlon = self.mpstate.click_location if latlon is None: print("set latlon to zeros") latlon = [0, 0] else: ignoremask = ignoremask & 504 print("found latlon", ignoremask) vN = 0 vE = 0 vD = 0 if (len(args) == 3): vN = float(args[0]) vE = float(args[1]) vD = float(args[2]) ignoremask = ignoremask & 455 print("ignoremask",ignoremask) print(latlon) self.master.mav.set_position_target_global_int_send( 0, # system time in ms self.settings.target_system, # target system 0, # target component mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, ignoremask, # ignore int(latlon[0] * 1e7), int(latlon[1] * 1e7), 10, vN, vE, vD, # velocity 0, 0, 0, # accel x,y,z 0, 0) # yaw, yaw rate def cmd_pause(self, args): '''pause AUTO/GUIDED modes''' self.master.mav.command_long_send( self.settings.target_system, # target_system self.settings.target_component, # target_component mavutil.mavlink.MAV_CMD_DO_PAUSE_CONTINUE, # command 0, # confirmation 0, # 0: pause, 1: continue 0, # param2 0, # param3 0, # param4 0, # param5 0, # param6 0) # param7 def cmd_resume(self, args): '''resume AUTO/GUIDED modes''' self.master.mav.command_long_send( self.settings.target_system, # target_system self.settings.target_component, # target_component mavutil.mavlink.MAV_CMD_DO_PAUSE_CONTINUE, # command 0, # confirmation 1, # 0: pause, 1: continue 0, # param2 0, # param3 0, # param4 0, # param5 0, # param6 0) # param7 def cmd_long(self, args): '''execute supplied command long''' if len(args) < 1: print("Usage: long [arg1] [arg2]...") return command = None if args[0].isdigit(): command = int(args[0]) else: try: command = getattr(mavutil.mavlink, args[0]) except AttributeError as e: try: command = getattr(mavutil.mavlink, "MAV_CMD_" + args[0]) except AttributeError as e: pass if command is None: print("Unknown command long ({0})".format(args[0])) return if command == mavutil.mavlink.MAV_CMD_REQUEST_MESSAGE: if not args[1].isdigit(): try: args[1] = getattr(mavutil.mavlink, "MAVLINK_MSG_ID_" + args[1]) except AttributeError as e: pass floating_args = [ float(x) for x in args[1:] ] while len(floating_args) < 7: floating_args.append(float(0)) self.master.mav.command_long_send(self.settings.target_system, self.settings.target_component, command, 0, *floating_args) def cmd_command_int(self, args): '''execute supplied command_int''' want_args = 11 if len(args) != want_args: print("Argument count issue: want={0} got={1}".format(want_args, len(args))) print("Usage: command_int frame command current autocontinue param1 param2 param3 param4 x y z") print("e.g. command_int GLOBAL_RELATIVE_ALT DO_SET_HOME 0 0 0 0 0 0 -353632120 1491659330 0") print("e.g. command_int GLOBAL MAV_CMD_DO_SET_ROI 0 0 0 0 0 0 5000000 5000000 500") return frame = None if args[0].isdigit(): frame = int(args[0]) else: try: # attempt to allow MAV_FRAME_GLOBAL for frame frame = getattr(mavutil.mavlink, args[0]) except AttributeError as e: try: # attempt to allow GLOBAL for frame frame = getattr(mavutil.mavlink, "MAV_FRAME_" + args[0]) except AttributeError as e: pass if frame is None: print("Unknown frame ({0})".format(args[0])) return command = None if args[1].isdigit(): command = int(args[1]) else: # let "command_int ... MAV_CMD_DO_SET_HOME ..." work try: command = getattr(mavutil.mavlink, args[1]) except AttributeError as e: try: # let "command_int ... DO_SET_HOME" work command = getattr(mavutil.mavlink, "MAV_CMD_" + args[1]) except AttributeError as e: pass current = int(args[2]) autocontinue = int(args[3]) param1 = float(args[4]) param2 = float(args[5]) param3 = float(args[6]) param4 = float(args[7]) x = int(args[8]) y = int(args[9]) z = float(args[10]) self.master.mav.command_int_send(self.settings.target_system, self.settings.target_component, frame, command, 0, 0, param1, param2, param3, param4, x, y, z) def init(mpstate): '''initialise module''' return CmdlongModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_console.py000066400000000000000000001226221504324515000224220ustar00rootroot00000000000000""" MAVProxy console uses lib/console.py for display """ import os, sys, math, time, re import traceback from MAVProxy.modules.lib import wxconsole from MAVProxy.modules.lib import textconsole from pymavlink import mavutil from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_settings from MAVProxy.modules.lib import wxsettings from MAVProxy.modules.lib.mp_menu import * green = (0, 128, 0) class DisplayItem: def __init__(self, fmt, expression, row): self.expression = expression.strip('"\'') self.format = fmt.strip('"\'') re_caps = re.compile('[A-Z_][A-Z0-9_]+') self.msg_types = set(re.findall(re_caps, expression)) self.row = row class ConsoleModule(mp_module.MPModule): def __init__(self, mpstate): super(ConsoleModule, self).__init__(mpstate, "console", "GUI console", public=True, multi_vehicle=True) self.in_air = False self.start_time = 0.0 self.total_time = 0.0 self.speed = 0 self.max_link_num = 0 self.last_sys_status_health = 0 self.last_sys_status_errors_announce = 0 self.user_added = {} self.safety_on = False self.unload_check_interval = 5 # seconds self.last_unload_check_time = time.time() self.add_command('console', self.cmd_console, "console module", ['add','list','remove']) mpstate.console = wxconsole.MessageConsole(title='Console') # setup some default status information mpstate.console.set_status('Mode', 'UNKNOWN', row=0, fg='blue') mpstate.console.set_status('SysID', '', row=0, fg='blue') mpstate.console.set_status('ARM', 'ARM', fg='grey', row=0) mpstate.console.set_status('GPS', 'GPS: --', fg='red', row=0) mpstate.console.set_status('GPS2', '', fg='red', row=0) mpstate.console.set_status('Vcc', 'Vcc: --', fg='red', row=0) mpstate.console.set_status('Radio', 'Radio: --', row=0) mpstate.console.set_status('INS', 'INS', fg='grey', row=0) mpstate.console.set_status('MAG', 'MAG', fg='grey', row=0) mpstate.console.set_status('AS', 'AS', fg='grey', row=0) mpstate.console.set_status('RNG', 'RNG', fg='grey', row=0) mpstate.console.set_status('AHRS', 'AHRS', fg='grey', row=0) mpstate.console.set_status('EKF', 'EKF', fg='grey', row=0) mpstate.console.set_status('LOG', 'LOG', fg='grey', row=0) mpstate.console.set_status('Heading', 'Hdg ---/---', row=2) mpstate.console.set_status('Alt', 'Alt ---', row=2) mpstate.console.set_status('AGL', 'AGL ---/---', row=2) mpstate.console.set_status('AirSpeed', 'AirSpeed --', row=2) mpstate.console.set_status('GPSSpeed', 'GPSSpeed --', row=2) mpstate.console.set_status('Thr', 'Thr ---', row=2) mpstate.console.set_status('Roll', 'Roll ---', row=2) mpstate.console.set_status('Pitch', 'Pitch ---', row=2) mpstate.console.set_status('Wind', 'Wind ---/---', row=2) mpstate.console.set_status('WP', 'WP --', row=3) mpstate.console.set_status('WPDist', 'Distance ---', row=3) mpstate.console.set_status('WPBearing', 'Bearing ---', row=3) mpstate.console.set_status('AltError', 'AltError --', row=3) mpstate.console.set_status('AspdError', 'AspdError --', row=3) mpstate.console.set_status('FlightTime', 'FlightTime --', row=3) mpstate.console.set_status('ETR', 'ETR --', row=3) mpstate.console.set_status('Params', 'Param ---/---', row=3) mpstate.console.set_status('Mission', 'Mission --/--', row=3) self.console_settings = mp_settings.MPSettings([ ('debug_level', int, 0), ]) self.vehicle_list = [] self.vehicle_heartbeats = {} # map from (sysid,compid) tuple to most recent HEARTBEAT nessage self.vehicle_menu = None self.vehicle_name_by_sysid = {} self.component_name = {} self.last_param_sysid_timestamp = None self.flight_information = {} # create the main menu if mp_util.has_wxpython: self.menu = MPMenuTop([]) self.add_menu(MPMenuSubMenu('MAVProxy', items=[MPMenuItem('Settings', 'Settings', 'menuSettings'), MPMenuItem('Show Map', 'Load Map', '# module load map'), MPMenuItem('Show HUD', 'Load HUD', '# module load horizon'), MPMenuItem('Show Checklist', 'Load Checklist', '# module load checklist')])) self.vehicle_menu = MPMenuSubMenu('Vehicle', items=[]) self.add_menu(self.vehicle_menu) self.shown_agl = False def cmd_console(self, args): usage = 'usage: console ' if len(args) < 1: print(usage) return cmd = args[0] if cmd == 'add': if len(args) < 4: print("usage: console add ID FORMAT EXPRESSION ") return if len(args) > 4: row = int(args[4]) else: row = 4 self.user_added[args[1]] = DisplayItem(args[2], args[3], row) self.console.set_status(args[1], "", row=row) elif cmd == 'list': for k in sorted(self.user_added.keys()): d = self.user_added[k] print("%s : FMT=%s EXPR=%s ROW=%u" % (k, d.format, d.expression, d.row)) elif cmd == 'remove': if len(args) < 2: print("usage: console remove ID") return id = args[1] if id in self.user_added: self.user_added.pop(id) elif cmd == 'menu': self.cmd_menu(args[1:]) elif cmd == 'set': self.cmd_set(args[1:]) else: print(usage) def add_menu(self, menu): '''add a new menu''' self.menu.add(menu) self.mpstate.console.set_menu(self.menu, self.menu_callback) def cmd_menu_add(self, args): '''add to console menus''' if len(args) < 2: print("Usage: console menu add MenuPath command") return menupath = args[0].strip('"').split(':') name = menupath[-1] cmd = '# ' + ' '.join(args[1:]) self.menu.add_to_submenu(menupath[:-1], MPMenuItem(name, name, cmd)) self.mpstate.console.set_menu(self.menu, self.menu_callback) def cmd_menu(self, args): '''control console menus''' if len(args) < 2: print("Usage: console menu ") return if args[0] == 'add': self.cmd_menu_add(args[1:]) def cmd_set(self, args): '''set console options''' self.console_settings.command(args) def remove_menu(self, menu): '''add a new menu''' self.menu.remove(menu) self.mpstate.console.set_menu(self.menu, self.menu_callback) def unload(self): '''unload module''' self.mpstate.console.close() self.mpstate.console = textconsole.SimpleConsole() def menu_callback(self, m): '''called on menu selection''' if m.returnkey.startswith('# '): cmd = m.returnkey[2:] if m.handler is not None: if m.handler_result is None: return cmd += m.handler_result self.mpstate.functions.process_stdin(cmd) if m.returnkey == 'menuSettings': wxsettings.WXSettings(self.settings) def estimated_time_remaining(self, lat, lon, wpnum, speed): '''estimate time remaining in mission in seconds''' if self.module('wp') is None: return 0 idx = wpnum if wpnum >= self.module('wp').wploader.count(): return 0 distance = 0 done = set() while idx < self.module('wp').wploader.count(): if idx in done: break done.add(idx) w = self.module('wp').wploader.wp(idx) if w.command == mavutil.mavlink.MAV_CMD_DO_JUMP: idx = int(w.param1) continue idx += 1 if (w.x != 0 or w.y != 0) and w.command in [mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, mavutil.mavlink.MAV_CMD_NAV_LOITER_UNLIM, mavutil.mavlink.MAV_CMD_NAV_LOITER_TURNS, mavutil.mavlink.MAV_CMD_NAV_LOITER_TIME, mavutil.mavlink.MAV_CMD_NAV_LAND, mavutil.mavlink.MAV_CMD_NAV_TAKEOFF]: distance += mp_util.gps_distance(lat, lon, w.x, w.y) lat = w.x lon = w.y if w.command == mavutil.mavlink.MAV_CMD_NAV_LAND: break return distance / speed def vehicle_type_string(self, hb): '''return vehicle type string from a heartbeat''' if hb.type in [mavutil.mavlink.MAV_TYPE_FIXED_WING, mavutil.mavlink.MAV_TYPE_VTOL_DUOROTOR, mavutil.mavlink.MAV_TYPE_VTOL_QUADROTOR, mavutil.mavlink.MAV_TYPE_VTOL_TILTROTOR]: return 'Plane' if hb.type == mavutil.mavlink.MAV_TYPE_GROUND_ROVER: return 'Rover' if hb.type == mavutil.mavlink.MAV_TYPE_SURFACE_BOAT: return 'Boat' if hb.type == mavutil.mavlink.MAV_TYPE_SUBMARINE: return 'Sub' if hb.type in [mavutil.mavlink.MAV_TYPE_QUADROTOR, mavutil.mavlink.MAV_TYPE_COAXIAL, mavutil.mavlink.MAV_TYPE_HEXAROTOR, mavutil.mavlink.MAV_TYPE_OCTOROTOR, mavutil.mavlink.MAV_TYPE_TRICOPTER, mavutil.mavlink.MAV_TYPE_DODECAROTOR]: return "Copter" if hb.type == mavutil.mavlink.MAV_TYPE_HELICOPTER: return "Heli" if hb.type == mavutil.mavlink.MAV_TYPE_ANTENNA_TRACKER: return "Tracker" if hb.type == mavutil.mavlink.MAV_TYPE_AIRSHIP: return "Blimp" elif hb.type == mavutil.mavlink.MAV_TYPE_ADSB: return "ADSB" elif hb.type == mavutil.mavlink.MAV_TYPE_ODID: return "ODID" return "UNKNOWN(%u)" % hb.type def component_type_string(self, hb): # note that we rely on vehicle_type_string for basic vehicle types if hb.type == mavutil.mavlink.MAV_TYPE_GCS: return "GCS" elif hb.type == mavutil.mavlink.MAV_TYPE_GIMBAL: return "Gimbal" elif hb.type == mavutil.mavlink.MAV_TYPE_ONBOARD_CONTROLLER: return "CC" elif hb.type == mavutil.mavlink.MAV_TYPE_ADSB: return "ADSB" elif hb.type == mavutil.mavlink.MAV_TYPE_ODID: return "ODID" elif hb.type == mavutil.mavlink.MAV_TYPE_GENERIC: return "Generic" return self.vehicle_type_string(hb) def update_vehicle_menu(self): '''update menu for new vehicles''' self.vehicle_menu.items = [] for s in sorted(self.vehicle_list): clist = self.module('param').get_component_id_list(s) if len(clist) == 1: name = 'SysID %u: %s' % (s, self.vehicle_name_by_sysid[s]) self.vehicle_menu.items.append(MPMenuItem(name, name, '# vehicle %u' % s)) else: for c in sorted(clist): try: name = 'SysID %u[%u]: %s' % (s, c, self.component_name[s][c]) except KeyError as e: name = 'SysID %u[%u]: ?' % (s,c) self.vehicle_menu.items.append(MPMenuItem(name, name, '# vehicle %u:%u' % (s,c))) self.mpstate.console.set_menu(self.menu, self.menu_callback) def add_new_vehicle(self, hb): '''add a new vehicle''' if hb.type == mavutil.mavlink.MAV_TYPE_GCS: return sysid = hb.get_srcSystem() self.vehicle_list.append(sysid) self.vehicle_name_by_sysid[sysid] = self.vehicle_type_string(hb) self.update_vehicle_menu() def check_critical_error(self, msg): '''check for any error bits being set in SYS_STATUS''' sysid = msg.get_srcSystem() compid = msg.get_srcComponent() hb = self.vehicle_heartbeats.get((sysid, compid), None) if hb is None: return # only ArduPilot populates the fields with internal error stuff: if hb.autopilot != mavutil.mavlink.MAV_AUTOPILOT_ARDUPILOTMEGA: return errors = msg.errors_count1 | (msg.errors_count2<<16) if errors == 0: return now = time.time() if now - self.last_sys_status_errors_announce > self.mpstate.settings.sys_status_error_warn_interval: self.last_sys_status_errors_announce = now self.say("Critical failure 0x%x sysid=%u compid=%u" % (errors, sysid, compid)) def set_component_name(self, sysid, compid, name): if sysid not in self.component_name: self.component_name[sysid] = {} if compid not in self.component_name[sysid]: self.component_name[sysid][compid] = name self.update_vehicle_menu() # this method is called when a HEARTBEAT arrives from any source: def handle_heartbeat_anysource(self, msg): sysid = msg.get_srcSystem() compid = msg.get_srcComponent() type = msg.get_type() if type == 'HEARTBEAT': self.vehicle_heartbeats[(sysid, compid)] = msg if not sysid in self.vehicle_list: self.add_new_vehicle(msg) self.set_component_name(sysid, compid, self.component_type_string(msg)) # this method is called when a GIMBAL_DEVICE_INFORMATION arrives # from any source: def handle_gimbal_device_information_anysource(self, msg): sysid = msg.get_srcSystem() compid = msg.get_srcComponent() self.set_component_name(sysid, compid, "%s-%s" % (msg.vendor_name, msg.model_name)) def handle_radio_status(self, msg): # handle RADIO msgs from all vehicles if msg.rssi < msg.noise+10 or msg.remrssi < msg.remnoise+10: fg = 'red' else: fg = 'black' self.console.set_status('Radio', 'Radio %u/%u %u/%u' % (msg.rssi, msg.noise, msg.remrssi, msg.remnoise), fg=fg) def handle_gps_raw(self, msg): master = self.master type = msg.get_type() if type == 'GPS_RAW_INT': field = 'GPS' prefix = 'GPS:' else: field = 'GPS2' prefix = 'GPS2' nsats = msg.satellites_visible fix_type = msg.fix_type if fix_type >= 3: self.console.set_status(field, '%s OK%s (%u)' % (prefix, fix_type, nsats), fg=green) else: self.console.set_status(field, '%s %u (%u)' % (prefix, fix_type, nsats), fg='red') if type == 'GPS_RAW_INT': vfr_hud_heading = master.field('VFR_HUD', 'heading', None) if vfr_hud_heading is None: # try to fill it in from GLOBAL_POSITION_INT instead: vfr_hud_heading = master.field('GLOBAL_POSITION_INT', 'hdg', None) if vfr_hud_heading is not None: if vfr_hud_heading == 65535: # mavlink magic "unknown" value vfr_hud_heading = None else: vfr_hud_heading /= 100 gps_heading = int(msg.cog * 0.01) if vfr_hud_heading is None: vfr_hud_heading = '---' else: vfr_hud_heading = '%3u' % vfr_hud_heading self.console.set_status('Heading', 'Hdg %s/%3u' % (vfr_hud_heading, gps_heading)) def handle_vfr_hud(self, msg): master = self.master if master.mavlink10(): alt = master.field('GPS_RAW_INT', 'alt', 0) / 1.0e3 else: alt = master.field('GPS_RAW', 'alt', 0) home_lat = None home_lng = None if self.module('wp') is not None: home = self.module('wp').get_home() if home is not None: home_lat = home.x home_lng = home.y lat = master.field('GLOBAL_POSITION_INT', 'lat', 0) * 1.0e-7 lng = master.field('GLOBAL_POSITION_INT', 'lon', 0) * 1.0e-7 rel_alt = master.field('GLOBAL_POSITION_INT', 'relative_alt', 0) * 1.0e-3 agl_alt = None if self.module('terrain') is not None: elevation_model = self.module('terrain').ElevationModel if self.settings.basealt != 0: agl_alt = elevation_model.GetElevation(lat, lng) if agl_alt is not None: agl_alt = self.settings.basealt - agl_alt else: try: agl_alt_home = elevation_model.GetElevation(home_lat, home_lng) except Exception as ex: print(ex) agl_alt_home = None if agl_alt_home is not None: agl_alt = elevation_model.GetElevation(lat, lng) if agl_alt is not None: agl_alt = agl_alt_home - agl_alt vehicle_agl = master.field('TERRAIN_REPORT', 'current_height', None) if agl_alt is not None or vehicle_agl is not None or self.shown_agl: self.shown_agl = True if agl_alt is not None: agl_alt += rel_alt agl_alt = self.height_string(agl_alt) else: agl_alt = "---" if vehicle_agl is None: vehicle_agl = '---' else: vehicle_agl = self.height_string(vehicle_agl) self.console.set_status('AGL', 'AGL %s/%s' % (agl_alt, vehicle_agl)) self.console.set_status('Alt', 'Alt %s' % self.height_string(rel_alt)) self.console.set_status('AirSpeed', 'AirSpeed %s' % self.speed_string(msg.airspeed)) self.console.set_status('GPSSpeed', 'GPSSpeed %s' % self.speed_string(msg.groundspeed)) self.console.set_status('Thr', 'Thr %u' % msg.throttle) sysid = msg.get_srcSystem() if (sysid not in self.flight_information or self.flight_information[sysid].supported != True): self.update_flight_time_from_vfr_hud(msg) def update_flight_time_from_vfr_hud(self, msg): t = time.localtime(msg._timestamp) flying = False if self.mpstate.vehicle_type == 'copter': flying = self.master.motors_armed() else: flying = msg.groundspeed > 3 if flying and not self.in_air: self.in_air = True self.start_time = time.mktime(t) elif flying and self.in_air: self.total_time = time.mktime(t) - self.start_time self.console.set_status('FlightTime', 'FlightTime %u:%02u' % (int(self.total_time)/60, int(self.total_time)%60)) elif not flying and self.in_air: self.in_air = False self.total_time = time.mktime(t) - self.start_time self.console.set_status('FlightTime', 'FlightTime %u:%02u' % (int(self.total_time)/60, int(self.total_time)%60)) def handle_attitude(self, msg): self.console.set_status('Roll', 'Roll %u' % math.degrees(msg.roll)) self.console.set_status('Pitch', 'Pitch %u' % math.degrees(msg.pitch)) def handle_sys_status(self, msg): master = self.master sensors = { 'AS' : mavutil.mavlink.MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE, 'MAG' : mavutil.mavlink.MAV_SYS_STATUS_SENSOR_3D_MAG, 'INS' : mavutil.mavlink.MAV_SYS_STATUS_SENSOR_3D_ACCEL | mavutil.mavlink.MAV_SYS_STATUS_SENSOR_3D_GYRO, 'AHRS' : mavutil.mavlink.MAV_SYS_STATUS_AHRS, 'RC' : mavutil.mavlink.MAV_SYS_STATUS_SENSOR_RC_RECEIVER, 'TERR' : mavutil.mavlink.MAV_SYS_STATUS_TERRAIN, 'RNG' : mavutil.mavlink.MAV_SYS_STATUS_SENSOR_LASER_POSITION, 'LOG' : mavutil.mavlink.MAV_SYS_STATUS_LOGGING, 'PRX' : mavutil.mavlink.MAV_SYS_STATUS_SENSOR_PROXIMITY, 'PRE' : mavutil.mavlink.MAV_SYS_STATUS_PREARM_CHECK, 'FLO' : mavutil.mavlink.MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW, } hide_if_not_present = set(['PRE', 'PRX', 'FLO']) for s in sensors.keys(): bits = sensors[s] present = ((msg.onboard_control_sensors_present & bits) == bits) enabled = ((msg.onboard_control_sensors_enabled & bits) == bits) healthy = ((msg.onboard_control_sensors_health & bits) == bits) if not present and s in hide_if_not_present: continue if not present: fg = 'black' elif not enabled: fg = 'grey' elif not healthy: fg = 'red' else: fg = green # for terrain show yellow if still loading if s == 'TERR' and fg == green and master.field('TERRAIN_REPORT', 'pending', 0) != 0: fg = 'yellow' self.console.set_status(s, s, fg=fg) announce_unhealthy = { 'RC': 'RC', 'PRE': 'pre-arm', } for s in announce_unhealthy.keys(): bits = sensors[s] enabled = ((msg.onboard_control_sensors_enabled & bits) == bits) healthy = ((msg.onboard_control_sensors_health & bits) == bits) was_healthy = ((self.last_sys_status_health & bits) == bits) if enabled and not healthy and was_healthy: self.say("%s fail" % announce_unhealthy[s]) announce_healthy = { 'PRE': 'pre-arm', } for s in announce_healthy.keys(): bits = sensors[s] enabled = ((msg.onboard_control_sensors_enabled & bits) == bits) healthy = ((msg.onboard_control_sensors_health & bits) == bits) was_healthy = ((self.last_sys_status_health & bits) == bits) if enabled and healthy and not was_healthy: self.say("%s good" % announce_healthy[s]) self.last_sys_status_health = msg.onboard_control_sensors_health if ((msg.onboard_control_sensors_enabled & mavutil.mavlink.MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS) == 0): self.safety_on = True else: self.safety_on = False def handle_wind(self, msg): self.console.set_status('Wind', 'Wind %u/%s' % (msg.direction, self.speed_string(msg.speed))) def handle_ekf_status_report(self, msg): highest = 0.0 vars = ['velocity_variance', 'pos_horiz_variance', 'pos_vert_variance', 'compass_variance', 'terrain_alt_variance'] for var in vars: v = getattr(msg, var, 0) highest = max(v, highest) if highest >= 1.0: fg = 'red' elif highest >= 0.5: fg = 'orange' else: fg = green self.console.set_status('EKF', 'EKF', fg=fg) def handle_power_status(self, msg): if msg.Vcc >= 4600 and msg.Vcc <= 5300: fg = green else: fg = 'red' self.console.set_status('Vcc', 'Vcc %.2f' % (msg.Vcc * 0.001), fg=fg) if msg.flags & mavutil.mavlink.MAV_POWER_STATUS_CHANGED: fg = 'red' else: fg = green status = 'PWR:' if msg.flags & mavutil.mavlink.MAV_POWER_STATUS_USB_CONNECTED: status += 'U' if msg.flags & mavutil.mavlink.MAV_POWER_STATUS_BRICK_VALID: status += 'B' if msg.flags & mavutil.mavlink.MAV_POWER_STATUS_SERVO_VALID: status += 'S' if msg.flags & mavutil.mavlink.MAV_POWER_STATUS_PERIPH_OVERCURRENT: status += 'O1' if msg.flags & mavutil.mavlink.MAV_POWER_STATUS_PERIPH_HIPOWER_OVERCURRENT: status += 'O2' self.console.set_status('PWR', status, fg=fg) self.console.set_status('Srv', 'Srv %.2f' % (msg.Vservo*0.001), fg=green) # this method is called on receipt of any HEARTBEAT so long as it # comes from the device we are interested in def handle_heartbeat(self, msg): sysid = msg.get_srcSystem() compid = msg.get_srcComponent() master = self.master fmode = master.flightmode if self.settings.vehicle_name: fmode = self.settings.vehicle_name + ':' + fmode self.console.set_status('Mode', '%s' % fmode, fg='blue') if len(self.vehicle_list) > 1: self.console.set_status('SysID', 'Sys:%u' % sysid, fg='blue') if self.master.motors_armed(): arm_colour = green else: arm_colour = 'red' armstring = 'ARM' # add safety switch state if self.safety_on: armstring += '(SAFE)' self.console.set_status('ARM', armstring, fg=arm_colour) if self.max_link_num != len(self.mpstate.mav_master): for i in range(self.max_link_num): self.console.set_status('Link%u'%(i+1), '', row=1) self.max_link_num = len(self.mpstate.mav_master) for m in self.mpstate.mav_master: if self.mpstate.settings.checkdelay: highest_msec_key = (sysid, compid) linkdelay = (self.mpstate.status.highest_msec.get(highest_msec_key, 0) - m.highest_msec.get(highest_msec_key,0))*1.0e-3 else: linkdelay = 0 linkline = "Link %s " % (self.link_label(m)) fg = 'dark green' if m.linkerror: linkline += "down" fg = 'red' else: packets_rcvd_percentage = 100 if (m.mav_count+m.mav_loss) != 0: #avoid divide-by-zero packets_rcvd_percentage = (100.0 * m.mav_count) / (m.mav_count + m.mav_loss) linkbits = ["%u pkts" % m.mav_count, "%u lost" % m.mav_loss, "%.2fs delay" % linkdelay, ] try: if m.mav.signing.sig_count: # other end is sending us signed packets if not m.mav.signing.secret_key: # we've received signed packets but # can't verify them fg = 'orange' linkbits.append("!KEY") elif not m.mav.signing.sign_outgoing: # we've received signed packets but aren't # signing outselves; this can lead to hairloss fg = 'orange' linkbits.append("!SIGNING") if m.mav.signing.badsig_count: fg = 'orange' linkbits.append("%u badsigs" % m.mav.signing.badsig_count) except AttributeError as e: # mav.signing.sig_count probably doesn't exist pass linkline += "OK {rcv_pct:.1f}% ({bits})".format( rcv_pct=packets_rcvd_percentage, bits=", ".join(linkbits)) if linkdelay > 1 and fg == 'dark green': fg = 'orange' self.console.set_status('Link%u'%m.linknum, linkline, row=1, fg=fg) def handle_mission_current(self, msg): master = self.master if self.module('wp') is not None: wpmax = self.module('wp').wploader.count() else: wpmax = 0 if wpmax > 0: wpmax = "/%u" % wpmax else: wpmax = "" self.console.set_status('WP', 'WP %u%s' % (msg.seq, wpmax)) lat = master.field('GLOBAL_POSITION_INT', 'lat', 0) * 1.0e-7 lng = master.field('GLOBAL_POSITION_INT', 'lon', 0) * 1.0e-7 if lat != 0 and lng != 0: airspeed = master.field('VFR_HUD', 'airspeed', 30) if abs(airspeed - self.speed) > 5: self.speed = airspeed else: self.speed = 0.98*self.speed + 0.02*airspeed self.speed = max(1, self.speed) time_remaining = int(self.estimated_time_remaining(lat, lng, msg.seq, self.speed)) self.console.set_status('ETR', 'ETR %u:%02u' % (time_remaining/60, time_remaining%60)) def handle_nav_controller_output(self, msg): self.console.set_status('WPDist', 'Distance %s' % self.dist_string(msg.wp_dist)) self.console.set_status('WPBearing', 'Bearing %u' % msg.target_bearing) if msg.alt_error > 0: alt_error_sign = "(L)" else: alt_error_sign = "(H)" if msg.aspd_error > 0: aspd_error_sign = "(L)" else: aspd_error_sign = "(H)" if math.isnan(msg.alt_error): alt_error = "NaN" else: alt_error = "%s%s" % (self.height_string(msg.alt_error), alt_error_sign) self.console.set_status('AltError', 'AltError %s' % alt_error) self.console.set_status('AspdError', 'AspdError %s%s' % (self.speed_string(msg.aspd_error*0.01), aspd_error_sign)) def handle_param_value(self, msg): rec, tot = self.module('param').param_status() self.console.set_status('Params', 'Param %u/%u' % (rec,tot)) def handle_high_latency2(self, msg): self.console.set_status('WPDist', 'Distance %s' % self.dist_string(msg.target_distance * 10)) # The -180 here for for consistency with NAV_CONTROLLER_OUTPUT (-180->180), whereas HIGH_LATENCY2 is (0->360) self.console.set_status('WPBearing', 'Bearing %u' % ((msg.target_heading * 2) - 180)) alt_error = "%s%s" % (self.height_string(msg.target_altitude - msg.altitude), "(L)" if (msg.target_altitude - msg.altitude) > 0 else "(L)") self.console.set_status('AltError', 'AltError %s' % alt_error) self.console.set_status('AspdError', 'AspdError %s%s' % (self.speed_string((msg.airspeed_sp - msg.airspeed)/5), "(L)" if (msg.airspeed_sp - msg.airspeed) > 0 else "(L)")) # The -180 here for for consistency with WIND (-180->180), whereas HIGH_LATENCY2 is (0->360) self.console.set_status('Wind', 'Wind %u/%s' % ((msg.wind_heading * 2) - 180, self.speed_string(msg.windspeed / 5))) self.console.set_status('Alt', 'Alt %s' % self.height_string(msg.altitude - self.module('terrain').ElevationModel.GetElevation(msg.latitude / 1E7, msg.longitude / 1E7))) self.console.set_status('AirSpeed', 'AirSpeed %s' % self.speed_string(msg.airspeed / 5)) self.console.set_status('GPSSpeed', 'GPSSpeed %s' % self.speed_string(msg.groundspeed / 5)) self.console.set_status('Thr', 'Thr %u' % msg.throttle) self.console.set_status('Heading', 'Hdg %s/---' % (msg.heading * 2)) self.console.set_status('WP', 'WP %u/--' % (msg.wp_num)) #re-map sensors sensors = { 'AS' : mavutil.mavlink.HL_FAILURE_FLAG_DIFFERENTIAL_PRESSURE, 'MAG' : mavutil.mavlink.HL_FAILURE_FLAG_3D_MAG, 'INS' : mavutil.mavlink.HL_FAILURE_FLAG_3D_ACCEL | mavutil.mavlink.HL_FAILURE_FLAG_3D_GYRO, 'AHRS' : mavutil.mavlink.HL_FAILURE_FLAG_ESTIMATOR, 'RC' : mavutil.mavlink.HL_FAILURE_FLAG_RC_RECEIVER, 'TERR' : mavutil.mavlink.HL_FAILURE_FLAG_TERRAIN } for s in sensors.keys(): bits = sensors[s] failed = ((msg.failure_flags & bits) == bits) if failed: fg = 'red' else: fg = green self.console.set_status(s, s, fg=fg) # do the remaining non-standard system mappings fence_failed = ((msg.failure_flags & mavutil.mavlink.HL_FAILURE_FLAG_GEOFENCE) == mavutil.mavlink.HL_FAILURE_FLAG_GEOFENCE) if fence_failed: fg = 'red' else: fg = green self.console.set_status('Fence', 'FEN', fg=fg) gps_failed = ((msg.failure_flags & mavutil.mavlink.HL_FAILURE_FLAG_GPS) == mavutil.mavlink.HL_FAILURE_FLAG_GPS) if gps_failed: self.console.set_status('GPS', 'GPS FAILED', fg='red') else: self.console.set_status('GPS', 'GPS OK', fg=green) batt_failed = ((msg.failure_flags & mavutil.mavlink.HL_FAILURE_FLAG_GPS) == mavutil.mavlink.HL_FAILURE_FLAG_BATTERY) if batt_failed: self.console.set_status('PWR', 'PWR FAILED', fg='red') else: self.console.set_status('PWR', 'PWR OK', fg=green) def handle_flight_information(self, msg): sysid = msg.get_srcSystem() if sysid not in self.flight_information: self.flight_information[sysid] = ConsoleModule.FlightInformation(sysid) self.flight_information[sysid].last_seen = time.time() # NOTE! the takeoff_time_utc field is misnamed in the XML! if msg.takeoff_time_utc == 0: # 0 is "landed", so don't update so we preserve the last # flight tiem in the display return total_time = (msg.time_boot_ms - msg.takeoff_time_utc*0.001) * 0.001 self.console.set_status('FlightTime', 'FlightTime %u:%02u' % (int(total_time)/60, int(total_time)%60)) def handle_command_ack(self, msg): sysid = msg.get_srcSystem() if msg.command != mavutil.mavlink.MAV_CMD_SET_MESSAGE_INTERVAL: return if sysid not in self.flight_information: return fi = self.flight_information[sysid] if msg.result == mavutil.mavlink.MAV_RESULT_ACCEPTED: fi.supported = True elif msg.result in [mavutil.mavlink.MAV_RESULT_DENIED, mavutil.mavlink.MAV_RESULT_FAILED]: fi.supported = False # update user-added console entries; called after a mavlink packet # is received: def update_user_added_keys(self, msg): type = msg.get_type() for id in self.user_added.keys(): if type in self.user_added[id].msg_types: d = self.user_added[id] try: val = mavutil.evaluate_expression(d.expression, self.master.messages) console_string = d.format % val except Exception as ex: console_string = "????" self.console.set_status(id, console_string, row = d.row) if self.console_settings.debug_level > 0: exc_type, exc_value, exc_traceback = sys.exc_info() if self.mpstate.settings.moddebug > 3: traceback.print_exception( exc_type, exc_value, exc_traceback, file=sys.stdout ) elif self.mpstate.settings.moddebug > 1: traceback.print_exception(exc_type, exc_value, exc_traceback, limit=2, file=sys.stdout) elif self.mpstate.settings.moddebug == 1: print(ex) print(f"{id} failed") self.console.set_status(id, console_string, row = d.row) def mavlink_packet(self, msg): '''handle an incoming mavlink packet''' if not isinstance(self.console, wxconsole.MessageConsole): return if not self.console.is_alive(): self.mpstate.console = textconsole.SimpleConsole() return type = msg.get_type() if type in frozenset(['HEARTBEAT', 'HIGH_LATENCY2']): self.handle_heartbeat_anysource(msg) elif type == 'GIMBAL_DEVICE_INFORMATION': self.handle_gimbal_device_information_anysource(msg) if self.last_param_sysid_timestamp != self.module('param').new_sysid_timestamp: '''a new component ID has appeared for parameters''' self.last_param_sysid_timestamp = self.module('param').new_sysid_timestamp self.update_vehicle_menu() if type in ['RADIO', 'RADIO_STATUS']: self.handle_radio_status(msg) if type == 'SYS_STATUS': self.check_critical_error(msg) if not self.message_is_from_primary_vehicle(msg): # don't process msgs from other than primary vehicle, other than # updating vehicle list return # add some status fields if type in [ 'GPS_RAW_INT', 'GPS2_RAW' ]: self.handle_gps_raw(msg) elif type == 'VFR_HUD': self.handle_vfr_hud(msg) elif type == 'ATTITUDE': self.handle_attitude(msg) elif type in ['SYS_STATUS']: self.handle_sys_status(msg) elif type == 'WIND': self.handle_wind(msg) elif type == 'EKF_STATUS_REPORT': self.handle_ekf_status_report(msg) elif type == 'POWER_STATUS': self.handle_power_status(msg) elif type in ['HEARTBEAT', 'HIGH_LATENCY2']: self.handle_heartbeat(msg) elif type in ['MISSION_CURRENT']: self.handle_mission_current(msg) elif type == 'NAV_CONTROLLER_OUTPUT': self.handle_nav_controller_output(msg) elif type == 'PARAM_VALUE': self.handle_param_value(msg) # note that we also process this as a HEARTBEAT message above! if type == 'HIGH_LATENCY2': self.handle_high_latency2(msg) elif type == 'FLIGHT_INFORMATION': self.handle_flight_information(msg) elif type == 'COMMAND_ACK': self.handle_command_ack(msg) self.update_user_added_keys(msg) # we've received a packet from the vehicle; probe for # FLIGHT_INFORMATION support: self.probe_for_flight_information(msg.get_srcSystem(), msg.get_srcComponent()) class FlightInformation(): def __init__(self, sysid): self.sysid = sysid self.supported = None # don't know self.last_seen = None # last time we saw FLIGHT_INFORMATION self.last_set_message_interval_sent = None # last time we sent set-interval def probe_for_flight_information(self, sysid, compid): '''if we don't know if this vehicle supports flight information, request it''' if sysid not in self.flight_information: self.flight_information[sysid] = ConsoleModule.FlightInformation(sysid) fi = self.flight_information[sysid] now = time.time() if fi.supported is not False and (fi.last_seen is None or now - fi.last_seen > 10): # if we stop getting FLIGHT_INFORMATION, re-request it: fi.supported = None if fi.supported is True or fi.supported is False: # we know one way or the other return # only probe once every 10 seconds if (fi.last_set_message_interval_sent is not None and now - fi.last_set_message_interval_sent < 10): return fi.last_set_message_interval_sent = now self.master.mav.command_long_send( sysid, compid, mavutil.mavlink.MAV_CMD_SET_MESSAGE_INTERVAL, 0, # confirmation mavutil.mavlink.MAVLINK_MSG_ID_FLIGHT_INFORMATION, # msg id 500000, # interval - 2Hz 0, # p3 0, # p4 0, # p5 0, # p6 0) # p7 def idle_task(self): now = time.time() if self.last_unload_check_time + self.unload_check_interval < now: self.last_unload_check_time = now if not self.console.is_alive(): self.needs_unloading = True def init(mpstate): '''initialise module''' return ConsoleModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_dataflash_logger.py000066400000000000000000000337741504324515000242570ustar00rootroot00000000000000#!/usr/bin/env python3 from __future__ import print_function ''' DataFlash Logging Module June 2015 ArduPilot supports transmission of DataFlash logs over MavLink. This module pokes the UAV to start sending logs, and stores them in a local directory. The relevant code in the ArduPilot code base can be found in libraries/DataFlash/DataFlash_MAVLink.* ''' import os import os.path from pymavlink import mavutil import errno import sys from MAVProxy.modules.lib import mp_module import time from MAVProxy.modules.lib import mp_settings class dataflash_logger(mp_module.MPModule): def __init__(self, mpstate): """Initialise module. We start poking the UAV for messages after this is called""" super(dataflash_logger, self).__init__( mpstate, "dataflash_logger", "logging of mavlink dataflash messages" ) self.sender = None self.stopped = False self.time_last_start_packet_sent = 0 self.time_last_stop_packet_sent = 0 self.dataflash_dir = self._dataflash_dir(mpstate) self.download = 0 self.prev_download = 0 self.last_status_time = time.time() self.last_seqno = 0 self.missing_blocks = {} self.acking_blocks = {} self.blocks_to_ack_and_nack = [] self.missing_found = 0 self.abandoned = 0 self.dropped = 0 self.armed = False self.log_settings = mp_settings.MPSettings( [('verbose', bool, False), ('rotate_on_disarm', bool, False), ('df_target_system', int, 0), ('df_target_component', int, mavutil.mavlink.MAV_COMP_ID_LOG)] ) self.add_command('dataflash_logger', self.cmd_dataflash_logger, "dataflash logging control", ['status', 'start', 'stop', 'rotate', 'set (LOGSETTING)']) self.add_completion_function('(LOGSETTING)', self.log_settings.completion) def usage(self): '''show help on a command line options''' return "Usage: dataflash_logger " def cmd_dataflash_logger(self, args): '''control behaviour of the module''' if len(args) == 0: print(self.usage()) elif args[0] == "status": print(self.status()) elif args[0] == "stop": self.sender = None self.stopped = True elif args[0] == "start": self.stopped = False elif args[0] == "set": self.log_settings.command(args[1:]) elif args[0] == "rotate": self.rotate_log() else: print(self.usage()) def _dataflash_dir(self, mpstate): '''returns directory path to store DF logs in. May be relative''' return mpstate.status.logdir def new_log_filepath(self): '''returns a filepath to a log which does not currently exist and is suitable for DF logging''' ll_filepath = os.path.join(self.dataflash_dir, 'LASTLOG.TXT') if (os.path.exists(ll_filepath) and os.stat(ll_filepath).st_size != 0): fh = open(ll_filepath, 'rb') log_cnt = int(fh.read()) + 1 fh.close() else: log_cnt = 1 self.lastlog_file = open(ll_filepath, 'w+b') if sys.version_info[0] >= 3: self.lastlog_file.write(str.encode(log_cnt.__str__())) else: self.lastlog_file.write(log_cnt.__str__()) self.lastlog_file.close() return os.path.join(self.dataflash_dir, '%u.BIN' % (log_cnt,)) def start_new_log(self): '''open a new dataflash log, reset state''' filename = self.new_log_filepath() self.last_seqno = 0 self.logfile = open(filename, 'w+b') print("DFLogger: logging started (%s)" % (filename)) self.prev_cnt = 0 self.download = 0 self.prev_download = 0 self.last_idle_status_printed_time = time.time() self.last_status_time = time.time() self.missing_blocks = {} self.acking_blocks = {} self.blocks_to_ack_and_nack = [] self.missing_found = 0 self.abandoned = 0 self.dropped = 0 def status(self): '''returns information about module''' if self.download is None: return "Not started" transferred = self.download - self.prev_download self.prev_download = self.download now = time.time() interval = now - self.last_status_time self.last_status_time = now return("DFLogger: %(state)s Rate(%(interval)ds):%(rate).3fkB/s " "Block:%(block_cnt)d Missing:%(missing)d Fixed:%(fixed)d " "Abandoned:%(abandoned)d" % {"interval": interval, "rate": transferred/(interval*1000), "block_cnt": self.last_seqno, "missing": len(self.missing_blocks), "fixed": self.missing_found, "abandoned": self.abandoned, "state": "Inactive" if self.stopped else "Active"}) def idle_print_status(self): '''print out statistics every 10 seconds from idle loop''' now = time.time() if (now - self.last_idle_status_printed_time) >= 10: print(self.status()) self.last_idle_status_printed_time = now def idle_send_acks_and_nacks(self): '''Send packets to UAV in idle loop''' max_blocks_to_send = 10 blocks_sent = 0 i = 0 now = time.time() while (i < len(self.blocks_to_ack_and_nack) and blocks_sent < max_blocks_to_send): # print("ACKLIST: %s" % # ([x[1] for x in self.blocks_to_ack_and_nack],)) stuff = self.blocks_to_ack_and_nack[i] [master, block, status, first_sent, last_sent] = stuff if status == 1: # print("DFLogger: ACKing block (%d)" % (block,)) mavstatus = mavutil.mavlink.MAV_REMOTE_LOG_DATA_BLOCK_ACK (target_sys, target_comp) = self.sender self.master.mav.remote_log_block_status_send(target_sys, target_comp, block, mavstatus) blocks_sent += 1 del self.acking_blocks[block] del self.blocks_to_ack_and_nack[i] continue if block not in self.missing_blocks: # we've received this block now del self.blocks_to_ack_and_nack[i] continue # give up on packet if we have seen one with a much higher # number (or after 60 seconds): if (self.last_seqno - block > 200) or (now - first_sent > 60): if self.log_settings.verbose: print("DFLogger: Abandoning block (%d)" % (block,)) del self.blocks_to_ack_and_nack[i] del self.missing_blocks[block] self.abandoned += 1 continue i += 1 # only send each nack every-so-often: if last_sent is not None: if now - last_sent < 0.1: continue if self.log_settings.verbose: print("DFLogger: Asking for block (%d)" % (block,)) mavstatus = mavutil.mavlink.MAV_REMOTE_LOG_DATA_BLOCK_NACK (target_sys, target_comp) = self.sender self.master.mav.remote_log_block_status_send(target_sys, target_comp, block, mavstatus) blocks_sent += 1 stuff[4] = now def idle_task_started(self): '''called in idle task only when logging is started''' isarmed = self.master.motors_armed() if self.armed != isarmed: self.armed = isarmed if not self.armed and self.log_settings.rotate_on_disarm: self.rotate_log() if self.log_settings.verbose: self.idle_print_status() self.idle_send_acks_and_nacks() def idle_task_not_started(self): '''called in idle task only when logging is not running''' if not self.stopped: self.tell_sender_to_start() def idle_task(self): '''called rapidly by mavproxy''' if self.sender is not None: self.idle_task_started() else: self.idle_task_not_started() def tell_sender_to_stop(self, m): '''send a stop packet (if we haven't sent one in the last second)''' now = time.time() if now - self.time_last_stop_packet_sent < 1: return if self.log_settings.verbose: print("DFLogger: Sending stop packet") self.time_last_stop_packet_sent = now self.master.mav.remote_log_block_status_send( m.get_srcSystem(), m.get_srcComponent(), mavutil.mavlink.MAV_REMOTE_LOG_DATA_BLOCK_STOP, 1) def tell_sender_to_start(self): '''send a start packet (if we haven't sent one in the last second)''' now = time.time() if now - self.time_last_start_packet_sent < 1: return self.time_last_start_packet_sent = now if self.log_settings.verbose: print("DFLogger: Sending start packet") target_sys = self.log_settings.df_target_system target_comp = self.log_settings.df_target_component self.master.mav.remote_log_block_status_send( target_sys, target_comp, mavutil.mavlink.MAV_REMOTE_LOG_DATA_BLOCK_START, 1) def rotate_log(self): '''send a start packet and rotate log''' now = time.time() self.time_last_start_packet_sent = now if self.log_settings.verbose: print("DFLogger: rotating") target_sys = self.log_settings.df_target_system target_comp = self.log_settings.df_target_component for i in range(3): # send 3 stop packets self.master.mav.remote_log_block_status_send( target_sys, target_comp, mavutil.mavlink.MAV_REMOTE_LOG_DATA_BLOCK_STOP, 1) self.master.mav.remote_log_block_status_send( target_sys, target_comp, mavutil.mavlink.MAV_REMOTE_LOG_DATA_BLOCK_START, 1) self.start_new_log() def packet_is_for_me(self, m): '''returns true if this packet is appropriately addressed''' if m.target_system != self.master.mav.srcSystem: return False if m.target_component != self.master.mav.srcComponent: return False # if have a sender we can also check the source address: if self.sender is not None: if (m.get_srcSystem(), m.get_srcComponent()) != self.sender: return False return True def do_ack_block(self, seqno): if seqno in self.acking_blocks: # already acking this one; we probably sent # multiple nacks and received this one # multiple times return now = time.time() # ACK the block we just got: self.blocks_to_ack_and_nack.append([self.master, seqno, 1, now, None]) self.acking_blocks[seqno] = 1 # NACK any blocks we haven't seen and should have: if(seqno - self.last_seqno > 1): for block in range(self.last_seqno+1, seqno): if block not in self.missing_blocks and \ block not in self.acking_blocks: self.missing_blocks[block] = 1 if self.log_settings.verbose: print("DFLogger: setting %d for nacking" % (block,)) self.blocks_to_ack_and_nack.append( [self.master, block, 0, now, None] ) # print("\nmissed blocks: ",self.missing_blocks) def mavlink_packet(self, m): '''handle mavlink packets''' if m.get_type() == 'REMOTE_LOG_DATA_BLOCK': if not self.packet_is_for_me(m): self.dropped += 1 return if self.sender is None and m.seqno == 0: if self.log_settings.verbose: print("DFLogger: Received data packet - starting new log") self.start_new_log() self.sender = (m.get_srcSystem(), m.get_srcComponent()) if self.sender is None: # No connection right now, and this packet did not start one return if self.stopped: # send a stop packet @1Hz until the other end gets the idea: self.tell_sender_to_stop(m) return if self.sender is not None: size = len(m.data) data = bytearray(m.data[:size]) ofs = size*(m.seqno) self.logfile.seek(ofs) self.logfile.write(data) if m.seqno in self.missing_blocks: if self.log_settings.verbose: print("DFLogger: Got missing block: %d" % (m.seqno,)) del self.missing_blocks[m.seqno] self.missing_found += 1 self.blocks_to_ack_and_nack.append( [self.master, m.seqno, 1, time.time(), None] ) self.acking_blocks[m.seqno] = 1 # print("DFLogger: missing: %s" % # (str(self.missing_blocks),)) else: self.do_ack_block(m.seqno) if self.last_seqno < m.seqno: self.last_seqno = m.seqno self.download += size def init(mpstate): '''initialise module''' return dataflash_logger(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_devop.py000066400000000000000000000125331504324515000220740ustar00rootroot00000000000000#!/usr/bin/env python3 '''remote low level device operations''' import time, os, sys from pymavlink import mavutil from MAVProxy.modules.lib import mp_module class DeviceOpModule(mp_module.MPModule): def __init__(self, mpstate): super(DeviceOpModule, self).__init__(mpstate, "DeviceOp") self.add_command('devop', self.cmd_devop, "device operations", [" "]) self.request_id = 1 self.failure_strings = { 1: "No such bus type", 2: "No such bus/device", 3: "Sempahore-take failure", 4: "transfer failed", } def cmd_devop(self, args): '''device operations''' usage = "Usage: devop name bus address" if len(args) < 5: print(usage) return if args[1] == 'spi': bustype = mavutil.mavlink.DEVICE_OP_BUSTYPE_SPI elif args[1] == 'i2c': bustype = mavutil.mavlink.DEVICE_OP_BUSTYPE_I2C else: print(usage) if args[0] == 'read': self.devop_read(args[2:], bustype) elif args[0] == 'write': self.devop_write(args[2:], bustype) else: print(usage) def devop_read(self, args, bustype): '''read from device''' if len(args) < 5: print("Usage: devop read name bus address regstart count") return name = args[0] bus = int(args[1],base=0) address = int(args[2],base=0) reg = int(args[3],base=0) count = int(args[4],base=0) if sys.version_info.major >= 3: name = bytearray(name, 'ascii') self.master.mav.device_op_read_send(self.target_system, self.target_component, self.request_id, bustype, bus, address, name, reg, count) self.request_id += 1 def devop_write(self, args, bustype): '''write to a device''' usage = "Usage: devop write name bus address regstart count " if len(args) < 5: print(usage) return name = args[0] bus = int(args[1],base=0) address = int(args[2],base=0) reg = int(args[3],base=0) count = int(args[4],base=0) args = args[5:] if len(args) < count: print(usage) return bytes = [0]*128 for i in range(count): bytes[i] = int(args[i],base=0) if sys.version_info.major >= 3: name = bytearray(name, 'ascii') self.master.mav.device_op_write_send(self.target_system, self.target_component, self.request_id, bustype, bus, address, name, reg, count, bytes) self.request_id += 1 def read_show_reply(self, m): # header sys.stdout.write(" ") for i in range(16): sys.stdout.write("%3x" % i) print("") sys.stdout.write("%4x: " % (m.regstart-m.regstart%16,)) # leading no-data-read: for i in range(m.regstart%16): sys.stdout.write("-- ") for i in range(m.count): reg = i + m.regstart sys.stdout.write("%02x " % (m.data[i])) if (reg+1) % 16 == 0 and i != m.count-1: print("") sys.stdout.write("%4x: " % ((reg+1)-(reg+1)%16,)) # trailing no-data-read if (m.regstart+m.count) % 16 != 0: if m.count < 16 and m.regstart % 16 != 0 and (m.regstart%16+m.count) <16: # front of line is padded count = 16 - m.regstart%16 - m.count else: count = 16 - (m.regstart+m.count)%16 for i in range(0,count): sys.stdout.write("-- ") print("") def mavlink_packet(self, m): '''handle a mavlink packet''' mtype = m.get_type() if mtype == "DEVICE_OP_READ_REPLY": if m.result != 0: print("Operation %u failed: %u (%s)" % (m.request_id, m.result, self.failure_strings.get(m.result, '????'))) else: print("Operation %u OK: %u bytes" % (m.request_id, m.count)) self.read_show_reply(m) if mtype == "DEVICE_OP_WRITE_REPLY": if m.result != 0: print("Operation %u failed: %u (%s)" % (m.request_id, m.result, self.failure_strings.get(m.result, '????'))) else: print("Operation %u OK" % m.request_id) def init(mpstate): '''initialise module''' return DeviceOpModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_emuecu.py000066400000000000000000000030461504324515000222410ustar00rootroot00000000000000""" control EMU ECU system """ import time from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_settings class EMUECUModule(mp_module.MPModule): def __init__(self, mpstate): super(EMUECUModule, self).__init__(mpstate, "emuecu", "emuecu", public=False) self.emuecu_settings = mp_settings.MPSettings( [('port', int, 102)]) self.add_command('emu', self.cmd_emu, 'EMUECU control', ["", "set (EMUECUSETTING)"]) self.add_completion_function('(EMUECUSETTING)', self.emuecu_settings.completion) def mavlink_packet(self, msg): '''handle an incoming mavlink packet''' if msg.get_type() == 'SERIAL_CONTROL': print(msg) def cmd_emu(self, args): '''emu command handling''' if len(args) <= 0: print("Usage: emu ") return if args[0] == "send": self.cmd_send(args[1:]) elif args[0] == "set": self.emuecu_settings.command(args[1:]) def cmd_send(self, args): '''send command''' cmd = ' '.join(args) + '\n' buf = [ord(x) for x in cmd] buf.extend([0]*(70-len(buf))) mav = self.master.mav mav.serial_control_send(self.emuecu_settings.port, 0, 0, 0, len(cmd), buf) def init(mpstate): '''initialise module''' return EMUECUModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_example.py000066400000000000000000000061561504324515000224160ustar00rootroot00000000000000#!/usr/bin/env python3 ''' Example Module Peter Barker, September 2016 This module simply serves as a starting point for your own MAVProxy module. 1. copy this module sidewise (e.g. "cp mavproxy_example.py mavproxy_coolfeature.py" 2. replace all instances of "example" with whatever your module should be called (e.g. "coolfeature") 3. trim (or comment) out any functionality you do not need ''' import os import os.path import sys from pymavlink import mavutil import errno import time from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import mp_settings class example(mp_module.MPModule): def __init__(self, mpstate): """Initialise module""" super(example, self).__init__(mpstate, "example", "") self.status_callcount = 0 self.boredom_interval = 10 # seconds self.last_bored = time.time() self.packets_mytarget = 0 self.packets_othertarget = 0 self.example_settings = mp_settings.MPSettings( [ ('verbose', bool, False), ]) self.add_command('example', self.cmd_example, "example module", ['status','set (LOGSETTING)']) def usage(self): '''show help on command line options''' return "Usage: example " def cmd_example(self, args): '''control behaviour of the module''' if len(args) == 0: print(self.usage()) elif args[0] == "status": print(self.status()) elif args[0] == "set": self.example_settings.command(args[1:]) else: print(self.usage()) def status(self): '''returns information about module''' self.status_callcount += 1 self.last_bored = time.time() # status entertains us return("status called %(status_callcount)d times. My target positions=%(packets_mytarget)u Other target positions=%(packets_mytarget)u" % {"status_callcount": self.status_callcount, "packets_mytarget": self.packets_mytarget, "packets_othertarget": self.packets_othertarget, }) def boredom_message(self): if self.example_settings.verbose: return ("I'm very bored") return ("I'm bored") def idle_task(self): '''called rapidly by mavproxy''' now = time.time() if now-self.last_bored > self.boredom_interval: self.last_bored = now message = self.boredom_message() self.say("%s: %s" % (self.name,message)) # See if whatever we're connected to would like to play: self.master.mav.statustext_send(mavutil.mavlink.MAV_SEVERITY_NOTICE, message) def mavlink_packet(self, m): '''handle mavlink packets''' if m.get_type() == 'GLOBAL_POSITION_INT': if self.settings.target_system == 0 or self.settings.target_system == m.get_srcSystem(): self.packets_mytarget += 1 else: self.packets_othertarget += 1 def init(mpstate): '''initialise module''' return example(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_fakegps.py000066400000000000000000000104571504324515000224020ustar00rootroot00000000000000#!/usr/bin/env python3 '''fake GPS input using GPS_INPUT packet''' import time from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_settings from MAVProxy.modules.lib import mp_util if mp_util.has_wxpython: from MAVProxy.modules.lib.mp_menu import * class FakeGPSModule(mp_module.MPModule): def __init__(self, mpstate): super(FakeGPSModule, self).__init__(mpstate, "fakegps", public = True) self.last_send = time.time() self.FakeGPS_settings = mp_settings.MPSettings([("nsats", int, 16), ("lat", float, -35.363261), ("lon", float, 149.165230), ("alt", float, 584.0), ("yaw", float, 0.0), ("rate", float, 5)]) self.add_command('fakegps', self.cmd_FakeGPS, "fakegps control", ["", "set (FAKEGPSSETTING)"]) self.add_completion_function('(FAKEGPSSETTING)', self.FakeGPS_settings.completion) if mp_util.has_wxpython: map = self.module('map') if map is not None: menu = MPMenuSubMenu('FakeGPS', items=[MPMenuItem('SetPos', 'SetPos', '# fakegps setpos'), MPMenuItem('SetPos (with alt)', 'SetPosAlt', '# fakegps setpos ', handler=MPMenuCallTextDialog(title='Altitude (m)', default=self.mpstate.settings.guidedalt))]) map.add_menu(menu) self.position = mp_util.mp_position() self.update_mpstate() def get_location(self): '''access to location for other modules''' return (self.FakeGPS_settings.lat, self.FakeGPS_settings.lon, self.FakeGPS_settings.alt) def cmd_FakeGPS(self, args): '''fakegps command parser''' usage = "usage: fakegps " if len(args) == 0: print(usage) return if args[0] == "set": self.FakeGPS_settings.command(args[1:]) elif args[0] == "setpos": self.cmd_setpos(args[1:]) else: print(usage) def update_mpstate(self): '''update mpstate position''' self.position.latitude = self.FakeGPS_settings.lat self.position.longitude = self.FakeGPS_settings.lon self.position.altitude = self.FakeGPS_settings.alt self.position.timestamp = time.time() self.mpstate.position = self.position def cmd_setpos(self, args): '''set pos from map''' latlon = self.mpstate.click_location if latlon is None: print("No map click position available") return (lat,lon) = latlon self.FakeGPS_settings.lat = lat self.FakeGPS_settings.lon = lon if len(args) > 0: self.FakeGPS_settings.alt = float(args[0]) self.update_mpstate() def idle_task(self): '''called on idle''' if self.master is None or self.FakeGPS_settings.rate <= 0: return now = time.time() if now - self.last_send < 1.0 / self.FakeGPS_settings.rate: return self.last_send = now gps_lat = self.FakeGPS_settings.lat gps_lon = self.FakeGPS_settings.lon gps_alt = self.FakeGPS_settings.alt gps_vel = [0, 0, 0] gps_week, gps_week_ms = mp_util.get_gps_time(now) time_us = int(now*1.0e6) nsats = self.FakeGPS_settings.nsats if nsats >= 6: fix_type = 3 else: fix_type = 1 self.master.mav.gps_input_send(time_us, 0, 0, gps_week_ms, gps_week, fix_type, int(gps_lat*1.0e7), int(gps_lon*1.0e7), gps_alt, 1.0, 1.0, gps_vel[0], gps_vel[1], gps_vel[2], 0.2, 1.0, 1.0, nsats, int(self.FakeGPS_settings.yaw*100)) def init(mpstate): '''initialise module''' return FakeGPSModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_fence.py000066400000000000000000000704131504324515000220400ustar00rootroot00000000000000""" MAVProxy geofence module AP_FLAKE8_CLEAN """ import copy import time from pymavlink import mavextra from pymavlink import mavutil from pymavlink import mavwp from MAVProxy.modules.lib import mission_item_protocol from MAVProxy.modules.lib import mp_util if mp_util.has_wxpython: from MAVProxy.modules.lib.mp_menu import MPMenuCallTextDialog from MAVProxy.modules.lib.mp_menu import MPMenuItem class FenceModule(mission_item_protocol.MissionItemProtocolModule): '''uses common MISSION_ITEM protocol base class to provide fence upload/download ''' def __init__(self, mpstate): super(FenceModule, self).__init__(mpstate, "fence", "fence point management (new)", public=True) self.present = False self.enabled = False self.healthy = True def gui_menu_items(self): ret = super(FenceModule, self).gui_menu_items() ret.extend([ MPMenuItem( 'Add Inclusion Circle', 'Add Inclusion Circle', '# fence addcircle inc ', handler=MPMenuCallTextDialog( title='Radius (m)', default=500 ) ), MPMenuItem( 'Add Exclusion Circle', 'Add Exclusion Circle', '# fence addcircle exc ', handler=MPMenuCallTextDialog( title='Radius (m)', default=500 ) ), MPMenuItem( 'Draw Inclusion Poly', 'Draw Inclusion Poly', '# fence draw inc ', ), MPMenuItem( 'Draw Exclusion Poly', 'Draw Exclusion Poly', '# fence draw exc ', ), MPMenuItem( 'Add Return Point', 'Add Return Point', '# fence addreturnpoint', ), ]) return ret def command_name(self): '''command-line command name''' return "fence" # def fence_point(self, i): # return self.wploader.fence_point(i) def count(self): '''return number of waypoints''' return self.wploader.count() def circles_of_type(self, t): '''return a list of Circle fences of a specific type - a single MISSION_ITEM''' ret = [] loader = self.wploader for i in range(0, loader.count()): p = loader.item(i) if p is None: print("Bad loader item (%u)" % i) return [] if p.command != t: continue ret.append(p) return ret def inclusion_circles(self): '''return a list of Circle inclusion fences - a single MISSION_ITEM each''' return self.circles_of_type(mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION) def exclusion_circles(self): '''return a list of Circle exclusion fences - a single MISSION_ITEM each''' return self.circles_of_type(mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION) def polygons_of_type(self, t): '''return a list of polygon fences of a specific type - each a list of items''' ret = [] loader = self.wploader state_outside = 99 state_inside = 98 current_polygon = [] current_expected_length = 0 state = state_outside for i in range(0, loader.count()): p = loader.item(i) if p is None: print("Bad loader item (%u)" % i) return [] if p.command == t: # sanity checks: if p.param1 < 3: print("Bad vertex count (%u) in seq=%u" % (p.param1, p.seq)) continue if state == state_outside: # starting a new polygon state = state_inside current_expected_length = p.param1 current_polygon = [] current_polygon.append(p) continue if state == state_inside: # if the count is different and we're in state # inside then the current polygon is invalid. # Discard it. if p.param1 != current_expected_length: print("Short polygon found, discarding") current_expected_length = p.param1 current_polygon = [] current_polygon.append(p) continue current_polygon.append(p) if len(current_polygon) == current_expected_length: ret.append(current_polygon) state = state_outside continue print("Unknown state (%s)" % str(state)) else: if state == state_inside: if len(current_polygon) != current_expected_length: print("Short polygon found") else: ret.append(current_polygon) state = state_outside continue if state == state_outside: continue print("Unknown state (%s)" % str(state)) return ret def inclusion_polygons(self): '''return a list of polygon inclusion fences - each a list of items''' return self.polygons_of_type(mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION) def exclusion_polygons(self): '''return a list of polygon exclusion fences - each a list of items''' return self.polygons_of_type(mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION) def returnpoint(self): '''return a return point if one exists''' loader = self.wploader for i in range(0, loader.count()): p = loader.item(i) if p is None: print("Bad loader item (%u)" % i) return [] if p.command != mavutil.mavlink.MAV_CMD_NAV_FENCE_RETURN_POINT: continue return p return None def mission_ftp_name(self): return "@MISSION/fence.dat" @staticmethod def loader_class(): return mavwp.MissionItemProtocol_Fence def mav_mission_type(self): return mavutil.mavlink.MAV_MISSION_TYPE_FENCE def itemstype(self): '''returns description of items in the plural''' return 'fence items' def itemtype(self): '''returns description of item''' return 'fence item' def handle_sys_status(self, m): '''function to handle SYS_STATUS packets, used by both old and new module''' bits = mavutil.mavlink.MAV_SYS_STATUS_GEOFENCE present = ((m.onboard_control_sensors_present & bits) == bits) if self.present is False and present is True: self.say("fence present") elif self.present is True and present is False: self.say("fence removed") self.present = present enabled = ((m.onboard_control_sensors_enabled & bits) == bits) if self.enabled is False and enabled is True: self.say("fence enabled") elif self.enabled is True and enabled is False: self.say("fence disabled") self.enabled = enabled healthy = ((m.onboard_control_sensors_health & bits) == bits) if self.healthy is False and healthy is True: self.say("fence OK") elif self.healthy is True and healthy is False: self.say("fence breach") self.healthy = healthy # console output for fence: if not self.present: self.console.set_status('Fence', 'FEN', row=0, fg='black') elif self.enabled is False: self.console.set_status('Fence', 'FEN', row=0, fg='grey') elif self.enabled is True and self.healthy is True: self.console.set_status('Fence', 'FEN', row=0, fg='green') elif self.enabled is True and self.healthy is False: self.console.set_status('Fence', 'FEN', row=0, fg='red') def mavlink_packet(self, m): if m.get_type() == 'SYS_STATUS' and self.message_is_from_primary_vehicle(m): self.handle_sys_status(m) super(FenceModule, self).mavlink_packet(m) def apply_function_to_points(self, function): if not self.check_have_list(): return for i in range(self.wploader.count()): function(i, self.wploader.item(i)) def fence_draw_callback(self, points): '''callback from drawing a fence''' self.add_polyfence(self.drawing_fence_type, points) def add_polyfence(self, fence_type, points): if len(points) < 3: print("Too few points") return items = [] for p in points: m = mavutil.mavlink.MAVLink_mission_item_int_message( self.target_system, self.target_component, 0, # seq mavutil.mavlink.MAV_FRAME_GLOBAL, # frame fence_type, # command 0, # current 0, # autocontinue len(points), # param1, 0.0, # param2, 0.0, # param3 0.0, # param4 int(p[0]*1e7), # x (latitude) int(p[1]*1e7), # y (longitude) 0, # z (altitude) self.mav_mission_type(), ) items.append(m) self.append(items) self.push_to_vehicle() def push_to_vehicle(self): self.send_all_items() self.wploader.last_change = time.time() def cmd_draw(self, args): '''convenience / compatability / slow learner command to work like the old module - i.e. a single inclusion polyfence''' # TODO: emit this only if there actually are complex fences: if not self.check_have_list(): return if len(args) == 0: print("WARNING! You want 'fence draw inc' or 'fence draw exc'") return if args[0] in ("inc", "inclusion"): self.drawing_fence_type = mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION draw_colour = (128, 128, 255) elif args[0] in ("exc", "exclusion"): self.drawing_fence_type = mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION draw_colour = (255, 128, 128) else: print("fence draw ") return if 'draw_lines' not in self.mpstate.map_functions: print("No map drawing available") return self.mpstate.map_functions['draw_lines'](self.fence_draw_callback, colour=draw_colour) print("Drawing fence on map") def cmd_addcircle(self, args): '''adds a circle to the map click position of specific type/radius''' if not self.check_have_list(): return if len(args) < 2: print("Usage: fence setcircle inclusion|exclusion RADIUS") return t = args[0] radius = float(args[1]) latlon = self.mpstate.click_location if latlon is None: print("No click position available") return if t in ["inclusion", "inc"]: command = mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION elif t in ["exclusion", "exc"]: command = mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION else: print("%s is not one of inclusion|exclusion" % t) return m = mavutil.mavlink.MAVLink_mission_item_int_message( self.target_system, self.target_component, 0, # seq mavutil.mavlink.MAV_FRAME_GLOBAL, # frame command, # command 0, # current 0, # autocontinue radius, # param1, 0.0, # param2, 0.0, # param3 0.0, # param4 int(latlon[0] * 1e7), # x (latitude) int(latlon[1] * 1e7), # y (longitude) 0, # z (altitude) self.mav_mission_type(), ) self.append(m) self.send_all_items() def cmd_addreturnpoint(self, args): '''adds a returnpoint at the map click location''' if not self.check_have_list(): return latlon = self.mpstate.click_location m = mavutil.mavlink.MAVLink_mission_item_int_message( self.target_system, self.target_component, 0, # seq mavutil.mavlink.MAV_FRAME_GLOBAL, # frame mavutil.mavlink.MAV_CMD_NAV_FENCE_RETURN_POINT, # command 0, # current 0, # autocontinue 0, # param1, 0.0, # param2, 0.0, # param3 0.0, # param4 int(latlon[0] * 1e7), # x (latitude) int(latlon[1] * 1e7), # y (longitude) 0, # z (altitude) self.mav_mission_type(), ) self.append(m) self.send_all_items() def cmd_addpoly(self, args): '''adds a number of waypoints equally spaced around a circle around click point ''' if not self.check_have_list(): return if len(args) < 1: print("Need at least 1 argument (", "" "", "") return t = args[0] count = 4 radius = 20 rotation = 0 if len(args) > 1: radius = float(args[1]) if len(args) > 2: count = int(args[2]) if len(args) > 3: rotation = float(args[3]) if count < 3: print("Invalid count (%s)" % str(count)) return if radius <= 0: print("Invalid radius (%s)" % str(radius)) return latlon = self.mpstate.click_location if latlon is None: print("No map click position available") return if t in ["inclusion", "inc"]: command = mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION elif t in ["exclusion", "exc"]: command = mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION else: print("%s is not one of inclusion|exclusion" % t) return items = [] for i in range(0, count): (lat, lon) = mavextra.gps_newpos(latlon[0], latlon[1], 360/float(count)*i + rotation, radius) m = mavutil.mavlink.MAVLink_mission_item_int_message( self.target_system, self.target_component, 0, # seq mavutil.mavlink.MAV_FRAME_GLOBAL, # frame command, # command 0, # current 0, # autocontinue count, # param1, 0.0, # param2, 0.0, # param3 0.0, # param4 int(lat*1e7), # x (latitude) int(lon*1e7), # y (longitude) 0, # z (altitude) self.mav_mission_type(), ) items.append(m) for m in items: self.append(m) self.send_all_items() def cmd_remove(self, args): '''deny remove on fence - requires renumbering etc etc''' print("remove is not currently supported for fence. Try removepolygon_point or removecircle") if not self.check_have_list(): return def removereturnpoint(self, seq): '''remove returnpoint at offset seq''' if not self.check_have_list(): return item = self.wploader.item(seq) if item is None: print("No item %s" % str(seq)) return if item.command != mavutil.mavlink.MAV_CMD_NAV_FENCE_RETURN_POINT: print("Item %u is not a return point" % seq) return self.wploader.remove(item) self.wploader.expected_count -= 1 self.wploader.last_change = time.time() self.send_all_items() def cmd_setcircleradius(self, args): if len(args) < 1: print("fence setcircleradius INDEX RADIUS") return if len(args) < 2: # this one will use the click position: self.setcircleradius(int(args[0])) return self.setcircleradius(int(args[0]), radius=float(args[1])) def cmd_movecircle(self, args): self.movecircle(int(args[0])) def removecircle(self, seq): '''remove circle at offset seq''' if not self.check_have_list(): return item = self.wploader.item(seq) if item is None: print("No item %s" % str(seq)) return if not self.is_circle_item(item): print("Item %u is not a circle" % seq) return self.wploader.remove(item) self.wploader.expected_count -= 1 self.wploader.last_change = time.time() self.send_all_items() def movecircle(self, seq): '''moves circle at polygon_start_seqence to map click point ''' if not self.check_have_list(): return item = self.wploader.item(seq) if item is None: print("No item %s" % str(seq)) return if not self.is_circle_item(item): print("Item %u is not a circle" % seq) return latlon = self.mpstate.click_location if latlon is None: print("No map click position available") return moving_item = self.wploader.item(seq) moving_item.x = latlon[0] moving_item.y = latlon[1] if moving_item.get_type() == "MISSION_ITEM_INT": moving_item.x *= 1e7 moving_item.y *= 1e7 moving_item.x = int(moving_item.x) moving_item.y = int(moving_item.y) self.wploader.set(moving_item, moving_item.seq) self.wploader.last_change = time.time() self.send_single_waypoint(moving_item.seq) def setcircleradius(self, seq, radius=None): '''change radius of circle at seq to radius ''' if not self.check_have_list(): return item = self.wploader.item(seq) if item is None: print("No item %s" % str(seq)) return if not self.is_circle_item(item): print("Item %u is not a circle" % seq) return if radius is None: # calculate radius from clock position: latlon = self.mpstate.click_location if latlon is None: print("No click position available") return item_x = item.x item_y = item.y if item.get_type() == 'MISSION_ITEM_INT': item_x *= 1e-7 item_y *= 1e-7 radius = mavextra.distance_lat_lon(latlon[0], latlon[1], item_x, item_y) elif radius <= 0: print("radius must be positive") return changing_item = self.wploader.item(seq) changing_item.param1 = radius self.wploader.set(changing_item, changing_item.seq) self.wploader.last_change = time.time() self.send_single_waypoint(changing_item.seq) def is_circle_item(self, item): return item.command in [ mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION, mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION, ] def find_polygon_point(self, polygon_start_seq, item_offset): '''find polygon point selected on map returns first_item, item_offset ''' first_item = self.wploader.item(polygon_start_seq) if first_item is None: print("No item at %u" % polygon_start_seq) return None, None if not self.is_polygon_item(first_item): print("Item %u is not a polygon vertex" % polygon_start_seq) return None, None original_count = int(first_item.param1) if item_offset == original_count: # selecting closing point on polygon selects first point item_offset = 0 if item_offset > original_count: print("Out-of-range point") return None, None return first_item, item_offset def removepolygon_point(self, polygon_start_seq, item_offset): '''removes item at offset item_offset from the polygon starting at polygon_start_seq''' if not self.check_have_list(): return items_to_set = [] first_item, item_offset = self.find_polygon_point(polygon_start_seq, item_offset) if first_item is None: return original_count = int(first_item.param1) if original_count <= 3: print("Too few points to remove one") return dead_item_walking = self.wploader.item(polygon_start_seq + item_offset) # must reduce count in each of the polygons: for i in range(int(first_item.param1)): item = self.wploader.item(polygon_start_seq+i) if int(item.param1) != original_count: print("Invalid polygon starting at %u (count=%u), point %u (count=%u)" % (polygon_start_seq, original_count, i, int(item.param1))) return item.param1 = item.param1 - 1 items_to_set.append(item) for item in items_to_set: w = item self.wploader.set(w, w.seq) self.wploader.remove(dead_item_walking) self.wploader.expected_count -= 1 self.wploader.last_change = time.time() self.send_all_items() def addpolygon_point(self, polygon_start_seq, item_offset): '''adds item at offset item_offset into the polygon starting at polygon_start_seq''' if not self.check_have_list(): return items_to_set = [] first_item = self.wploader.item(polygon_start_seq) if (first_item.command not in [ mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION, mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION ]): print("Item %u is not a polygon vertex" % polygon_start_seq) return original_count = int(first_item.param1) if item_offset >= original_count: print("Out-of-range point") return # increase count in each of the polygon vertexes: for i in range(int(first_item.param1)): item = self.wploader.item(polygon_start_seq+i) if int(item.param1) != original_count: print("Invalid polygon starting at %u (count=%u), point %u (count=%u)" % (polygon_start_seq, original_count, i, int(item.param1))) return item.param1 = item.param1 + 1 items_to_set.append(item) for item in items_to_set: w = item self.wploader.set(w, w.seq) old_item = self.wploader.item(polygon_start_seq + item_offset) new_item = copy.copy(old_item) # reset latitude and longitude of new item to be half-way # between it and the preceeding point if item_offset == 0: prev_item_offset = original_count-1 else: prev_item_offset = item_offset - 1 prev_item = self.wploader.item(polygon_start_seq + prev_item_offset) new_item.x = (old_item.x + prev_item.x)/2 new_item.y = (old_item.y + prev_item.y)/2 self.wploader.insert(polygon_start_seq + item_offset, new_item) self.wploader.expected_count += 1 self.wploader.last_change = time.time() self.send_all_items() def is_polygon_item(self, item): return item.command in [ mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION, mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION, ] def cmd_removepolygon(self, args): self.removepolygon(int(args[0])) def removepolygon(self, seq): '''remove polygon at offset seq''' if not self.check_have_list(): return first_item = self.wploader.item(seq) if first_item is None: print("Invalid item sequence number (%s)" % seq) return if not self.is_polygon_item(first_item): print("Item %u is not a polygon vertex" % seq) return items_to_remove = [] for i in range(int(first_item.param1)): item = self.wploader.item(seq+i) if item is None: print("No item %s" % str(i)) return if item.param1 != first_item.param1: print("Invalid polygon starting at %u (count=%u), point %u (count=%u)" % (seq, int(first_item.param1), i, int(item.param1))) return if not self.is_polygon_item(item): print("Item %u point %u is not a polygon vertex" % (seq, i)) return items_to_remove.append(item) self.wploader.remove(items_to_remove) self.wploader.expected_count -= len(items_to_remove) self.wploader.last_change = time.time() self.send_all_items() def cmd_movepolypoint(self, args): '''moves item at offset item_offset in polygon starting at polygon_start_seqence to map click point''' if not self.check_have_list(): return if len(args) < 2: print("Need first polygon point and vertex offset") return polygon_start_seq = int(args[0]) item_offset = int(args[1]) first_item, item_offset = self.find_polygon_point(polygon_start_seq, item_offset) if first_item is None: return latlon = self.mpstate.click_location if latlon is None: print("No map click position available") return moving_item = self.wploader.item(polygon_start_seq + item_offset) moving_item.x = latlon[0] moving_item.y = latlon[1] if moving_item.get_type() == "MISSION_ITEM_INT": moving_item.x *= 1e7 moving_item.y *= 1e7 moving_item.x = int(moving_item.x) moving_item.y = int(moving_item.y) self.wploader.set(moving_item, moving_item.seq) self.wploader.last_change = time.time() self.send_single_waypoint(moving_item.seq) def set_fence_enabled(self, do_enable): '''Enable or disable fence''' self.master.mav.command_long_send( self.target_system, self.target_component, mavutil.mavlink.MAV_CMD_DO_FENCE_ENABLE, 0, do_enable, 0, 0, 0, 0, 0, 0) def cmd_enable(self, args): '''enable fence''' self.set_fence_enabled(1) def cmd_disable(self, args): '''disable fence''' self.set_fence_enabled(0) def commands(self): '''returns map from command name to handling function''' ret = super(FenceModule, self).commands() ret.update({ 'addcircle': (self.cmd_addcircle, ["", "RADIUS"]), 'movecircle': (self.cmd_movecircle, []), 'setcircleradius': (self.cmd_setcircleradius, ["seq radius"]), 'addpoly': (self.cmd_addpoly, ["", "" "", ""]), 'movepolypoint': (self.cmd_movepolypoint, ["POLY_FIRSTPOINT", "POINT_OFFSET"]), 'addreturnpoint': (self.cmd_addreturnpoint, []), 'enable': self.cmd_enable, 'disable': self.cmd_disable, 'draw': self.cmd_draw, 'removepolygon': (self.cmd_removepolygon, ["POLY_FIRSTPOINT"]), }) return ret def init(mpstate): '''initialise module''' # see if pymavlink is new enough to support new protocols: oldmodule = "fenceitem_protocol" try: mavwp.MissionItemProtocol_Fence except AttributeError: print("pymavlink too old; using old %s module" % oldmodule) mpstate.load_module(oldmodule) for (m, pm) in mpstate.modules: if m.name == "fence": return m return None return FenceModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_fenceitem_protocol.py000066400000000000000000000331771504324515000246460ustar00rootroot00000000000000""" MAVProxy geofence module """ import os, time, platform from pymavlink import mavwp, mavutil from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import mp_module if mp_util.has_wxpython: from MAVProxy.modules.lib.mp_menu import * class FenceModule(mp_module.MPModule): def __init__(self, mpstate): super(FenceModule, self).__init__(mpstate, "fence", "geo-fence management", public = True) self.fenceloader_by_sysid = {} self.last_fence_breach = 0 self.last_fence_status = 0 self.sysid = 0 self.compid = 0 self.present = False self.enabled = False self.healthy = True self.add_command('fence', self.cmd_fence, "fence item protocol geo-fence management", ["", " (FILENAME)"]) self.have_list = False if self.continue_mode and self.logdir is not None: fencetxt = os.path.join(self.logdir, 'fence.txt') if os.path.exists(fencetxt): self.fenceloader.load(fencetxt) self.have_list = True print("Loaded fence from %s" % fencetxt) self.menu_added_console = False self.menu_added_map = False if mp_util.has_wxpython: self.menu = MPMenuSubMenu('Fence', items=[MPMenuItem('Clear', 'Clear', '# fence clear'), MPMenuItem('List', 'List', '# fence list'), MPMenuItem('Load', 'Load', '# fence load ', handler=MPMenuCallFileDialog(flags=('open',), title='Fence Load', wildcard='FenceFiles(*.txt,*.fen)|*.txt;*.fen')), MPMenuItem('Save', 'Save', '# fence save ', handler=MPMenuCallFileDialog(flags=('save', 'overwrite_prompt'), title='Fence Save', wildcard='FenceFiles(*.txt,*.fen)|*.txt;*.fen')), MPMenuItem('Draw', 'Draw', '# fence draw')]) @property def fenceloader(self): '''fence loader by sysid''' if not self.target_system in self.fenceloader_by_sysid: self.fenceloader_by_sysid[self.target_system] = mavwp.MAVFenceLoader() return self.fenceloader_by_sysid[self.target_system] def idle_task(self): '''called on idle''' if self.module('console') is not None: if not self.menu_added_console: self.menu_added_console = True self.module('console').add_menu(self.menu) else: self.menu_added_console = False if self.module('map') is not None: if not self.menu_added_map: self.menu_added_map = True self.module('map').add_menu(self.menu) else: self.menu_added_map = False def mavlink_packet(self, m): '''handle and incoming mavlink packet''' if self.sysid != 0 and (self.sysid != m.get_srcSystem() or self.compid != m.get_srcComponent()): # ignore messages from other components we haven't locked on to return if m.get_type() == "FENCE_STATUS": self.last_fence_breach = m.breach_time self.last_fence_status = m.breach_status self.compid = m.get_srcComponent() self.sysid = m.get_srcSystem() elif m.get_type() in ['SYS_STATUS']: bits = mavutil.mavlink.MAV_SYS_STATUS_GEOFENCE present = ((m.onboard_control_sensors_present & bits) == bits) if self.present == False and present == True: self.say("fence present") self.compid = m.get_srcComponent() self.sysid = m.get_srcSystem() elif self.present == True and present == False: self.say("fence removed") self.present = present enabled = ((m.onboard_control_sensors_enabled & bits) == bits) if self.enabled == False and enabled == True: self.say("fence enabled") self.compid = m.get_srcComponent() self.sysid = m.get_srcSystem() elif self.enabled == True and enabled == False: self.say("fence disabled") self.enabled = enabled healthy = ((m.onboard_control_sensors_health & bits) == bits) if self.healthy == False and healthy == True: self.say("fence OK") elif self.healthy == True and healthy == False: self.say("fence breach") self.healthy = healthy #console output for fence: if not self.present: self.console.set_status('Fence', 'FEN', row=0, fg='black') elif self.enabled == False: self.console.set_status('Fence', 'FEN', row=0, fg='grey') elif self.enabled == True and self.healthy == True: self.console.set_status('Fence', 'FEN', row=0, fg='green') elif self.enabled == True and self.healthy == False: self.console.set_status('Fence', 'FEN', row=0, fg='red') def set_fence_enabled(self, do_enable): '''Enable or disable fence''' self.master.mav.command_long_send( self.target_system, self.target_component, mavutil.mavlink.MAV_CMD_DO_FENCE_ENABLE, 0, do_enable, 0, 0, 0, 0, 0, 0) def cmd_fence_move(self, args): '''handle fencepoint move''' if len(args) < 1: print("Usage: fence move FENCEPOINTNUM") return if not self.have_list: print("Please list fence points first") return idx = int(args[0]) if idx <= 0 or idx > self.fenceloader.count(): print("Invalid fence point number %u" % idx) return latlon = self.mpstate.click_location if latlon is None: print("No map click position available") return # note we don't subtract 1, as first fence point is the return point self.fenceloader.move(idx, latlon[0], latlon[1]) if self.send_fence(): print("Moved fence point %u" % idx) def cmd_fence_remove(self, args): '''handle fencepoint remove''' if len(args) < 1: print("Usage: fence remove FENCEPOINTNUM") return if not self.have_list: print("Please list fence points first") return idx = int(args[0]) if idx <= 0 or idx > self.fenceloader.count(): print("Invalid fence point number %u" % idx) return # note we don't subtract 1, as first fence point is the return point self.fenceloader.remove(idx) if self.send_fence(): print("Removed fence point %u" % idx) else: print("Failed to remove fence point %u" % idx) def cmd_fence(self, args): '''fence commands''' if len(args) < 1: self.print_usage() return if args[0] == "enable": self.set_fence_enabled(1) elif args[0] == "disable": self.set_fence_enabled(0) elif args[0] == "load": if len(args) != 2: print("usage: fence load ") return self.load_fence(args[1]) elif args[0] == "list": self.list_fence(None) elif args[0] == "move": self.cmd_fence_move(args[1:]) elif args[0] == "remove": self.cmd_fence_remove(args[1:]) elif args[0] == "save": if len(args) != 2: print("usage: fence save ") return self.list_fence(args[1]) elif args[0] == "show": if len(args) != 2: print("usage: fence show ") return self.fenceloader.load(args[1]) self.have_list = True elif args[0] == "draw": if not 'draw_lines' in self.mpstate.map_functions: print("No map drawing available") return self.mpstate.map_functions['draw_lines'](self.fence_draw_callback) print("Drawing fence on map") elif args[0] == "clear": self.param_set('FENCE_TOTAL', 0, 3) else: self.print_usage() def load_fence(self, filename): '''load fence points from a file''' try: self.fenceloader.target_system = self.target_system self.fenceloader.target_component = self.target_component self.fenceloader.load(filename.strip('"')) except Exception as msg: print("Unable to load %s - %s" % (filename, msg)) return print("Loaded %u geo-fence points from %s" % (self.fenceloader.count(), filename)) self.send_fence() def send_fence(self): '''send fence points from fenceloader''' # must disable geo-fencing when loading self.fenceloader.target_system = self.target_system self.fenceloader.target_component = self.target_component self.fenceloader.reindex() action = self.get_mav_param('FENCE_ACTION', mavutil.mavlink.FENCE_ACTION_NONE) self.param_set('FENCE_ACTION', mavutil.mavlink.FENCE_ACTION_NONE, 3) self.param_set('FENCE_TOTAL', self.fenceloader.count(), 3) for i in range(self.fenceloader.count()): p = self.fenceloader.point(i) self.master.mav.send(p) p2 = self.fetch_fence_point(i) if p2 is None: self.param_set('FENCE_ACTION', action, 3) return False if (p.idx != p2.idx or abs(p.lat - p2.lat) >= 0.00003 or abs(p.lng - p2.lng) >= 0.00003): print("Failed to send fence point %u" % i) self.param_set('FENCE_ACTION', action, 3) return False self.param_set('FENCE_ACTION', action, 3) return True def fetch_fence_point(self ,i): '''fetch one fence point''' self.master.mav.fence_fetch_point_send(self.target_system, self.target_component, i) tstart = time.time() p = None while time.time() - tstart < 3: p = self.master.recv_match(type='FENCE_POINT', blocking=False) if p is not None: break time.sleep(0.1) continue if p is None: self.console.error("Failed to fetch point %u" % i) return None return p def fence_draw_callback(self, points): '''callback from drawing a fence''' self.fenceloader.clear() if len(points) < 3: return self.fenceloader.target_system = self.target_system self.fenceloader.target_component = self.target_component bounds = mp_util.polygon_bounds(points) (lat, lon, width, height) = bounds center = (lat+width/2, lon+height/2) self.fenceloader.add_latlon(center[0], center[1]) for p in points: self.fenceloader.add_latlon(p[0], p[1]) # close it self.fenceloader.add_latlon(points[0][0], points[0][1]) self.send_fence() self.have_list = True def list_fence(self, filename): '''list fence points, optionally saving to a file''' self.fenceloader.clear() count = self.get_mav_param('FENCE_TOTAL', 0) if count == 0: print("No geo-fence points") return for i in range(int(count)): for t in range(6): p = self.fetch_fence_point(i) if p is None: print("retrying %u" % i) continue break self.fenceloader.add(p) if filename is not None: try: self.fenceloader.save(filename.strip('"')) except Exception as msg: print("Unable to save %s - %s" % (filename, msg)) return print("Saved %u geo-fence points to %s" % (self.fenceloader.count(), filename)) else: for i in range(self.fenceloader.count()): p = self.fenceloader.point(i) self.console.writeln("lat=%f lng=%f" % (p.lat, p.lng)) if self.status.logdir is not None: fname = 'fence.txt' if self.target_system > 1: fname = 'fence_%u.txt' % self.target_system fencetxt = os.path.join(self.status.logdir, fname) self.fenceloader.save(fencetxt.strip('"')) print("Saved fence to %s" % fencetxt) self.have_list = True def print_usage(self): print("usage: fence ") def unload(self): self.remove_command("fence") if self.module('console') is not None and self.menu_added_console: self.menu_added_console = False self.module('console').remove_menu(self.menu) if self.module('map') is not None and self.menu_added_map: self.menu_added_map = False self.module('map').remove_menu(self.menu) super(FenceModule, self).unload() def init(mpstate): '''initialise module''' return FenceModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_fieldcheck/000077500000000000000000000000001504324515000224625ustar00rootroot00000000000000MAVProxy-1.8.74/MAVProxy/modules/mavproxy_fieldcheck/__init__.py000077500000000000000000000465361504324515000246140ustar00rootroot00000000000000#!/usr/bin/env python3 ''' CMAC mission control Peter Barker based on CUAV mission control Andrew Tridgell TODO: - ensure parameters are correct - add check that battery is within tolerances (chemistry issues...) - autodetect numcells being incorrect AP_FLAKE8_CLEAN ''' import math import os import time from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib.mp_settings import MPSettings from MAVProxy.modules.lib.mp_settings import MPSetting from pymavlink import mavutil from MAVProxy.modules.lib import mp_util import pkg_resources if mp_util.has_wxpython: from MAVProxy.modules.lib.mp_menu import MPMenuItem from MAVProxy.modules.lib.mp_menu import MPMenuSubMenu class FieldCheck(object): def __init__(self): self.is_armed = False self.last_fence_fetch = 0 self.last_mission_fetch = 0 self.last_rally_fetch = 0 self.done_heartbeat_check = 0 # an altitude should always be within a few metres of when disarmed: self.disarmed_alt = 584 self.rate_period = mavutil.periodic_event(1.0/15) self.done_map_menu = False def close_to(self, loc1): ret = self.get_distance(loc1, self.location) print("Distance to %s: %um" % (self.lc_name, ret)) return ret < 100 # swiped from ArduPilot's common.py: def get_distance(self, loc1, loc2): """Get ground distance between two locations.""" dlat = loc2.lat - loc1.lat try: dlong = loc2.lng - loc1.lng except AttributeError: dlong = loc2.lon - loc1.lon return math.sqrt((dlat*dlat) + (dlong*dlong)) * 1.113195e5 def flightdata_filepath(self, filename): if os.path.exists(filename): return filename return pkg_resources.resource_filename(__name__, filename) def loadRally(self): filepath = self.flightdata_filepath(self.fc_settings.rally_filename) rallymod = self.module('rally') rallymod.cmd_load([filepath]) def loadFoamyFence(self): filepath = self.flightdata_filepath(self.fc_settings.fence_filename) fencemod = self.module('fence') fencemod.cmd_load([filepath]) def loadFoamyMission(self, filename): filepath = self.flightdata_filepath(filename) wpmod = self.module('wp') wpmod.cmd_load([filepath]) def loadFoamyMissionCW(self): self.loadFoamyMission(self.fc_settings.mission_filename_cw) def loadFoamyMissionCCW(self): self.loadFoamyMission(self.fc_settings.mission_filename_ccw) def fixMissionRallyFence(self): self.loadFoamyMissionCW() self.loadFoamyFence() self.loadRally() def fixEVERYTHING(self): self.loadFoamyMissionCW() self.loadFoamyFence() self.loadRally() self.check_parameters(fix=True) def whinge(self, message): self.console.writeln("FC:%s %s" % (self.lc_name, message,)) def check_parameters(self, fix=False): '''check key parameters''' want_values = { "FENCE_ENABLE": 1, "FENCE_ACTION": 1, # 4 is break-or-land on Copter! "FENCE_ALT_MAX": self.fc_settings.param_fence_maxalt, "THR_FAILSAFE": 1, "FS_SHORT_ACTN": 0, "FS_LONG_ACTN": 1, } if self.vehicle_type == mavutil.mavlink.MAV_TYPE_FIXED_WING: want_values["FENCE_ACTION"] = 1 # RTL want_values["RTL_AUTOLAND"] = 2 # go directly to landing sequence elif self.vehicle_type == mavutil.mavlink.MAV_TYPE_QUADROTOR: want_values["FENCE_ACTION"] = 4 # Brake or RTL ret = True for key in want_values.keys(): want = want_values[key] got = self.mav_param.get(key, None) if got is None: self.whinge("No param %s" % key) ret = False if got != want: self.whinge('%s should be %f (not %s)' % (key, want, got)) ret = False if fix: self.whinge('Setting %s to %f' % (key, want)) self.mav_param.mavset(self.master, key, want, retries=3) # ensure there is a fence enable/disable switch configured: required_options = { 11: "Fence Enable/Disable", } for required_option in required_options.keys(): found = False for chan in range(1, 17): rc_option_param_name = f"RC{chan}_OPTION" got = self.mav_param.get(rc_option_param_name, None) if got == required_option: found = True break if not found: self.whinge("RC channel option %u (%s) must be configured" % (required_option, required_options[required_option])) ret = False return ret def check_fence_location(self): fencemod = self.module('fence') if fencemod is None: self.whinge("Fence module not loaded") return False if not fencemod.check_have_list(): if self.is_armed: return False now = time.time() if now - self.last_fence_fetch > 10: self.last_fence_fetch = now self.whinge("Running 'fence list'") fencemod.cmd_list(None) return False global fencepoints_good global count fencepoints_good = True count = 0 def fencepoint_checker(offset, p): global fencepoints_good global count if isinstance(p, mavutil.mavlink.MAVLink_mission_item_message): lat = p.x lng = p.y elif isinstance(p, mavutil.mavlink.MAVLink_mission_item_int_message): lat = p.x * 1e-7 lng = p.y * 1e-7 else: raise TypeError(f"What's a {type(p)}?") loc = mavutil.location(lat, lng) dist = self.get_distance(self.location, loc) if dist > self.fc_settings.fence_maxdist: if fencepoints_good: self.whinge("Fencepoint %i too far away (%fm)" % (offset, dist)) fencepoints_good = False count += 1 fencemod.apply_function_to_points(fencepoint_checker) min_fence_points = 5 if count < min_fence_points: self.whinge(f"Too few fence points; {count} < {min_fence_points}") return False return fencepoints_good def check_rally(self): rallymod = self.module('rally') if rallymod is None: self.whinge("No rally module") return False if not rallymod.check_have_list(): self.whinge("No rally list") if self.is_armed: return False now = time.time() if now - self.last_rally_fetch > 10: self.last_rally_fetch = now self.whinge("Running 'rally list'") rallymod.cmd_list([]) return False count = rallymod.rally_count() if count < 1: self.whinge("Too few rally points") return False rtl_loiter_radius = self.mav_param.get("RTL_RADIUS", None) if rtl_loiter_radius is None or rtl_loiter_radius == 0: rtl_loiter_radius = self.mav_param.get("WP_LOITER_RAD") if rtl_loiter_radius is None: self.whinge("No RTL loiter radius available") return False ret = True for i in range(count): r = rallymod.rally_point(i) loc = mavutil.location(r.lat/10000000.0, r.lng/10000000.0) dist = self.get_distance(self.location, loc) if dist > self.fc_settings.rally_maxdist: self.whinge("Rally Point %i too far away (%fm)" % (i, dist)) ret = False # ensure we won't loiter over the runway when doing # rally loitering: # print("dist=%f rtl_loiter_radius=%f", dist, rtl_loiter_radius) if dist < rtl_loiter_radius+30: # add a few metres of slop self.whinge("Rally Point %i too close (%fm)" % (i, dist)) ret = False return ret def check_fence_health(self): try: sys_status = self.master.messages['SYS_STATUS'] except Exception: return False bits = mavutil.mavlink.MAV_SYS_STATUS_GEOFENCE present = ((sys_status.onboard_control_sensors_present & bits) == bits) enabled = ((sys_status.onboard_control_sensors_enabled & bits) == bits) healthy = ((sys_status.onboard_control_sensors_health & bits) == bits) if not present or not enabled: self.console.writeln('Fence should be enabled', fg='blue') return False if not healthy: self.console.writeln('Fence unhealthy', fg='blue') return False return True def check_fence(self): ret = True if not self.check_fence_health(): ret = False if not self.check_fence_location(): ret = False return ret def check_altitude(self): if self.is_armed: return True try: gpi = self.master.messages['GLOBAL_POSITION_INT'] except Exception: return False max_delta = 10 current_alt = gpi.alt / 1000 if abs(current_alt - self.disarmed_alt) > max_delta: self.whinge("Altitude (%f) not within %fm of %fm" % (current_alt, max_delta, self.disarmed_alt)) return False return True def check_mission(self): wpmod = self.module('wp') if wpmod is None: self.whinge("No waypoint module") return False count = wpmod.wploader.count() if count == 0: self.whinge("No waypoints") if self.is_armed: return False now = time.time() if now - self.last_mission_fetch > 10: self.whinge("Requesting waypoints") self.last_mission_fetch = now wpmod.wp_op = "list" wpmod.master.waypoint_request_list_send() return False if count < 2: self.whinge("Too few waypoints") return False ret = True for i in range(count): if i == 0: # skip home continue w = wpmod.wploader.wp(i) if w.command not in [mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, mavutil.mavlink.MAV_CMD_NAV_LAND]: continue loc = mavutil.location(w.x, w.y) dist = self.get_distance(self.location, loc) if dist > self.fc_settings.wp_maxdist: self.whinge("Waypoint %i too far away (%fm)" % (i, dist)) ret = False return ret def check_status(self): try: hb = self.master.messages['HEARTBEAT'] mc = self.master.messages['MISSION_CURRENT'] except Exception: return False self.is_armed = (hb.base_mode & mavutil.mavlink.MAV_MODE_FLAG_SAFETY_ARMED) != 0 if not self.is_armed and hb.custom_mode == 0: # disarmed in MANUAL we should be at WP 0 if mc.seq > 1: self.whinge('Incorrect WP %u' % mc.seq) return False return True def check(self): success = True if self.master.messages.get('HEARTBEAT') is None: self.whinge("Waiting for heartbeat") success = False return if not self.check_status(): success = False if not self.check_parameters(): success = False if not self.check_fence(): success = False if not self.check_mission(): success = False if not self.check_rally(): success = False if not self.check_altitude(): success = False if not success: self.whinge("CHECKS BAD") return if not self.is_armed: self.whinge("CHECKS GOOD") def mavlink_packet(self, m): '''handle an incoming mavlink packet''' if not self.done_heartbeat_check: m = self.master.messages.get('HEARTBEAT') if m is not None: self.vehicle_type = m.type self.check() self.done_heartbeat_check = True if self.rate_period.trigger(): self.check() def check_map_menu(self): # make the initial map menu if not mp_util.has_wxpython: return if self.done_map_menu: if not self.module('map'): self.done_map_menu = False return if self.module('map'): self.menu = MPMenuSubMenu('FieldCheck', items=[ MPMenuItem('Load foamy mission CW', 'Load foamy mission CW', '# fieldcheck loadFoamyMissionCW'), MPMenuItem('Load foamy mission CCW', 'Load foamy mission CCW', '# fieldcheck loadFoamyMissionCCW'), MPMenuItem('Load rally points', 'Load rally points', '# fieldcheck loadRally'), MPMenuItem('Load foamy fence', 'Load foamy fence', '# fieldcheck loadFoamyFence'), MPMenuItem('Fix Mission+Rally+Fence', 'Fix Mission+Rally+Fence', '# fieldcheck fixMissionRallyFence'), MPMenuItem('Fix EVERYTHING', 'Fix EVERYTHING', '# fieldcheck fixEVERYTHING'), ]) self.module('map').add_menu(self.menu) self.done_map_menu = True def idle_task(self): self.check_map_menu() def FC_MPSetting(self, name, atype, default, description): # xname = "fc_%s_%s" % (self.lc_name, name) return MPSetting(name, atype, default, description) def select(self): self.fc_settings = MPSettings( [ self.FC_MPSetting('fence_maxdist', float, 1000, 'Max FencePoint Distance from location'), self.FC_MPSetting('wp_maxdist', float, 500, 'Max WayPoint Distance from location'), self.FC_MPSetting('rally_maxdist', float, 200, 'Max Rally Distance from location'), self.FC_MPSetting('param_fence_maxalt', float, 120, 'Value parameter FENCE_MAXALT should have'), self.FC_MPSetting('rally_filename', str, "%s-foamy-rally.txt" % self.lc_name, "%s Rally Point File" % self.lc_name), self.FC_MPSetting('fence_filename', str, "%s-foamy-fence.txt" % self.lc_name, "%s Fence File" % self.lc_name), self.FC_MPSetting('mission_filename_cw', str, "%s-foamy-mission-cw.txt" % self.lc_name, "%s Mission (CW) File" % self.lc_name), self.FC_MPSetting('mission_filename_ccw', str, "%s-foamy-mission-ccw.txt" % self.lc_name, "%s Mission (CCW) File" % self.lc_name), ]) self.x.add_completion_function('(FIELDCHECKCHECKSETTING)', self.fc_settings.completion) self.x.add_command('fieldcheck', self.cmd_fieldcheck, 'field check control', ['check', 'set (FIELDCHECKSETTING)']) def cmd_fieldcheck(self, args): '''handle fieldcheck commands''' usage = 'Usage: fieldcheck ' if len(args) == 0: print(usage) return if args[0] == "set": self.fc_settings.command(args[1:]) elif args[0] == "loadFoamyMissionCW": self.loadFoamyMissionCW() elif args[0] == "loadFoamyMissionCCW": self.loadFoamyMissionCCW() elif args[0] == "loadFoamyFence": self.loadFoamyFence() elif args[0] == "loadRally": self.loadRally() elif args[0] == "fixMissionRallyFence": self.fixMissionRallyFence() elif args[0] == "fixEVERYTHING": self.fixEVERYTHING() elif args[0] == "check": self.check() else: print(usage) return class FieldCMAC(FieldCheck): lc_name = "cmac" location = mavutil.location(-35.363261, 149.165230, 584, 353) class FieldSpringValley(FieldCheck): location = mavutil.location(-35.281315, 149.005329, 581, 280) lc_name = "springvalley" class FieldSpringValleyBottom(FieldCheck): location = mavutil.location(-35.2824450, 149.0053668, 593, 0) lc_name = "springvalleybottom" class FieldCheckModule(mp_module.MPModule): def __init__(self, mpstate): super(FieldCheckModule, self).__init__(mpstate, "FieldCheck", "FieldCheck Checks", public=True) self.fields = [ FieldCMAC(), FieldSpringValley(), FieldSpringValleyBottom(), ] self.field = None def select_field(self, field): self.field = field self.field.master = self.master self.field.mav_param = self.mav_param self.field.console = self.console self.field.module = self.module self.field.x = self self.field.select() def whinge(self, message): self.console.writeln("FC: %s" % (message,)) def try_select_field(self, loc): for field in self.fields: if field.close_to(loc): self.whinge("Selecting field (%s)" % field.lc_name) self.select_field(field) def idle_task(self): '''run periodic tasks''' if self.field is not None: self.field.idle_task() def mavlink_packet(self, m): '''handle an incoming mavlink packet''' if self.field is None: # attempt to select field automatically based on location mtype = m.get_type() if mtype == "GPS_RAW_INT": if m.fix_type >= 3: lat = m.lat lon = m.lon here = mavutil.location(lat*1e-7, lon*1e-7, 0, 0) self.try_select_field(here) if self.field is None: return self.field.mavlink_packet(m) def init(mpstate): '''initialise module''' return FieldCheckModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_fieldcheck/cmac-foamy-fence.txt000066400000000000000000000002041504324515000263110ustar00rootroot00000000000000-35.363720 149.163651 -35.358795 149.164734 -35.359211 149.160767 -35.368622 149.162750 -35.368279 149.166870 -35.358795 149.164734 MAVProxy-1.8.74/MAVProxy/modules/mavproxy_fieldcheck/cmac-foamy-mission-ccw.txt000066400000000000000000000017021504324515000274700ustar00rootroot00000000000000QGC WPL 110 0 0 0 16 0.000000 0.000000 0.000000 0.000000 -35.363262 149.165237 583.429993 1 1 0 3 22 10.000000 0.000000 0.000000 0.000000 -35.361279 149.164230 30.000000 1 2 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361229 149.163025 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-35.363160 149.164101 60.000000 40.000000 0.000000 0 MAVProxy-1.8.74/MAVProxy/modules/mavproxy_fieldcheck/springvalley-foamy-fence.txt000066400000000000000000000002041504324515000301250ustar00rootroot00000000000000-35.281086 149.007370 -35.282536 149.005096 -35.278564 149.005066 -35.279636 149.009476 -35.281803 149.010056 -35.282536 149.005096 MAVProxy-1.8.74/MAVProxy/modules/mavproxy_fieldcheck/springvalley-foamy-mission-ccw.txt000066400000000000000000000017021504324515000313040ustar00rootroot00000000000000QGC WPL 110 0 0 0 16 0.000000 0.000000 0.000000 0.000000 -35.281315 149.005325 582.039978 1 1 0 3 22 10.000000 0.000000 0.000000 0.000000 -35.281807 149.006989 24.879999 1 2 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.281597 149.008514 43.990002 1 3 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.280743 149.008179 37.040001 1 4 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.281124 149.005753 54.560001 1 5 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.281960 149.005981 55.720001 1 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0.000000 0.000000 -35.281384 149.006958 60.000000 1 5 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.281494 149.005844 60.000000 1 6 0 0 177 2.000000 -1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1 7 0 3 189 0.000000 0.000000 0.000000 0.000000 -35.279713 149.007004 35.000000 1 8 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.280079 149.007065 20.000000 1 9 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.281940 149.007339 15.000000 1 10 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.282162 149.005844 12.000000 1 11 0 3 21 0.000000 0.000000 0.000000 1.000000 -35.280937 149.005768 0.000000 1 MAVProxy-1.8.74/MAVProxy/modules/mavproxy_fieldcheck/springvalley-foamy-rally.txt000066400000000000000000000000741504324515000301750ustar00rootroot00000000000000RALLY -35.281194 149.006725 100.000000 40.000000 0.000000 0 MAVProxy-1.8.74/MAVProxy/modules/mavproxy_fieldcheck/springvalleybottom-foamy-fence.txt000066400000000000000000000006341504324515000313610ustar00rootroot00000000000000QGC WPL 110 0 0 0 5000 0.000000 0.000000 0.000000 0.000000 -35.281086 149.007370 0.000000 0 1 0 0 5001 4.000000 0.000000 0.000000 0.000000 -35.282628 149.004323 0.000000 0 2 0 0 5001 4.000000 0.000000 0.000000 0.000000 -35.278564 149.005066 0.000000 0 3 0 0 5001 4.000000 0.000000 0.000000 0.000000 -35.279636 149.009476 0.000000 0 4 0 0 5001 4.000000 0.000000 0.000000 0.000000 -35.281803 149.010056 0.000000 0 MAVProxy-1.8.74/MAVProxy/modules/mavproxy_fieldcheck/springvalleybottom-foamy-mission-ccw.txt000066400000000000000000000017021504324515000325310ustar00rootroot00000000000000QGC WPL 110 0 0 0 16 0.000000 0.000000 0.000000 0.000000 -35.281315 149.005325 582.039978 1 1 0 3 22 10.000000 0.000000 0.000000 0.000000 -35.281807 149.006989 24.879999 1 2 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.281597 149.008514 43.990002 1 3 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.280743 149.008179 37.040001 1 4 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.281124 149.005753 54.560001 1 5 0 3 16 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MAVProxy-1.8.74/MAVProxy/modules/mavproxy_firmware.py000066400000000000000000000353341504324515000225770ustar00rootroot00000000000000#!/usr/bin/env python3 from __future__ import print_function '''firmware handling''' import time, os, fnmatch import json import threading import re import subprocess from pymavlink import mavutil, mavparm from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import multiproc from MAVProxy.modules.lib import mp_settings class FirmwareModule(mp_module.MPModule): def __init__(self, mpstate): super(FirmwareModule, self).__init__(mpstate, "firmware", "firmware handling", public = True) self.firmware_settings = mp_settings.MPSettings( [('uploader', str, "uploader.py"), ]) self.add_command('fw', self.cmd_fw, "firmware handling", [" (OPT)", "list ", "flash ", "set (FIRMWARESETTING)", "flashfile FILENAME"]) self.add_completion_function('(FIRMWARESETTING)', self.firmware_settings.completion) self.downloaders_lock = threading.Lock() self.downloaders = {} self.manifests_parse() def usage(self): '''show help on a command line options''' return '''Usage: fw # Use the column headings from "list" as filter terms # e.g. list latest releases for PX4-v2 platform: fw list latest=1 platform=PX4-v2 # e.g. download most recent official PX4-v2 release for quadcopters: fw download releasetype=OFFICIAL frame=quad platform=PX4-v2 ''' def cmd_fw_help(self): '''show help on fw command''' print(self.usage()) def cmd_fw(self, args): '''execute command defined in args''' if len(args) == 0: print(self.usage()) return rest = args[1:] if args[0] == "manifest": self.cmd_fw_manifest(rest) elif args[0] == "list": self.cmd_fw_list(rest) elif args[0] == "flash": self.cmd_flash(rest) elif args[0] == "set": self.firmware_settings.command(args[1:]) elif args[0] == "download": self.cmd_fw_download(rest) elif args[0] in ["help","usage"]: self.cmd_fw_help(rest) elif args[0] == "flashfile": self.cmd_flashfile(rest) else: print(self.usage()) def frame_from_firmware(self, firmware): '''extract information from firmware, return pretty string to user''' # see Tools/scripts/generate-manifest for this map: frame_to_mavlink_dict = { "quad": "QUADROTOR", "hexa": "HEXAROTOR", "y6": "ARDUPILOT_Y6", "tri": "TRICOPTER", "octa": "OCTOROTOR", "octa-quad": "ARDUPILOT_OCTAQUAD", "heli": "HELICOPTER", "Plane": "FIXED_WING", "Tracker": "ANTENNA_TRACKER", "Rover": "GROUND_ROVER", "PX4IO": "ARDUPILOT_PX4IO", } mavlink_to_frame_dict = { v : k for k,v in frame_to_mavlink_dict.items() } x = firmware["mav-type"] if firmware["mav-autopilot"] != "ARDUPILOTMEGA": return x if x in mavlink_to_frame_dict: return mavlink_to_frame_dict[x] return x def semver_from_firmware(self, firmware): '''Extract a tuple of (major,minor,patch) from a firmware instance''' version = firmware.get("mav-firmware-version-major",None) if version is None: return (None,None,None) return (firmware["mav-firmware-version-major"], firmware["mav-firmware-version-minor"], firmware["mav-firmware-version-patch"]) def row_is_filtered(self, row_subs, filters): '''returns True if row should NOT be included according to filters''' for filtername in filters: filtervalue = filters[filtername] if filtername in row_subs: row_subs_value = row_subs[filtername] if str(row_subs_value) != str(filtervalue): return True else: print("fw: Unknown filter keyword (%s)" % (filtername,)) return False def filters_from_args(self, args): '''take any argument of the form name=value anmd put it into a dict; return that and the remaining arguments''' filters = dict() remainder = [] for arg in args: try: equals = arg.index('=') # anything ofthe form key-value is taken as a filter filters[arg[0:equals]] = arg[equals+1:]; except ValueError: remainder.append(arg) return (filters,remainder) def all_firmwares(self): ''' return firmware entries from all manifests''' all = [] for manifest in self.manifests: for firmware in manifest["firmware"]: all.append(firmware) return all def rows_for_firmwares(self, firmwares): '''provide user-readable text for a firmware entry''' rows = [] i = 0 for firmware in firmwares: frame = self.frame_from_firmware(firmware) row = { "seq": i, "platform": firmware["platform"], "frame": frame, # "type": firmware["mav-type"], "releasetype": firmware["mav-firmware-version-type"], "latest": firmware["latest"], "git-sha": firmware["git-sha"][0:7], "format": firmware["format"], "_firmware": firmware, } (major,minor,patch) = self.semver_from_firmware(firmware) if major is None: row["version"] = "" row["major"] = "" row["minor"] = "" row["patch"] = "" else: row["version"] = firmware["mav-firmware-version"] row["major"] = major row["minor"] = minor row["patch"] = patch i += 1 rows.append(row) return rows def filter_rows(self, filters, rows): '''returns rows as filtered by filters''' ret = [] for row in rows: if not self.row_is_filtered(row, filters): ret.append(row) return ret def filtered_rows_from_args(self, args): '''extracts filters from args, rows from manifests, returns filtered rows''' if len(self.manifests) == 0: print("fw: No manifests downloaded. Try 'fw manifest download'") return None (filters,remainder) = self.filters_from_args(args) all = self.all_firmwares() rows = self.rows_for_firmwares(all) filtered = self.filter_rows(filters, rows) return (filtered, remainder) def cmd_flashfile(self, args): filename = args[0] subprocess.check_call([self.firmware_settings.uploader, filename]) def cmd_flash(self, args): '''cmd handler for flash''' stuff = self.filtered_rows_from_args(args) (filtered, remainder) = stuff if stuff is None: print("Nothing returned from filter") return (filtered, remainder) = stuff if len(filtered) != 1: print("Filter must return single firmware") self.list_firmwares(filtered) print("Filter must return single firmware") return firmware = filtered[0]["_firmware"] try: filename = self.download_firmware(firmware) except Exception as e: print("fw: download failed") print(e) return subprocess.check_call([self.firmware_settings.uploader, filename]) return def cmd_fw_list(self, args): '''cmd handler for list''' stuff = self.filtered_rows_from_args(args) if stuff is None: return (filtered, remainder) = stuff self.list_firmwares(filtered) def list_firmwares(self, filtered): print("") print(" seq platform frame major.minor.patch releasetype latest git-sha format") for row in filtered: print("{seq:>5} {platform:<13} {frame:<10} {version:<10} {releasetype:<9} {latest:<6} {git-sha} {format}".format(**row)) print(" seq platform frame major.minor.patch releasetype latest git-sha format") def cmd_fw_download(self, args): '''cmd handler for downloading firmware''' stuff = self.filtered_rows_from_args(args) if stuff is None: return (filtered, remainder) = stuff if len(filtered) == 0: print("fw: No firmware specified") return if len(filtered) > 1: print("fw: No single firmware specified") return try: self.download_firmware(filtered[0]["_firmware"]) except Exception as e: print("fw: download failed") print(e) def download_firmware(self, firmware, filename=None): url = firmware["url"] print("fw: URL: %s" % (url,)) if filename is None: filename = os.path.basename(url) files = [] files.append((url,filename)) child = multiproc.Process(target=mp_util.download_files, args=(files,)) child.start() tstart = time.time() while True: if time.time() - tstart > 60: print("Download timeout") if not child.is_alive(): break print("Waiting for download to complete...") time.sleep(1) return filename def fw_manifest_usage(self): '''return help on manifest subcommand''' return("Usage: fw manifest ") def cmd_fw_manifest_help(self): '''show help on manifest subcommand''' print(self.fw_manifest_usage()) def find_manifests(self): '''locate manifests and return filepaths thereof''' manifest_dir = mp_util.dot_mavproxy() ret = [] for file in os.listdir(manifest_dir): try: file.index("manifest") ret.append(os.path.join(manifest_dir,file)) except ValueError: pass return ret def cmd_fw_manifest_list(self): '''list manifests''' for filepath in self.find_manifests(): print(filepath) def cmd_fw_manifest_load(self): '''handle command to load manifests - hidden command since these should only change with fw commands''' self.manifests_parse() def cmd_fw_manifest_purge(self): '''remove all downloaded manifests''' for filepath in self.find_manifests(): os.unlink(filepath) self.manifests_parse() def cmd_fw_manifest(self, args): '''cmd handler for manipulating manifests''' if len(args) == 0: print(self.fw_manifest_usage()) return rest = args[1:] if args[0] == "download": return self.manifest_download() if args[0] == "list": return self.cmd_fw_manifest_list() if args[0] == "status": return self.cmd_fw_manifest_status() if args[0] == "load": return self.cmd_fw_manifest_load() if args[0] == "purge": return self.cmd_fw_manifest_purge() if args[0] == "help": return self.cmd_fw_manifest_help() else: print("fw: Unknown manifest option (%s)" % args[0]) print(fw_manifest_usage()) def manifest_parse(self, path): '''parse manifest at path, return JSON object''' print("fw: parsing manifests") content = open(path).read() return json.loads(content) def semver_major(self,semver): '''return major part of semver version number. Avoids "import semver"''' return int(semver[0:semver.index(".")]) def manifest_path_is_old(self, path): '''return true if path is more than a day old''' mtime = os.path.getmtime(path) return (time.time() - mtime) > 24*60*60 def manifests_parse(self): '''parse manifests present on system''' self.manifests = [] for manifest_path in self.find_manifests(): if self.manifest_path_is_old(manifest_path): print("fw: Manifest (%s) is old; consider 'fw manifest download'" % (manifest_path)) manifest = self.manifest_parse(manifest_path) if self.semver_major(manifest["format-version"]) != 1: print("fw: Manifest (%s) has major version %d; MAVProxy only understands version 1" % (manifest_path,manifest["format-version"])) continue self.manifests.append(manifest) def cmd_fw_manifest_status(self): '''brief summary of manifest status''' print(f"fw: {len(list(self.downloaders.keys()))} downloaders") print(f"fw: {len(self.find_manifests())} manifests") def download_url(self, url, path): mp_util.download_files([(url,path)]) def idle_task(self): '''called rapidly by mavproxy''' if self.downloaders_lock.acquire(False): removed_one = False for url in list(self.downloaders.keys()): if not self.downloaders[url].is_alive(): print("fw: Download thread for (%s) done" % url) del self.downloaders[url] removed_one = True if removed_one and not self.downloaders.keys(): # all downloads finished - parse them self.manifests_parse() self.downloaders_lock.release() def make_safe_filename_from_url(self, url): '''return a version of url safe for use as a filename''' r = re.compile("([^a-zA-Z0-9_.-])") filename = r.sub(lambda m : "%" + str(hex(ord(str(m.group(1))))).upper(), url) return filename def manifest_download(self): '''download manifest files''' if self.downloaders_lock.acquire(False): if len(self.downloaders): # there already exist downloader threads self.downloaders_lock.release() return for url in ['https://firmware.ardupilot.org/manifest.json']: filename = self.make_safe_filename_from_url(url) path = mp_util.dot_mavproxy("manifest-%s" % filename) self.downloaders[url] = threading.Thread(target=self.download_url, args=(url, path)) self.downloaders[url].start() self.downloaders_lock.release() else: print("fw: Failed to acquire download lock") def init(mpstate): '''initialise module''' return FirmwareModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_followtest.py000066400000000000000000000125071504324515000231620ustar00rootroot00000000000000#!/usr/bin/env python3 ''' test follow-me options in ArduPilot Andrew Tridgell September 2016 ''' import sys, os, time, math from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import mp_settings from MAVProxy.modules.mavproxy_map import mp_slipmap from pymavlink import mavutil if mp_util.has_wxpython: from MAVProxy.modules.lib.mp_menu import * class FollowTestModule(mp_module.MPModule): def __init__(self, mpstate): super(FollowTestModule, self).__init__(mpstate, "followtest", "followtest module") self.add_command('followtest', self.cmd_followtest, "followtest control", ['set (FOLLOWSETTING)']) self.follow_settings = mp_settings.MPSettings([("radius", float, 100.0), ("altitude", float, 50.0), ("speed", float, 10.0), ("type", str, 'guided'), ("vehicle_throttle", float, 0.5), ("disable_msg", bool, False)]) self.add_completion_function('(FOLLOWSETTING)', self.follow_settings.completion) self.target_pos = None self.last_update = 0 self.circle_dist = 0 def cmd_followtest(self, args): '''followtest command parser''' usage = "usage: followtest " if len(args) == 0: print(usage) return if args[0] == "set": self.follow_settings.command(args[1:]) else: print(usage) def update_target(self, time_boot_ms): '''update target on map''' if not self.mpstate.map: # don't draw if no map return if not 'HOME_POSITION' in self.master.messages: return home_position = self.master.messages['HOME_POSITION'] now = time_boot_ms * 1.0e-3 dt = now - self.last_update if dt < 0: dt = 0 self.last_update = now self.circle_dist += dt * self.follow_settings.speed # assume a circle for now circumference = math.pi * self.follow_settings.radius * 2 rotations = math.fmod(self.circle_dist, circumference) / circumference angle = math.pi * 2 * rotations self.target_pos = mp_util.gps_newpos(home_position.latitude*1.0e-7, home_position.longitude*1.0e-7, math.degrees(angle), self.follow_settings.radius) icon = self.mpstate.map.icon('camera-small-red.png') (lat, lon) = (self.target_pos[0], self.target_pos[1]) self.mpstate.map.add_object(mp_slipmap.SlipIcon('followtest', (lat, lon), icon, layer='FollowTest', rotation=0, follow=False)) def idle_task(self): '''update vehicle position''' pass def mavlink_packet(self, m): '''handle an incoming mavlink packet''' if not self.mpstate.map: # don't draw if no map return if m.get_type() != 'GLOBAL_POSITION_INT': return self.update_target(m.time_boot_ms) if self.target_pos is None: return if self.follow_settings.disable_msg: return if self.follow_settings.type == 'guided': # send normal guided mode packet self.master.mav.mission_item_int_send(self.settings.target_system, self.settings.target_component, 0, self.module('wp').get_default_frame(), mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 2, 0, 0, 0, 0, 0, int(self.target_pos[0]*1.0e7), int(self.target_pos[1]*1.0e7), self.follow_settings.altitude) elif self.follow_settings.type == 'yaw': # display yaw from vehicle to target vehicle = (m.lat*1.0e-7, m.lon*1.0e-7) vehicle_yaw = math.degrees(self.master.field('ATTITUDE', 'yaw', 0)) target_bearing = mp_util.gps_bearing(vehicle[0], vehicle[1], self.target_pos[0], self.target_pos[1]) # wrap the angle from -180 to 180 thus commanding the vehicle to turn left or right # note its in centi-degrees so *100 relyaw = mp_util.wrap_180(target_bearing - vehicle_yaw) * 100 self.master.mav.command_long_send(self.settings.target_system, self.settings.target_component, mavutil.mavlink.MAV_CMD_NAV_SET_YAW_SPEED, 0, relyaw, self.follow_settings.vehicle_throttle, 0, 0, 0, 0, 0) def init(mpstate): '''initialise module''' return FollowTestModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_ftp.py000066400000000000000000000767711504324515000215660ustar00rootroot00000000000000#!/usr/bin/env python3 '''mavlink file transfer support''' import io import time, os, sys import struct import random from pymavlink import mavutil try: # py2 from StringIO import StringIO as SIO except ImportError: # py3 from io import BytesIO as SIO from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_settings # opcodes OP_None = 0 OP_TerminateSession = 1 OP_ResetSessions = 2 OP_ListDirectory = 3 OP_OpenFileRO = 4 OP_ReadFile = 5 OP_CreateFile = 6 OP_WriteFile = 7 OP_RemoveFile = 8 OP_CreateDirectory = 9 OP_RemoveDirectory = 10 OP_OpenFileWO = 11 OP_TruncateFile = 12 OP_Rename = 13 OP_CalcFileCRC32 = 14 OP_BurstReadFile = 15 OP_Ack = 128 OP_Nack = 129 # error codes ERR_None = 0 ERR_Fail = 1 ERR_FailErrno = 2 ERR_InvalidDataSize = 3 ERR_InvalidSession = 4 ERR_NoSessionsAvailable = 5 ERR_EndOfFile = 6 ERR_UnknownCommand = 7 ERR_FileExists = 8 ERR_FileProtected = 9 ERR_FileNotFound = 10 HDR_Len = 12 MAX_Payload = 239 class FTP_OP: def __init__(self, seq, session, opcode, size, req_opcode, burst_complete, offset, payload): self.seq = seq self.session = session self.opcode = opcode self.size = size self.req_opcode = req_opcode self.burst_complete = burst_complete self.offset = offset self.payload = payload def pack(self): '''pack message''' ret = struct.pack(" 0: ret += " [%u]" % self.payload[0] return ret class WriteQueue: def __init__(self, ofs, size): self.ofs = ofs self.size = size self.last_send = 0 class FTPModule(mp_module.MPModule): def __init__(self, mpstate): super(FTPModule, self).__init__(mpstate, "ftp", public=True) self.add_command('ftp', self.cmd_ftp, "file transfer", ["", "set (FTPSETTING)", "put (FILENAME) (FILENAME)"]) self.ftp_settings = mp_settings.MPSettings( [('debug', int, 0), ('pkt_loss_tx', int, 0), ('pkt_loss_rx', int, 0), ('max_backlog', int, 5), ('burst_read_size', int, 80), ('write_size', int, 80), ('write_qsize', int, 5), ('retry_time', float, 0.5)]) self.add_completion_function('(FTPSETTING)', self.ftp_settings.completion) self.seq = 0 self.session = 0 self.network = 0 self.last_op = None self.fh = None self.filename = None self.callback = None self.callback_progress = None self.put_callback = None self.put_callback_progress = None self.total_size = 0 self.read_gaps = [] self.read_gap_times = {} self.last_gap_send = 0 self.read_retries = 0 self.read_total = 0 self.duplicates = 0 self.last_read = None self.last_burst_read = None self.op_start = None self.dir_offset = 0 self.last_op_time = time.time() self.rtt = 0.5 self.reached_eof = False self.backlog = 0 self.burst_size = self.ftp_settings.burst_read_size self.write_list = None self.write_block_size = 0 self.write_acks = 0 self.write_total = 0 self.write_file_size = 0 self.write_idx = 0 self.write_recv_idx = -1 self.write_pending = 0 self.write_last_send = None self.warned_component = False def cmd_ftp(self, args): '''FTP operations''' usage = "Usage: ftp " if len(args) < 1: print(usage) return if args[0] == 'list': self.cmd_list(args[1:]) elif args[0] == "set": self.ftp_settings.command(args[1:]) elif args[0] == 'get': self.cmd_get(args[1:]) elif args[0] == 'put': self.cmd_put(args[1:]) elif args[0] == 'rm': self.cmd_rm(args[1:]) elif args[0] == 'rmdir': self.cmd_rmdir(args[1:]) elif args[0] == 'rename': self.cmd_rename(args[1:]) elif args[0] == 'mkdir': self.cmd_mkdir(args[1:]) elif args[0] == 'crc': self.cmd_crc(args[1:]) elif args[0] == 'status': self.cmd_status() elif args[0] == 'cancel': self.cmd_cancel() else: print(usage) def send(self, op): '''send a request''' op.seq = self.seq payload = op.pack() plen = len(payload) if plen < MAX_Payload + HDR_Len: payload.extend(bytearray([0]*((HDR_Len+MAX_Payload)-plen))) if self.master is None: print("FTP: Can't send request, no master...") return self.master.mav.file_transfer_protocol_send(self.network, self.target_system, self.target_component, payload) self.seq = (self.seq + 1) % 256 self.last_op = op now = time.time() if self.ftp_settings.debug > 1: print("> %s dt=%.2f" % (op, now - self.last_op_time)) self.last_op_time = time.time() def terminate_session(self): '''terminate current session''' self.send(FTP_OP(self.seq, self.session, OP_TerminateSession, 0, 0, 0, 0, None)) self.fh = None self.filename = None self.write_list = None if self.callback is not None: # tell caller that the transfer failed self.callback(None) self.callback = None if self.put_callback is not None: # tell caller that the transfer failed self.put_callback(None) self.put_callback = None if self.put_callback_progress is not None: self.put_callback_progress(None) self.put_callback_progress = None self.read_gaps = [] self.read_total = 0 self.read_gap_times = {} self.last_read = None self.last_burst_read = None self.session = (self.session + 1) % 256 self.reached_eof = False self.backlog = 0 self.duplicates = 0 if self.ftp_settings.debug > 0: print("Terminated session") def cmd_list(self, args): '''list files''' if len(args) > 0: dname = args[0] else: dname = '/' print("Listing %s" % dname) enc_dname = bytearray(dname, 'ascii') self.total_size = 0 self.dir_offset = 0 op = FTP_OP(self.seq, self.session, OP_ListDirectory, len(enc_dname), 0, 0, self.dir_offset, enc_dname) self.send(op) def handle_list_reply(self, op, m): '''handle OP_ListDirectory reply''' if op.opcode == OP_Ack: dentries = sorted(op.payload.split(b'\x00')) #print(dentries) for d in dentries: if len(d) == 0: continue self.dir_offset += 1 try: if sys.version_info.major >= 3: d = str(d, 'ascii') else: d = str(d) except Exception: continue if d[0] == 'D': print(" D %s" % d[1:]) elif d[0] == 'F': (name, size) = d[1:].split('\t') size = int(size) self.total_size += size print(" %s\t%u" % (name, size)) else: print(d) # ask for more more = self.last_op more.offset = self.dir_offset self.send(more) elif op.opcode == OP_Nack and len(op.payload) == 1 and op.payload[0] == ERR_EndOfFile: print("Total size %.2f kByte" % (self.total_size / 1024.0)) self.total_size = 0 else: print('LIST: %s' % op) def cmd_get(self, args, callback=None, callback_progress=None): '''get file''' if len(args) == 0: print("Usage: get FILENAME ") return self.terminate_session() fname = args[0] if len(args) > 1: self.filename = args[1] else: self.filename = os.path.basename(fname) if callback is None or self.ftp_settings.debug > 1: print("Getting %s as %s" % (fname, self.filename)) self.op_start = time.time() self.callback = callback self.callback_progress = callback_progress self.read_retries = 0 self.duplicates = 0 self.reached_eof = False self.burst_size = self.ftp_settings.burst_read_size if self.burst_size < 1: self.burst_size = 239 elif self.burst_size > 239: self.burst_size = 239 enc_fname = bytearray(fname, 'ascii') self.open_retries = 0 op = FTP_OP(self.seq, self.session, OP_OpenFileRO, len(enc_fname), 0, 0, 0, enc_fname) self.send(op) def handle_open_RO_reply(self, op, m): '''handle OP_OpenFileRO reply''' if op.opcode == OP_Ack: if self.filename is None: return try: if self.callback is not None or self.filename == '-': self.fh = SIO() else: self.fh = open(self.filename, 'wb') except Exception as ex: print("Failed to open %s: %s" % (self.filename, ex)) self.terminate_session() return read = FTP_OP(self.seq, self.session, OP_BurstReadFile, self.burst_size, 0, 0, 0, None) self.last_burst_read = time.time() self.send(read) else: if self.callback is None or self.ftp_settings.debug > 0: print("ftp open failed") self.terminate_session() def check_read_finished(self): '''check if download has completed''' if self.reached_eof and len(self.read_gaps) == 0: ofs = self.fh.tell() dt = time.time() - self.op_start rate = (ofs / dt) / 1024.0 if self.callback is not None: self.fh.seek(0) self.callback(self.fh) self.callback = None elif self.filename == "-": self.fh.seek(0) if sys.version_info.major < 3: print(self.fh.read()) else: print(self.fh.read().decode('utf-8')) else: print("Wrote %u bytes to %s in %.2fs %.1fkByte/s" % (ofs, self.filename, dt, rate)) self.terminate_session() return True return False def write_payload(self, op): '''write payload from a read op''' self.fh.seek(op.offset) self.fh.write(op.payload) self.read_total += len(op.payload) if self.callback_progress is not None: self.callback_progress(self.fh, self.read_total) def handle_burst_read(self, op, m): '''handle OP_BurstReadFile reply''' if self.ftp_settings.pkt_loss_tx > 0: if random.uniform(0,100) < self.ftp_settings.pkt_loss_tx: if self.ftp_settings.debug > 0: print("FTP: dropping TX") return if self.fh is None or self.filename is None: if op.session != self.session: # old session return print("FTP Unexpected burst read reply") print(op) return self.last_burst_read = time.time() size = len(op.payload) if size > self.burst_size: # this server doesn't handle the burst size argument self.burst_size = MAX_Payload if self.ftp_settings.debug > 0: print("Setting burst size to %u" % self.burst_size) if op.opcode == OP_Ack and self.fh is not None: ofs = self.fh.tell() if op.offset < ofs: # writing an earlier portion, possibly remove a gap gap = (op.offset, len(op.payload)) if gap in self.read_gaps: self.read_gaps.remove(gap) self.read_gap_times.pop(gap) if self.ftp_settings.debug > 0: print("FTP: removed gap", gap, self.reached_eof, len(self.read_gaps)) else: if self.ftp_settings.debug > 0: print("FTP: dup read reply at %u of len %u ofs=%u" % (op.offset, op.size, self.fh.tell())) self.duplicates += 1 return self.write_payload(op) self.fh.seek(ofs) if self.check_read_finished(): return elif op.offset > ofs: # we have a gap gap = (ofs, op.offset-ofs) max_read = self.burst_size while True: if gap[1] <= max_read: self.read_gaps.append(gap) self.read_gap_times[gap] = 0 break g = (gap[0], max_read) self.read_gaps.append(g) self.read_gap_times[g] = 0 gap = (gap[0] + max_read, gap[1] - max_read) self.write_payload(op) else: self.write_payload(op) if op.burst_complete: if op.size > 0 and op.size < self.burst_size: # a burst complete with non-zero size and less than burst packet size # means EOF if not self.reached_eof and self.ftp_settings.debug > 0: print("EOF at %u with %u gaps t=%.2f" % (self.fh.tell(), len(self.read_gaps), time.time() - self.op_start)) self.reached_eof = True if self.check_read_finished(): return self.check_read_send() return more = self.last_op more.offset = op.offset + op.size if self.ftp_settings.debug > 0: print("FTP: burst continue at %u %u" % (more.offset, self.fh.tell())) self.send(more) elif op.opcode == OP_Nack: ecode = op.payload[0] if self.ftp_settings.debug > 0: print("FTP: burst nack: ", op) if ecode == ERR_EndOfFile or ecode == 0: if not self.reached_eof and op.offset > self.fh.tell(): # we lost the last part of the burst if self.ftp_settings.debug > 0: print("burst lost EOF %u %u" % (self.fh.tell(), op.offset)) return if not self.reached_eof and self.ftp_settings.debug > 0: print("EOF at %u with %u gaps t=%.2f" % (self.fh.tell(), len(self.read_gaps), time.time() - self.op_start)) self.reached_eof = True if self.check_read_finished(): return self.check_read_send() elif self.ftp_settings.debug > 0: print("FTP: burst Nack (ecode:%u): %s" % (ecode, op)) else: print("FTP: burst error: %s" % op) def handle_reply_read(self, op, m): '''handle OP_ReadFile reply''' if self.fh is None or self.filename is None: if self.ftp_settings.debug > 0: print("FTP Unexpected read reply") print(op) return if self.backlog > 0: self.backlog -= 1 if op.opcode == OP_Ack and self.fh is not None: gap = (op.offset, op.size) if gap in self.read_gaps: self.read_gaps.remove(gap) self.read_gap_times.pop(gap) ofs = self.fh.tell() self.write_payload(op) self.fh.seek(ofs) if self.ftp_settings.debug > 0: print("FTP: removed gap", gap, self.reached_eof, len(self.read_gaps)) if self.check_read_finished(): return elif op.size < self.burst_size: print("FTP: file size changed to %u" % op.offset+op.size) self.terminate_session() else: self.duplicates += 1 if self.ftp_settings.debug > 0: print("FTP: no gap read", gap, len(self.read_gaps)) elif op.opcode == OP_Nack: print("Read failed with %u gaps" % len(self.read_gaps), str(op)) self.terminate_session() self.check_read_send() def cmd_put(self, args, fh=None, callback=None, progress_callback=None): '''put file''' if len(args) == 0: print("Usage: put FILENAME ") return if self.write_list is not None: print("put already in progress") return fname = args[0] self.fh = fh if self.fh is None: try: self.fh = open(fname, 'rb') except Exception as ex: print("Failed to open %s: %s" % (fname, ex)) return if len(args) > 1: self.filename = args[1] else: self.filename = os.path.basename(fname) if self.filename.endswith("/"): self.filename += os.path.basename(fname) if callback is None: print("Putting %s as %s" % (fname, self.filename)) self.fh.seek(0,2) file_size = self.fh.tell() self.fh.seek(0) # setup write list self.write_block_size = self.ftp_settings.write_size self.write_file_size = file_size write_blockcount = file_size // self.write_block_size if file_size % self.write_block_size != 0: write_blockcount += 1 self.write_list = set(range(write_blockcount)) self.write_acks = 0 self.write_total = write_blockcount self.write_idx = 0 self.write_recv_idx = -1 self.write_pending = 0 self.write_last_send = None self.put_callback = callback self.put_callback_progress = progress_callback self.read_retries = 0 self.op_start = time.time() enc_fname = bytearray(self.filename, 'ascii') op = FTP_OP(self.seq, self.session, OP_CreateFile, len(enc_fname), 0, 0, 0, enc_fname) self.send(op) def put_finished(self, flen): '''finish a put''' if self.put_callback_progress: self.put_callback_progress(1.0) self.put_callback_progress = None if self.put_callback is not None: self.put_callback(flen) self.put_callback = None else: print("Sent file of length ", flen) def handle_create_file_reply(self, op, m): '''handle OP_CreateFile reply''' if self.fh is None: self.terminate_session() return if op.opcode == OP_Ack: self.send_more_writes() else: print("Create failed") self.terminate_session() def send_more_writes(self): '''send some more writes''' if len(self.write_list) == 0: # all done self.put_finished(self.write_file_size) self.terminate_session() return now = time.time() if self.write_last_send is not None: if now - self.write_last_send > max(min(10*self.rtt, 1),0.2): # we seem to have lost a block of replies self.write_pending = max(0, self.write_pending-1) n = min(self.ftp_settings.write_qsize-self.write_pending, len(self.write_list)) for i in range(n): # send in round-robin, skipping any that have been acked idx = self.write_idx while idx not in self.write_list: idx = (idx + 1) % self.write_total ofs = idx * self.write_block_size self.fh.seek(ofs) data = self.fh.read(self.write_block_size) write = FTP_OP(self.seq, self.session, OP_WriteFile, len(data), 0, 0, ofs, bytearray(data)) self.send(write) self.write_idx = (idx + 1) % self.write_total self.write_pending += 1 self.write_last_send = now def handle_write_reply(self, op, m): '''handle OP_WriteFile reply''' if self.fh is None: self.terminate_session() return if op.opcode != OP_Ack: print("Write failed") self.terminate_session() return # assume the FTP server processes the blocks sequentially. This means # when we receive an ack that any blocks between the last ack and this # one have been lost idx = op.offset // self.write_block_size count = (idx - self.write_recv_idx) % self.write_total self.write_pending = max(0, self.write_pending - count) self.write_recv_idx = idx self.write_list.discard(idx) self.write_acks += 1 if self.put_callback_progress: self.put_callback_progress(self.write_acks/float(self.write_total)) self.send_more_writes() def cmd_rm(self, args): '''remove file''' if len(args) == 0: print("Usage: rm FILENAME") return fname = args[0] print("Removing %s" % fname) enc_fname = bytearray(fname, 'ascii') op = FTP_OP(self.seq, self.session, OP_RemoveFile, len(enc_fname), 0, 0, 0, enc_fname) self.send(op) def cmd_rmdir(self, args): '''remove directory''' if len(args) == 0: print("Usage: rmdir FILENAME") return dname = args[0] print("Removing %s" % dname) enc_dname = bytearray(dname, 'ascii') op = FTP_OP(self.seq, self.session, OP_RemoveDirectory, len(enc_dname), 0, 0, 0, enc_dname) self.send(op) def handle_remove_reply(self, op, m): '''handle remove reply''' if op.opcode != OP_Ack: print("Remove failed %s" % op) def cmd_rename(self, args): '''rename file''' if len(args) < 2: print("Usage: rename OLDNAME NEWNAME") return name1 = args[0] name2 = args[1] print("Renaming %s to %s" % (name1, name2)) enc_name1 = bytearray(name1, 'ascii') enc_name2 = bytearray(name2, 'ascii') enc_both = enc_name1 + b'\x00' + enc_name2 op = FTP_OP(self.seq, self.session, OP_Rename, len(enc_both), 0, 0, 0, enc_both) self.send(op) def handle_rename_reply(self, op, m): '''handle rename reply''' if op.opcode != OP_Ack: print("Rename failed %s" % op) def cmd_mkdir(self, args): '''make directory''' if len(args) < 1: print("Usage: mkdir NAME") return name = args[0] print("Creating directory %s" % name) enc_name = bytearray(name, 'ascii') op = FTP_OP(self.seq, self.session, OP_CreateDirectory, len(enc_name), 0, 0, 0, enc_name) self.send(op) def handle_mkdir_reply(self, op, m): '''handle mkdir reply''' if op.opcode != OP_Ack: print("Create directory failed %s" % op) def cmd_crc(self, args): '''get crc''' if len(args) < 1: print("Usage: crc NAME") return name = args[0] self.filename = name self.op_start = time.time() print("Getting CRC for %s" % name) enc_name = bytearray(name, 'ascii') op = FTP_OP(self.seq, self.session, OP_CalcFileCRC32, len(enc_name), 0, 0, 0, bytearray(enc_name)) self.send(op) def handle_crc_reply(self, op, m): '''handle crc reply''' if op.opcode == OP_Ack and op.size == 4: crc, = struct.unpack(" 1: print("< %s dt=%.2f" % (op, dt)) self.last_op_time = now if self.ftp_settings.pkt_loss_rx > 0: if random.uniform(0,100) < self.ftp_settings.pkt_loss_rx: if self.ftp_settings.debug > 1: print("FTP: dropping packet RX") return if op.req_opcode == self.last_op.opcode and op.seq == (self.last_op.seq + 1) % 256: self.rtt = max(min(self.rtt, dt), 0.01) if op.req_opcode == OP_ListDirectory: self.handle_list_reply(op, m) elif op.req_opcode == OP_OpenFileRO: self.handle_open_RO_reply(op, m) elif op.req_opcode == OP_BurstReadFile: self.handle_burst_read(op, m) elif op.req_opcode == OP_TerminateSession: pass elif op.req_opcode == OP_CreateFile: self.handle_create_file_reply(op, m) elif op.req_opcode == OP_WriteFile: self.handle_write_reply(op, m) elif op.req_opcode in [OP_RemoveFile, OP_RemoveDirectory]: self.handle_remove_reply(op, m) elif op.req_opcode == OP_Rename: self.handle_rename_reply(op, m) elif op.req_opcode == OP_CreateDirectory: self.handle_mkdir_reply(op, m) elif op.req_opcode == OP_ReadFile: self.handle_reply_read(op, m) elif op.req_opcode == OP_CalcFileCRC32: self.handle_crc_reply(op, m) else: print('FTP Unknown %s' % str(op)) def send_gap_read(self, g): '''send a read for a gap''' (offset, length) = g if self.ftp_settings.debug > 0: print("Gap read of %u at %u rem=%u blog=%u" % (length, offset, len(self.read_gaps), self.backlog)) read = FTP_OP(self.seq, self.session, OP_ReadFile, length, 0, 0, offset, None) self.send(read) self.read_gaps.remove(g) self.read_gaps.append(g) self.last_gap_send = time.time() self.read_gap_times[g] = self.last_gap_send self.backlog += 1 def check_read_send(self): '''see if we should send another gap read''' if len(self.read_gaps) == 0: return g = self.read_gaps[0] now = time.time() dt = now - self.read_gap_times[g] if not self.reached_eof: # send gap reads once for g in self.read_gap_times.keys(): if self.read_gap_times[g] == 0: self.send_gap_read(g) return if self.read_gap_times[g] > 0 and dt > self.ftp_settings.retry_time: if self.backlog > 0: self.backlog -= 1 self.read_gap_times[g] = 0 if self.read_gap_times[g] != 0: # still pending return if not self.reached_eof and self.backlog >= self.ftp_settings.max_backlog: # don't fill queue too far until we have got past the burst return if now - self.last_gap_send < 0.05: # don't send too fast return self.send_gap_read(g) def idle_task(self): '''check for file gaps and lost requests''' now = time.time() # see if we lost an open reply if self.op_start is not None and now - self.op_start > 1.0 and self.last_op.opcode == OP_OpenFileRO: self.op_start = now self.open_retries += 1 if self.open_retries > 2: # fail the get self.op_start = None self.terminate_session() return if self.ftp_settings.debug > 0: print("FTP: retry open") send_op = self.last_op self.send(FTP_OP(self.seq, self.session, OP_TerminateSession, 0, 0, 0, 0, None)) self.session = (self.session + 1) % 256 send_op.session = self.session self.send(send_op) if len(self.read_gaps) == 0 and self.last_burst_read is None and self.write_list is None: return if self.fh is None: return # see if burst read has stalled if not self.reached_eof and self.last_burst_read is not None and now - self.last_burst_read > self.ftp_settings.retry_time: dt = now - self.last_burst_read self.last_burst_read = now if self.ftp_settings.debug > 0: print("Retry read at %u rtt=%.2f dt=%.2f" % (self.fh.tell(), self.rtt, dt)) self.send(FTP_OP(self.seq, self.session, OP_BurstReadFile, self.burst_size, 0, 0, self.fh.tell(), None)) self.read_retries += 1 # see if we can fill gaps self.check_read_send() if self.write_list is not None: self.send_more_writes() def init(mpstate): '''initialise module''' return FTPModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_gasheli.py000066400000000000000000000135021504324515000223700ustar00rootroot00000000000000""" helicopter monitoring and control module gas helicopters """ import os, sys, math, time from pymavlink import mavutil from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_settings class GasHeliModule(mp_module.MPModule): def __init__(self, mpstate): super(GasHeliModule, self).__init__(mpstate, "gas_heli", "Gas Heli", public=False) self.console.set_status('IGN', 'IGN', row=4) self.console.set_status('THR', 'THR', row=4) self.console.set_status('RPM', 'RPM: 0', row=4) self.add_command('gasheli', self.cmd_gasheli, 'gas helicopter control', ['', 'set (GASHELISETTINGS)']) self.gasheli_settings = mp_settings.MPSettings( [ ('ignition_chan', int, 0), ('ignition_disable_time', float, 0.5), ('ignition_stop_time', float, 3), ('starter_chan', int, 0), ('starter_time', float, 3.0), ('starter_pwm_on', int, 2000), ('starter_pwm_off', int, 1000), ] ) self.add_completion_function('(GASHELISETTINGS)', self.gasheli_settings.completion) self.starting_motor = False self.stopping_motor = False self.motor_t1 = None self.old_override = 0 def mavlink_packet(self, msg): '''handle an incoming mavlink packet''' type = msg.get_type() master = self.master # add some status fields if type in [ 'RC_CHANNELS_RAW' ]: rc6 = msg.chan6_raw if rc6 > 1500: ign_colour = 'green' else: ign_colour = 'red' self.console.set_status('IGN', 'IGN', fg=ign_colour, row=4) if type in [ 'SERVO_OUTPUT_RAW' ]: rc8 = msg.servo8_raw if rc8 < 1200: thr_colour = 'red' elif rc8 < 1300: thr_colour = 'orange' else: thr_colour = 'green' self.console.set_status('THR', 'THR', fg=thr_colour, row=4) if type in [ 'RPM' ]: rpm = msg.rpm1 if rpm < 3000: rpm_colour = 'red' elif rpm < 10000: rpm_colour = 'orange' else: rpm_colour = 'green' self.console.set_status('RPM', 'RPM: %u' % rpm, fg=rpm_colour, row=4) def valid_starter_settings(self): '''check starter settings''' if self.gasheli_settings.ignition_chan <= 0 or self.gasheli_settings.ignition_chan > 8: print("Invalid ignition channel %d" % self.gasheli_settings.ignition_chan) return False if self.gasheli_settings.starter_chan <= 0 or self.gasheli_settings.starter_chan > 14: print("Invalid starter channel %d" % self.gasheli_settings.starter_chan) return False return True def idle_task(self): '''run periodic tasks''' if self.starting_motor: if self.gasheli_settings.ignition_disable_time > 0: elapsed = time.time() - self.motor_t1 if elapsed >= self.gasheli_settings.ignition_disable_time: self.module('rc').set_override_chan(self.gasheli_settings.ignition_chan-1, self.old_override) self.starting_motor = False if self.stopping_motor: elapsed = time.time() - self.motor_t1 if elapsed >= self.gasheli_settings.ignition_stop_time: # hand back control to RC self.module('rc').set_override_chan(self.gasheli_settings.ignition_chan-1, self.old_override) self.stopping_motor = False def start_motor(self): '''start motor''' if not self.valid_starter_settings(): return self.motor_t1 = time.time() self.stopping_motor = False if self.gasheli_settings.ignition_disable_time > 0: self.old_override = self.module('rc').get_override_chan(self.gasheli_settings.ignition_chan-1) self.module('rc').set_override_chan(self.gasheli_settings.ignition_chan-1, 1000) self.starting_motor = True else: # nothing more to do self.starting_motor = False # setup starter run self.master.mav.command_long_send(self.target_system, self.target_component, mavutil.mavlink.MAV_CMD_DO_REPEAT_SERVO, 0, self.gasheli_settings.starter_chan, self.gasheli_settings.starter_pwm_on, 1, self.gasheli_settings.starter_time*2, 0, 0, 0) print("Starting motor") def stop_motor(self): '''stop motor''' if not self.valid_starter_settings(): return self.motor_t1 = time.time() self.starting_motor = False self.stopping_motor = True self.old_override = self.module('rc').get_override_chan(self.gasheli_settings.ignition_chan-1) self.module('rc').set_override_chan(self.gasheli_settings.ignition_chan-1, 1000) print("Stopping motor") def cmd_gasheli(self, args): '''gas help commands''' usage = "Usage: gasheli " if len(args) < 1: print(usage) return if args[0] == "start": self.start_motor() elif args[0] == "stop": self.stop_motor() elif args[0] == "set": self.gasheli_settings.command(args[1:]) else: print(usage) def init(mpstate): '''initialise module''' return GasHeliModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_generator.py000066400000000000000000000071011504324515000227400ustar00rootroot00000000000000#!/usr/bin/env python3 ''' Generator Module - module for generators reporting via the GENERATOR_STATUS message Peter Barker, Jun 2020 ''' import os import os.path import sys from pymavlink import mavutil import errno import time from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import mp_settings class generator(mp_module.MPModule): def __init__(self, mpstate): """Initialise module""" super(generator, self).__init__(mpstate, "generator", "") self.generator_settings = mp_settings.MPSettings( [ ('verbose', bool, False), ]) self.add_command('generator', self.cmd_generator, "generator module", ['status','set (LOGSETTING)']) self.console_row = 6 self.console.set_status('Generator', 'No generator messages', row=self.console_row) self.last_seen_generator_message = 0 self.mpstate = mpstate self.last_set_interval_sent = 0 def usage(self): '''show help on command line options''' return "Usage: generator " def cmd_generator(self, args): '''control behaviour of the module''' if len(args) == 0: print(self.usage()) elif args[0] == "status": print(self.status()) elif args[0] == "set": self.generator_settings.command(args[1:]) else: print(self.usage()) def mavlink_packet(self, m): '''handle mavlink packets''' if m.get_type() == 'GENERATOR_STATUS': if self.generator_settings.verbose: print("Got generator message") self.last_seen_generator_message = time.time() error_string = "" errors = [] prefix = "MAV_GENERATOR_STATUS_FLAG_" len_prefix = len(prefix) flags = [] for i in range(64): if m.status & (1< 10: # request the message once per second: if now - self.last_set_interval_sent > 1: self.last_set_interval_sent = now self.master.mav.command_long_send( self.mpstate.settings.target_system, self.mpstate.settings.target_component, mavutil.mavlink.MAV_CMD_SET_MESSAGE_INTERVAL, 0, # confirmation mavutil.mavlink.MAVLINK_MSG_ID_GENERATOR_STATUS, # msg id 100000, # interval 0, # p3 0, # p4 0, # p5 0, # p6 0) # p7 def init(mpstate): '''initialise module''' return generator(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_genobstacles.py000066400000000000000000000421141504324515000234260ustar00rootroot00000000000000''' generate dynamic obstacles for OBC 2018 ''' import time, pickle from math import * from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_settings from MAVProxy.modules.lib import mp_util from pymavlink import mavutil if mp_util.has_wxpython: from MAVProxy.modules.lib.mp_menu import * import socket, time, random, math track_count = 0 # object types DNFZ_types = { 'Aircraft' : 1, 'Weather' : 20000, 'BirdMigrating' : 30000, 'BirdOfPrey' : 40000 } gen_settings = mp_settings.MPSettings([("port", int, 45454), ('debug', int, 0), ('home_lat', float, -27.298440), ('home_lon', float, 151.290775), ('region_width', float, 15000), ('num_aircraft', int, 5), ('num_bird_prey', int, 5), ('num_bird_migratory', int, 5), ('num_weather', int, 5), ('wgs84_to_AMSL', float, -41.2), ('stop', int, 0)]) class DNFZ: '''a dynamic no-fly zone object''' def __init__(self, DNFZ_type, elevationModel): if not DNFZ_type in DNFZ_types: raise('Bad DNFZ type %s' % DNFZ_type) self.DNFZ_type = DNFZ_type self.pkt = {'category': 0, 'I010': {'SAC': {'val': 4, 'desc': 'System Area Code'}, 'SIC': {'val': 0, 'desc': 'System Identification Code'}}, 'I040': {'TrkN': {'val': 0, 'desc': 'Track number'}}, 'ts': 0, 'len': 25, 'I220': {'RoC': {'val': 0.0, 'desc': 'Rate of Climb/Descent'}}, 'crc': 'B52DA163', 'I130': {'Alt': {'max': 150000.0, 'min': -1500.0, 'val': 0.0, 'desc': 'Altitude'}}, 'I070': {'ToT': {'val': 0.0, 'desc': 'Time Of Track Information'}}, 'I105': {'Lat': {'val': 0, 'desc': 'Latitude in WGS.84 in twos complement. Range -90 < latitude < 90 deg.'}, 'Lon': {'val': 0.0, 'desc': 'Longitude in WGS.84 in twos complement. Range -180 < longitude < 180 deg.'}}, 'I080': {'SRC': {'meaning': '3D radar', 'val': 2, 'desc': 'Source of calculated track altitude for I062/130'}, 'FX': {'meaning': 'end of data item', 'val': 0, 'desc': ''}, 'CNF': {'meaning': 'Confirmed track', 'val': 0, 'desc': ''}, 'SPI': {'meaning': 'default value', 'val': 0, 'desc': ''}, 'MRH': {'meaning': 'Geometric altitude more reliable', 'val': 1, 'desc': 'Most Reliable Height'}, 'MON': {'meaning': 'Multisensor track', 'val': 0, 'desc': ''}}} self.speed = 0.0 # m/s self.heading = 0.0 # degrees self.desired_heading = None self.yawrate = 0.0 self.elevationModel = elevationModel # random initial position and heading self.randpos() self.setheading(random.uniform(0,360)) self.setclimbrate(random.uniform(-3,3)) global track_count track_count += 1 self.pkt['I040']['TrkN']['val'] = DNFZ_types[self.DNFZ_type] + track_count if gen_settings.debug > 0: print("track %u" % self.pkt['I040']['TrkN']['val']) def distance_from(self, lat, lon): '''get distance from a point''' lat1 = self.pkt['I105']['Lat']['val'] lon1 = self.pkt['I105']['Lon']['val'] return mp_util.gps_distance(lat1, lon1, lat, lon) def distance_from_home(self): '''get distance from home''' return self.distance_from(gen_settings.home_lat, gen_settings.home_lon) def randpos(self): '''random initial position''' self.setpos(gen_settings.home_lat, gen_settings.home_lon) self.move(random.uniform(0, 360), random.uniform(0, gen_settings.region_width)) def ground_height(self): '''return height above ground in feet''' lat = self.pkt['I105']['Lat']['val'] lon = self.pkt['I105']['Lon']['val'] ret = self.elevationModel.GetElevation(lat, lon) ret -= gen_settings.wgs84_to_AMSL return ret * 3.2807 def randalt(self): '''random initial position''' self.setalt(self.ground_height() + random.uniform(100, 1500)) def move(self, bearing, distance): '''move position by bearing and distance''' lat = self.pkt['I105']['Lat']['val'] lon = self.pkt['I105']['Lon']['val'] (lat, lon) = mp_util.gps_newpos(lat, lon, bearing, distance) self.setpos(lat, lon) def setpos(self, lat, lon): self.pkt['I105']['Lat']['val'] = lat self.pkt['I105']['Lon']['val'] = lon def getlat(self): return self.pkt['I105']['Lat']['val'] def getlon(self): return self.pkt['I105']['Lon']['val'] def getalt(self): return self.pkt['I130']['Alt']['val'] def setalt(self, alt): self.pkt['I130']['Alt']['val'] = alt def setclimbrate(self, climbrate): self.pkt['I220']['RoC']['val'] = climbrate def setyawrate(self, yawrate): self.yawrate = yawrate def setspeed(self, speed): self.speed = speed def setheading(self, heading): self.heading = heading while self.heading > 360: self.heading -= 360.0 while self.heading < 0: self.heading += 360.0 def changealt(self, delta_alt): alt = self.pkt['I130']['Alt']['val'] alt += delta_alt self.setalt(alt) def rate_of_turn(self, bank=45.0): '''return expected rate of turn in degrees/s for given speed in m/s and bank angle in degrees''' if abs(self.speed) < 2 or abs(bank) > 80: return 0 ret = degrees(9.81*tan(radians(bank))/self.speed) return ret def update(self, deltat=1.0): self.move(self.heading, self.speed * deltat) climbrate = self.pkt['I220']['RoC']['val'] self.changealt(climbrate * deltat) if self.desired_heading is None: self.setheading(self.heading + self.yawrate * deltat) else: heading_error = self.desired_heading - self.heading while heading_error > 180: heading_error -= 360.0 while heading_error < -180: heading_error += 360.0 max_turn = self.rate_of_turn() * deltat if heading_error > 0: turn = min(max_turn, heading_error) else: turn = max(-max_turn, heading_error) self.setheading(self.heading + turn) if abs(heading_error) < 0.01: self.desired_heading = None def __str__(self): return str(self.pkt) def pickled(self): return b'PICKLED:' + pickle.dumps(self.pkt) class Aircraft(DNFZ): '''an aircraft that flies in a circuit''' def __init__(self, elevationModel, speed=30.0, circuit_width=1000.0): DNFZ.__init__(self, 'Aircraft', elevationModel) self.setspeed(speed) self.circuit_width = circuit_width self.dist_flown = 0 self.randalt() def update(self, deltat=1.0): '''fly a square circuit''' DNFZ.update(self, deltat) self.dist_flown += self.speed * deltat if self.dist_flown > self.circuit_width: self.desired_heading = self.heading + 90 self.dist_flown = 0 if self.getalt() < self.ground_height() or self.getalt() > self.ground_height() + 2000: self.randpos() self.randalt() class BirdOfPrey(DNFZ): '''an bird that circles slowly climbing, then dives''' def __init__(self, elevationModel): DNFZ.__init__(self, 'BirdOfPrey', elevationModel) self.setspeed(16.0) self.radius = random.uniform(100,200) self.time_circling = 0 self.dive_rate = -30 self.climb_rate = 5 self.drift_speed = random.uniform(5,10) self.max_alt = self.ground_height() + random.uniform(100, 400) self.drift_heading = self.heading circumference = math.pi * self.radius * 2 circle_time = circumference / self.speed self.turn_rate = 360.0 / circle_time if random.uniform(0,1) < 0.5: self.turn_rate = -self.turn_rate def update(self, deltat=1.0): '''fly circles, then dive''' DNFZ.update(self, deltat) self.time_circling += deltat self.setheading(self.heading + self.turn_rate * deltat) self.move(self.drift_heading, self.drift_speed) if self.getalt() > self.max_alt or self.getalt() < self.ground_height(): if self.getalt() > self.ground_height(): self.setclimbrate(self.dive_rate) else: self.setclimbrate(self.climb_rate) if self.getalt() < self.ground_height(): self.setalt(self.ground_height()) if self.distance_from_home() > gen_settings.region_width: self.randpos() self.randalt() class BirdMigrating(DNFZ): '''an bird that circles slowly climbing, then dives''' def __init__(self, elevationModel): DNFZ.__init__(self, 'BirdMigrating', elevationModel) self.setspeed(random.uniform(4,16)) self.setyawrate(random.uniform(-0.2,0.2)) self.randalt() def update(self, deltat=1.0): '''fly in long curves''' DNFZ.update(self, deltat) if (self.distance_from_home() > gen_settings.region_width or self.getalt() < self.ground_height() or self.getalt() > self.ground_height() + 1000): self.randpos() self.randalt() class Weather(DNFZ): '''a weather system''' def __init__(self, elevationModel): DNFZ.__init__(self, 'Weather', elevationModel) self.setspeed(random.uniform(1,4)) self.lifetime = random.uniform(300,600) self.setalt(0) self.setclimbrate(0) def update(self, deltat=1.0): '''straight lines, with short life''' DNFZ.update(self, deltat) self.lifetime -= deltat if self.lifetime <= 0: self.randpos() self.lifetime = random.uniform(300,600) class GenobstaclesModule(mp_module.MPModule): def __init__(self, mpstate): super(GenobstaclesModule, self).__init__(mpstate, "genobstacles", "OBC 2018 obstacle generator") self.add_command('genobstacles', self.cmd_genobstacles, "obstacle generator", ["", "set (GENSETTING)"]) self.add_completion_function('(GENSETTING)', gen_settings.completion) self.sock = None self.aircraft = [] self.last_t = 0 self.menu_added_map = False self.pkt_queue = [] self.have_home = False self.pending_start = True self.last_click = None if mp_util.has_wxpython: self.menu = MPMenuSubMenu('Obstacles', items=[MPMenuItem('Restart', 'Restart', '# genobstacles restart'), MPMenuItem('Stop', 'Stop', '# genobstacles stop'), MPMenuItem('Start','Start', '# genobstacles start'), MPMenuItem('Remove','Remove', '# genobstacles remove'), MPMenuItem('Drop Cloud','DropCloud', '# genobstacles dropcloud'), MPMenuItem('Drop Eagle','DropEagle', '# genobstacles dropeagle'), MPMenuItem('Drop Bird','DropBird', '# genobstacles dropbird'), MPMenuItem('Drop Plane','DropPlane', '# genobstacles dropplane'), MPMenuItem('ClearAll','ClearAll', '# genobstacles clearall')]) def cmd_dropobject(self, obj): '''drop an object on the map''' latlon = self.mpstate.click_location if self.last_click is not None and self.last_click == latlon: return self.last_click = latlon if latlon is not None: obj.setpos(latlon[0], latlon[1]) self.aircraft.append(obj) def status(self): ret = "" for aircraft in self.aircraft: ret += "%s %f %f\n" % (aircraft.DNFZ_type, aircraft.getlat(), aircraft.getlon(),) return ret def cmd_genobstacles(self, args): '''genobstacles command parser''' usage = "usage: genobstacles " if len(args) == 0: print(usage) return if args[0] == "set": gen_settings.command(args[1:]) elif args[0] == "start": if self.have_home: self.start() else: self.pending_start = True elif args[0] == "stop": self.stop() self.pending_start = False elif args[0] == "restart": self.stop() self.start() elif args[0] == "status": print(self.status()) elif args[0] == "remove": latlon = self.mpstate.click_location if self.last_click is not None and self.last_click == latlon: return self.last_click = latlon if latlon is not None: closest = None closest_distance = 1000 for a in self.aircraft: dist = a.distance_from(latlon[0], latlon[1]) if dist < closest_distance: closest_distance = dist closest = a if closest is not None: self.aircraft.remove(closest) else: print("No obstacle found at click point") elif args[0] == "dropcloud": self.cmd_dropobject(Weather(self.module('terrain').ElevationModel)) elif args[0] == "dropeagle": self.cmd_dropobject(BirdOfPrey(self.module('terrain').ElevationModel)) elif args[0] == "dropbird": self.cmd_dropobject(BirdMigrating(self.module('terrain').ElevationModel)) elif args[0] == "dropplane": self.cmd_dropobject(Aircraft(self.module('terrain').ElevationModel)) elif args[0] == "clearall": self.clearall() else: print(usage) def start(self): '''start sending packets''' if self.sock is not None: self.sock.close() self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP) self.sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) self.sock.connect(('', gen_settings.port)) global track_count self.aircraft = [] track_count = 0 self.last_t = 0 # some fixed wing aircraft for i in range(gen_settings.num_aircraft): self.aircraft.append(Aircraft(self.module('terrain').ElevationModel, random.uniform(10, 100), 2000.0)) # some birds of prey for i in range(gen_settings.num_bird_prey): self.aircraft.append(BirdOfPrey(self.module('terrain').ElevationModel)) # some migrating birds for i in range(gen_settings.num_bird_migratory): self.aircraft.append(BirdMigrating(self.module('terrain').ElevationModel)) # some weather systems for i in range(gen_settings.num_weather): self.aircraft.append(Weather(self.module('terrain').ElevationModel)) print("Started on port %u" % gen_settings.port) def stop(self): '''stop listening for packets''' if self.sock is not None: self.sock.close() self.sock = None def clearall(self): '''remove all objects''' self.aircraft = [] def idle_task(self): while len(self.pkt_queue) > 0: try: pkt = self.pkt_queue.pop(0) self.sock.send(pkt) except Exception as ex: return def mavlink_packet(self, m): '''trigger sends from ATTITUDE packets''' if not self.have_home and m.get_type() == 'GPS_RAW_INT' and m.fix_type >= 3: gen_settings.home_lat = m.lat * 1.0e-7 gen_settings.home_lon = m.lon * 1.0e-7 self.have_home = True if self.pending_start: self.start() if m.get_type() != 'ATTITUDE': return t = self.get_time() dt = t - self.last_t if dt < 0 or dt > 10: self.last_t = t return if dt > 10 or dt < 0.9: return self.last_t = t for a in self.aircraft: if not gen_settings.stop: a.update(1.0) self.pkt_queue.append(a.pickled()) while len(self.pkt_queue) > len(self.aircraft)*2: self.pkt_queue.pop(0) if self.module('map') is not None and not self.menu_added_map: self.menu_added_map = True self.module('map').add_menu(self.menu) def init(mpstate): '''initialise module''' return GenobstaclesModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_gimbal.py000066400000000000000000000224701504324515000222130ustar00rootroot00000000000000#!/usr/bin/env python3 ''' gimbal control module Andrew Tridgell January 2015 ''' import sys, os, time from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_util from MAVProxy.modules.mavproxy_map import mp_slipmap from pymavlink import mavutil from pymavlink.rotmat import Vector3, Matrix3, Plane, Line from math import radians if mp_util.has_wxpython: from MAVProxy.modules.lib.mp_menu import * import pymavlink class GimbalModule(mp_module.MPModule): def __init__(self, mpstate): super(GimbalModule, self).__init__(mpstate, "gimbal", "gimbal control module") self.add_command('gimbal', self.cmd_gimbal, "gimbal link control", ['']) if mp_util.has_wxpython: self.menu = MPMenuSubMenu('Mount', items=[MPMenuItem('GPS targeting Mode', 'GPS Mode', '# gimbal mode gps'), MPMenuItem('MAVLink targeting Mode', 'MAVLink Mode', '# gimbal mode mavlink'), MPMenuItem('RC targeting Mode', 'RC Mode', '# gimbal mode rc'), MPMenuItem('Point At', 'Point At', '# gimbal roi')]) self.menu_added_map = False else: self.menu = None def idle_task(self): '''called on idle''' if self.menu is not None and self.module('map') is not None and not self.menu_added_map: self.menu_added_map = True self.module('map').add_menu(self.menu) def cmd_gimbal(self, args): '''control gimbal''' usage = 'Usage: gimbal ' if len(args) == 0: print(usage) return if args[0] == 'rate': self.cmd_gimbal_rate(args[1:]) elif args[0] == 'point': self.cmd_gimbal_point(args[1:]) elif args[0] == 'roi': self.cmd_gimbal_roi(args[1:]) elif args[0] == 'mode': self.cmd_gimbal_mode(args[1:]) elif args[0] == 'status': self.cmd_gimbal_status(args[1:]) elif args[0] == 'roivel': self.cmd_gimbal_roi_vel(args[1:]) def cmd_gimbal_mode(self, args): '''control gimbal mode''' if len(args) != 1: print("usage: gimbal mode ") return if args[0].upper() == "RETRACT": mode = mavutil.mavlink.MAV_MOUNT_MODE_RETRACT elif args[0].upper() == "NEUTRAL": mode = mavutil.mavlink.MAV_MOUNT_MODE_NEUTRAL elif args[0].upper() == 'GPS': mode = mavutil.mavlink.MAV_MOUNT_MODE_GPS_POINT elif args[0].upper() == 'MAVLINK': mode = mavutil.mavlink.MAV_MOUNT_MODE_MAVLINK_TARGETING elif args[0].upper() == 'RC': mode = mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING else: print("Unsupported mode %s" % args[0]) self.master.mav.mount_configure_send(self.target_system, self.target_component, mode, 1, 1, 1) def cmd_gimbal_roi(self, args): '''control roi position''' latlon = None alt = 0 if len(args) == 0: latlon = self.mpstate.click_location elif len(args) == 3: latlon = [float(i) for i in args[0:2]] alt = float(args[2]) if latlon is None and len(args) == 0: print("No map click position available and no parameters set") return elif latlon is None: print("usage: gimbal roi [LAT LON RELHOMEALT]") return self.master.mav.command_long_send( self.settings.target_system, self.settings.target_component, mavutil.mavlink.MAV_CMD_DO_MOUNT_CONTROL, 0, # confirmation 0, # param1 0, # param2 0, # param3 alt, # param4 - alt (exception to the usual rule about where this goes) int(latlon[0]*1e7), # lat int(latlon[1]*1e7), # lon mavutil.mavlink.MAV_MOUNT_MODE_GPS_POINT) # param7 def cmd_gimbal_roi_vel(self, args): '''control roi position and velocity''' if len(args) != 0 and len(args) != 3 and len(args) != 6: print("usage: gimbal roivel [VEL_NORTH VEL_EAST VEL_DOWN] [ACC_NORTH ACC_EASY ACC_DOWN]") return latlon = None vel = [0,0,0] acc = [0,0,0] if (len(args) >= 3): vel[0:3] = args[0:3] if (len(args) == 6): acc[0:3] = args[3:6] latlon = self.mpstate.click_location if latlon is None: print("No map click position available") latlon = (0,0,0) self.master.mav.set_roi_global_int_send(0, #time_boot_ms 1, #target_system 1, #target_component mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, 0, #type_mask 0, #roi_index 0, #timeout_ms int(latlon[0]*1e7), #lat int int(latlon[1]*1e7), #lng int float(0), #alt float(vel[0]), #vx float(vel[1]), #vy float(vel[2]), #vz float(acc[0]), #ax float(acc[1]), #ay float(acc[2])) #az def cmd_gimbal_rate(self, args): '''control gimbal rate''' if len(args) != 3: print("usage: gimbal rate ROLL PITCH YAW") return (roll, pitch, yaw) = (float(args[0]), float(args[1]), float(args[2])) self.master.mav.gimbal_manager_set_attitude_send( self.target_system, self.target_component, 0, # flags 0, # instance, 0 is primary [float("NaN"), float("NaN"), float("NaN"), float("NaN")], radians(roll), radians(pitch), radians(yaw) ) def cmd_gimbal_point(self, args): '''control gimbal pointing''' if len(args) != 3: print("usage: gimbal point ROLL PITCH YAW") return (roll, pitch, yaw) = (float(args[0]), float(args[1]), float(args[2])) self.master.mav.command_long_send( self.settings.target_system, self.settings.target_component, mavutil.mavlink.MAV_CMD_DO_MOUNT_CONTROL, 0, # confirmation pitch, # param1 roll, # param2 yaw, # param3 0, # param4 0, # lat 0, # lon mavutil.mavlink.MAV_MOUNT_MODE_MAVLINK_TARGETING) # param7 def cmd_gimbal_status(self, args): '''show gimbal status''' master = self.master if 'GIMBAL_REPORT' in master.messages: print(master.messages['GIMBAL_REPORT']) else: print("No GIMBAL_REPORT messages") def mavlink_packet(self, m): '''handle an incoming mavlink packet''' if not self.mpstate.map: # don't draw if no map return for n in frozenset(['ATTITUDE', 'GLOBAL_POSITION_INT']): if not n in self.master.messages: return gpi = self.master.messages['GLOBAL_POSITION_INT'] att = self.master.messages['ATTITUDE'] rotmat_copter_gimbal = Matrix3() if m.get_type() == 'GIMBAL_REPORT': rotmat_copter_gimbal.from_euler312(m.joint_roll, m.joint_el, m.joint_az) elif m.get_type() == 'GIMBAL_DEVICE_ATTITUDE_STATUS': r, p, y = pymavlink.quaternion.Quaternion(m.q).euler # rotate back from earth-frame on roll and pitch to body-frame r -= att.roll p -= att.pitch rotmat_copter_gimbal.from_euler(r, p, y) else: return # clear the camera icon self.mpstate.map.add_object(mp_slipmap.SlipClearLayer('GimbalView')) vehicle_dcm = Matrix3() vehicle_dcm.from_euler(att.roll, att.pitch, att.yaw) gimbal_dcm = vehicle_dcm * rotmat_copter_gimbal lat = gpi.lat * 1.0e-7 lon = gpi.lon * 1.0e-7 alt = gpi.relative_alt * 1.0e-3 # ground plane ground_plane = Plane() # the position of the camera in the air, remembering its a right # hand coordinate system, so +ve z is down camera_point = Vector3(0, 0, -alt) # get view point of camera when not rotated view_point = Vector3(1, 0, 0) # rotate view_point to form current view vector rot_point = gimbal_dcm * view_point # a line from the camera to the ground line = Line(camera_point, rot_point) # find the intersection with the ground pt = line.plane_intersection(ground_plane, forward_only=True) if pt is None: # its pointing up into the sky return None (view_lat, view_lon) = mp_util.gps_offset(lat, lon, pt.y, pt.x) icon = self.mpstate.map.icon('camera-small-red.png') self.mpstate.map.add_object(mp_slipmap.SlipIcon('gimbalview', (view_lat,view_lon), icon, layer='GimbalView', rotation=0, follow=False)) def init(mpstate): '''initialise module''' return GimbalModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_gopro.py000066400000000000000000000061031504324515000221010ustar00rootroot00000000000000#!/usr/bin/env python3 '''gopro control over mavlink for the solo-gimbal To use this module connect to a Solo with a GoPro installed on the gimbal. ''' import time, os from MAVProxy.modules.lib import mp_module from pymavlink import mavutil class GoProModule(mp_module.MPModule): def __init__(self, mpstate): super(GoProModule, self).__init__(mpstate, "gopro", "gopro handling") self.add_command('gopro', self.cmd_gopro, 'gopro control', [ 'status', 'shutter ', 'mode ', 'power ']) def cmd_gopro(self, args): '''gopro commands''' usage = "status, shutter , mode , power " mav = self.master.mav if args[0] == "status": self.cmd_gopro_status(args[1:]) return if args[0] == "shutter": name = args[1].lower() if name == 'start': mav.gopro_set_request_send(self.target_system, mavutil.mavlink.MAV_COMP_ID_GIMBAL, mavutil.mavlink.GOPRO_COMMAND_SHUTTER, [1, 0 ,0 , 0]) return elif name == 'stop': mav.gopro_set_request_send(self.target_system, mavutil.mavlink.MAV_COMP_ID_GIMBAL, mavutil.mavlink.GOPRO_COMMAND_SHUTTER, [0, 0 ,0 , 0]) return else: print("unrecognized") return if args[0] == "mode": name = args[1].lower() if name == 'video': mav.gopro_set_request_send(self.target_system, mavutil.mavlink.MAV_COMP_ID_GIMBAL, mavutil.mavlink.GOPRO_COMMAND_CAPTURE_MODE, [0, 0 ,0 , 0]) return elif name == 'camera': mav.gopro_set_request_send(self.target_system, mavutil.mavlink.MAV_COMP_ID_GIMBAL, mavutil.mavlink.GOPRO_COMMAND_CAPTURE_MODE, [1, 0 ,0 , 0]) return else: print("unrecognized") return if args[0] == "power": name = args[1].lower() if name == 'on': mav.gopro_set_request_send(self.target_system, mavutil.mavlink.MAV_COMP_ID_GIMBAL, mavutil.mavlink.GOPRO_COMMAND_POWER, [1, 0 ,0 , 0]) return elif name == 'off': mav.gopro_set_request_send(self.target_system, mavutil.mavlink.MAV_COMP_ID_GIMBAL, mavutil.mavlink.GOPRO_COMMAND_POWER, [0, 0 ,0 , 0]) return else: print("unrecognized") return print(usage) def cmd_gopro_status(self, args): '''show gopro status''' master = self.master if 'GOPRO_HEARTBEAT' in master.messages: print(master.messages['GOPRO_HEARTBEAT']) else: print("No GOPRO_HEARTBEAT messages") def init(mpstate): '''initialise module''' return GoProModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_graph.py000066400000000000000000000126751504324515000220670ustar00rootroot00000000000000""" MAVProxy realtime graphing module uses lib/live_graph.py for display """ from pymavlink import mavutil import re, os, sys from MAVProxy.modules.lib import live_graph from MAVProxy.modules.lib import mp_module class GraphModule(mp_module.MPModule): def __init__(self, mpstate): super(GraphModule, self).__init__(mpstate, "graph", "graph control") self.timespan = 20 self.tickresolution = 0.2 self.graphs = [] self.add_command('graph', self.cmd_graph, "[expression...] add a live graph", ['(VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE)', 'legend', 'timespan', 'tickresolution']) self.legend = { } def cmd_graph(self, args): '''graph command''' if len(args) == 0: # list current graphs for i in range(len(self.graphs)): print("Graph %u: %s" % (i, self.graphs[i].fields)) return elif args[0] == "help": print("graph ") elif args[0] == "timespan": if len(args) == 1: print("timespan: %.1f" % self.timespan) return self.timespan = float(args[1]) elif args[0] == "tickresolution": if len(args) == 1: print("tickresolution: %.1f" % self.tickresolution) return self.tickresolution = float(args[1]) elif args[0] == "legend": self.cmd_legend(args[1:]) else: # start a new graph self.graphs.append(Graph(self, args[:])) def cmd_legend(self, args): '''setup legend for graphs''' if len(args) == 0: for leg in self.legend.keys(): print("%s -> %s" % (leg, self.legend[leg])) elif len(args) == 1: leg = args[0] if leg in self.legend: print("Removing legend %s" % leg) self.legend.pop(leg) elif len(args) >= 2: leg = args[0] leg2 = args[1] print("Adding legend %s -> %s" % (leg, leg2)) self.legend[leg] = leg2 def unload(self): '''unload module''' for g in self.graphs: g.close() self.graphs = [] def mavlink_packet(self, msg): '''handle an incoming mavlink packet''' # check for any closed graphs for i in range(len(self.graphs) - 1, -1, -1): if not self.graphs[i].is_alive(): self.graphs[i].close() self.graphs.pop(i) # add data to the rest for g in self.graphs: g.add_mavlink_packet(msg) def init(mpstate): '''initialise module''' return GraphModule(mpstate) class Graph(): '''a graph instance''' def __init__(self, state, fields): self.fields = fields[:] self.field_types = [] self.msg_types = set() self.state = state for i in range(len(self.fields)): # special handling for NAMED_VALUE_FLOAT m = re.match("^NAMED_VALUE_FLOAT\[([A-Z0-9_]+)\]\.(.*)$", self.fields[i]) if m: self.fields[i] = "NAMED_VALUE_FLOAT['%s'].%s" % (m.group(1), m.group(2)) re_caps = re.compile('[A-Z_][A-Z0-9_]+') for f in self.fields: caps = set(re.findall(re_caps, f)) self.msg_types = self.msg_types.union(caps) self.field_types.append(caps) print("Adding graph: %s" % self.fields) fields = [ self.pretty_print_fieldname(x) for x in self.fields ] labels = [] for i in range(len(fields)): f = fields[i] f1 = f.find("<") f2 = f.find(">") if f1 > 0 and f2 > f1: labels.append(f[f1+1:f2]) fields[i] = f[:f1] else: labels.append(None) self.fields = fields[:] self.values = [None] * len(self.fields) self.livegraph = live_graph.LiveGraph(fields, timespan=state.timespan, tickresolution=state.tickresolution, title=fields[0] if labels[0] is None else labels[0], labels=labels) def pretty_print_fieldname(self, fieldname): if fieldname in self.state.legend: return self.state.legend[fieldname] return fieldname def is_alive(self): '''check if this graph is still alive''' if self.livegraph: return self.livegraph.is_alive() return False def close(self): '''close this graph''' if self.livegraph: self.livegraph.close() self.livegraph = None def add_mavlink_packet(self, msg): '''add data to the graph''' mtype = msg.get_type() if mtype not in self.msg_types: return have_value = False for i in range(len(self.fields)): if mtype not in self.field_types[i]: continue f = self.fields[i] self.values[i] = mavutil.evaluate_expression(f, self.state.master.messages) if self.values[i] is not None: have_value = True if have_value and self.livegraph is not None: self.livegraph.add_values(self.values) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_heliplane.py000066400000000000000000000121561504324515000227210ustar00rootroot00000000000000""" monitoring of heliplane """ import os, sys, math, time from pymavlink import mavutil from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_settings class HeliPlaneModule(mp_module.MPModule): def __init__(self, mpstate): super(HeliPlaneModule, self).__init__(mpstate, "heliplane", "HeliPlane", public=False) self.last_chan_check = 0 self.update_channels() def get_rc_input(self, msg, chan): '''extract RC input value''' if chan <= 0: return -1 return getattr(msg, 'chan%u_raw' % chan, -1) def get_pwm_output(self, msg, chan): '''extract PWM output value''' if chan <= 0: return -1 return getattr(msg, 'servo%u_raw' % chan, -1) def mavlink_packet(self, msg): '''handle an incoming mavlink packet''' type = msg.get_type() master = self.master # add some status fields if type in [ 'RC_CHANNELS' ]: ilock = self.get_rc_input(msg, self.interlock_channel) if ilock <= 0: self.console.set_status('ILOCK', 'ILOCK:--', fg='grey', row=4) elif ilock >= 1800: self.console.set_status('ILOCK', 'ILOCK:ON', fg='red', row=4) else: self.console.set_status('ILOCK', 'ILOCK:OFF', fg='green', row=4) override = self.get_rc_input(msg, self.override_channel) if override <= 0: self.console.set_status('OVR', 'OVR:--', fg='grey', row=4) elif override >= 1800: self.console.set_status('OVR', 'OVR:ON', fg='red', row=4) else: self.console.set_status('OVR', 'OVR:OFF', fg='green', row=4) zeroi = self.get_rc_input(msg, self.zero_I_channel) if zeroi <= 0: self.console.set_status('ZEROI', 'ZEROI:--', fg='grey', row=4) elif zeroi >= 1800: self.console.set_status('ZEROI', 'ZEROI:ON', fg='red', row=4) else: self.console.set_status('ZEROI', 'ZEROI:OFF', fg='green', row=4) novtol = self.get_rc_input(msg, self.no_vtol_channel) if novtol <= 0: self.console.set_status('NOVTOL', 'NOVTOL:--', fg='grey', row=4) elif novtol >= 1800: self.console.set_status('NOVTOL', 'NOVTOL:ON', fg='red', row=4) else: self.console.set_status('NOVTOL', 'NOVTOL:OFF', fg='green', row=4) if type in [ 'SERVO_OUTPUT_RAW' ]: rsc = self.get_pwm_output(msg, self.rsc_out_channel) if rsc <= 0: self.console.set_status('RSC', 'RSC:--', fg='grey', row=4) elif rsc <= 1200: self.console.set_status('RSC', 'RSC:%u' % rsc, fg='red', row=4) elif rsc <= 1600: self.console.set_status('RSC', 'RSC:%u' % rsc, fg='orange', row=4) else: self.console.set_status('RSC', 'RSC:%u' % rsc, fg='green', row=4) thr = self.get_pwm_output(msg, self.fwd_thr_channel) if thr <= 0: self.console.set_status('FTHR', 'FTHR:--', fg='grey', row=4) elif thr <= 1100: self.console.set_status('FTHR', 'FTHR:%u' % thr, fg='red', row=4) elif thr <= 1500: self.console.set_status('FTHR', 'FTHR:%u' % thr, fg='orange', row=4) else: self.console.set_status('FTHR', 'FTHR:%u' % thr, fg='green', row=4) if type in [ 'RPM' ]: rpm = msg.rpm1 if rpm < 1000: rpm_colour = 'red' elif rpm < 2000: rpm_colour = 'orange' else: rpm_colour = 'green' self.console.set_status('RPM', 'RPM: %u' % rpm, fg=rpm_colour, row=4) def update_channels(self): '''update which channels provide input''' self.interlock_channel = -1 self.override_channel = -1 self.zero_I_channel = -1 self.no_vtol_channel = -1 # output channels self.rsc_out_channel = 9 self.fwd_thr_channel = 10 for ch in range(1,16): option = self.get_mav_param("RC%u_OPTION" % ch, 0) if option == 32: self.interlock_channel = ch; elif option == 63: self.override_channel = ch; elif option == 64: self.zero_I_channel = ch; elif option == 65: self.override_channel = ch; elif option == 66: self.no_vtol_channel = ch; function = self.get_mav_param("SERVO%u_FUNCTION" % ch, 0) if function == 32: self.rsc_out_channel = ch if function == 70: self.fwd_thr_channel = ch def idle_task(self): '''run periodic tasks''' now = time.time() if now - self.last_chan_check >= 1: self.last_chan_check = now self.update_channels() def init(mpstate): '''initialise module''' return HeliPlaneModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_help.py000066400000000000000000000114711504324515000217070ustar00rootroot00000000000000""" MAVProxy help/versioning module AP_FLAKE8_CLEAN """ import platform import re import requests from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import mp_module if mp_util.has_wxpython: import wx from MAVProxy.modules.lib.mp_menu import MPMenuItem from MAVProxy.modules.lib.mp_menu import MPMenuSubMenu from MAVProxy.modules.lib.mp_menu import MPMenuOpenWeblink from MAVProxy.modules.lib.mp_menu import MPMenuChildMessageDialog class HelpModule(mp_module.MPModule): def __init__(self, mpstate): super(HelpModule, self).__init__(mpstate, "mavhelp", "Help and version information", public = True) # noqa self.enabled = False self.add_command('mavhelp', self.cmd_help, "help and version information", "") self.have_list = False # versioning info # pkg_resources doesn't work in the windows exe build, so read the version file try: import pkg_resources self.version = pkg_resources.Environment()["mavproxy"][0].version except Exception: start_script = mp_util.dot_mavproxy("version.txt") f = open(start_script, 'r') self.version = f.readline() self.host = platform.system() + platform.release() self.pythonversion = str(platform.python_version()) if mp_util.has_wxpython: self.wxVersion = str(wx.__version__) else: self.wxVersion = '' # check for updates, if able self.check_for_updates() if mp_util.has_wxpython: self.menu_added_console = False self.menu = MPMenuSubMenu( 'Help', items=[ MPMenuItem( 'MAVProxy website', 'MAVProxy website', '', handler=MPMenuOpenWeblink('https://ardupilot.org/mavproxy/index.html'), ), MPMenuItem( 'Check for Updates', 'Check for Updates', '', handler=MPMenuChildMessageDialog( title="Updates", message=self.newversion, ) ), MPMenuItem( 'About', 'About', '', handler=MPMenuChildMessageDialog( title="About MAVProxy", message=self.about_string(), )) ]) def check_for_updates(self): url = "https://pypi.org/pypi/MAVProxy/json" try: response = requests.get(url) except requests.exceptions.RequestException as e: self.newversion = f"Error finding update: {e}" return if response.status_code != 200: self.newversion = f"HTTP error getting update ({response.status_code})" return self.newversion = response.json()['info']['version'] # and format the update string if not isinstance(self.newversion, str): self.newversion = "Error finding update" elif re.search('[a-zA-Z]', self.newversion): self.newversion = "Error finding update: " + self.newversion elif self.newversion.strip() == self.version.strip(): self.newversion = "Running latest version" else: self.newversion = "New version " + self.newversion + " available (currently running " + self.version + ")" def about_string(self): bits = { "MAVProxy Version": self.version, "OS": self.host, "Python": self.pythonversion, "WXPython": self.wxVersion, "LatestVersion": self.newversion, } return "".join([f"{x[0]}: {x[1]}\n" for x in bits.items()]) def idle_task(self): '''called on idle''' if self.module('console') is not None: if not self.menu_added_console: self.menu_added_console = True self.module('console').add_menu(self.menu) else: self.menu_added_console = False def cmd_help(self, args): '''help commands''' if len(args) < 1: self.print_usage() return if args[0] == "about": print(self.about_string()) elif args[0] == "site": print("See https://ardupilot.org/mavproxy/index.html for documentation") else: self.print_usage() def mavlink_packet(self, m): '''handle and incoming mavlink packets''' def print_usage(self): print("usage: mavhelp ") def init(mpstate): '''initialise module''' return HelpModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_horizon.py000066400000000000000000000111421504324515000224420ustar00rootroot00000000000000""" MAVProxy console uses lib/console.py for display """ from MAVProxy.modules.lib import wxhorizon from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib.wxhorizon_util import Attitude, VFR_HUD, Global_Position_INT, BatteryInfo, FlightState, WaypointInfo, FPS import time class HorizonModule(mp_module.MPModule): def __init__(self, mpstate): # Define module load/unload reference and window title super(HorizonModule, self).__init__(mpstate, "horizon", "Horizon Indicator", public=True) self.mpstate.horizonIndicator = wxhorizon.HorizonIndicator(title='Horizon Indicator') self.mode = '' self.armed = '' self.currentWP = 0 self.finalWP = 0 self.currentDist = 0 self.nextWPTime = 0 self.speed = 0 self.wpBearing = 0 self.msgList = [] self.lastSend = 0.0 self.fps = 10.0 self.sendDelay = (1.0/self.fps)*0.9 self.add_command('horizon-fps',self.fpsInformation,"Get or change frame rate for horizon. Usage: horizon-fps set , horizon-fps get. Set fps to zero to get unrestricted framerate.") def unload(self): '''unload module''' self.mpstate.horizonIndicator.close() def fpsInformation(self,args): '''fps command''' invalidStr = 'Invalid number of arguments. Usage horizon-fps set or horizon-fps get. Set fps to zero to get unrestricted framerate.' if len(args)>0: if args[0] == "get": '''Get the current framerate.''' if (self.fps == 0.0): print('Horizon Framerate: Unrestricted') else: print("Horizon Framerate: " + str(self.fps)) elif args[0] == "set": if len(args)==2: self.fps = float(args[1]) if (self.fps != 0): self.sendDelay = 1.0/self.fps else: self.sendDelay = 0.0 self.msgList.append(FPS(self.fps)) if (self.fps == 0.0): print('Horizon Framerate: Unrestricted') else: print("Horizon Framerate: " + str(self.fps)) else: print(invalidStr) else: print(invalidStr) else: print(invalidStr) def mavlink_packet(self, msg): '''handle an incoming mavlink packet''' msgType = msg.get_type() master = self.master if msgType == 'HEARTBEAT': # Update state and mode information self.armed = master.motors_armed() self.mode = master.flightmode # Send Flight State information down pipe self.msgList.append(FlightState(self.mode,self.armed)) elif msgType == 'ATTITUDE': # Send attitude information down pipe self.msgList.append(Attitude(msg)) elif msgType == 'VFR_HUD': # Send HUD information down pipe self.msgList.append(VFR_HUD(msg)) elif msgType == 'GLOBAL_POSITION_INT': # Send altitude information down pipe self.msgList.append(Global_Position_INT(msg,time.time())) elif msgType == 'SYS_STATUS': # Mode and Arm State self.msgList.append(BatteryInfo(msg)) elif msgType in ['MISSION_CURRENT']: # Waypoints self.currentWP = msg.seq self.finalWP = self.module('wp').wploader.count() self.msgList.append(WaypointInfo(self.currentWP,self.finalWP,self.currentDist,self.nextWPTime,self.wpBearing)) elif msgType == 'NAV_CONTROLLER_OUTPUT': self.currentDist = msg.wp_dist self.speed = master.field('VFR_HUD', 'airspeed', 30) if self.speed > 1: self.nextWPTime = self.currentDist / self.speed else: self.nextWPTime = '-' self.wpBearing = msg.target_bearing self.msgList.append(WaypointInfo(self.currentWP,self.finalWP,self.currentDist,self.nextWPTime,self.wpBearing)) def idle_task(self): if self.mpstate.horizonIndicator.close_event.wait(0.001): self.needs_unloading = True # tell MAVProxy to unload this module if (time.time() - self.lastSend) > self.sendDelay: self.mpstate.horizonIndicator.parent_pipe_send.send(self.msgList) self.msgList = [] self.lastSend = time.time() def init(mpstate): '''initialise module''' return HorizonModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_instructor.py000077500000000000000000000210221504324515000231670ustar00rootroot00000000000000#!/usr/bin/env python3 """ MAVProxy instructor station module André Kjellstrup @ NORCE """ import math from MAVProxy.modules.lib import mp_instructor from MAVProxy.modules.lib import mp_module from pymavlink import mavutil #from MAVProxy.modules.lib import multiproc import MAVProxy.modules.mavproxy_link class InstructorModule(mp_module.MPModule): def __init__(self, mpstate): #self.in_pipe, self.out_pipe = multiproc.Pipe() super(InstructorModule, self).__init__(mpstate, "instructor", "instructor module") self.instructor = mp_instructor.InstructorUI() self.voltage_is_dropping = False self.voltage_drop = 0.0 # accumulated voltage drop self.voltage_start = 0 # voltage before drop self.voltage_drop_rate = 0.1 # v/s drop rate def unload(self): '''unload module''' print('unloading') # self.mpstate.horizonIndicator.close() def mavlink_packet(self, msg): """handle an incoming mavlink packet""" if not isinstance(self.instructor, mp_instructor.InstructorUI): return if not self.instructor.is_alive(): return type = msg.get_type() master = self.master if type == 'HEARTBEAT': 'beforeEngineList - APM booted' if self.mpstate.status.heartbeat_error == True: self.instructor.set_check("Pixhawk Booted", 0) else: self.instructor.set_check("Pixhawk Booted", 1) if self.voltage_is_dropping: self.voltage_drop += self.voltage_drop_rate self.param_set('SIM_BATT_VOLTAGE', (self.voltage_start - self.voltage_drop)) # if mp_instructor.InstructorFrame.out_pipe.poll(): if self.instructor.pipe_to_gui.poll(): obj = self.instructor.pipe_to_gui.recv() if obj[0] == "dis_gnss": # print(str(obj[1])) self.param_set('SIM_GPS_DISABLE', int(obj[1])) elif obj[0] == "setmode": self.master.set_mode("RTL") elif obj[0] == "volt_drop_rate": self.voltage_drop_rate = obj[1] #print(self.voltage_drop_rate) elif obj[0] == "volt_drop": if obj[1]: self.voltage_is_dropping = True self.voltage_start = self.get_mav_param('SIM_BATT_VOLTAGE') print('voltage dropping') else: self.voltage_is_dropping = False self.param_set('SIM_BATT_VOLTAGE', self.voltage_start) print('voltage restored') #print(self.voltage_start) #print(self.voltage_is_dropping) #print(self.voltage_drop_rate) #print(self.voltage_drop) #print(self.get_mav_param('SIM_BATT_VOLTAGE')) #self.mav_param('SIM_BATT_VOLTAGE', int(obj[1])) elif obj[0] == "gcs_comm_loss": if obj[1]: print('on') #MAVProxy.modules.mavproxy_link.LinkModule.cmd_link_add("udp:127.0.0.1:9777") else: print('off') #MAVProxy.modules.mavproxy_link.LinkModule.cmd_link_remove("127.0.0.1:14550") elif obj[0] == "wind_dir": self.param_set('SIM_WIND_DIR', obj[1]) elif obj[0] == "wind_vel": self.param_set('SIM_WIND_SPD', obj[1]) elif obj[0] == "wind_turbulence": self.param_set('SIM_WIND_TURB', obj[1]) self.param_set('SIM_WIND_T', obj[1]) # self.instructor.set_check("Odroid Booted", 1) #print(obj) # Plane Actions elif obj[0] == "pitot_fail_low": self.param_set('SIM_ARSPD_FAIL', obj[1]) elif obj[0] == "pitot_fail_high": self.param_set('SIM_ARSPD_FAILP', obj[1]) elif obj[0] == "arspd_offset": self.param_set('SIM_ARSPD_OFS', obj[1]) elif obj[0] == "plane_thrust_loss": self.param_set('SERVO3_MAX', 2000 - obj[1]) elif obj[0] == "plane_thrust_loss_curr": self.param_set('SERVO3_MAX', 2000 - obj[1]) # simulate increased current by 0...-2 offset self.param_set('BATT_AMP_OFFSET', (-obj[1]/500)) # Copter Actions elif obj[0] == "copter_thrust_loss": self.param_set('MOT_PWM_MAX', 2000 - obj[1]) # simulate increased current self.param_set('BATT_AMP_PERVLT', 17 + (obj[1]/40)) elif obj[0] == "copter_reset": print("MOT_PWM_MAX 2000") self.param_set('MOT_PWM_MAX', 2000) print("BATT_AMP_PERVLT 17") self.param_set('BATT_AMP_PERVLT', 17) print('Done') '''beforeEngineList - Flight mode MANUAL''' if self.mpstate.status.flightmode == "MANUAL": self.instructor.set_check("Flight mode MANUAL", 1) else: self.instructor.set_check("Flight mode MANUAL", 0) if type in [ 'GPS_RAW', 'GPS_RAW_INT' ]: '''beforeEngineList - GPS lock''' if ((msg.fix_type >= 3 and master.mavlink10()) or (msg.fix_type == 2 and not master.mavlink10())): self.instructor.set_check("GNSS FIX", 1) else: self.instructor.set_check("GNSS FIX", 0) '''beforeEngineList - Radio Links > 6db margin TODO: figure out how to read db levels''' if type in ['RADIO', 'RADIO_STATUS']: if msg.rssi < msg.noise+6 or msg.remrssi < msg.remnoise+6: self.instructor.set_check("Radio links > 6db margin", 0) else: self.instructor.set_check("Radio Links > 6db margin", 0) if type == 'HWSTATUS': '''beforeEngineList - Avionics Battery''' if msg.Vcc >= 4600 and msg.Vcc <= 5300: self.instructor.set_check("Avionics Power", 1) else: self.instructor.set_check("Avionics Power", 0) if type == 'POWER_STATUS': '''beforeEngineList - Servo Power''' if msg.Vservo >= 4900 and msg.Vservo <= 6500: self.instructor.set_check("Servo Power", 1) else: self.instructor.set_check("Servo Power", 0) '''beforeEngineList - Waypoints Loaded''' if type == 'HEARTBEAT': if self.module('wp').wploader.count() == 0: self.instructor.set_check("Waypoints Loaded", 0) else: self.instructor.set_check("Waypoints Loaded", 1) '''beforeTakeoffList - Compass active''' if type == 'GPS_RAW': if math.fabs(msg.hdg - master.field('VFR_HUD', 'heading', '-')) < 10 or math.fabs(msg.hdg - master.field('VFR_HUD', 'heading', '-')) > 355: self.instructor.set_check("Compass active", 1) else: self.instructor.set_check("Compass active", 0) '''beforeCruiseList - Airspeed > 10 m/s , Altitude > 30 m''' if type == 'VFR_HUD': rel_alt = master.field('GLOBAL_POSITION_INT', 'relative_alt', 0) * 1.0e-3 if rel_alt > 30: self.instructor.set_check("Altitude > 30 m", 1) else: self.instructor.set_check("Altitude > 30 m", 0) if msg.airspeed > 10 or msg.groundspeed > 10: self.instructor.set_check("Airspeed > 10 m/s", 1) else: self.instructor.set_check("Airspeed > 10 m/s", 0) '''beforeEngineList - IMU''' if type in ['SYS_STATUS']: sensors = {'AS': mavutil.mavlink.MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE, 'MAG': mavutil.mavlink.MAV_SYS_STATUS_SENSOR_3D_MAG, 'INS': mavutil.mavlink.MAV_SYS_STATUS_SENSOR_3D_ACCEL | mavutil.mavlink.MAV_SYS_STATUS_SENSOR_3D_GYRO, 'AHRS': mavutil.mavlink.MAV_SYS_STATUS_AHRS} bits = sensors['INS'] present = ((msg.onboard_control_sensors_enabled & bits) == bits) healthy = ((msg.onboard_control_sensors_health & bits) == bits) if not present or not healthy: self.instructor.set_check("IMU Check", 1) else: self.instructor.set_check("IMU Check", 0) def unload(self): '''unload module''' self.instructor.close() def init(mpstate): """initialise module""" return InstructorModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_joystick/000077500000000000000000000000001504324515000222405ustar00rootroot00000000000000MAVProxy-1.8.74/MAVProxy/modules/mavproxy_joystick/__init__.py000066400000000000000000000117271504324515000243610ustar00rootroot00000000000000from __future__ import print_function import os import pygame import pkg_resources import yaml import fnmatch from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import mp_settings from MAVProxy.modules.mavproxy_joystick import controls class Joystick(mp_module.MPModule): ''' joystick set verbose joystick set debug joystick status joystick probe ''' def __init__(self, mpstate): """Initialise module""" super(Joystick, self).__init__(mpstate, 'joystick', 'A flexible joystick driver') self.joystick = None self.init_pygame() self.init_settings() self.init_commands() self.probe() def log(self, msg, level=0): if self.mpstate.settings.moddebug < level: return print('{}: {}'.format(__name__, msg)) def init_pygame(self): self.log('Initializing pygame', 2) pygame.init() pygame.joystick.init() def init_settings(self): pass def init_commands(self): self.log('Initializing commands', 2) self.add_command('joystick', self.cmd_joystick, "A flexible joystick drvier", ['status', 'probe']) def load_definitions(self): self.log('Loading joystick definitions', 1) self.joydefs = [] search = [] userjoysticks = os.environ.get( 'MAVPROXY_JOYSTICK_DIR', mp_util.dot_mavproxy('joysticks')) if userjoysticks is not None and os.path.isdir(userjoysticks): search.append(userjoysticks) search.append(pkg_resources.resource_filename(__name__, 'joysticks')) for path in search: self.log('Looking for joystick definitions in {}'.format(path), 2) path = os.path.expanduser(path) for dirpath, dirnames, filenames in os.walk(path): for joyfile in filenames: root, ext = os.path.splitext(joyfile) if ext[1:] not in ['yml', 'yaml', 'json']: continue joypath = os.path.join(dirpath, joyfile) self.log('Loading definition from {}'.format(joypath), 2) with open(joypath, 'r') as fd: joydef = yaml.safe_load(fd) joydef['path'] = joypath self.joydefs.append(joydef) def probe(self): self.load_definitions() for jid in range(pygame.joystick.get_count()): joy = pygame.joystick.Joystick(jid) self.log("Found joystick (%s)" % (joy.get_name(),)) for joydef in self.joydefs: if 'match' not in joydef: self.log('{} has no match patterns, ignoring.'.format( joydef['path']), 0) continue for pattern in joydef['match']: if fnmatch.fnmatch(joy.get_name().lower(), pattern.lower()): self.log('Using {} ("{}" matches pattern "{}")'.format( joydef['path'], joy.get_name(), pattern)) self.joystick = controls.Joystick(joy, joydef) return print('{}: Failed to find matching joystick.'.format(__name__)) def usage(self): '''show help on command line options''' return "Usage: joystick " def cmd_joystick(self, args): if not len(args): self.log('No subcommand specified.') elif args[0] == 'status': self.cmd_status() elif args[0] == 'probe': self.cmd_probe() elif args[0] == 'help': self.cmd_help() def cmd_help(self): print('joystick probe -- reload and match joystick definitions') print('joystick status -- show currently loaded definition, if any') def cmd_probe(self): self.log('Re-detecting available joysticks', 0) self.probe() def cmd_status(self): if self.joystick is None: print('No active joystick') else: print('Active joystick:') print('Path: {path}'.format(**self.joystick.controls)) print('Description: {description}'.format( **self.joystick.controls)) def idle_task(self): if self.joystick is None: return for e in pygame.event.get(): override = self.module('rc').override[:] values = self.joystick.read() override = values + override[len(values):] # self.log('channels: {}'.format(override), level=3) if override != self.module('rc').override: self.module('rc').override = override self.module('rc').override_period.force() def init(mpstate): '''initialise module''' return Joystick(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_joystick/controls.py000066400000000000000000000151021504324515000244540ustar00rootroot00000000000000'''Joystick control classes''' def scale(val, inlow=-1, inhigh=1, outlow=1000, outhigh=2000): '''Scale an in value in the range (inlow, inhigh) to the range (outlow, outhigh).''' return ( ((float(val) - inlow) / (inhigh - inlow)) * (outhigh - outlow) + outlow ) class Control (object): '''Base class for all controls''' def __init__(self, joystick, inlow=-1, inhigh=1, outlow=1000, outhigh=2000, values=[]): self.joystick = joystick self.inlow = inlow self.inhigh = inhigh self.outlow = outlow self.outhigh = outhigh self.values = values class Button (Control): '''A Button acts like a momentary switch. When pressed, the corresponding channel value is set to `outhigh`; when released, the value is set to `outlow`.''' def __init__(self, joystick, id, **kwargs): super(Button, self).__init__(joystick, **kwargs) self.id = id @property def value(self): state = self.joystick.get_button(self.id) if state: return self.outhigh else: return self.outlow class ToggleButton (Control): '''A ToggleButton acts like a toggle or rotary switch. Initially, the corresponding channel value is set to the first value in `values`; when button `id` is pressed consecutively, the values are iterated on each press. Iteration is looped by starting from the beginning when last value is reached.''' def __init__(self, joystick, id, **kwargs): super(ToggleButton, self).__init__(joystick, **kwargs) self.id = id # index of value to set next self._current_value_index = 0 # current value self._current_value = self.values[self._current_value_index] # last button state self._last_state = False @property def value(self): state = self.joystick.get_button(self.id) # button is pressed and last call it was not? if state and state != self._last_state: # choose new value for next press if self._current_value_index >= len(self.values)-1: # start over with first value self._current_value_index = 0 else: # choose next value self._current_value_index += 1 # get next value from "values" list self._current_value = self.values[self._current_value_index] # save new button state self._last_state = state return self._current_value class MultiButton (Control): '''A MultiButton maps multiple buttons to the same channel like a multiple-position switch. When a button is pressed, the channel is set to the corresponding value. When a button is released, no changes is made to the channel.''' def __init__(self, joystick, buttons, **kwargs): super(MultiButton, self).__init__(joystick, **kwargs) self.buttons = buttons self._value = buttons[0]['value'] @property def value(self): for button in self.buttons: state = self.joystick.get_button(button['id']) if state: self._value = button['value'] break return self._value class Axis (Control): '''An Axis maps a joystick axis to a channel. Set `invert` to `True` in order to reverse the direction of the input.''' def __init__(self, joystick, id, invert=False, **kwargs): super(Axis, self).__init__(joystick, **kwargs) self.id = id self.invert = invert @property def value(self): val = self.joystick.get_axis(self.id) if self.invert: val = -val return scale(val, inlow=self.inlow, inhigh=self.inhigh, outlow=self.outlow, outhigh=self.outhigh) class Hat (Control): '''A Hat maps one axis of a hat as if it were a toggle switch. When the axis goes negative, the corresponding channel value is set to `outputlow`. When the axis goes positive, the value is set to `outputhigh`. No change is made when the axis returns to 0.''' def __init__(self, joystick, id, axis, **kwargs): super(Hat, self).__init__(joystick, **kwargs) self.id = id self.axis = axis self._value = self.outlow @property def value(self): x, y = self.joystick.get_hat(self.id) value = x if self.axis == 'x' else y if value != 0: self._value = scale(value, outlow=self.outlow, outhigh=self.outhigh) return self._value class Joystick (object): '''A Joystick manages a collection of Controls.''' def __init__(self, joystick, controls): self.joystick = joystick self.controls = controls self.chan_max = max(control['channel'] for control in controls['controls']) self.channels = [None] * self.chan_max self.joystick.init() for control in controls['controls']: if control['type'] == 'button': kwargs = {k: control[k] for k in control.keys() if k in ['outlow', 'outhigh']} handler = Button(self.joystick, control['id'], **kwargs) elif control['type'] == 'toggle': kwargs = {k: control[k] for k in control.keys() if k in ['values']} handler = ToggleButton(self.joystick, control['id'], **kwargs) elif control['type'] == 'axis': kwargs = {k: control[k] for k in control.keys() if k in ['inlow', 'inhigh', 'outlow', 'outhigh', 'invert']} handler = Axis(self.joystick, control['id'], **kwargs) elif control['type'] == 'multibutton': handler = MultiButton(self.joystick, buttons=control['buttons']) elif control['type'] == 'hat': kwargs = {k: control[k] for k in control.keys() if k in ['outlow', 'outhigh']} handler = Hat(self.joystick, control['id'], control['axis']) self.channels[control['channel']-1] = handler def read(self): '''Returns an array of channel values. Return 0 for channels not specified in the control definition.''' return [int(handler.value) if handler is not None else 0 for handler in self.channels] MAVProxy-1.8.74/MAVProxy/modules/mavproxy_joystick/findjoy.py000066400000000000000000000064651504324515000242670ustar00rootroot00000000000000#!/usr/bin/env python3 '''This is a script that will help you identify controls on your joystick in order to create an appropriate joystick definition for the joystick module. You can run it like this: python -m MAVProxy.modules.mavproxy_joystick.findjoy ''' from __future__ import print_function import argparse import collections import pygame import sys import time import time State = collections.namedtuple('State', ['axes', 'buttons', 'hats', 'balls']) def parse_args(): p = argparse.ArgumentParser() p.add_argument('joystick', nargs='?', type=int) return p.parse_args() def list_joysticks(): '''Print a list of available joysticks''' print('Available joysticks:') print() for jid in range(pygame.joystick.get_count()): j = pygame.joystick.Joystick(jid) print('({}) {}'.format(jid, j.get_name())) def select_joystick(): '''Allow user to select a joystick from a menu''' list_joysticks() while True: print('Select a joystick (L to list, Q to quit)'), choice = sys.stdin.readline().strip() if choice.lower() == 'l': list_joysticks() elif choice.lower() == 'q': return elif choice.isdigit(): jid = int(choice) if jid not in range(pygame.joystick.get_count()): print('Invalid joystick.') continue break else: print('What?') return jid def get_joystick_state(joy): axes = [joy.get_axis(x) for x in range(joy.get_numaxes())] buttons = [joy.get_button(x) for x in range(joy.get_numbuttons())] hats = [joy.get_hat(x) for x in range(joy.get_numhats())] balls = [joy.get_ball(x) for x in range(joy.get_numballs())] state = State(axes, buttons, hats, balls) return state def main(): print('\n'.join([ 'This script will help you identify axis, button, hat, and ', 'ball ids on your joystick in order to create new joystick ', 'definitions for the mavproxy_joystick module.', '' ])) pygame.init() pygame.joystick.init() args = parse_args() if args.joystick is None: args.joystick = select_joystick() if args.joystick is None: print('No joystick selected.') return joy = pygame.joystick.Joystick(args.joystick) joy.init() print('Joystick: {}'.format(joy.get_name())) print(' Axes: {}'.format(joy.get_numaxes())) print(' Buttons: {}'.format(joy.get_numbuttons())) print(' Hats: {}'.format(joy.get_numhats())) print(' Balls: {}'.format(joy.get_numballs())) print() pygame.event.clear() while True: print('Move a control on your joystick') print() e = pygame.event.wait() if e.type == pygame.JOYAXISMOTION: print('Axis', e.axis) elif e.type in [pygame.JOYBUTTONDOWN, pygame.JOYBUTTONUP]: print('Button', e.button) elif e.type == pygame.JOYHATMOTION: print('Hat', e.hat) elif e.type == pygame.JOYBALLMOTION: print('Ball', e.ball) # consume events t0 = time.time() while True: t1 = time.time() if not pygame.event.get() and (t1 - t0 > 1): break if __name__ == '__main__': main() MAVProxy-1.8.74/MAVProxy/modules/mavproxy_joystick/joysticks/000077500000000000000000000000001504324515000242625ustar00rootroot00000000000000MAVProxy-1.8.74/MAVProxy/modules/mavproxy_joystick/joysticks/FeiYing.yml000066400000000000000000000004701504324515000263400ustar00rootroot00000000000000description: > FeiYing Model KMODEL Simulator - G4-G7 and Above Controller match: - '*FeiYing*' controls: - channel: 1 type: axis id: 0 - channel: 2 type: axis id: 1 - channel: 3 type: axis id: 2 - channel: 4 type: axis id: 4 - channel: 5 type: button id: 0 MAVProxy-1.8.74/MAVProxy/modules/mavproxy_joystick/joysticks/Logitech_WingMan_3D.yml000066400000000000000000000030641504324515000305140ustar00rootroot00000000000000description: Logitech WingMan Force 3D joystick definition. match: - WingMan Force 3D* controls: # map axis id 2 to rc channel 1 - channel: 1 type: axis id: 0 # map axis id 3 to rc channel 2 - channel: 2 type: axis id: 1 # map axis id 1 to rc channel 3 - channel: 3 type: axis id: 2 invert: true # map axis id 0 to rc channel 4 - channel: 4 type: axis id: 3 # This maps the A, B, X, and Y buttons onto channel 5, providing # a convenient way to select between four different flight modes. # The PWM values here are for flight modes 1-4. - channel: 5 type: multibutton buttons: - id: 0 value: 1200 - id: 1 value: 1300 - id: 2 value: 1400 - id: 3 value: 1500 # A hat operates like a toggle switch. When an axis goes positive, # it sets the `high` value, and when an axis goes negative it sets the # `low` value. When the hat is centered it does not change the # current channel value. This configuration maps the hat X axis to # channel 7 and the Y axis to channel 8; these are useful along with # the CH7_OPT and CH8_OPT APM parameters. - channel: 7 type: hat id: 0 axis: x - channel: 8 type: hat id: 0 axis: y # Buttons act as momentary switches. When pressed they set the # corresponding pwm to their `high` value, when released the pwm is # set to the `low` value. `low` defaults to 1000, `high` defaults # to 2000. - channel: 9 type: button id: 4 - channel: 10 type: button id: 5 MAVProxy-1.8.74/MAVProxy/modules/mavproxy_joystick/joysticks/SparkFun Pro Micro.yml000066400000000000000000000006751504324515000303210ustar00rootroot00000000000000description: > SUMD -> Joystick adapter using SparkFun Pro Micro AtMega 32u4 match: - '*SparkFun Pro Micro*' controls: - channel: 1 type: axis id: 0 - channel: 2 type: axis id: 1 - channel: 3 type: axis id: 2 - channel: 4 type: axis id: 3 - channel: 5 type: axis id: 4 - channel: 6 type: axis id: 5 - channel: 7 type: axis id: 6 - channel: 8 type: axis id: 7 MAVProxy-1.8.74/MAVProxy/modules/mavproxy_joystick/joysticks/T16S.yml000066400000000000000000000005641504324515000255070ustar00rootroot00000000000000description: > RadioMaster T16 as a joystick via USB cable match: - '*TX16*' controls: - channel: 1 type: axis id: 0 - channel: 2 type: axis id: 1 - channel: 3 type: axis id: 2 - channel: 4 type: axis id: 3 - channel: 5 type: axis id: 4 - channel: 6 type: axis id: 5 - channel: 7 type: axis id: 6 MAVProxy-1.8.74/MAVProxy/modules/mavproxy_joystick/joysticks/carolbox-usb.yml000066400000000000000000000015421504324515000274070ustar00rootroot00000000000000description: > http://www.hobbyking.com/hobbyking/store/__13597__USB_Simulator_Cable_XTR_AeroFly_FMS.html Has 6 usable axes. This assumes mode 1 match: - 'CarolBox USB*' controls: - channel: 1 type: axis id: 3 - channel: 2 type: axis id: 0 - channel: 3 type: axis id: 1 - channel: 4 type: axis id: 4 - channel: 5 type: axis id: 5 - channel: 7 type: axis id: 2 # NB: The configuration in mavproxy_joystick.py maps both channels 5 # and 8 to axis 5. One of these is a typo. I'm assuming that it # should be axis 6 for channel 8. - channel: 8 type: axis id: 6 # From mavproxy_joystick.py: # # 'CarolBox USB*': # [(3, 500, 1500), # (0, 500, 1500), # (1, 700, 1500), # (4, 500, 1500), # (5, 500, 1500), # None, # (2, 500, 1500), # (5, 500, 1500)], MAVProxy-1.8.74/MAVProxy/modules/mavproxy_joystick/joysticks/cypress-spektrum.yml000066400000000000000000000007521504324515000303510ustar00rootroot00000000000000description: > Spektrum DX8 With Cypress USB dsmX HID OrangeRX DSMX DSM2 USB Dongle Available here - https://hobbyking.com/en_us/orange-rx-dsmx-dsm2-compatible-protocol-usb-dongle-flight-simulator.html match: - Cypress USB dsmX HID controls: - channel: 1 type: axis id: 0 # right control over and back - channel: 2 type: axis id: 1 - channel: 3 type: axis id: 2 - channel: 4 type: axis id: 3 MAVProxy-1.8.74/MAVProxy/modules/mavproxy_joystick/joysticks/great-planes.Interlink-X.yaml000066400000000000000000000022551504324515000316770ustar00rootroot00000000000000description: > GREAT PLANES InterLink Elite or Great Planes GP Controller. 4 axes usable. match: - 'GREAT PLANES InterLink-X' controls: - channel: 1 type: axis id: 2 invert: true - channel: 2 type: axis id: 5 - channel: 3 type: axis id: 1 - channel: 4 type: axis id: 0 - channel: 7 type: axis id: 6 invert: true # This maps the A, B, X, and Y buttons onto channel 5, providing # a convenient way to select between four different flight modes. # The PWM values here are for flight modes 1-4. - channel: 5 type: multibutton buttons: - id: 3 value: 1200 - id: 4 value: 1800 # From mavproxy_joystick.py: # # 'GREAT PLANES InterLink Elite': # # 4 axes usable # [(0, 500, 1500), # (1, 500, 1500), # (2, -1000, 1500), # (4, 500, 1500), # None, # None, # None, # (3, 500, 1500)], # # 'Great Planes GP Controller': # # 4 axes usable # [(0, 500, 1500), # (1, -500, 1500), # (2, -1000, 1500), # (4, -500, 1500), # None, # None, # None, # (3, 500, 1500)],MAVProxy-1.8.74/MAVProxy/modules/mavproxy_joystick/joysticks/great-planes.yml000066400000000000000000000015241504324515000273710ustar00rootroot00000000000000description: > GREAT PLANES InterLink Elite or Great Planes GP Controller. 4 axes usable. match: - 'GREAT PLANES InterLink Elite' - 'Great Planes GP Controller' controls: - channel: 1 type: axis id: 0 - channel: 2 type: axis id: 1 - channel: 3 type: axis id: 2 invert: true - channel: 4 type: axis id: 4 - channel: 8 type: axis id: 3 # From mavproxy_joystick.py: # # 'GREAT PLANES InterLink Elite': # # 4 axes usable # [(0, 500, 1500), # (1, 500, 1500), # (2, -1000, 1500), # (4, 500, 1500), # None, # None, # None, # (3, 500, 1500)], # # 'Great Planes GP Controller': # # 4 axes usable # [(0, 500, 1500), # (1, -500, 1500), # (2, -1000, 1500), # (4, -500, 1500), # None, # None, # None, # (3, 500, 1500)], MAVProxy-1.8.74/MAVProxy/modules/mavproxy_joystick/joysticks/jumper.yml000066400000000000000000000005751504324515000263160ustar00rootroot00000000000000description: > Jumper T16 transmitter as a joystick via USB cable match: - '*Jumper*' controls: - channel: 1 type: axis id: 0 - channel: 2 type: axis id: 1 - channel: 3 type: axis id: 2 - channel: 4 type: axis id: 3 - channel: 5 type: axis id: 4 - channel: 6 type: axis id: 5 - channel: 7 type: axis id: 6 MAVProxy-1.8.74/MAVProxy/modules/mavproxy_joystick/joysticks/logicool-f310.yml000066400000000000000000000023101504324515000272570ustar00rootroot00000000000000description: > Support for the Logicool F310 joystick. match: - 'Logicool Logicool Dual Action' controls: - channel: 1 type: axis id: 2 - channel: 2 type: axis id: 1 - channel: 3 type: axis id: 3 invert: true - channel: 4 type: axis id: 0 # This maps the A, B, X, and Y buttons onto channel 5, providing # a convenient way to select between four different flight modes. # The PWM values here are for flight modes 1-4. - channel: 5 type: multibutton buttons: - id: 0 value: 1200 - id: 1 value: 1300 - id: 2 value: 1400 - id: 3 value: 1500 - id: 5 value: 1700 - id: 4 value: 1800 # A hat operates like a toggle switch. When an axis goes positive, # it sets the `high` value, and when an axis goes negative it sets the # `low` value. When the hat is centered it does not change the # current channel value. This configuration maps the hat X axis to # channel 7 and the Y axis to channel 8; these are useful along with # the CH7_OPT and CH8_OPT APM parameters. - channel: 7 type: hat id: 0 axis: x - channel: 8 type: hat id: 0 axis: y MAVProxy-1.8.74/MAVProxy/modules/mavproxy_joystick/joysticks/logitech-dual-action.yml000066400000000000000000000030231504324515000307770ustar00rootroot00000000000000description: > Support for the Logitech F310 joystick in "D" mode. match: - Logitech Logitech Dual Action controls: - channel: 1 type: axis id: 2 - channel: 2 type: axis id: 3 - channel: 3 type: axis id: 1 invert: true - channel: 4 type: axis id: 0 # This maps the A, B, X, and Y buttons onto channel 5, providing # a convenient way to select between four different flight modes. # The PWM values here are for flight modes 1-4. - channel: 5 type: multibutton buttons: - id: 0 value: 1200 - id: 1 value: 1300 - id: 2 value: 1400 - id: 3 value: 1500 # A hat operates like a toggle switch. When an axis goes positive, # it sets the `high` value, and when an axis goes negative it sets the # `low` value. When the hat is centered it does not change the # current channel value. This configuration maps the hat X axis to # channel 7 and the Y axis to channel 8; these are useful along with # the CH7_OPT and CH8_OPT APM parameters. - channel: 7 type: hat id: 0 axis: x - channel: 8 type: hat id: 0 axis: y # Buttons act as momentary switches. When pressed they set the # corresponding pwm to their `high` value, when released the pwm is # set to the `low` value. `low` defaults to 1000, `high` defaults # to 2000. - channel: 9 type: button id: 4 - channel: 10 type: button id: 5 - channel: 11 type: button id: 6 - channel: 12 type: button id: 7 MAVProxy-1.8.74/MAVProxy/modules/mavproxy_joystick/joysticks/saili-simulator.yml000066400000000000000000000014731504324515000301300ustar00rootroot00000000000000description: > Same as above but is reporting a different name http://www.hobbyking.com/hobbyking/store/__13597__USB_Simulator_Cable_XTR_AeroFly_FMS.html has 4 usable axes. The last 4 are binary switches and not PWM outputs. match: - '*SAILI Simulator*' controls: - channel: 1 type: axis id: 0 - channel: 2 type: axis id: 3 - channel: 3 type: axis id: 1 - channel: 4 type: axis id: 2 - channel: 5 type: axis id: 4 - channel: 6 type: axis id: 5 - channel: 7 type: axis id: 6 - channel: 8 type: axis id: 7 # From mavproxy_joystick.py: # # '*SAILI Simulator*': # [(0, 500, 1500), # (3, 500, 1500), # (1, 500, 1500), # (2, 500, 1500), # (4, 500, 1500), # (5, 500, 1500), # (6, 500, 1500), # (7, 500, 1500)], MAVProxy-1.8.74/MAVProxy/modules/mavproxy_joystick/joysticks/sony-playstation.yml000066400000000000000000000010761504324515000303460ustar00rootroot00000000000000description: > Sony PLAYSTATION(R)3 Controller. Only 4 axes usable. This assumes mode 1. match: - 'Sony PLAYSTATION(R)3 Controller' controls: - channel: 1 type: axis id: 2 - channel: 2 type: axis id: 1 invert: true - channel: 3 type: axis id: 3 invert: true - channel: 4 type: axis id: 0 invert: true # From mavproxy_joystick.py: # # 'Sony PLAYSTATION(R)3 Controller': # # only 4 axes usable. This assumes mode 1 # [(2, 500, 1500), # (1, -500, 1500), # (3, -500, 1000), # (0, -500, 1500)], MAVProxy-1.8.74/MAVProxy/modules/mavproxy_joystick/joysticks/spektrumInterLinkDX.yml000066400000000000000000000014071504324515000307350ustar00rootroot00000000000000description: > Spektrum InterLinkDX. Only 7 axes usable. This assumes mode 2. match: - 'Spektrum InterLinkDX' controls: - channel: 1 type: axis id: 3 invert: false - channel: 2 type: axis id: 4 invert: true - channel: 3 type: axis id: 1 invert: false - channel: 4 type: axis id: 0 invert: false - channel: 6 type: axis id: 7 invert: false - channel: 7 type: button id: 11 invert: false - channel: 8 type: button id: 12 - channel: 5 type: multibutton buttons: - id: 1 value: 1200 - id: 2 value: 1300 - id: 3 value: 1400 - id: 4 value: 1500 - id: 5 value: 1700 - id: 6 value: 1800 MAVProxy-1.8.74/MAVProxy/modules/mavproxy_joystick/joysticks/sz-mypower-ds4.yml000066400000000000000000000012641504324515000276340ustar00rootroot00000000000000description: > SZ-MYPOWER DS Wired controller. Only 10 axes usable. This assumes mode 2. match: - 'SZ-MYPOWER DS4 Wired Controller' controls: - channel: 1 type: axis id: 2 invert: false - channel: 2 type: axis id: 5 invert: false - channel: 3 type: axis id: 1 invert: true - channel: 4 type: axis id: 0 invert: false - channel: 6 type: axis id: 4 invert: false - channel: 5 type: multibutton buttons: - id: 0 value: 1200 - id: 1 value: 1300 - id: 2 value: 1400 - id: 3 value: 1500 - id: 5 value: 1700 - id: 4 value: 1800 MAVProxy-1.8.74/MAVProxy/modules/mavproxy_joystick/joysticks/taranis.yml000066400000000000000000000006141504324515000264470ustar00rootroot00000000000000description: > FrSky Taranis transmitter as a joystick via USB cable match: - 'FrSky FrSky Taranis*' controls: - channel: 1 type: axis id: 0 - channel: 2 type: axis id: 1 - channel: 3 type: axis id: 2 - channel: 4 type: axis id: 3 - channel: 5 type: axis id: 4 - channel: 6 type: axis id: 5 - channel: 7 type: axis id: 6 MAVProxy-1.8.74/MAVProxy/modules/mavproxy_joystick/joysticks/xbox-360.yml000066400000000000000000000015721504324515000263000ustar00rootroot00000000000000description: > Microsoft X-Box 360 pad. This is for a USB cabled X-Box 360 controller only 4 axes usable. Left and right trigger are ch5 and ch4. This assumes mode 1 match: - 'Microsoft X-Box 360 pad' controls: - channel: 1 type: axis id: 3 - channel: 2 type: axis id: 1 invert: true - channel: 3 type: axis id: 4 invert: true - channel: 4 type: axis id: 0 - channel: 4 type: axis id: 0 - channel: 5 type: axis id: 2 - channel: 6 type: axis id: 5 # From mavproxy_joystick.py: # # 'Microsoft X-Box 360 pad': # # This is for a USB cabled X-Box 360 controller # # only 4 axes usable. Left and right trigger are ch5 and ch4. # # This assumes mode 1 # [(3, 500, 1500), # (1, -500, 1500), # (4, -500, 1500), # (0, 500, 1500), # (2, 500, 1500), # (5, 500, 1500)], MAVProxy-1.8.74/MAVProxy/modules/mavproxy_joystick/joysticks/xboxdrv-mode2.yml000066400000000000000000000032571504324515000275140ustar00rootroot00000000000000description: > Support for Joysticks accessed via the "xboxdrv" utility. Tested with a Logitech F310. ABXY buttons are mapped to channel 5, flight modes 1-4. match: - Xbox Gamepad* controls: - channel: 1 type: axis id: 2 - channel: 2 type: axis id: 3 - channel: 3 type: axis id: 1 invert: true - channel: 4 type: axis id: 0 # This maps the A, B, X, and Y buttons onto channel 5, providing # a convenient way to select between four different flight modes. # The PWM values here are for flight modes 1-4. - channel: 5 type: multibutton buttons: - id: 0 value: 1200 - id: 1 value: 1300 - id: 2 value: 1400 - id: 3 value: 1500 # A hat operates like a toggle switch. When an axis goes positive, # it sets the `high` value, and when an axis goes negative it sets the # `low` value. When the hat is centered it does not change the # current channel value. This configuration maps the hat X axis to # channel 7 and the Y axis to channel 8; these are useful along with # the CH7_OPT and CH8_OPT APM parameters. - channel: 7 type: hat id: 0 axis: x - channel: 8 type: hat id: 0 axis: y # Buttons act as momentary switches. When pressed they set the # corresponding pwm to their `high` value, when released the pwm is # set to the `low` value. `low` defaults to 1000, `high` defaults # to 2000. - channel: 9 type: button id: 4 - channel: 10 type: button id: 5 # This maps the bottom left/bottom right triggers to channels 11 and # 12. - channel: 11 type: axis id: 4 - channel: 12 type: axis id: 5 MAVProxy-1.8.74/MAVProxy/modules/mavproxy_kmlgen.py000066400000000000000000000163141504324515000222350ustar00rootroot00000000000000""" MAVProxy KML Generator Module Generates mission KML and a wrapper KML with refresh capability. Starts a local HTTP server to serve the files for live viewing in Google Earth. To use, load the kmlgen module, then run "kmlgen start" after setting parameters As soon as mission waypoints are updated a mission.kml and networklink.kml file is generated in the log directory (eg. in test/logs/2025-07-10/flight3/ ) Open google earth (desktop version only) and open the networklink.kml file. It will display the wayponts, and will auto-update as you edit the mission """ import os import time import threading import hashlib import http.server import socketserver import functools from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_settings from pymavlink.dialects.v20 import common as mavlink2 class KMLGenModule(mp_module.MPModule): def __init__(self, mpstate): super(KMLGenModule, self).__init__(mpstate, "kmlgen", "KML mission viewer") self.kml_settings = mp_settings.MPSettings([ ('port', int, 8007), ('refresh_interval', int, 2), ('mission_filename', str, 'mission.kml'), ('networklink_filename', str, 'networklink.kml') ]) self.add_command('kmlgen', self.cmd_kmlgen, 'KML mission output', ["", "", ""]) self.add_completion_function('(KMLGENSETTING)', self.kml_settings.completion) self.server_thread = None self.running = False self.last_hash = None self.last_update = 0 self.update_interval = 2 # seconds self.start_pending = False self.kml_path = None self.wrapper_path = None def cmd_kmlgen(self, args): if len(args) == 0: print("Usage: kmlgen ") return if args[0] == 'start': self.start_kmlgen() elif args[0] == 'set': self.kml_settings.command(args[1:]) elif args[0] == 'status': self.kml_status() def start_kmlgen(self): if self.running: print("KMLGen already running") return if self.logdir is None: print("KMLGen needs logdir set, start with --aircraft option") return self.running = True self.update_interval = self.kml_settings.refresh_interval self.kml_path = os.path.join(self.logdir, self.kml_settings.mission_filename) self.wrapper_path = os.path.join(self.logdir, self.kml_settings.networklink_filename) self.write_wrapper_kml() self.start_pending = True print(f"KMLGen started: open {self.wrapper_path} in Google Earth") def kml_status(self): if not self.running: print("KMLGen not started") else: print(f"KMLGen running at port {self.kml_settings.port}, refresh {self.kml_settings.refresh_interval}s") print(f"KML output: {self.kml_path}") def idle_task(self): if not self.running: return now = time.time() if now - self.last_update < self.update_interval: return wp_module = self.mpstate.module("wp") if wp_module is None: return loader = wp_module.wploader if loader.count() == 0: return if self.start_pending: self.start_pending = False self.start_http_server() kml = self.generate_mission_kml(loader) current_hash = hashlib.md5(kml.encode("utf-8")).hexdigest() if current_hash != self.last_hash: self.write_file(self.kml_path, kml) self.last_hash = current_hash self.say(f"Updated {self.kml_settings.mission_filename} with {loader.count()} waypoints") self.last_update = now def generate_mission_kml(self, loader): home_alt = self.get_home_alt() coords = [] placemarks = [] indexes = loader.view_indexes() for idx in indexes: wp = loader.wp(idx) alt = self.resolve_altitude(wp, home_alt) coords.append(f"{wp.y},{wp.x},{alt}") placemarks.append(f''' WP{idx} absolute {wp.y},{wp.x},{alt} ''') path = '\n'.join(coords) placemark_str = '\n'.join(placemarks) return f''' absolute {placemark_str} Mission Path 1 absolute {path} ''' def resolve_altitude(self, wp, home_alt): if wp.frame == mavlink2.MAV_FRAME_GLOBAL: return wp.z elif wp.frame == mavlink2.MAV_FRAME_GLOBAL_RELATIVE_ALT: return home_alt + wp.z elif wp.frame == mavlink2.MAV_FRAME_GLOBAL_TERRAIN_ALT: terrain_alt = self.module('terrain').ElevationModel.GetElevation(wp.x, wp.y) return terrain_alt + wp.z else: return wp.z def get_home_alt(self): if 'HOME_POSITION' not in self.master.messages: return 0 home_position = self.master.messages['HOME_POSITION'] return home_position.altitude*0.001 def write_file(self, path, content): try: with open(path, "w") as f: f.write(content) except Exception as e: self.say(f"Failed to write {path}: {e}") def write_wrapper_kml(self): url = f"http://localhost:{self.kml_settings.port}/{self.kml_settings.mission_filename}" content = f''' Live Mission {url} onInterval {self.kml_settings.refresh_interval} ''' self.write_file(self.wrapper_path, content) class QuietHandler(http.server.SimpleHTTPRequestHandler): def log_message(self, format, *args): pass # suppress all logging class ReusableTCPServer(socketserver.TCPServer): allow_reuse_address = True def start_http_server(self): def run_server(): try: handler = functools.partial(self.QuietHandler, directory=self.logdir) with self.ReusableTCPServer(("", self.kml_settings.port), handler) as httpd: httpd.serve_forever() except Exception as e: self.say(f"HTTP server failed: {e}") thread = threading.Thread(target=run_server, daemon=True) thread.start() self.say(f"Serving KML on http://localhost:{self.kml_settings.port}/") def init(mpstate): return KMLGenModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_kmlread.py000066400000000000000000000411721504324515000223770ustar00rootroot00000000000000#!/usr/bin/env python3 '''Module to add or clear kml layers on the map Copyright Stephen Dade 2016 Released under the GNU GPL version 3 or later AP_FLAKE8_CLEAN ''' import copy import random import re from pymavlink import mavutil from MAVProxy.modules.lib import mp_module # from MAVProxy.modules.lib.mp_settings import MPSetting from MAVProxy.modules.mavproxy_map import mp_slipmap from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import kmlread if mp_util.has_wxpython: from MAVProxy.modules.lib.mp_menu import MPMenuCallFileDialog from MAVProxy.modules.lib.mp_menu import MPMenuCheckbox from MAVProxy.modules.lib.mp_menu import MPMenuItem from MAVProxy.modules.lib.mp_menu import MPMenuSeparator from MAVProxy.modules.lib.mp_menu import MPMenuSubMenu class KmlReadModule(mp_module.MPModule): def __init__(self, mpstate): super(KmlReadModule, self).__init__(mpstate, "kmlread", "Add kml or kmz layers to map", public=True) self.add_command('kml', self.cmd_param, "kml map handling", ["", " (FILENAME)", '']) # allayers is all the loaded layers (slimap objects) # curlayers is only the layers displayed (checked) on the map (text list of layer names) self.allayers = [] self.curlayers = [] self.alltextlayers = [] self.curtextlayers = [] self.initialised_map_module = False self.menu_needs_refreshing = True self.map_objects = {} self.counter = 0 # the fence manager self.snap_points = [] # make the initial map menu if mp_util.has_wxpython: self.menu_fence = MPMenuSubMenu('Set Geofence', items=[]) self.menu = MPMenuSubMenu( 'KML Layers', items=[ MPMenuItem('Clear', 'Clear', '# kml clear'), ] ) def cmd_param(self, args): '''control kml reading''' usage = "Usage: kml | snapfence | snapwp" # noqa if len(args) < 1: print(usage) return elif args[0] == "clear": self.clearkml() elif args[0] == "snapwp": self.cmd_snap_wp(args[1:]) elif args[0] == "snapfence": self.cmd_snap_fence(args[1:]) elif args[0] == "load": if len(args) != 2: print("usage: kml load ") return self.loadkml(args[1]) elif args[0] == "layers": for layer in self.curlayers: print("Found layer: " + layer) elif args[0] == "toggle": self.togglekml(args[1]) elif args[0] == "colour" or args[0] == "color": self.cmd_colour(args[1:]) elif args[0] == "fence": self.fencekml(args[1:]) else: print(usage) return def cmd_snap_wp(self, args): '''snap waypoints to KML''' threshold = 10.0 if len(args) > 0: threshold = float(args[0]) wpmod = self.module('wp') wploader = wpmod.wploader changed = False for i in range(1, wploader.count()): w = wploader.wp(i) if not wploader.is_location_command(w.command): continue lat = w.x lon = w.y best = None best_dist = (threshold+1)*3 for (snap_lat, snap_lon) in self.snap_points: dist = mp_util.gps_distance(lat, lon, snap_lat, snap_lon) if dist < best_dist: best_dist = dist best = (snap_lat, snap_lon) if best is not None and best_dist <= threshold: if w.x != best[0] or w.y != best[1]: w.x = best[0] w.y = best[1] print("Snapping WP %u to %f %f" % (i, w.x, w.y)) wploader.set(w, i) changed = True elif best is not None: if best_dist <= (threshold+1)*3: print("Not snapping wp %u dist %.1f" % (i, best_dist)) if changed: wpmod.send_all_waypoints() def cmd_snap_fence(self, args): '''snap fence to KML''' threshold = 10.0 if len(args) > 0: threshold = float(args[0]) fencemod = self.module('fence') if fencemod is None: print("fence module not loaded") return def fencepoint_snapper(offset, point_obj): best = None best_dist = (threshold+1)*3 if isinstance(point_obj, mavutil.mavlink.MAVLink_mission_item_message): point = (point_obj.x, point_obj.y) elif isinstance(point_obj, mavutil.mavlink.MAVLink_mission_item_int_message): point = (point_obj.x * 1e-7, point_obj.y * 1e-7) else: raise TypeError(f"What's a {type(point_obj)}?") for snap_point in copy.copy(self.snap_points): if point == snap_point: return dist = mp_util.gps_distance(point[0], point[1], snap_point[0], snap_point[1]) if dist < best_dist: best_dist = dist best = snap_point if best is None: return if best_dist <= threshold: print("Snapping fence point %u to %f %f" % (offset, best[0], best[1])) if isinstance(point_obj, mavutil.mavlink.MAVLink_mission_item_message): point_obj.x = best[0] point_obj.y = best[1] elif isinstance(point_obj, mavutil.mavlink.MAVLink_mission_item_int_message): point_obj.x = best[0] * 1e7 point_obj.y = best[1] * 1e7 else: raise TypeError(f"What's a {type(point_obj)}?") self.snapped_fencepoint = True return if best_dist <= (threshold+1)*3: print("Not snapping fence point %u dist %.1f" % (offset, best_dist)) self.snapped_fencepoint = False fencemod.apply_function_to_points(fencepoint_snapper) if self.snapped_fencepoint: fencemod.push_to_vehicle() def cmd_colour(self, args): if len(args) < 2: print("kml colour LAYERNAME 0xBBGGRR") return (layername, colour) = args layer = self.find_layer(layername) if layer is None: print(f"No layer {layername}") return m = re.match(r"(?:0x)?(?P[0-9A-Fa-f]{2})(?P[0-9A-Fa-f]{2})(?P[0-9A-Fa-f]{2})", colour) if m is None: print("bad colour") return (red, green, blue) = (int(m.group("red"), 16), int(m.group("green"), 16), int(m.group("blue"), 16)) self.remove_map_object(layer) layer.set_colour((red, green, blue)) self.add_map_object(layer) def add_object_to_maps(self, obj): '''add an object to all maps''' for mp in self.module_matching('map*'): mp.map.add_object(obj) def remove_object_from_maps(self, obj): '''remove an object from all maps''' for mp in self.module_matching('map*'): mp.map.remove_object(obj.key) def remove_map_object(self, obj): '''remove an object from our stored list of objects, and the map module if it is loaded''' if obj.layer not in self.map_objects: raise ValueError(f"{obj.layer=} not in added map_objects") if obj.key not in self.map_objects[obj.layer]: raise ValueError(f"{obj.key=} not in added map_objects[{obj.key}] (map_objects[{obj.layer}][{obj.key}]") del self.map_objects[obj.layer][obj.key] if len(self.map_objects[obj.layer]) == 0: del self.map_objects[obj.layer] self.remove_object_from_maps(obj.key) def remove_all_map_objects(self): for layer in copy.deepcopy(self.map_objects): for key in copy.deepcopy(self.map_objects[layer]): self.remove_map_object(self.map_objects[layer][key]) def add_map_object(self, obj): '''add an object to our stored list of objects, and the map module if it is loaded''' if obj.layer in self.map_objects and obj.key in self.map_objects[obj.layer]: print(f"Already have self.map_objects[{obj.layer=}][{obj.key=}]") return if obj.layer not in self.map_objects: self.map_objects[obj.layer] = {} self.map_objects[obj.layer][obj.key] = obj self.add_object_to_maps(obj) def add_objects_to_map_module_from_map_objects(self): for layer in self.map_objects: for obj in self.map_objects[layer].values(): self.add_object_to_maps(obj) def fencekml(self, args): '''create a geofence from a layername''' usage = "kml fence inc|exc layername" if len(args) != 2: print(usage) return fencemod = self.module('fence') if fencemod is None: print("fence module not loaded") return (inc_or_exc, layername) = (args[0], args[1]) if inc_or_exc in ["inc", "inclusion"]: fence_type = mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION elif inc_or_exc in ["exc", "exclusion"]: fence_type = mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION else: print(usage) return # find the layer, add it if found for layer in self.allayers: if layer.key != layername: continue points_copy = copy.copy(layer.points) if points_copy[-1] == points_copy[0]: points_copy.pop(-1) fencemod.add_polyfence(fence_type, points_copy) return print("Layer not found") def togglekml(self, layername): '''toggle the display of a kml''' # Strip quotation marks if neccessary if layername.startswith('"') and layername.endswith('"'): layername = layername[1:-1] # toggle layer off (plus associated text element) if layername in self.curlayers: for layer in self.curlayers: if layer == layername: self.remove_map_object(self.find_layer(layer)) self.curlayers.remove(layername) if layername in self.curtextlayers: for clayer in self.curtextlayers: if clayer == layername: self.remove_map_object(self.find_layer(clayer)) self.curtextlayers.remove(clayer) # toggle layer on (plus associated text element) else: for layer in self.allayers: if layer.key == layername: self.add_map_object(layer) self.curlayers.append(layername) for alayer in self.alltextlayers: if alayer.key == layername: self.add_map_object(alayer) self.curtextlayers.append(layername) self.menu_needs_refreshing = True def find_layer(self, layername): for layer in self.allayers: if layer.key == layername: return layer return None def clearkml(self): '''Clear the kmls from the map''' # go through all the current layers and remove them self.remove_all_map_objects() self.allayers = [] self.curlayers = [] self.alltextlayers = [] self.curtextlayers = [] self.menu_needs_refreshing = True def add_polygon(self, name, coords, line_colour=None): '''add a polygon to the KML list. coords is a list of lat/lng tuples in degrees''' self.snap_points.extend(coords) # print("Adding " + name) if line_colour is None: line_colour = (random.randint(0, 255), 0, random.randint(0, 255)) layer_name = f"{name}-{self.counter}" curpoly = mp_slipmap.SlipPolygon( layer_name, coords, layer=2, linewidth=2, colour=line_colour, ) self.add_map_object(curpoly) self.allayers.append(curpoly) self.curlayers.append(layer_name) self.counter += 1 def loadkml(self, filename): '''Load a kml from file and put it on the map''' # Open the zip file kml = kmlread.KMLRead(filename) kml.parse() nodes = kml.placemark_nodes() self.snap_points = [] # go through each object in the kml... if nodes is None: print("No nodes found") return for n in nodes: try: point = kml.readObject(n) except Exception: continue if point is None: continue # and place any polygons on the map if isinstance(point, kmlread.Polygon): self.add_polygon(point.name, point.vertexes, point.line_colour) # and points - barrell image and text if isinstance(point, kmlread.Point): # print("Adding " + point.name) curpoint = mp_slipmap.SlipIcon( point.name, latlon=point.latlon, layer=3, img='barrell.png', rotation=0, follow=False, ) curtext = mp_slipmap.SlipLabel( point.name, point=point.latlon, layer=4, label=point.name, colour=(0, 255, 255), ) self.add_map_object(curpoint) self.add_map_object(curtext) self.allayers.append(curpoint) self.alltextlayers.append(curtext) self.curlayers.append(point.name) self.curtextlayers.append(point.name) self.menu_needs_refreshing = True def idle_task(self): '''handle GUI elements''' if self.module('map') is None: self.initialised_map_module = False return if not self.initialised_map_module: self.menu_needs_refreshing = True self.add_objects_to_map_module_from_map_objects() self.initialised_map_module = True if self.menu_needs_refreshing: self.refresh_menu() self.menu_needs_refreshing = False def refresh_menu(self): if True: if not mp_util.has_wxpython: return # (re)create the menu # we don't dynamically update these yet due to a wx bug self.menu.items = [ MPMenuItem('Clear', 'Clear', '# kml clear'), MPMenuItem( 'Load', 'Load', '# kml load ', handler=MPMenuCallFileDialog( flags=('open',), title='KML Load', wildcard='*.kml;*.kmz', ) ), self.menu_fence, MPMenuSeparator(), ] self.menu_fence.items = [] for layer in self.allayers: # if it's a polygon, add it to the "set Geofence" list if isinstance(layer, mp_slipmap.SlipPolygon): self.menu_fence.items.append(MPMenuItem( layer.key, layer.key, '# kml fence \"' + layer.key + '\"', )) # then add all the layers to the menu, ensuring to # check the active layers text elements aren't # included on the menu if layer.key.endswith('-text'): continue checked = layer.key in self.curlayers self.menu.items.append(MPMenuCheckbox( layer.key, layer.key, f'# kml toggle \"{layer.key}\"', checked=checked, )) # and add the menu to the map popu menu self.module('map').add_menu(self.menu) self.menu_needs_refreshing = False def mavlink_packet(self, m): '''handle a mavlink packet''' def init(mpstate): '''initialise module''' return KmlReadModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_layout.py000066400000000000000000000016371504324515000222770ustar00rootroot00000000000000#!/usr/bin/env python3 '''window layout command handling''' from MAVProxy.modules.lib import mp_module class LayoutModule(mp_module.MPModule): def __init__(self, mpstate): super(LayoutModule, self).__init__(mpstate, "layout", "window layout handling", public = False) self.add_command('layout', self.cmd_layout, 'window layout management', [""]) def cmd_layout(self, args): '''handle layout command''' from MAVProxy.modules.lib import win_layout if len(args) < 1: print("usage: layout ") return if args[0] == "load": win_layout.load_layout(self.mpstate.settings.vehicle_name) elif args[0] == "save": win_layout.save_layout(self.mpstate.settings.vehicle_name) def init(mpstate): '''initialise module''' return LayoutModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_link.py000066400000000000000000001443051504324515000217170ustar00rootroot00000000000000#!/usr/bin/env python3 '''enable run-time addition and removal of master link, just like --master on the cnd line AP_FLAKE8_CLEAN ''' # TO USE: # link add 10.11.12.13:14550 # link list # link remove 3 # to remove 3rd output from pymavlink import mavutil import fnmatch import json import math import os import struct import sys import time import traceback if sys.version_info[0] >= 3: import io as StringIO else: import StringIO from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_util if mp_util.has_wxpython: from MAVProxy.modules.lib.mp_menu import MPMenuCallTextDialog from MAVProxy.modules.lib.mp_menu import MPMenuSubMenu from MAVProxy.modules.lib.mp_menu import MPMenuItem from MAVProxy.modules.lib.wx_addlink import MPMenulinkAddDialog dataPackets = frozenset(['BAD_DATA', 'LOG_DATA']) delayedPackets = frozenset([ 'GLOBAL_POSITION_INT', 'GPS_RAW_INT', 'MISSION_CURRENT', 'NAV_CONTROLLER_OUTPUT', 'SCALED_PRESSURE', 'SYS_STATUS', 'VFR_HUD', ]) activityPackets = frozenset([ 'GLOBAL_POSITION_INT', 'GPS_RAW', 'GPS_RAW_INT', 'HEARTBEAT', 'HIGH_LATENCY2', 'SYS_STATUS', ]) radioStatusPackets = frozenset(['RADIO', 'RADIO_STATUS']) preferred_ports = [ '*FTDI*', "*Arduino_Mega_2560*", "*3D*", "*USB_to_UART*", '*Ardu*', '*PX4*', '*Hex_*', '*Holybro_*', '*mRo*', '*FMU*', '*Swift-Flyer*', '*Serial*', '*CubePilot*', '*Qiotek*', '*Sierra*', ] class LinkModule(mp_module.MPModule): def __init__(self, mpstate): super(LinkModule, self).__init__(mpstate, "link", "link control", public=True, multi_vehicle=True) self.add_command('link', self.cmd_link, "link control", ["", 'add (SERIALPORT)', 'attributes (LINK) (ATTRIBUTES)', 'remove (LINKS)', 'dataratelogging (DLSTATE)', 'hl (HLSTATE)']) self.add_command('vehicle', self.cmd_vehicle, "vehicle control") self.add_command('alllinks', self.cmd_alllinks, "send command on all links", ["(COMMAND)"]) self.add_command('ping', self.cmd_ping, "ping mavlink nodes") self.no_fwd_types = set() self.no_fwd_types.add("BAD_DATA") self.add_completion_function('(SERIALPORT)', self.complete_serial_ports) self.add_completion_function('(LINKS)', self.complete_links) self.add_completion_function('(LINK)', self.complete_links) self.add_completion_function('(HLSTATE)', self.complete_hl) self.add_completion_function('(DLSTATE)', self.complete_dl) self.last_altitude_announce = 0.0 self.vehicle_list = set() self.high_latency = False self.datarate_logging = False self.datarate_logging_timer = mavutil.periodic_event(1) self.old_streamrate = 0 self.old_streamrate2 = 0 # a list of TimeSync requests which are listening for and # sending TIMESYNC messages at the moment: self.outstanding_timesyncs = [] self.menu_added_console = False if mp_util.has_wxpython: self.menu_rm = MPMenuSubMenu('Remove', items=[]) items = [ MPMenuItem('Add...', 'Add...', '# link add ', handler=MPMenulinkAddDialog()), self.menu_rm, MPMenuItem('Ports', 'Ports', '# link ports'), MPMenuItem('List', 'List', '# link list'), MPMenuItem('Status', 'Status', '# link')] # wsproto is not installed by default. # Only add the menu if it's available. try: import wsproto # noqa: F401 except ImportError: pass else: items.append( MPMenuItem('Start Websocket Server', 'Start Websocket Server', '# output add wsserver:0.0.0.0:', handler=MPMenuCallTextDialog( title='Websocket Port', default=56781 ))) self.menu = MPMenuSubMenu('Link', items=items) self.last_menu_update = 0 def idle_task(self): '''called on idle''' if mp_util.has_wxpython: if self.module('console') is not None: if not self.menu_added_console: self.menu_added_console = True # we don't dynamically update these yet due to a wx bug self.menu_rm.items = [ MPMenuItem(p, p, '# link remove %s' % p) for p in self.complete_links('') ] self.module('console').add_menu(self.menu) else: self.menu_added_console = False for m in self.mpstate.mav_master: m.source_system = self.settings.source_system m.mav.srcSystem = m.source_system m.mav.srcComponent = self.settings.source_component # don't let pending statustext wait forever for last chunk: for src in self.status.statustexts_by_sysidcompid: msgids = list(self.status.statustexts_by_sysidcompid[src].keys()) for msgid in msgids: pending = self.status.statustexts_by_sysidcompid[src][msgid] if time.time() - pending.last_chunk_time > 1: self.emit_accumulated_statustext(src, msgid, pending) # datarate logging if enabled, at 1 Hz if self.datarate_logging_timer.trigger() and self.datarate_logging: with open(self.datarate_logging, 'a') as logfile: for master in self.mpstate.mav_master: highest_msec_key = (self.target_system, self.target_component) linkdelay = (self.status.highest_msec.get(highest_msec_key, 0) - master.highest_msec.get(highest_msec_key, 0))*1.0e-3 # noqa logfile.write(str(time.strftime("%H:%M:%S")) + "," + str(self.link_label(master)) + "," + str(master.linknum) + "," + str(self.status.counters['MasterIn'][master.linknum]) + "," + str(self.status.bytecounters['MasterIn'][master.linknum].total()) + "," + str(linkdelay) + "," + str(round(master.packet_loss(), 3)) + "\n") # update outstanding TimeSyncRequest objects. Reap any which # are past their use-by date: new_timesyncs = [] for ts in self.outstanding_timesyncs: if ts.age_limit_exceeded(): continue ts.update() new_timesyncs.append(ts) self.outstanding_timesyncs = new_timesyncs def complete_serial_ports(self, text): '''return list of serial ports''' ports = mavutil.auto_detect_serial(preferred_list=preferred_ports) return [p.device for p in ports] def complete_hl(self, text): '''return list of hl options''' return ['on', 'off'] def complete_dl(self, text): '''return list of datarate_logging options''' return ['on', 'off'] def complete_links(self, text): '''return list of links''' try: ret = [m.address for m in self.mpstate.mav_master] for m in self.mpstate.mav_master: ret.append(m.address) if hasattr(m, 'label'): ret.append(m.label) return ret except Exception as e: print("Caught exception: %s" % str(e)) def cmd_link(self, args): '''handle link commands''' if len(args) < 1: self.show_link() elif args[0] == "list": self.cmd_link_list() elif args[0] == "hl": self.cmd_hl(args[1:]) elif args[0] == "dataratelogging": self.cmd_dl(args[1:]) elif args[0] == "add": if len(args) != 2: print("Usage: link add LINK") print('Usage: e.g. link add 127.0.0.1:9876') print('Usage: e.g. link add 127.0.0.1:9876:{"label":"rfd900"}') return self.cmd_link_add(args[1:]) elif args[0] == "attributes": if len(args) != 3: print("Usage: link attributes LINK ATTRIBUTES") print('Usage: e.g. link attributes rfd900 {"label":"bob"}') return self.cmd_link_attributes(args[1:]) elif args[0] == "ports": self.cmd_link_ports() elif args[0] == "remove": if len(args) != 2: print("Usage: link remove LINK") return self.cmd_link_remove(args[1:]) elif args[0] == "resetstats": self.reset_link_stats() elif args[0] == "ping": self.cmd_ping(args[1:]) else: print("usage: link ") def cmd_dl(self, args): '''Toggle datarate logging''' if len(args) < 1: print("Datarate logging is " + ("on" if self.datarate_logging else "off")) return elif args[0] == "on": self.datarate_logging = os.path.join(self.logdir, "dataratelog.csv") print("Datarate Logging ON, logfile: " + self.datarate_logging) # Open a new file handle (don't append) for logging with open(self.datarate_logging, 'w') as logfile: logfile.write("time, linkname, linkid, packetsreceived, bytesreceived, delaysec, lostpercent\n") elif args[0] == "off": print("Datarate Logging OFF") self.datarate_logging = None else: print("usage: dataratelogging ") def cmd_hl(self, args): '''Toggle high latency mode''' if len(args) < 1: print("High latency mode is " + str(self.high_latency)) return elif args[0] == "on": print("High latency mode ON") self.high_latency = True # Tell ArduPilot to start sending HIGH_LATENCY2 messages self.master.mav.command_long_send( self.target_system, # target_system self.target_component, mavutil.mavlink.MAV_CMD_CONTROL_HIGH_LATENCY, # command 0, # confirmation 1, # param1 (yes/no) 0, # param2 0, # param3 0, # param4 0, # param5 0, # param6 0) # param7 return elif args[0] == "off": print("High latency mode OFF") self.high_latency = False self.master.mav.command_long_send( self.target_system, # target_system self.target_component, mavutil.mavlink.MAV_CMD_CONTROL_HIGH_LATENCY, # command 0, # confirmation 0, # param1 (yes/no) 0, # param2 0, # param3 0, # param4 0, # param5 0, # param6 0) # param7 return else: print("usage: hl ") def show_link(self): '''show link information''' for master in self.mpstate.mav_master: highest_msec_key = (self.target_system, self.target_component) linkdelay = (self.status.highest_msec.get(highest_msec_key, 0) - master.highest_msec.get(highest_msec_key, 0))*1.0e-3 # noqa if master.linkerror: status = "DOWN" else: status = "OK" sign_string = '' try: if master.mav.signing.sig_count: if master.mav.signing.secret_key is None: # unsigned/reject counts are not updated if we # don't have a signing secret sign_string = ", (no-signing-secret)" else: sign_string = ", unsigned %u reject %u" % (master.mav.signing.unsigned_count, master.mav.signing.reject_count) # noqa except AttributeError: # some mav objects may not have a "signing" attribute pass print("link %s %s (%u packets, %u bytes, %.2fs delay, %u lost, %.1f%% loss, rate:%uB/s%s)" % ( self.link_label(master), status, self.status.counters['MasterIn'][master.linknum], self.status.bytecounters['MasterIn'][master.linknum].total(), linkdelay, master.mav_loss, master.packet_loss(), self.status.bytecounters['MasterIn'][master.linknum].rate(), sign_string, )) def reset_link_stats(self): '''reset link statistics''' for master in self.mpstate.mav_master: self.status.counters['MasterIn'][master.linknum] = 0 self.status.bytecounters['MasterIn'][master.linknum].__init__() master.mav_loss = 0 master.mav_count = 0 def cmd_alllinks(self, args): '''send command on all links''' saved_target = self.mpstate.settings.target_system print("Sending to: ", self.vehicle_list) for v in sorted(self.vehicle_list): self.cmd_vehicle([str(v)]) self.mpstate.functions.process_stdin(' '.join(args), True) self.cmd_vehicle([str(saved_target)]) def cmd_link_list(self): '''list links''' print("%u links" % len(self.mpstate.mav_master)) for i in range(len(self.mpstate.mav_master)): conn = self.mpstate.mav_master[i] if hasattr(conn, 'label'): print("%u (%s): %s" % (i, conn.label, conn.address)) else: print("%u: %s" % (i, conn.address)) def parse_link_attributes(self, some_json): '''return a dict based on some_json (empty if json invalid)''' try: return json.loads(some_json) except ValueError: print('Invalid JSON argument: {0}'.format(some_json)) return {} def parse_link_descriptor(self, descriptor): '''parse e.g. 'udpin:127.0.0.1:9877:{"foo":"bar"}' into python structure ("udpin:127.0.0.1:9877", {"foo":"bar"})''' optional_attributes = {} link_components = descriptor.split(":{", 1) device = link_components[0] if (len(link_components) == 2 and link_components[1].endswith("}")): # assume json some_json = "{" + link_components[1] optional_attributes = self.parse_link_attributes(some_json) return (device, optional_attributes) def apply_link_attributes(self, conn, optional_attributes): for attr in optional_attributes: print("Applying attribute to link: %s = %s" % (attr, optional_attributes[attr])) setattr(conn, attr, optional_attributes[attr]) def link_add(self, descriptor, force_connected=False, retries=3): '''add new link''' try: (device, optional_attributes) = self.parse_link_descriptor(descriptor) # if there's only 1 colon for port:baud # and if the first string is a valid serial port, it's a serial connection if len(device.split(':')) == 2: ports = mavutil.auto_detect_serial(preferred_list=preferred_ports) for p in ports: if p.device == device.split(':')[0]: # it's a valid serial port, reformat arguments to fit self.settings.baudrate = int(device.split(':')[1]) device = device.split(':')[0] break print("Connect %s source_system=%d" % (device, self.settings.source_system)) try: conn = mavutil.mavlink_connection(device, autoreconnect=True, source_system=self.settings.source_system, baud=self.settings.baudrate, force_connected=force_connected, retries=retries) except Exception: # try the same thing but without force-connected for # backwards-compatability conn = mavutil.mavlink_connection(device, autoreconnect=True, source_system=self.settings.source_system, baud=self.settings.baudrate, retries=retries) conn.mav.srcComponent = self.settings.source_component except Exception as msg: print("Failed to connect to %s : %s" % (descriptor, msg)) return False if self.settings.rtscts: conn.set_rtscts(True) conn.mav.set_callback(self.master_callback, conn) if hasattr(conn.mav, 'set_send_callback'): conn.mav.set_send_callback(self.master_send_callback, conn) conn.linknum = len(self.mpstate.mav_master) conn.linkerror = False conn.link_delayed = False conn.last_heartbeat = 0 conn.last_message = 0 conn.highest_msec = {} conn.target_system = self.settings.target_system self.apply_link_attributes(conn, optional_attributes) # if we are using signing then sign the new link signing = self.mpstate.module('signing') if signing: signing.setup_signing_device(conn, device) self.mpstate.mav_master.append(conn) self.status.counters['MasterIn'].append(0) self.status.bytecounters['MasterIn'].append(self.status.ByteCounter()) self.mpstate.vehicle_link_map[conn.linknum] = set(()) try: mp_util.child_fd_list_add(conn.port.fileno()) except Exception: pass return True def cmd_link_add(self, args): '''add new link''' descriptor = args[0] print("Adding link %s" % descriptor) self.link_add(descriptor) def link_attributes(self, link, attributes): i = self.find_link(link) if i is None: print("Connection (%s) not found" % (link,)) return conn = self.mpstate.mav_master[i] atts = self.parse_link_attributes(attributes) self.apply_link_attributes(conn, atts) def cmd_link_attributes(self, args): '''change optional link attributes''' link = args[0] attributes = args[1] print("Setting link %s attributes (%s)" % (link, attributes)) self.link_attributes(link, attributes) def cmd_link_ports(self): '''show available ports''' ports = mavutil.auto_detect_serial(preferred_list=preferred_ports) for p in ports: print("%s : %s : %s" % (p.device, p.description, p.hwid)) def find_link(self, device): '''find a device based on number, name or label''' for i in range(len(self.mpstate.mav_master)): conn = self.mpstate.mav_master[i] if (str(i) == device or conn.address == device or getattr(conn, 'label', None) == device): return i return None def cmd_link_remove(self, args): '''remove an link''' device = args[0] if len(self.mpstate.mav_master) <= 1: print("Not removing last link") return i = self.find_link(device) if i is None: return conn = self.mpstate.mav_master[i] print("Removing link %s" % conn.address) try: try: mp_util.child_fd_list_remove(conn.port.fileno()) except Exception: pass self.mpstate.mav_master[i].close() except Exception as msg: print(msg) pass self.mpstate.mav_master.pop(i) self.status.counters['MasterIn'].pop(i) self.status.bytecounters['MasterIn'].pop(i) del self.mpstate.vehicle_link_map[conn.linknum] # renumber the links vehicle_link_map_reordered = {} for j in range(len(self.mpstate.mav_master)): conn = self.mpstate.mav_master[j] map_old = self.mpstate.vehicle_link_map[conn.linknum] conn.linknum = j vehicle_link_map_reordered[j] = map_old self.mpstate.vehicle_link_map = vehicle_link_map_reordered def get_usec(self): '''time since 1970 in microseconds''' return int(time.time() * 1.0e6) def dump_message_verbose(self, m): '''return verbose dump of m. Wraps the pymavlink routine which inconveniently takes a filehandle''' f = StringIO.StringIO() mavutil.dump_message_verbose(f, m) return f.getvalue() def check_watched_message(self, m, direction_string): '''if we are watching a message, print it out''' if self.status.watch is None: return mtype = m.get_type().upper() for msg_type in self.status.watch: if not fnmatch.fnmatch(mtype, msg_type.upper()): continue if self.status.watch_verbose: message_string = self.dump_message_verbose(m) else: message_string = str(m) self.mpstate.console.writeln(direction_string + ' ' + message_string) break def master_send_callback(self, m, master): '''called on sending a message''' self.check_watched_message(m, '>') mtype = m.get_type() if mtype != 'BAD_DATA' and self.mpstate.logqueue: usec = self.get_usec() usec = (usec & ~3) | 3 # linknum 3 self.mpstate.logqueue.put(bytearray(struct.pack('>Q', usec) + m.get_msgbuf())) def handle_msec_timestamp(self, m, master): '''special handling for MAVLink packets with a time_boot_ms field''' if m.get_type() == 'GLOBAL_POSITION_INT': # this is fix time, not boot time return msec = m.time_boot_ms if msec == 0: return sysid = m.get_srcSystem() compid = m.get_srcComponent() highest_msec_key = (sysid, compid) highest = master.highest_msec.get(highest_msec_key, 0) if msec + 30000 < highest: self.say('Time has wrapped') print('Time has wrapped', msec, highest) self.status.highest_msec[highest_msec_key] = msec for mm in self.mpstate.mav_master: mm.link_delayed = False mm.highest_msec[highest_msec_key] = msec return # we want to detect when a link is delayed master.highest_msec[highest_msec_key] = msec if msec > self.status.highest_msec.get(highest_msec_key, 0): self.status.highest_msec[highest_msec_key] = msec if msec < self.status.highest_msec.get(highest_msec_key, 0) and len(self.mpstate.mav_master) > 1 and self.mpstate.settings.checkdelay: # noqa master.link_delayed = True else: master.link_delayed = False def colors_for_severity(self, severity): # Windows and Linux have wildly difference concepts of # "green",so use specific RGB values: green = (0, 128, 0) severity_colors = { # tuple is (fg, bg) (as in "white on red") mavutil.mavlink.MAV_SEVERITY_EMERGENCY: ('white', 'red'), mavutil.mavlink.MAV_SEVERITY_ALERT: ('white', 'red'), mavutil.mavlink.MAV_SEVERITY_CRITICAL: ('white', 'red'), mavutil.mavlink.MAV_SEVERITY_ERROR: ('black', 'orange'), mavutil.mavlink.MAV_SEVERITY_WARNING: ('black', 'orange'), mavutil.mavlink.MAV_SEVERITY_NOTICE: ('black', 'yellow'), mavutil.mavlink.MAV_SEVERITY_INFO: ('white', green), mavutil.mavlink.MAV_SEVERITY_DEBUG: ('white', green), } try: return severity_colors[severity] except Exception as e: print("Exception: %s" % str(e)) return ('white', 'red') def report_altitude(self, altitude): '''possibly report a new altitude''' master = self.master if len(self.module_matching('terrain')) > 0 and self.mpstate.settings.basealt != 0: lat = master.field('GLOBAL_POSITION_INT', 'lat', 0)*1.0e-7 lon = master.field('GLOBAL_POSITION_INT', 'lon', 0)*1.0e-7 alt1 = self.module('terrain').ElevationModel.GetElevation(lat, lon) if alt1 is not None: alt2 = self.mpstate.settings.basealt altitude += alt2 - alt1 self.status.altitude = altitude altitude_converted = self.height_convert_units(altitude) if (int(self.mpstate.settings.altreadout) > 0 and math.fabs(altitude_converted - self.last_altitude_announce) >= int(self.settings.altreadout)): self.last_altitude_announce = altitude_converted rounded_alt = int(self.settings.altreadout) * ((self.settings.altreadout/2 + int(altitude_converted)) / int(self.settings.altreadout)) # noqa self.say("height %u" % rounded_alt, priority='notification') def emit_accumulated_statustext(self, key, id, pending): out = pending.accumulated_statustext() if out != self.status.last_apm_msg or time.time() > self.status.last_apm_msg_time+2: (fg, bg) = self.colors_for_severity(pending.severity) out = pending.accumulated_statustext() self.mpstate.console.writeln("AP: %s" % out, bg=bg, fg=fg) self.status.last_apm_msg = out self.status.last_apm_msg_time = time.time() del self.status.statustexts_by_sysidcompid[key][id] mav_types_which_are_not_vehicles = frozenset([ "MAV_TYPE_GCS", "MAV_TYPE_ONBOARD_CONTROLLER", "MAV_TYPE_GIMBAL", "MAV_TYPE_ADSB", "MAV_TYPE_CAMERA", "MAV_TYPE_CHARGING_STATION", "MAV_TYPE_SERVO", "MAV_TYPE_ODID", "MAV_TYPE_BATTERY", "MAV_TYPE_LOG", "MAV_TYPE_OSD", "MAV_TYPE_IMU", "MAV_TYPE_GPS", "MAV_TYPE_WINCH", ]) mav_autopilots_which_are_not_vehicles = frozenset([ mavutil.mavlink.MAV_AUTOPILOT_INVALID, mavutil.mavlink.MAV_AUTOPILOT_RESERVED, ]) component_ids_which_are_not_vehicles = frozenset([ mavutil.mavlink.MAV_COMP_ID_ADSB, mavutil.mavlink.MAV_COMP_ID_ODID_TXRX_1, mavutil.mavlink.MAV_COMP_ID_ODID_TXRX_2, mavutil.mavlink.MAV_COMP_ID_ODID_TXRX_3 ]) def heartbeat_is_from_autopilot(self, m): '''returns true if m is a HEARTBEAT (or HIGH_LATENCY2) message and looks like it is from an actual autopilot rather than from e.g. a mavlink-connected camera''' mtype = m.get_type() if mtype not in ['HEARTBEAT', 'HIGH_LATENCY2']: return False if m.autopilot in LinkModule.mav_autopilots_which_are_not_vehicles: return False # this is a rather bogus assumption - and might break people's # setups. It should probably be removed in favour of trusting # the MAV_TYPE field. if m.get_srcComponent() in LinkModule.component_ids_which_are_not_vehicles: return False found_mav_type = False # not all of these are present in all versions of mavlink: for t in LinkModule.mav_types_which_are_not_vehicles: if getattr(mavutil.mavlink, t, None) is not None: found_mav_type = True break if not found_mav_type: return False return True mav_type_planes = [ mavutil.mavlink.MAV_TYPE_FIXED_WING, mavutil.mavlink.MAV_TYPE_VTOL_QUADROTOR, mavutil.mavlink.MAV_TYPE_VTOL_TILTROTOR, ] # VTOL_DUOROTOR was renamed to VTOL_TAILSITTER_DUOROTOR for possible_plane_type in "VTOL_DUOROTOR", "VTOL_TAILSITTER_DUOROTOR": t = f"MAV_TYPE_{possible_plane_type}" attr = getattr(mavutil.mavlink, t, None) if attr is None: continue mav_type_planes.append(attr) def master_msg_handling(self, m, master): '''link message handling for an upstream link''' # handle TIMESYNC messages from all mavlink nodes: if m.get_type() == "TIMESYNC": self.handle_TIMESYNC(m, master) if not self.message_is_from_primary_vehicle(m): # don't process messages not from our target if m.get_type() == "BAD_DATA": if self.mpstate.settings.shownoise and mavutil.all_printable(m.data): out = m.data if isinstance(m.data, bytearray): out = m.data.decode('ascii') self.mpstate.console.write(out, bg='red') return if self.settings.target_system != 0 and master.target_system != self.settings.target_system: # keep the pymavlink level target system aligned with the MAVProxy setting master.target_system = self.settings.target_system if self.settings.target_component != 0 and master.target_component != self.settings.target_component: # keep the pymavlink level target component aligned with the MAVProxy setting print("change target_component %u" % self.settings.target_component) master.target_component = self.settings.target_component mtype = m.get_type() if self.heartbeat_is_from_autopilot(m): if self.settings.target_system == 0 and self.settings.target_system != m.get_srcSystem(): self.settings.target_system = m.get_srcSystem() self.settings.target_component = m.get_srcComponent() self.say("online system %u" % self.settings.target_system, 'message') for mav in self.mpstate.mav_master: mav.target_system = self.settings.target_system mav.target_component = self.settings.target_component if self.status.heartbeat_error: self.status.heartbeat_error = False self.say("heartbeat OK") if master.linkerror: master.linkerror = False self.say("link %s OK" % (self.link_label(master))) self.status.last_heartbeat = time.time() master.last_heartbeat = self.status.last_heartbeat armed = self.master.motors_armed() if armed != self.status.armed: self.status.armed = armed if armed: self.say("ARMED") else: self.say("DISARMED") if master.flightmode != self.status.flightmode: self.status.flightmode = master.flightmode if self.mpstate.functions.input_handler is None: self.set_prompt(self.status.flightmode + "> ") if master.flightmode != self.status.last_mode_announced and time.time() > self.status.last_mode_announce + 2: self.status.last_mode_announce = time.time() self.status.last_mode_announced = master.flightmode self.say("Mode " + self.status.flightmode) if m.type in self.mav_type_planes: self.mpstate.vehicle_type = 'plane' self.mpstate.vehicle_name = 'ArduPlane' elif m.type in [mavutil.mavlink.MAV_TYPE_GROUND_ROVER, mavutil.mavlink.MAV_TYPE_SURFACE_BOAT]: self.mpstate.vehicle_type = 'rover' self.mpstate.vehicle_name = 'APMrover2' elif m.type in [mavutil.mavlink.MAV_TYPE_SUBMARINE]: self.mpstate.vehicle_type = 'sub' self.mpstate.vehicle_name = 'ArduSub' elif m.type in [mavutil.mavlink.MAV_TYPE_QUADROTOR, mavutil.mavlink.MAV_TYPE_COAXIAL, mavutil.mavlink.MAV_TYPE_HEXAROTOR, mavutil.mavlink.MAV_TYPE_OCTOROTOR, mavutil.mavlink.MAV_TYPE_TRICOPTER, mavutil.mavlink.MAV_TYPE_HELICOPTER, mavutil.mavlink.MAV_TYPE_DODECAROTOR]: self.mpstate.vehicle_type = 'copter' self.mpstate.vehicle_name = 'ArduCopter' elif m.type in [mavutil.mavlink.MAV_TYPE_ANTENNA_TRACKER]: self.mpstate.vehicle_type = 'antenna' self.mpstate.vehicle_name = 'AntennaTracker' elif m.type in [mavutil.mavlink.MAV_TYPE_AIRSHIP]: self.mpstate.vehicle_type = 'blimp' self.mpstate.vehicle_name = 'Blimp' elif mtype == 'STATUSTEXT': class PendingText(object): def __init__(self): self.expected_count = None self.severity = None self.chunks = {} self.start_time = time.time() self.last_chunk_time = time.time() def add_chunk(self, m): # m is a statustext message self.severity = m.severity self.last_chunk_time = time.time() if hasattr(m, 'chunk_seq'): # mavlink extensions are present. chunk_seq = m.chunk_seq mid = m.id else: # Note that m.id may still exist! It will # contain the value 253, STATUSTEXT's mavlink # message id. Thus our reliance on the # presence of chunk_seq. chunk_seq = 0 mid = 0 self.chunks[chunk_seq] = m.text if len(m.text) != 50 or mid == 0: self.expected_count = chunk_seq + 1 def complete(self): return (self.expected_count is not None and self.expected_count == len(self.chunks)) def accumulated_statustext(self): next_expected_chunk = 0 out = "" for chunk_seq in sorted(self.chunks.keys()): if chunk_seq != next_expected_chunk: out += " ... " next_expected_chunk = chunk_seq if isinstance(self.chunks[chunk_seq], str): out += self.chunks[chunk_seq] else: out += self.chunks[chunk_seq].decode(errors="ignore") next_expected_chunk += 1 return out key = "%s.%s" % (m.get_srcSystem(), m.get_srcComponent()) if key not in self.status.statustexts_by_sysidcompid: self.status.statustexts_by_sysidcompid[key] = {} if hasattr(m, 'chunk_seq'): mid = m.id else: # m.id will have the value of 253, STATUSTEXT mavlink id mid = 0 if mid not in self.status.statustexts_by_sysidcompid[key]: self.status.statustexts_by_sysidcompid[key][mid] = PendingText() pending = self.status.statustexts_by_sysidcompid[key][mid] pending.add_chunk(m) if pending.complete(): # we have all of the chunks! self.emit_accumulated_statustext(key, mid, pending) elif mtype == "VFR_HUD": have_gps_lock = False if 'GPS_RAW' in self.status.msgs and self.status.msgs['GPS_RAW'].fix_type == 2: have_gps_lock = True elif 'GPS_RAW_INT' in self.status.msgs and self.status.msgs['GPS_RAW_INT'].fix_type == 3: have_gps_lock = True if have_gps_lock and not self.status.have_gps_lock and m.alt != 0: self.say("GPS lock at %u meters" % m.alt, priority='notification') self.status.have_gps_lock = True elif mtype == "GPS_RAW": if self.status.have_gps_lock: if m.fix_type != 2 and not self.status.lost_gps_lock and (time.time() - self.status.last_gps_lock) > 3: self.say("GPS fix lost") self.status.lost_gps_lock = True if m.fix_type == 2 and self.status.lost_gps_lock: self.say("GPS OK") self.status.lost_gps_lock = False if m.fix_type == 2: self.status.last_gps_lock = time.time() elif mtype == "GPS_RAW_INT": if self.status.have_gps_lock: if m.fix_type < 3 and not self.status.lost_gps_lock and (time.time() - self.status.last_gps_lock) > 3: self.say("GPS fix lost") self.status.lost_gps_lock = True if m.fix_type >= 3 and self.status.lost_gps_lock: self.say("GPS OK") self.status.lost_gps_lock = False if m.fix_type >= 3: self.status.last_gps_lock = time.time() elif mtype == "NAV_CONTROLLER_OUTPUT" and self.status.flightmode == "AUTO" and self.mpstate.settings.distreadout: rounded_dist = int(m.wp_dist/self.mpstate.settings.distreadout)*self.mpstate.settings.distreadout if math.fabs(rounded_dist - self.status.last_distance_announce) >= self.mpstate.settings.distreadout: if rounded_dist != 0: self.say("%u" % rounded_dist, priority="progress") self.status.last_distance_announce = rounded_dist elif mtype == "GLOBAL_POSITION_INT": self.report_altitude(m.relative_alt*0.001) elif mtype == "COMPASSMOT_STATUS": print(m) elif mtype == "SIMSTATE": self.mpstate.is_sitl = True elif mtype == "ATTITUDE": att_time = m.time_boot_ms * 0.001 self.mpstate.attitude_time_s = max(self.mpstate.attitude_time_s, att_time) if self.mpstate.attitude_time_s - att_time > 120: # cope with wrap self.mpstate.attitude_time_s = att_time elif mtype == "COMMAND_ACK": try: cmd = mavutil.mavlink.enums["MAV_CMD"][m.command].name cmd = cmd[8:] res = mavutil.mavlink.enums["MAV_RESULT"][m.result].name res = res[11:] if (m.target_component not in [mavutil.mavlink.MAV_COMP_ID_MAVCAN] and m.command not in [mavutil.mavlink.MAV_CMD_GET_HOME_POSITION, mavutil.mavlink.MAV_CMD_DO_DIGICAM_CONTROL, mavutil.mavlink.MAV_CMD_SET_CAMERA_MODE, mavutil.mavlink.MAV_CMD_SET_CAMERA_ZOOM, mavutil.mavlink.MAV_CMD_SET_CAMERA_FOCUS]): self.mpstate.console.writeln("Got COMMAND_ACK: %s: %s" % (cmd, res)) except Exception: self.mpstate.console.writeln("Got MAVLink msg: %s" % m) if m.command == mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION: if m.result == mavutil.mavlink.MAV_RESULT_ACCEPTED: self.say("Calibrated") elif m.result == mavutil.mavlink.MAV_RESULT_FAILED: self.say("Calibration failed") elif m.result == mavutil.mavlink.MAV_RESULT_UNSUPPORTED: self.say("Calibration unsupported") elif m.result == mavutil.mavlink.MAV_RESULT_IN_PROGRESS: # don't bother the user with this pass elif m.result == mavutil.mavlink.MAV_RESULT_TEMPORARILY_REJECTED: self.say("Calibration temporarily rejected") else: self.say("Calibration response (%u)" % m.result) elif mtype == "MISSION_ACK": try: t = mavutil.mavlink.enums["MAV_MISSION_TYPE"][m.mission_type].name t = t[12:] res = mavutil.mavlink.enums["MAV_MISSION_RESULT"][m.type].name res = res[12:] self.mpstate.console.writeln("Got MISSION_ACK: %s: %s" % (t, res)) except Exception: self.mpstate.console.writeln("Got MAVLink msg: %s" % m) else: # self.mpstate.console.writeln("Got MAVLink msg: %s" % m) pass self.check_watched_message(m, '<') def handle_TIMESYNC(self, m, master): '''handle received TIMESYNC message m from link master''' # pass to any outstanding TimeSyncRequest objects: for ot in self.outstanding_timesyncs: ot.handle_TIMESYNC(m, master) def mavlink_packet(self, msg): '''handle an incoming mavlink packet''' pass def master_callback(self, m, master): '''process mavlink message m on master, sending any messages to recipients''' sysid = m.get_srcSystem() mtype = m.get_type() if mtype in ['HEARTBEAT', 'HIGH_LATENCY2'] and m.type != mavutil.mavlink.MAV_TYPE_GCS: compid = m.get_srcComponent() if sysid not in self.vehicle_list: self.vehicle_list.add(sysid) if (sysid, compid) not in self.mpstate.vehicle_link_map[master.linknum]: self.mpstate.vehicle_link_map[master.linknum].add((sysid, compid)) print("Detected vehicle {0}:{1} on link {2}".format(sysid, compid, master.linknum)) # see if it is handled by a specialised sysid connection if sysid in self.mpstate.sysid_outputs: self.mpstate.sysid_outputs[sysid].write(m.get_msgbuf()) if mtype == "GLOBAL_POSITION_INT": for modname in 'map', 'asterix', 'NMEA', 'NMEA2': mod = self.module(modname) if mod is not None: mod.set_secondary_vehicle_position(m) return if getattr(m, '_timestamp', None) is None: master.post_message(m) self.status.counters['MasterIn'][master.linknum] += 1 if mtype == 'GLOBAL_POSITION_INT': # send GLOBAL_POSITION_INT to 2nd GCS for 2nd vehicle display for sysid in self.mpstate.sysid_outputs: self.mpstate.sysid_outputs[sysid].write(m.get_msgbuf()) if self.mpstate.settings.fwdpos: for link in self.mpstate.mav_master: if link != master: link.write(m.get_msgbuf()) # and log them if mtype not in dataPackets and self.mpstate.logqueue: # put link number in bottom 2 bits, so we can analyse packet # delay in saved logs usec = self.get_usec() usec = (usec & ~3) | master.linknum self.mpstate.logqueue.put(bytearray(struct.pack('>Q', usec) + m.get_msgbuf())) # keep the last message of each type around self.status.msgs[mtype] = m instance_field = getattr(m, '_instance_field', None) if mtype not in self.status.msg_count: self.status.msg_count[mtype] = 0 self.status.msg_count[mtype] += 1 if instance_field is not None: instance_value = getattr(m, instance_field, None) if instance_value is not None: mtype_instance = "%s[%s]" % (mtype, instance_value) self.status.msgs[mtype_instance] = m if mtype_instance not in self.status.msg_count: self.status.msg_count[mtype_instance] = 0 self.status.msg_count[mtype_instance] += 1 if getattr(m, 'time_boot_ms', None) is not None and self.message_is_from_primary_vehicle(m): # update link_delayed attribute self.handle_msec_timestamp(m, master) if mtype in activityPackets: if master.linkerror: master.linkerror = False self.say("link %s OK" % (self.link_label(master))) self.status.last_message = time.time() master.last_message = self.status.last_message if master.link_delayed and self.mpstate.settings.checkdelay: # don't process delayed packets that cause double reporting if mtype in delayedPackets: return self.master_msg_handling(m, master) # don't pass along bad data if mtype != 'BAD_DATA': # pass messages along to listeners, except for REQUEST_DATA_STREAM, which # would lead a conflict in stream rate setting between mavproxy and the other # GCS if self.mpstate.settings.mavfwd_rate or mtype != 'REQUEST_DATA_STREAM': if mtype not in self.no_fwd_types: for r in self.mpstate.mav_outputs: if hasattr(r, 'ws') and r.ws is not None: from wsproto.connection import ConnectionState if r.ws.state != ConnectionState.OPEN: # Ensure Websocket handshake is done continue r.write(m.get_msgbuf()) sysid = m.get_srcSystem() target_sysid = self.target_system # pass to modules for (mod, pm) in self.mpstate.modules: if not hasattr(mod, 'mavlink_packet'): continue # Do not send other-system-or-component heartbeat packets to non-multi-vehicle modules if not self.message_is_from_primary_vehicle(m) and not mod.multi_vehicle and mtype == 'HEARTBEAT': continue # sysid 51/'3' is used by SiK radio for the injected RADIO/RADIO_STATUS mavlink frames. # In order to be able to pass these to e.g. the graph module, which is not multi-vehicle, # special handling is needed, so that the module gets both RADIO_STATUS and (single) target # vehicle information. if not (sysid == 51 and mtype in radioStatusPackets): if not mod.multi_vehicle and sysid != target_sysid: # only pass packets not from our target to modules that # have marked themselves as being multi-vehicle capable continue try: mod.mavlink_packet(m) except Exception as msg: exc_type, exc_value, exc_traceback = sys.exc_info() if self.mpstate.settings.moddebug > 3: traceback.print_exception( exc_type, exc_value, exc_traceback, file=sys.stdout ) elif self.mpstate.settings.moddebug > 1: traceback.print_exception(exc_type, exc_value, exc_traceback, limit=2, file=sys.stdout) elif self.mpstate.settings.moddebug == 1: print(msg) def cmd_vehicle(self, args): '''handle vehicle commands''' if len(args) < 1: print("Usage: vehicle SYSID[:COMPID]") return a = args[0].split(':') self.mpstate.settings.target_system = int(a[0]) if len(a) > 1: self.mpstate.settings.target_component = int(a[1]) # change default link based on most recent HEARTBEAT best_link = 0 best_timestamp = 0 for i in range(len(self.mpstate.mav_master)): m = self.mpstate.mav_master[i] m.target_system = self.mpstate.settings.target_system m.target_component = self.mpstate.settings.target_component if 'HEARTBEAT' in m.messages: stamp = m.messages['HEARTBEAT']._timestamp # src_system = m.messages['HEARTBEAT'].get_srcSystem() if stamp > best_timestamp: best_link = i best_timestamp = stamp m.link_delayed = False self.mpstate.settings.link = best_link + 1 print("Set vehicle %s (link %u)" % (args[0], best_link+1)) class TimeSyncRequest(): '''send and receive TIMESYNC mavlink messages, printing results''' def __init__(self, master, max_attempts=1, console=None): self.attempts_remaining = max_attempts self.last_sent_ns = 0 self.sent_on_timestamps = [] self.mav = master self.max_lifetime = 20 # seconds self.response_received = False self.console = console def age_limit_exceeded(self): '''true if this object should be reaped''' if len(self.sent_on_timestamps) == 0: return False return int(time.time() * 1e9) - self.sent_on_timestamps[0] > self.max_lifetime*1e9 def update(self): '''send timesync requests at intervals''' now_ns = int(time.time() * 1e9) if now_ns - self.last_sent_ns < 1e9: # ping at 1s intervals return if self.attempts_remaining == 0: return self.attempts_remaining -= 1 self.last_sent_ns = now_ns # encode outbound link in bottom 4 bits now_ns = now_ns & ~ 0b1111 now_ns = now_ns | self.mav.linknum self.sent_on_timestamps.append(now_ns) self.mav.mav.timesync_send(0, now_ns) def handle_TIMESYNC(self, m, master): '''handle TIMESYNC message m received on link master''' if m.ts1 not in self.sent_on_timestamps: # we didn't send this one return now_ns = time.time() * 1e9 out_link = m.ts1 & 0b1111 # out link encoded in bottom four bits if self.console is not None: self.console.writeln(f"ping response: {(now_ns-m.ts1)*1e-6:.3f}ms from={m.get_srcSystem()}/{m.get_srcComponent()} in-link={master.linknum} out-link={out_link}") # noqa def cmd_ping(self, args): '''create TimeSyncRequest objects to ping on each link''' for m in self.mpstate.mav_master: request = LinkModule.TimeSyncRequest(m, console=self.console) self.outstanding_timesyncs.append(request) def init(mpstate): '''initialise module''' return LinkModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_log.py000066400000000000000000000244021504324515000215360ustar00rootroot00000000000000''' log command handling AP_FLAKE8_CLEAN ''' import os import time from MAVProxy.modules.lib import mp_module class LogModule(mp_module.MPModule): def __init__(self, mpstate): super(LogModule, self).__init__(mpstate, "log", "log transfer") self.add_command('log', self.cmd_log, "log file handling", ['']) self.reset() def reset(self): self.download_set = set() self.download_file = None self.download_lognum = None self.download_filename = None self.download_start = None self.download_last_timestamp = None self.download_ofs = 0 self.retries = 0 self.entries = {} self.download_queue = [] self.last_status = time.time() def mavlink_packet(self, m): '''handle an incoming mavlink packet''' if m.get_type() == 'LOG_ENTRY': self.handle_log_entry(m) elif m.get_type() == 'LOG_DATA': self.handle_log_data(m) def handle_log_entry(self, m): '''handling incoming log entry''' if m.time_utc == 0: tstring = '' else: tstring = time.ctime(m.time_utc) if m.num_logs == 0: print("No logs") return self.entries[m.id] = m print("Log %u numLogs %u lastLog %u size %u %s" % (m.id, m.num_logs, m.last_log_num, m.size, tstring)) def handle_log_data(self, m): '''handling incoming log data''' if self.download_file is None: return # lose some data # import random # if random.uniform(0,1) < 0.05: # print('dropping ', str(m)) # return if m.ofs != self.download_ofs: self.download_file.seek(m.ofs) self.download_ofs = m.ofs if m.count != 0: s = bytearray(m.data[:m.count]) self.download_file.write(s) self.download_set.add(m.ofs // 90) self.download_ofs += m.count self.download_last_timestamp = time.time() if m.count == 0 or (m.count < 90 and len(self.download_set) == 1 + (m.ofs // 90)): dt = time.time() - self.download_start self.download_file.close() size = os.path.getsize(self.download_filename) speed = size / (1000.0 * dt) status = ( f"Finished downloading {self.download_filename} " + f"({size} bytes {dt:0.1f} seconds, " + f"{speed:.1f} kbyte/sec " + f"{self.retries} retries)" ) self.console.set_status('LogDownload', status, row=4) print(status) self.download_file = None self.download_filename = None self.download_set = set() self.master.mav.log_request_end_send( self.target_system, self.target_component ) if len(self.download_queue): self.log_download_next() self.update_status() def handle_log_data_missing(self): '''handling missing incoming log data''' if len(self.download_set) == 0: return highest = max(self.download_set) diff = set(range(highest)).difference(self.download_set) if len(diff) == 0: self.master.mav.log_request_data_send( self.target_system, self.target_component, self.download_lognum, (1 + highest) * 90, 0xffffffff ) self.retries += 1 else: num_requests = 0 while num_requests < 20: start = min(diff) diff.remove(start) end = start while end + 1 in diff: end += 1 diff.remove(end) self.master.mav.log_request_data_send( self.target_system, self.target_component, self.download_lognum, start * 90, (end + 1 - start) * 90 ) num_requests += 1 self.retries += 1 if len(diff) == 0: break def log_status(self, console=False): '''show download status''' if self.download_filename is None: print("No download") return dt = time.time() - self.download_start speed = os.path.getsize(self.download_filename) / (1000.0 * dt) m = self.entries.get(self.download_lognum, None) file_size = os.path.getsize(self.download_filename) if m is None: size = 0 pct = 0 elif m.size == 0: size = 0 pct = 100 else: size = m.size pct = (100.0*file_size)/size highest = 0 if len(self.download_set): highest = max(self.download_set) diff = set(range(highest)).difference(self.download_set) status = ( f"Downloading {self.download_filename} - " + f"{os.path.getsize(self.download_filename)}/{size} bytes " + f"{pct:.1f}% {speed:.1f} kbyte/s " + f"({self.retries} retries {len(diff)} missing)" ) if console: self.console.set_status('LogDownload', status, row=4) else: print(status) def log_download_next(self): if len(self.download_queue) == 0: return latest = self.download_queue.pop() filename = self.default_log_filename(latest) if os.path.isfile(filename) and os.path.getsize(filename) == self.entries.get(latest).to_dict()["size"]: print("Skipping existing %s" % (filename)) self.log_download_next() else: self.log_download(latest, filename) def log_download_all(self): if len(self.entries.keys()) == 0: print("Please use log list first") return self.download_queue = sorted(self.entries, key=lambda id: self.entries[id].time_utc) self.log_download_next() def log_download_range(self, first, last): self.download_queue = sorted(list(range(first, last+1)), reverse=True) print(self.download_queue) self.log_download_next() def log_download_from(self, fromnum=0): if len(self.entries.keys()) == 0: print("Please use log list first") return self.download_queue = sorted(self.entries, key=lambda id: self.entries[id].time_utc) self.download_queue = self.download_queue[fromnum:len(self.download_queue)] self.log_download_next() def log_download(self, log_num, filename): '''download a log file''' print("Downloading log %u as %s" % (log_num, filename)) self.download_lognum = log_num self.download_file = open(filename, "wb") self.master.mav.log_request_data_send( self.target_system, self.target_component, log_num, 0, 0xFFFFFFFF ) self.download_filename = filename self.download_set = set() self.download_start = time.time() self.download_last_timestamp = time.time() self.download_ofs = 0 self.retries = 0 def default_log_filename(self, log_num): return "log%u.bin" % log_num def cmd_log(self, args): '''log commands''' usage = "usage: log " if len(args) < 1: print(usage) return if args[0] == "status": self.log_status() elif args[0] == "list": print("Requesting log list") self.download_set = set() self.master.mav.log_request_list_send( self.target_system, self.target_component, 0, 0xffff ) elif args[0] == "erase": self.master.mav.log_erase_send( self.target_system, self.target_component ) elif args[0] == "resume": self.master.mav.log_request_end_send( self.target_system, self.target_component ) elif args[0] == "cancel": if self.download_file is not None: self.download_file.close() self.reset() elif args[0] == "download": if len(args) < 2: print("usage: log download all | log download | log download from |log download range FIRST LAST") # noqa:E501 return if args[1] == 'all': self.log_download_all() return if args[1] == 'from': if len(args) < 2: args[2] == 0 self.log_download_from(int(args[2])) return if args[1] == 'range': if len(args) < 2: print("Usage: log download range FIRST LAST") return self.log_download_range(int(args[2]), int(args[3])) return if args[1] == 'latest': if len(self.entries.keys()) == 0: print("Please use log list first") return log_num = sorted(self.entries, key=lambda id: self.entries[id].time_utc)[-1] else: log_num = int(args[1]) if len(args) > 2: filename = args[2] else: filename = self.default_log_filename(log_num) self.log_download(log_num, filename) else: print(usage) def update_status(self): '''update log download status in console''' now = time.time() if self.download_file is not None and now - self.last_status > 0.5: self.last_status = now self.log_status(True) def idle_task(self): '''handle missing log data''' if self.download_last_timestamp is not None and time.time() - self.download_last_timestamp > 0.7: self.download_last_timestamp = time.time() self.handle_log_data_missing() self.update_status() def init(mpstate): '''initialise module''' return LogModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_magical/000077500000000000000000000000001504324515000217765ustar00rootroot00000000000000MAVProxy-1.8.74/MAVProxy/modules/mavproxy_magical/__init__.py000066400000000000000000000151141504324515000241110ustar00rootroot00000000000000# Copyright (C) 2016 Intel Corporation. All rights reserved. # # This file is free software: you can redistribute it and/or modify it # under the terms of the GNU General Public License as published by the # Free Software Foundation, either version 3 of the License, or # (at your option) any later version. # # This file is distributed in the hope that it will be useful, but # WITHOUT ANY WARRANTY; without even the implied warranty of # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. # See the GNU General Public License for more details. # # You should have received a copy of the GNU General Public License along # with this program. If not, see . """ Compass calibration helper. This is adapted from Ardupilot's local MAVProxy module magcal_graph. Some people read it "magical_graph" at the time of release, thus the silly reason for the name of this module. """ from __future__ import print_function import sys from pymavlink import mavutil from MAVProxy.modules.lib import mp_module, mp_util, multiproc try: import pkg_resources datapath = pkg_resources.resource_filename(__name__, 'data') except: import os.path as p datapath = p.join(p.dirname(p.abspath(__file__)), 'data') class MagicalModule(mp_module.MPModule): def __init__(self, mpstate): super(MagicalModule, self).__init__(mpstate, 'magical') self.add_command( 'magical_ui', self.cmd_magical_ui, 'open the GUI for compass calibration', ) self.mpstate = mpstate self.parent_pipe, self.child_pipe = multiproc.Pipe() self.ui_process = None self.progress_msgs = {} self.report_msgs = {} self.attitude_msg = None self.raw_imu_msg = None self.running = False self.last_ui_msgs = {} def start_ui(self): if self.ui_is_active(): return self.ui_process = multiproc.Process(target=self.ui_task) self.update_ui() self.ui_process.start() def stop_ui(self): if not self.ui_is_active(): return self.parent_pipe.send(dict(name='close')) self.ui_process.join(2) if self.ui_process.is_alive(): print("magical: UI process timed out, killing it", file=sys.stderr) self.kill_ui() def kill_ui(self): self.ui_process.terminate() self.parent_pipe, self.child_pipe = multiproc.Pipe() def ui_task(self): mp_util.child_close_fds() from MAVProxy.modules.lib import wx_processguard from MAVProxy.modules.lib.wx_loader import wx from MAVProxy.modules.mavproxy_magical.magical_ui import MagicalFrame app = wx.App(False) app.frame = MagicalFrame(self.child_pipe) app.frame.Show() app.MainLoop() def process_ui_commands(self): while self.parent_pipe.poll(): cmd = self.parent_pipe.recv() if cmd == 'start': self.mpstate.functions.process_stdin('magcal start') elif cmd == 'cancel': self.mpstate.functions.process_stdin('magcal cancel') def ui_is_active(self): return self.ui_process is not None and self.ui_process.is_alive() def idle_task(self): self.process_ui_commands() if self.ui_is_active(): self.update_ui() elif self.last_ui_msgs: self.last_ui_msgs = {} def cmd_magical_ui(self, args): self.start_ui() def mavlink_packet(self, m): t = m.get_type() if t == 'MAG_CAL_PROGRESS': self.progress_msgs[m.compass_id] = m if m.compass_id in self.report_msgs: del self.report_msgs[m.compass_id] if 'report' in self.last_ui_msgs: del self.last_ui_msgs['report'] self.running = True elif t == 'MAG_CAL_REPORT': self.report_msgs[m.compass_id] = m if self.report_msgs and len(self.report_msgs) == len(self.progress_msgs): self.running = False elif t == 'ATTITUDE': self.attitude_msg = m elif t == 'RAW_IMU': self.raw_imu_msg = m elif t == 'COMMAND_ACK': if m.command == mavutil.mavlink.MAV_CMD_DO_CANCEL_MAG_CAL: self.running = False def unload(self): self.stop_ui() def send_ui_msg(self, m): send = False if m['name'] not in self.last_ui_msgs: send = True else: last = self.last_ui_msgs[m['name']] if m['name'] == 'report': if len(m['messages']) != len(last['messages']): send = True else: for a, b in zip(m['messages'], last['messages']): if a.compass_id != b.compass_id: send = True break else: send = m != last if not send: return self.parent_pipe.send(m) self.last_ui_msgs[m['name']] = m def update_ui(self): self.send_ui_msg(dict( name='ui_is_active', value=self.ui_is_active(), )) if self.progress_msgs: pct = min(p.completion_pct for p in self.progress_msgs.values()) masks = [~0] * 10 for p in self.progress_msgs.values(): for i in range(10): masks[i] &= p.completion_mask[i] visible = [bool(m & 1 << j) for m in masks for j in range(8)] self.send_ui_msg(dict( name='progress_update', pct=pct, sections=visible, )) if self.report_msgs and len(self.report_msgs) == len(self.progress_msgs): keys = sorted(self.progress_msgs.keys()) self.send_ui_msg(dict( name='report', messages=[self.report_msgs[k] for k in keys], )) if self.attitude_msg: self.send_ui_msg(dict( name='attitude', roll=self.attitude_msg.roll, pitch=self.attitude_msg.pitch, yaw=self.attitude_msg.yaw, timestamp=self.attitude_msg.time_boot_ms, )) if self.raw_imu_msg: self.send_ui_msg(dict( name='mag', x=self.raw_imu_msg.xmag, y=self.raw_imu_msg.ymag, z=self.raw_imu_msg.zmag, )) self.send_ui_msg(dict( name='running', value=self.running, )) def init(mpstate): return MagicalModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_magical/data/000077500000000000000000000000001504324515000227075ustar00rootroot00000000000000MAVProxy-1.8.74/MAVProxy/modules/mavproxy_magical/data/arrow.mtl000066400000000000000000000006461504324515000245650ustar00rootroot00000000000000# Magical Arrow Material (c) by Intel Corporation # # Magical Arrow Material is licensed under a # Creative Commons Attribution-ShareAlike 4.0 International License. # # You should have received a copy of the license along with this # work. If not, see . newmtl None Ns 1 Ka 0.047059 0.400000 0.415686 Kd 0.047059 0.400000 0.415686 Ks 0.500000 0.500000 0.500000 d 1 illum 2 MAVProxy-1.8.74/MAVProxy/modules/mavproxy_magical/data/arrow.obj000066400000000000000000000223141504324515000245370ustar00rootroot00000000000000# Magical Arrow (c) by Intel Corporation # # Magical Arrow is licensed under a # Creative Commons Attribution-ShareAlike 4.0 International License. # # You should have received a copy of the license along with this # work. 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If not, see . newmtl BlackMaterial Ns 92.156863 Ka 0.200000 0.200000 0.200000 Kd 0.200000 0.200000 0.200000 Ks 0.500000 0.500000 0.500000 Ke 0.000000 0.000000 0.000000 Ni 1.000000 d 1.000000 illum 2 newmtl BlueMaterial Ns 92.156863 Ka 0.003922 0.419608 0.611765 Kd 0.003922 0.419608 0.611765 Ks 0.500000 0.500000 0.500000 Ke 0.000000 0.000000 0.000000 Ni 1.000000 d 1.000000 illum 2 MAVProxy-1.8.74/MAVProxy/modules/mavproxy_magical/data/quadcopter.obj000066400000000000000000015725371504324515000255760ustar00rootroot00000000000000# Magical Quadcopter (c) by Intel Corporation # # Magical Quadcopter is licensed under a # Creative Commons Attribution-ShareAlike 4.0 International License. # # You should have received a copy of the license along with this # work. 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0.0000 1.0000 vt 0.0000 0.0000 vt 1.0000 0.0000 vt 1.0050 0.9818 vt -0.0031 1.0110 vt 0.0000 0.0000 vt 1.0000 0.0000 vt 1.0000 1.0000 vt -0.0083 -0.0194 vt 1.0102 0.0249 vt 1.0000 1.0000 vt 0.0000 1.0000 vt -0.0037 0.0209 vt 1.0019 -0.0108 vt 0.0044 0.9759 vt -0.0002 0.0025 vt 0.0005 0.9973 vt 0.0009 -0.0000 vt 1.0006 0.9990 vt -0.0005 1.0000 vt 0.0000 0.0000 vt 1.0000 0.0000 vt 0.9715 1.0512 vt 0.0293 0.9469 vt 0.0000 0.0000 vt 1.0000 1.0000 vt 0.0000 1.0000 vt 0.0000 0.0000 vt 0.9518 0.0726 vt 1.0277 0.9576 vt 0.0002 0.0432 vt 0.9999 -0.0222 vt 1.0000 1.0000 vt 0.0000 0.9526 vt -0.0038 0.0052 vt 1.0000 0.0000 vt 0.0047 0.9939 vt -0.0447 0.0518 vt 1.0000 0.0000 vt 0.9303 1.0797 vt 0.1047 0.8793 vt 0.5289 0.9306 vt 0.5317 0.9393 vt 0.5028 0.9439 vt 0.5317 0.9485 vt 0.5289 0.9572 vt 0.5235 0.9646 vt 0.5161 0.9699 vt 0.5074 0.9728 vt 0.4982 0.9728 vt 0.4895 0.9699 vt 0.4821 0.9646 vt 0.4767 0.9572 vt 0.4739 0.9485 vt 0.4739 0.9393 vt 0.4767 0.9306 vt 0.4821 0.9232 vt 0.4895 0.9178 vt 0.4982 0.9150 vt 0.5074 0.9150 vt 0.5161 0.9178 vt 0.5235 0.9232 vt 0.2409 0.9168 vt 0.2409 0.9071 vt 0.2582 0.9071 vt 0.2582 0.9168 vt 0.2237 0.9168 vt 0.2237 0.9071 vt 0.2755 0.9071 vt 0.2755 0.9168 vt 0.2927 0.9071 vt 0.2927 0.9168 vt 0.3100 0.9071 vt 0.3100 0.9168 vt 0.3273 0.9071 vt 0.3273 0.9168 vt 0.3445 0.9071 vt 0.3445 0.9168 vt 0.3618 0.9071 vt 0.3618 0.9168 vt 0.0165 0.9168 vt 0.0165 0.9071 vt 0.0337 0.9071 vt 0.0337 0.9168 vt 0.0510 0.9071 vt 0.0510 0.9168 vt 0.0683 0.9071 vt 0.0683 0.9168 vt 0.0855 0.9071 vt 0.0855 0.9168 vt 0.1028 0.9071 vt 0.1028 0.9168 vt 0.1201 0.9071 vt 0.1201 0.9168 vt 0.1373 0.9071 vt 0.1373 0.9168 vt 0.1546 0.9071 vt 0.1546 0.9168 vt 0.1719 0.9071 vt 0.1719 0.9168 vt 0.1891 0.9071 vt 0.1891 0.9168 vt 0.2064 0.9071 vt 0.2064 0.9168 vt 0.5289 0.9306 vt 0.5317 0.9393 vt 0.5317 0.9485 vt 0.5289 0.9572 vt 0.5235 0.9646 vt 0.5161 0.9699 vt 0.5074 0.9728 vt 0.4982 0.9728 vt 0.4895 0.9699 vt 0.4821 0.9646 vt 0.4767 0.9572 vt 0.4739 0.9485 vt 0.4739 0.9393 vt 0.4767 0.9306 vt 0.4821 0.9232 vt 0.4895 0.9178 vt 0.4982 0.9150 vt 0.5074 0.9150 vt 0.5161 0.9178 vt 0.5235 0.9232 vt 0.0000 0.0500 vt 0.0500 0.0500 vt 0.0500 0.1000 vt 0.0000 0.1000 vt 0.1000 0.0500 vt 0.1000 0.1000 vt 0.1500 0.0500 vt 0.1500 0.1000 vt 0.2000 0.0500 vt 0.2000 0.1000 vt 0.2500 0.0500 vt 0.2500 0.1000 vt 0.3000 0.0500 vt 0.3000 0.1000 vt 0.3500 0.0500 vt 0.3500 0.1000 vt 0.4000 0.0500 vt 0.4000 0.1000 vt 0.4500 0.0500 vt 0.4500 0.1000 vt 0.5000 0.0500 vt 0.5000 0.1000 vt 0.5500 0.0500 vt 0.5500 0.1000 vt 0.6000 0.0500 vt 0.6000 0.1000 vt 0.6500 0.0500 vt 0.6500 0.1000 vt 0.7000 0.0500 vt 0.7000 0.1000 vt 0.7500 0.0500 vt 0.7500 0.1000 vt 0.8000 0.0500 vt 0.8000 0.1000 vt 0.8500 0.0500 vt 0.8500 0.1000 vt 0.9000 0.0500 vt 0.9000 0.1000 vt 0.9500 0.0500 vt 0.9500 0.1000 vt 1.0000 0.0500 vt 1.0000 0.1000 vt 0.0500 0.1500 vt 0.0000 0.1500 vt 0.1000 0.1500 vt 0.1500 0.1500 vt 0.2000 0.1500 vt 0.2500 0.1500 vt 0.3000 0.1500 vt 0.3500 0.1500 vt 0.4000 0.1500 vt 0.4500 0.1500 vt 0.5000 0.1500 vt 0.5500 0.1500 vt 0.6000 0.1500 vt 0.6500 0.1500 vt 0.7000 0.1500 vt 0.7500 0.1500 vt 0.8000 0.1500 vt 0.8500 0.1500 vt 0.9000 0.1500 vt 0.9500 0.1500 vt 1.0000 0.1500 vt 0.0500 0.2000 vt 0.0000 0.2000 vt 0.1000 0.2000 vt 0.1500 0.2000 vt 0.2000 0.2000 vt 0.2500 0.2000 vt 0.3000 0.2000 vt 0.3500 0.2000 vt 0.4000 0.2000 vt 0.4500 0.2000 vt 0.5000 0.2000 vt 0.5500 0.2000 vt 0.6000 0.2000 vt 0.6500 0.2000 vt 0.7000 0.2000 vt 0.7500 0.2000 vt 0.8000 0.2000 vt 0.8500 0.2000 vt 0.9000 0.2000 vt 0.9500 0.2000 vt 1.0000 0.2000 vt 0.0500 0.2500 vt 0.0000 0.2500 vt 0.1000 0.2500 vt 0.1500 0.2500 vt 0.2000 0.2500 vt 0.2500 0.2500 vt 0.3000 0.2500 vt 0.3500 0.2500 vt 0.4000 0.2500 vt 0.4500 0.2500 vt 0.5000 0.2500 vt 0.5500 0.2500 vt 0.6000 0.2500 vt 0.6500 0.2500 vt 0.7000 0.2500 vt 0.7500 0.2500 vt 0.8000 0.2500 vt 0.8500 0.2500 vt 0.9000 0.2500 vt 0.9500 0.2500 vt 1.0000 0.2500 vt 0.0500 0.3000 vt 0.0000 0.3000 vt 0.1000 0.3000 vt 0.1500 0.3000 vt 0.2000 0.3000 vt 0.2500 0.3000 vt 0.3000 0.3000 vt 0.3500 0.3000 vt 0.4000 0.3000 vt 0.4500 0.3000 vt 0.5000 0.3000 vt 0.5500 0.3000 vt 0.6000 0.3000 vt 0.6500 0.3000 vt 0.7000 0.3000 vt 0.7500 0.3000 vt 0.8000 0.3000 vt 0.8500 0.3000 vt 0.9000 0.3000 vt 0.9500 0.3000 vt 1.0000 0.3000 vt 0.0500 0.3500 vt 0.0000 0.3500 vt 0.1000 0.3500 vt 0.1500 0.3500 vt 0.2000 0.3500 vt 0.2500 0.3500 vt 0.3000 0.3500 vt 0.3500 0.3500 vt 0.4000 0.3500 vt 0.4500 0.3500 vt 0.5000 0.3500 vt 0.5500 0.3500 vt 0.6000 0.3500 vt 0.6500 0.3500 vt 0.7000 0.3500 vt 0.7500 0.3500 vt 0.8000 0.3500 vt 0.8500 0.3500 vt 0.9000 0.3500 vt 0.9500 0.3500 vt 1.0000 0.3500 vt 0.0500 0.4000 vt 0.0000 0.4000 vt 0.1000 0.4000 vt 0.1500 0.4000 vt 0.2000 0.4000 vt 0.2500 0.4000 vt 0.3000 0.4000 vt 0.3500 0.4000 vt 0.4000 0.4000 vt 0.4500 0.4000 vt 0.5000 0.4000 vt 0.5500 0.4000 vt 0.6000 0.4000 vt 0.6500 0.4000 vt 0.7000 0.4000 vt 0.7500 0.4000 vt 0.8000 0.4000 vt 0.8500 0.4000 vt 0.9000 0.4000 vt 0.9500 0.4000 vt 1.0000 0.4000 vt 0.0500 0.4500 vt 0.0000 0.4500 vt 0.1000 0.4500 vt 0.1500 0.4500 vt 0.2000 0.4500 vt 0.2500 0.4500 vt 0.3000 0.4500 vt 0.3500 0.4500 vt 0.4000 0.4500 vt 0.4500 0.4500 vt 0.5000 0.4500 vt 0.5500 0.4500 vt 0.6000 0.4500 vt 0.6500 0.4500 vt 0.7000 0.4500 vt 0.7500 0.4500 vt 0.8000 0.4500 vt 0.8500 0.4500 vt 0.9000 0.4500 vt 0.9500 0.4500 vt 1.0000 0.4500 vt 0.0500 0.5000 vt 0.0000 0.5000 vt 0.1000 0.5000 vt 0.1500 0.5000 vt 0.2000 0.5000 vt 0.2500 0.5000 vt 0.3000 0.5000 vt 0.3500 0.5000 vt 0.4000 0.5000 vt 0.4500 0.5000 vt 0.5000 0.5000 vt 0.5500 0.5000 vt 0.6000 0.5000 vt 0.6500 0.5000 vt 0.7000 0.5000 vt 0.7500 0.5000 vt 0.8000 0.5000 vt 0.8500 0.5000 vt 0.9000 0.5000 vt 0.9500 0.5000 vt 1.0000 0.5000 vt 0.0500 0.5500 vt 0.0000 0.5500 vt 0.1000 0.5500 vt 0.1500 0.5500 vt 0.2000 0.5500 vt 0.2500 0.5500 vt 0.3000 0.5500 vt 0.3500 0.5500 vt 0.4000 0.5500 vt 0.4500 0.5500 vt 0.5000 0.5500 vt 0.5500 0.5500 vt 0.6000 0.5500 vt 0.6500 0.5500 vt 0.7000 0.5500 vt 0.7500 0.5500 vt 0.8000 0.5500 vt 0.8500 0.5500 vt 0.9000 0.5500 vt 0.9500 0.5500 vt 1.0000 0.5500 vt 0.0500 0.6000 vt 0.0000 0.6000 vt 0.1000 0.6000 vt 0.1500 0.6000 vt 0.2000 0.6000 vt 0.2500 0.6000 vt 0.3000 0.6000 vt 0.3500 0.6000 vt 0.4000 0.6000 vt 0.4500 0.6000 vt 0.5000 0.6000 vt 0.5500 0.6000 vt 0.6000 0.6000 vt 0.6500 0.6000 vt 0.7000 0.6000 vt 0.7500 0.6000 vt 0.8000 0.6000 vt 0.8500 0.6000 vt 0.9000 0.6000 vt 0.9500 0.6000 vt 1.0000 0.6000 vt 0.0500 0.6500 vt 0.0000 0.6500 vt 0.1000 0.6500 vt 0.1500 0.6500 vt 0.2000 0.6500 vt 0.2500 0.6500 vt 0.3000 0.6500 vt 0.3500 0.6500 vt 0.4000 0.6500 vt 0.4500 0.6500 vt 0.5000 0.6500 vt 0.5500 0.6500 vt 0.6000 0.6500 vt 0.6500 0.6500 vt 0.7000 0.6500 vt 0.7500 0.6500 vt 0.8000 0.6500 vt 0.8500 0.6500 vt 0.9000 0.6500 vt 0.9500 0.6500 vt 1.0000 0.6500 vt 0.0500 0.7000 vt 0.0000 0.7000 vt 0.1000 0.7000 vt 0.1500 0.7000 vt 0.2000 0.7000 vt 0.2500 0.7000 vt 0.3000 0.7000 vt 0.3500 0.7000 vt 0.4000 0.7000 vt 0.4500 0.7000 vt 0.5000 0.7000 vt 0.5500 0.7000 vt 0.6000 0.7000 vt 0.6500 0.7000 vt 0.7000 0.7000 vt 0.7500 0.7000 vt 0.8000 0.7000 vt 0.8500 0.7000 vt 0.9000 0.7000 vt 0.9500 0.7000 vt 1.0000 0.7000 vt 0.0500 0.7500 vt 0.0000 0.7500 vt 0.1000 0.7500 vt 0.1500 0.7500 vt 0.2000 0.7500 vt 0.2500 0.7500 vt 0.3000 0.7500 vt 0.3500 0.7500 vt 0.4000 0.7500 vt 0.4500 0.7500 vt 0.5000 0.7500 vt 0.5500 0.7500 vt 0.6000 0.7500 vt 0.6500 0.7500 vt 0.7000 0.7500 vt 0.7500 0.7500 vt 0.8000 0.7500 vt 0.8500 0.7500 vt 0.9000 0.7500 vt 0.9500 0.7500 vt 1.0000 0.7500 vt 0.0500 0.8000 vt 0.0000 0.8000 vt 0.1000 0.8000 vt 0.1500 0.8000 vt 0.2000 0.8000 vt 0.2500 0.8000 vt 0.3000 0.8000 vt 0.3500 0.8000 vt 0.4000 0.8000 vt 0.4500 0.8000 vt 0.5000 0.8000 vt 0.5500 0.8000 vt 0.6000 0.8000 vt 0.6500 0.8000 vt 0.7000 0.8000 vt 0.7500 0.8000 vt 0.8000 0.8000 vt 0.8500 0.8000 vt 0.9000 0.8000 vt 0.9500 0.8000 vt 1.0000 0.8000 vt 0.0500 0.8500 vt 0.0000 0.8500 vt 0.1000 0.8500 vt 0.1500 0.8500 vt 0.2000 0.8500 vt 0.2500 0.8500 vt 0.3000 0.8500 vt 0.3500 0.8500 vt 0.4000 0.8500 vt 0.4500 0.8500 vt 0.5000 0.8500 vt 0.5500 0.8500 vt 0.6000 0.8500 vt 0.6500 0.8500 vt 0.7000 0.8500 vt 0.7500 0.8500 vt 0.8000 0.8500 vt 0.8500 0.8500 vt 0.9000 0.8500 vt 0.9500 0.8500 vt 1.0000 0.8500 vt 0.0500 0.9000 vt 0.0000 0.9000 vt 0.1000 0.9000 vt 0.1500 0.9000 vt 0.2000 0.9000 vt 0.2500 0.9000 vt 0.3000 0.9000 vt 0.3500 0.9000 vt 0.4000 0.9000 vt 0.4500 0.9000 vt 0.5000 0.9000 vt 0.5500 0.9000 vt 0.6000 0.9000 vt 0.6500 0.9000 vt 0.7000 0.9000 vt 0.7500 0.9000 vt 0.8000 0.9000 vt 0.8500 0.9000 vt 0.9000 0.9000 vt 0.9500 0.9000 vt 1.0000 0.9000 vt 0.0500 0.9500 vt 0.0000 0.9500 vt 0.1000 0.9500 vt 0.1500 0.9500 vt 0.2000 0.9500 vt 0.2500 0.9500 vt 0.3000 0.9500 vt 0.3500 0.9500 vt 0.4000 0.9500 vt 0.4500 0.9500 vt 0.5000 0.9500 vt 0.5500 0.9500 vt 0.6000 0.9500 vt 0.6500 0.9500 vt 0.7000 0.9500 vt 0.7500 0.9500 vt 0.8000 0.9500 vt 0.8500 0.9500 vt 0.9000 0.9500 vt 0.9500 0.9500 vt 1.0000 0.9500 vt 0.0250 0.0000 vt 0.0750 0.0000 vt 0.1250 0.0000 vt 0.1750 0.0000 vt 0.2250 0.0000 vt 0.2750 0.0000 vt 0.3250 0.0000 vt 0.3750 0.0000 vt 0.4250 0.0000 vt 0.4750 0.0000 vt 0.5250 0.0000 vt 0.5750 0.0000 vt 0.6250 0.0000 vt 0.6750 0.0000 vt 0.7250 0.0000 vt 0.7750 0.0000 vt 0.8250 0.0000 vt 0.8750 0.0000 vt 0.9250 0.0000 vt 0.9750 0.0000 vt 0.0250 1.0000 vt 0.0750 1.0000 vt 0.1250 1.0000 vt 0.1750 1.0000 vt 0.2250 1.0000 vt 0.2750 1.0000 vt 0.3250 1.0000 vt 0.3750 1.0000 vt 0.4250 1.0000 vt 0.4750 1.0000 vt 0.5250 1.0000 vt 0.5750 1.0000 vt 0.6250 1.0000 vt 0.6750 1.0000 vt 0.7250 1.0000 vt 0.7750 1.0000 vt 0.8250 1.0000 vt 0.8750 1.0000 vt 0.9250 1.0000 vt 0.9750 1.0000 vt 0.0008 0.0002 vt 0.2308 0.7947 vt 1.0000 0.7678 vt 0.7455 0.0148 vt 0.0000 0.0000 vt 0.0000 1.0000 vt 1.0000 1.0000 vt 1.0000 0.0000 vt 0.0000 0.0000 vt 0.0043 1.0069 vt 0.9959 0.9922 vt -0.0075 0.0035 vt 0.0000 1.0000 vt 1.0000 1.0000 vt 1.0151 -0.0078 vt 0.0000 0.0000 vt 0.0000 1.0000 vt 1.0000 0.0000 vt 0.0000 0.0000 vt 0.0067 0.9863 vt 0.9997 0.9998 vt 1.0000 0.0000 vt -0.0003 0.0008 vt 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0.9393 vt 0.4767 0.9306 vt 0.4821 0.9232 vt 0.4895 0.9178 vt 0.4982 0.9150 vt 0.5074 0.9150 vt 0.5161 0.9178 vt 0.5235 0.9232 vt 0.4207 0.5051 vt 0.4017 0.4569 vt 0.4170 0.4478 vt 0.4380 0.5012 vt 0.3688 0.4169 vt 0.3805 0.4035 vt 0.3251 0.3890 vt 0.3321 0.3727 vt 0.2749 0.3760 vt 0.2765 0.3583 vt 0.2231 0.3792 vt 0.2192 0.3618 vt 0.1749 0.3981 vt 0.1658 0.3828 vt 0.1349 0.4311 vt 0.1215 0.4193 vt 0.1070 0.4748 vt 0.0907 0.4677 vt 0.0940 0.5249 vt 0.0763 0.5233 vt 0.0972 0.5767 vt 0.0798 0.5806 vt 0.1161 0.6249 vt 0.1008 0.6340 vt 0.1491 0.6649 vt 0.1373 0.6783 vt 0.1928 0.6928 vt 0.1857 0.7091 vt 0.2429 0.7058 vt 0.2413 0.7235 vt 0.2947 0.7027 vt 0.2986 0.7200 vt 0.3429 0.6837 vt 0.3520 0.6990 vt 0.3829 0.6508 vt 0.3963 0.6625 vt 0.4108 0.6071 vt 0.4271 0.6141 vt 0.4238 0.5569 vt 0.4415 0.5585 vt 0.4299 0.4402 vt 0.4527 0.4979 vt 0.3904 0.3922 vt 0.3380 0.3589 vt 0.2779 0.3434 vt 0.2159 0.3472 vt 0.1582 0.3699 vt 0.1103 0.4094 vt 0.0769 0.4618 vt 0.0614 0.5219 vt 0.0652 0.5839 vt 0.0879 0.6417 vt 0.1274 0.6896 vt 0.1798 0.7229 vt 0.2399 0.7385 vt 0.3019 0.7347 vt 0.3596 0.7119 vt 0.4076 0.6724 vt 0.4409 0.6200 vt 0.4565 0.5599 vt 0.3786 0.4706 vt 0.3944 0.5110 vt 0.3794 0.5143 vt 0.3653 0.4784 vt 0.3971 0.5543 vt 0.3817 0.5528 vt 0.3861 0.5964 vt 0.3720 0.5902 vt 0.3628 0.6330 vt 0.3512 0.6227 vt 0.3293 0.6606 vt 0.3214 0.6472 vt 0.2888 0.6764 vt 0.2855 0.6614 vt 0.2455 0.6790 vt 0.2470 0.6637 vt 0.2035 0.6681 vt 0.2096 0.6540 vt 0.1669 0.6448 vt 0.1771 0.6332 vt 0.1393 0.6113 vt 0.1526 0.6034 vt 0.1234 0.5708 vt 0.1385 0.5675 vt 0.1208 0.5275 vt 0.1361 0.5290 vt 0.1317 0.4855 vt 0.1458 0.4916 vt 0.1550 0.4489 vt 0.1666 0.4591 vt 0.1886 0.4213 vt 0.1964 0.4346 vt 0.2290 0.4054 vt 0.2323 0.4205 vt 0.2723 0.4028 vt 0.2708 0.4181 vt 0.3144 0.4137 vt 0.3082 0.4278 vt 0.3510 0.4370 vt 0.3407 0.4486 vt 0.3580 0.5191 vt 0.3465 0.4896 vt 0.3599 0.5508 vt 0.3519 0.5816 vt 0.3348 0.6083 vt 0.3103 0.6285 vt 0.2807 0.6400 vt 0.2490 0.6419 vt 0.2183 0.6339 vt 0.1915 0.6168 vt 0.1714 0.5923 vt 0.1598 0.5627 vt 0.1579 0.5310 vt 0.1659 0.5003 vt 0.1830 0.4735 vt 0.2076 0.4534 vt 0.2371 0.4418 vt 0.2688 0.4399 vt 0.2996 0.4479 vt 0.3263 0.4650 vt 0.4986 0.4879 vt 0.4937 0.4890 vt 0.4662 0.4190 vt 0.4704 0.4165 vt 0.5032 0.5646 vt 0.4983 0.5641 vt 0.4839 0.6389 vt 0.4794 0.6370 vt 0.4184 0.3609 vt 0.4216 0.3572 vt 0.3549 0.3204 vt 0.3569 0.3159 vt 0.2821 0.3016 vt 0.2825 0.2966 vt 0.2070 0.3061 vt 0.2059 0.3013 vt 0.1370 0.3337 vt 0.1345 0.3294 vt 0.0789 0.3815 vt 0.0752 0.3782 vt 0.0384 0.4449 vt 0.0339 0.4429 vt 0.0196 0.5177 vt 0.0146 0.5173 vt 0.0241 0.5928 vt 0.0193 0.5939 vt 0.0516 0.6628 vt 0.0474 0.6653 vt 0.0994 0.7209 vt 0.0962 0.7246 vt 0.1629 0.7614 vt 0.1609 0.7659 vt 0.2357 0.7803 vt 0.2352 0.7852 vt 0.3108 0.7757 vt 0.3118 0.7806 vt 0.3808 0.7482 vt 0.3833 0.7525 vt 0.4389 0.7004 vt 0.4426 0.7037 vt 0.4835 0.4913 vt 0.4878 0.5631 vt 0.4571 0.4243 vt 0.4114 0.3688 vt 0.3507 0.3301 vt 0.2811 0.3120 vt 0.2092 0.3164 vt 0.1423 0.3427 vt 0.0868 0.3885 vt 0.0481 0.4491 vt 0.0300 0.5188 vt 0.0344 0.5906 vt 0.0607 0.6575 vt 0.1064 0.7130 vt 0.1671 0.7517 vt 0.2367 0.7698 vt 0.3085 0.7655 vt 0.3755 0.7391 vt 0.4310 0.6934 vt 0.4697 0.6328 vt 0.5076 0.4860 vt 0.5124 0.5656 vt 0.4784 0.4119 vt 0.4278 0.3503 vt 0.3606 0.3075 vt 0.2835 0.2875 vt 0.2040 0.2923 vt 0.1298 0.3214 vt 0.0683 0.3720 vt 0.0255 0.4392 vt 0.0055 0.5163 vt 0.0103 0.5958 vt 0.0394 0.6699 vt 0.0900 0.7315 vt 0.1571 0.7743 vt 0.2342 0.7943 vt 0.3138 0.7896 vt 0.3879 0.7605 vt 0.4494 0.7098 vt 0.4923 0.6427 vt 0.4753 0.4931 vt 0.4779 0.4925 vt 0.4821 0.5626 vt 0.4794 0.5623 vt 0.4499 0.4286 vt 0.4522 0.4272 vt 0.4058 0.3751 vt 0.4076 0.3730 vt 0.3474 0.3378 vt 0.3484 0.3353 vt 0.2803 0.3204 vt 0.2805 0.3177 vt 0.2111 0.3246 vt 0.2105 0.3219 vt 0.1466 0.3500 vt 0.1452 0.3476 vt 0.0931 0.3940 vt 0.0910 0.3922 vt 0.0558 0.4525 vt 0.0533 0.4514 vt 0.0384 0.5196 vt 0.0357 0.5193 vt 0.0426 0.5887 vt 0.0399 0.5893 vt 0.0679 0.6532 vt 0.0656 0.6546 vt 0.1120 0.7068 vt 0.1102 0.7088 vt 0.1704 0.7440 vt 0.1693 0.7465 vt 0.2375 0.7614 vt 0.2373 0.7641 vt 0.3067 0.7573 vt 0.3073 0.7599 vt 0.3712 0.7319 vt 0.3726 0.7342 vt 0.4247 0.6878 vt 0.4268 0.6896 vt 0.4620 0.6294 vt 0.4645 0.6305 vt 0.4647 0.4954 vt 0.4405 0.4340 vt 0.3986 0.3831 vt 0.3430 0.3477 vt 0.2792 0.3312 vt 0.2134 0.3352 vt 0.1520 0.3593 vt 0.1011 0.4012 vt 0.0657 0.4568 vt 0.0492 0.5206 vt 0.0532 0.5864 vt 0.0773 0.6478 vt 0.1192 0.6987 vt 0.1748 0.7341 vt 0.2386 0.7507 vt 0.3044 0.7467 vt 0.3658 0.7226 vt 0.4167 0.6806 vt 0.4521 0.6251 vt 0.4687 0.5612 vt 0.4005 0.5096 vt 0.4092 0.5077 vt 0.4121 0.5558 vt 0.4033 0.5549 vt 0.3839 0.4674 vt 0.3916 0.4629 vt 0.3551 0.4324 vt 0.3610 0.4257 vt 0.3168 0.4080 vt 0.3204 0.3998 vt 0.2729 0.3966 vt 0.2738 0.3878 vt 0.2276 0.3993 vt 0.2257 0.3907 vt 0.1854 0.4159 vt 0.1809 0.4083 vt 0.1504 0.4448 vt 0.1437 0.4389 vt 0.1260 0.4830 vt 0.1179 0.4795 vt 0.1146 0.5269 vt 0.1058 0.5261 vt 0.1173 0.5722 vt 0.1087 0.5741 vt 0.1339 0.6144 vt 0.1263 0.6189 vt 0.1627 0.6495 vt 0.1569 0.6561 vt 0.2010 0.6739 vt 0.1975 0.6820 vt 0.2449 0.6852 vt 0.2440 0.6941 vt 0.2902 0.6825 vt 0.2921 0.6912 vt 0.3324 0.6659 vt 0.3369 0.6736 vt 0.3675 0.6371 vt 0.3741 0.6430 vt 0.3919 0.5988 vt 0.4000 0.6024 vt 0.3460 0.5217 vt 0.3286 0.5255 vt 0.3204 0.5047 vt 0.3358 0.4958 vt 0.3476 0.5496 vt 0.3299 0.5478 vt 0.3406 0.5765 vt 0.3243 0.5694 vt 0.3062 0.4875 vt 0.3181 0.4742 vt 0.2874 0.4755 vt 0.2945 0.4592 vt 0.3256 0.6000 vt 0.3123 0.5882 vt 0.3041 0.6178 vt 0.2951 0.6024 vt 0.2781 0.6279 vt 0.2743 0.6106 vt 0.2503 0.6296 vt 0.2521 0.6119 vt 0.2233 0.6226 vt 0.2304 0.6063 vt 0.1998 0.6076 vt 0.2116 0.5943 vt 0.1821 0.5861 vt 0.1974 0.5771 vt 0.1719 0.5601 vt 0.1893 0.5563 vt 0.1702 0.5323 vt 0.1879 0.5340 vt 0.1772 0.5053 vt 0.1935 0.5124 vt 0.1922 0.4818 vt 0.2055 0.4936 vt 0.2138 0.4641 vt 0.2227 0.4794 vt 0.2397 0.4539 vt 0.2435 0.4713 vt 0.2676 0.4522 vt 0.2658 0.4699 vt 0.2589 0.5409 vt 0.9245 0.5892 vt 0.9241 0.5947 vt 0.9151 0.5943 vt 0.9154 0.5890 vt 0.9338 0.5896 vt 0.9330 0.5951 vt 0.9435 0.5901 vt 0.9413 0.5955 vt 0.8359 0.5953 vt 0.8337 0.5904 vt 0.8433 0.5897 vt 0.8443 0.5950 vt 0.8525 0.5893 vt 0.8532 0.5947 vt 0.8616 0.5890 vt 0.8621 0.5943 vt 0.8706 0.5888 vt 0.8710 0.5941 vt 0.8796 0.5886 vt 0.8798 0.5940 vt 0.8885 0.5886 vt 0.8886 0.5939 vt 0.8974 0.5886 vt 0.8974 0.5940 vt 0.9064 0.5887 vt 0.9062 0.5941 vt 0.9263 0.5457 vt 0.9361 0.5459 vt 0.9460 0.5462 vt 0.8301 0.5474 vt 0.8399 0.5469 vt 0.8497 0.5464 vt 0.8593 0.5460 vt 0.8689 0.5457 vt 0.8784 0.5455 vt 0.8879 0.5454 vt 0.8975 0.5454 vt 0.9070 0.5454 vt 0.9166 0.5455 vt 0.9325 0.5987 vt 0.9237 0.5982 vt 0.9409 0.5989 vt 0.8447 0.5985 vt 0.8364 0.5984 vt 0.8535 0.5981 vt 0.8623 0.5978 vt 0.8711 0.5975 vt 0.8799 0.5974 vt 0.8886 0.5974 vt 0.8973 0.5974 vt 0.9060 0.5976 vt 0.9148 0.5978 vt 0.9123 0.6212 vt 0.9202 0.6216 vt 0.9073 0.9061 vt 0.9017 0.9058 vt 0.9043 0.6209 vt 0.8961 0.9057 vt 0.8963 0.6208 vt 0.8905 0.9055 vt 0.8883 0.6207 vt 0.8848 0.9054 vt 0.8803 0.6206 vt 0.8792 0.9054 vt 0.8722 0.6207 vt 0.8736 0.9054 vt 0.8643 0.6208 vt 0.8680 0.9054 vt 0.8563 0.6210 vt 0.8623 0.9055 vt 0.8484 0.6215 vt 0.8567 0.9056 vt 0.8407 0.6223 vt 0.8511 0.9058 vt 0.9281 0.6222 vt 0.9358 0.6233 vt 0.9186 0.9067 vt 0.9130 0.9064 vt 0.9232 0.6025 vt 0.9233 0.6012 vt 0.9323 0.6018 vt 0.9322 0.6031 vt 0.9144 0.6021 vt 0.9145 0.6008 vt 0.9057 0.6018 vt 0.9057 0.6005 vt 0.9209 0.6186 vt 0.9211 0.6173 vt 0.9297 0.6179 vt 0.9292 0.6192 vt 0.9127 0.6182 vt 0.9129 0.6169 vt 0.9046 0.6179 vt 0.9047 0.6166 vt 0.8971 0.6017 vt 0.8971 0.6004 vt 0.8965 0.6178 vt 0.8966 0.6165 vt 0.8885 0.6016 vt 0.8885 0.6003 vt 0.8884 0.6177 vt 0.8884 0.6164 vt 0.8799 0.6016 vt 0.8798 0.6003 vt 0.8803 0.6177 vt 0.8802 0.6164 vt 0.8713 0.6018 vt 0.8712 0.6005 vt 0.8722 0.6177 vt 0.8721 0.6164 vt 0.8626 0.6020 vt 0.8625 0.6007 vt 0.8640 0.6179 vt 0.8639 0.6166 vt 0.8538 0.6023 vt 0.8537 0.6011 vt 0.8559 0.6181 vt 0.8556 0.6168 vt 0.8448 0.6027 vt 0.8447 0.6015 vt 0.8475 0.6185 vt 0.8471 0.6172 vt 0.8354 0.6026 vt 0.8357 0.6013 vt 0.8385 0.6195 vt 0.8377 0.6183 vt 0.9417 0.6021 vt 0.9420 0.6035 vt 0.9386 0.6194 vt 0.9378 0.6206 vt 0.5652 0.9410 vt 0.5763 0.9408 vt 0.5786 0.9509 vt 0.5684 0.9552 vt 0.5677 0.9265 vt 0.5780 0.9307 vt 0.5755 0.9142 vt 0.5834 0.9219 vt 0.5875 0.9057 vt 0.5918 0.9159 vt 0.6017 0.9025 vt 0.6019 0.9136 vt 0.6162 0.9050 vt 0.6120 0.9153 vt 0.6285 0.9128 vt 0.6208 0.9207 vt 0.6370 0.9248 vt 0.6267 0.9291 vt 0.6402 0.9390 vt 0.6291 0.9392 vt 0.6377 0.9535 vt 0.6274 0.9493 vt 0.6299 0.9658 vt 0.6220 0.9581 vt 0.6179 0.9743 vt 0.6136 0.9641 vt 0.6037 0.9775 vt 0.6035 0.9664 vt 0.5892 0.9750 vt 0.5934 0.9647 vt 0.5768 0.9672 vt 0.5846 0.9593 vt 0.5817 0.9406 vt 0.5836 0.9486 vt 0.5831 0.9326 vt 0.5874 0.9256 vt 0.5941 0.9209 vt 0.6021 0.9190 vt 0.6101 0.9204 vt 0.6171 0.9247 vt 0.6218 0.9314 vt 0.6236 0.9394 vt 0.6223 0.9474 vt 0.6180 0.9544 vt 0.6113 0.9591 vt 0.6033 0.9610 vt 0.5953 0.9596 vt 0.5883 0.9553 vt 0.5923 0.9404 vt 0.5932 0.9444 vt 0.5929 0.9364 vt 0.5950 0.9329 vt 0.5983 0.9305 vt 0.6023 0.9296 vt 0.6063 0.9302 vt 0.6098 0.9323 vt 0.6122 0.9356 vt 0.6131 0.9396 vt 0.6125 0.9436 vt 0.6104 0.9471 vt 0.6071 0.9495 vt 0.6031 0.9504 vt 0.5991 0.9498 vt 0.5956 0.9477 vt 0.6027 0.9400 vt 0.7376 0.9197 vt 0.7376 0.9251 vt 0.7209 0.9251 vt 0.7209 0.9197 vt 0.7376 0.9305 vt 0.7209 0.9305 vt 0.7376 0.9359 vt 0.7209 0.9359 vt 0.7376 0.9412 vt 0.7209 0.9412 vt 0.7376 0.9466 vt 0.7209 0.9466 vt 0.7376 0.9520 vt 0.7209 0.9520 vt 0.7376 0.9574 vt 0.7209 0.9574 vt 0.7376 0.9628 vt 0.7209 0.9628 vt 0.7376 0.9682 vt 0.7209 0.9682 vt 0.7376 0.9735 vt 0.7209 0.9735 vt 0.7376 0.9789 vt 0.7209 0.9789 vt 0.7376 0.9843 vt 0.7209 0.9843 vt 0.7376 0.8982 vt 0.7376 0.9036 vt 0.7209 0.9036 vt 0.7209 0.8982 vt 0.7376 0.9089 vt 0.7209 0.9089 vt 0.7376 0.9143 vt 0.7209 0.9143 vt 0.7072 0.9367 vt 0.7044 0.9373 vt 0.6999 0.9273 vt 0.7022 0.9256 vt 0.7076 0.9488 vt 0.7048 0.9484 vt 0.6918 0.9198 vt 0.6933 0.9173 vt 0.6814 0.9159 vt 0.6819 0.9131 vt 0.6704 0.9163 vt 0.6697 0.9135 vt 0.6603 0.9209 vt 0.6587 0.9186 vt 0.6528 0.9290 vt 0.6504 0.9275 vt 0.6489 0.9393 vt 0.6461 0.9389 vt 0.6493 0.9504 vt 0.6466 0.9510 vt 0.6539 0.9604 vt 0.6516 0.9621 vt 0.6620 0.9679 vt 0.6605 0.9704 vt 0.6724 0.9718 vt 0.6719 0.9746 vt 0.6834 0.9714 vt 0.6841 0.9742 vt 0.6935 0.9668 vt 0.6951 0.9691 vt 0.7010 0.9587 vt 0.7034 0.9602 vt 0.5657 0.9565 vt 0.5622 0.9410 vt 0.5649 0.9255 vt 0.5733 0.9121 vt 0.5862 0.9030 vt 0.6017 0.8995 vt 0.6172 0.9022 vt 0.6306 0.9106 vt 0.6397 0.9235 vt 0.6432 0.9390 vt 0.6405 0.9545 vt 0.6321 0.9679 vt 0.6192 0.9770 vt 0.6037 0.9805 vt 0.5882 0.9778 vt 0.5748 0.9694 vt 0.6902 0.9407 vt 0.6879 0.9359 vt 0.6903 0.9460 vt 0.6885 0.9510 vt 0.6849 0.9549 vt 0.6800 0.9571 vt 0.6747 0.9573 vt 0.6697 0.9554 vt 0.6658 0.9518 vt 0.6636 0.9470 vt 0.6634 0.9417 vt 0.6653 0.9367 vt 0.6689 0.9328 vt 0.6738 0.9306 vt 0.6791 0.9304 vt 0.6840 0.9323 vt 0.9245 0.5892 vt 0.9241 0.5947 vt 0.9151 0.5943 vt 0.9154 0.5890 vt 0.9338 0.5896 vt 0.9330 0.5951 vt 0.9435 0.5901 vt 0.9413 0.5955 vt 0.8359 0.5953 vt 0.8337 0.5904 vt 0.8433 0.5897 vt 0.8443 0.5950 vt 0.8525 0.5893 vt 0.8532 0.5947 vt 0.8616 0.5890 vt 0.8621 0.5943 vt 0.8706 0.5888 vt 0.8710 0.5941 vt 0.8796 0.5886 vt 0.8798 0.5940 vt 0.8885 0.5886 vt 0.8886 0.5939 vt 0.8974 0.5886 vt 0.8974 0.5940 vt 0.9064 0.5887 vt 0.9062 0.5941 vt 0.9263 0.5457 vt 0.9361 0.5459 vt 0.9460 0.5462 vt 0.8301 0.5474 vt 0.8399 0.5469 vt 0.8497 0.5464 vt 0.8593 0.5460 vt 0.8689 0.5457 vt 0.8784 0.5455 vt 0.8879 0.5454 vt 0.8975 0.5454 vt 0.9070 0.5454 vt 0.9166 0.5455 vt 0.9325 0.5987 vt 0.9237 0.5982 vt 0.9409 0.5989 vt 0.8447 0.5985 vt 0.8364 0.5984 vt 0.8535 0.5981 vt 0.8623 0.5978 vt 0.8711 0.5975 vt 0.8799 0.5974 vt 0.8886 0.5974 vt 0.8973 0.5974 vt 0.9060 0.5976 vt 0.9148 0.5978 vt 0.9123 0.6212 vt 0.9202 0.6216 vt 0.9073 0.9061 vt 0.9017 0.9058 vt 0.9043 0.6209 vt 0.8961 0.9057 vt 0.8963 0.6208 vt 0.8905 0.9055 vt 0.8883 0.6207 vt 0.8848 0.9054 vt 0.8803 0.6206 vt 0.8792 0.9054 vt 0.8722 0.6207 vt 0.8736 0.9054 vt 0.8643 0.6208 vt 0.8680 0.9054 vt 0.8563 0.6210 vt 0.8623 0.9055 vt 0.8484 0.6215 vt 0.8567 0.9056 vt 0.8407 0.6223 vt 0.8511 0.9058 vt 0.9281 0.6222 vt 0.9358 0.6233 vt 0.9186 0.9067 vt 0.9130 0.9064 vt 0.9232 0.6025 vt 0.9233 0.6012 vt 0.9323 0.6018 vt 0.9322 0.6031 vt 0.9144 0.6021 vt 0.9145 0.6008 vt 0.9057 0.6018 vt 0.9057 0.6005 vt 0.9209 0.6186 vt 0.9211 0.6173 vt 0.9297 0.6179 vt 0.9292 0.6192 vt 0.9127 0.6182 vt 0.9129 0.6169 vt 0.9046 0.6179 vt 0.9047 0.6166 vt 0.8971 0.6017 vt 0.8971 0.6004 vt 0.8965 0.6178 vt 0.8966 0.6165 vt 0.8885 0.6016 vt 0.8885 0.6003 vt 0.8884 0.6177 vt 0.8884 0.6164 vt 0.8799 0.6016 vt 0.8798 0.6003 vt 0.8803 0.6177 vt 0.8802 0.6164 vt 0.8713 0.6018 vt 0.8712 0.6005 vt 0.8722 0.6177 vt 0.8721 0.6164 vt 0.8626 0.6020 vt 0.8625 0.6007 vt 0.8640 0.6179 vt 0.8639 0.6166 vt 0.8538 0.6023 vt 0.8537 0.6011 vt 0.8559 0.6181 vt 0.8556 0.6168 vt 0.8448 0.6027 vt 0.8447 0.6015 vt 0.8475 0.6185 vt 0.8471 0.6172 vt 0.8354 0.6026 vt 0.8357 0.6013 vt 0.8385 0.6195 vt 0.8377 0.6183 vt 0.9417 0.6021 vt 0.9420 0.6035 vt 0.9386 0.6194 vt 0.9378 0.6206 vt 0.9245 0.5892 vt 0.9241 0.5947 vt 0.9151 0.5943 vt 0.9154 0.5890 vt 0.9338 0.5896 vt 0.9330 0.5951 vt 0.9435 0.5901 vt 0.9413 0.5955 vt 0.8359 0.5953 vt 0.8337 0.5904 vt 0.8433 0.5897 vt 0.8443 0.5950 vt 0.8525 0.5893 vt 0.8532 0.5947 vt 0.8616 0.5890 vt 0.8621 0.5943 vt 0.8706 0.5888 vt 0.8710 0.5941 vt 0.8796 0.5886 vt 0.8798 0.5940 vt 0.8885 0.5886 vt 0.8886 0.5939 vt 0.8974 0.5886 vt 0.8974 0.5940 vt 0.9064 0.5887 vt 0.9062 0.5941 vt 0.9263 0.5457 vt 0.9361 0.5459 vt 0.9460 0.5462 vt 0.8301 0.5474 vt 0.8399 0.5469 vt 0.8497 0.5464 vt 0.8593 0.5460 vt 0.8689 0.5457 vt 0.8784 0.5455 vt 0.8879 0.5454 vt 0.8975 0.5454 vt 0.9070 0.5454 vt 0.9166 0.5455 vt 0.9325 0.5987 vt 0.9237 0.5982 vt 0.9409 0.5989 vt 0.8447 0.5985 vt 0.8364 0.5984 vt 0.8535 0.5981 vt 0.8623 0.5978 vt 0.8711 0.5975 vt 0.8799 0.5974 vt 0.8886 0.5974 vt 0.8973 0.5974 vt 0.9060 0.5976 vt 0.9148 0.5978 vt 0.9123 0.6212 vt 0.9202 0.6216 vt 0.9073 0.9061 vt 0.9017 0.9058 vt 0.9043 0.6209 vt 0.8961 0.9057 vt 0.8963 0.6208 vt 0.8905 0.9055 vt 0.8883 0.6207 vt 0.8848 0.9054 vt 0.8803 0.6206 vt 0.8792 0.9054 vt 0.8722 0.6207 vt 0.8736 0.9054 vt 0.8643 0.6208 vt 0.8680 0.9054 vt 0.8563 0.6210 vt 0.8623 0.9055 vt 0.8484 0.6215 vt 0.8567 0.9056 vt 0.8407 0.6223 vt 0.8511 0.9058 vt 0.9281 0.6222 vt 0.9358 0.6233 vt 0.9186 0.9067 vt 0.9130 0.9064 vt 0.9232 0.6025 vt 0.9233 0.6012 vt 0.9323 0.6018 vt 0.9322 0.6031 vt 0.9144 0.6021 vt 0.9145 0.6008 vt 0.9057 0.6018 vt 0.9057 0.6005 vt 0.9209 0.6186 vt 0.9211 0.6173 vt 0.9297 0.6179 vt 0.9292 0.6192 vt 0.9127 0.6182 vt 0.9129 0.6169 vt 0.9046 0.6179 vt 0.9047 0.6166 vt 0.8971 0.6017 vt 0.8971 0.6004 vt 0.8965 0.6178 vt 0.8966 0.6165 vt 0.8885 0.6016 vt 0.8885 0.6003 vt 0.8884 0.6177 vt 0.8884 0.6164 vt 0.8799 0.6016 vt 0.8798 0.6003 vt 0.8803 0.6177 vt 0.8802 0.6164 vt 0.8713 0.6018 vt 0.8712 0.6005 vt 0.8722 0.6177 vt 0.8721 0.6164 vt 0.8626 0.6020 vt 0.8625 0.6007 vt 0.8640 0.6179 vt 0.8639 0.6166 vt 0.8538 0.6023 vt 0.8537 0.6011 vt 0.8559 0.6181 vt 0.8556 0.6168 vt 0.8448 0.6027 vt 0.8447 0.6015 vt 0.8475 0.6185 vt 0.8471 0.6172 vt 0.8354 0.6026 vt 0.8357 0.6013 vt 0.8385 0.6195 vt 0.8377 0.6183 vt 0.9417 0.6021 vt 0.9420 0.6035 vt 0.9386 0.6194 vt 0.9378 0.6206 vt 0.9245 0.5892 vt 0.9241 0.5947 vt 0.9151 0.5943 vt 0.9154 0.5890 vt 0.9338 0.5896 vt 0.9330 0.5951 vt 0.9435 0.5901 vt 0.9413 0.5955 vt 0.8359 0.5953 vt 0.8337 0.5904 vt 0.8433 0.5897 vt 0.8443 0.5950 vt 0.8525 0.5893 vt 0.8532 0.5947 vt 0.8616 0.5890 vt 0.8621 0.5943 vt 0.8706 0.5888 vt 0.8710 0.5941 vt 0.8796 0.5886 vt 0.8798 0.5940 vt 0.8885 0.5886 vt 0.8886 0.5939 vt 0.8974 0.5886 vt 0.8974 0.5940 vt 0.9064 0.5887 vt 0.9062 0.5941 vt 0.9263 0.5457 vt 0.9361 0.5459 vt 0.9460 0.5462 vt 0.8301 0.5474 vt 0.8399 0.5469 vt 0.8497 0.5464 vt 0.8593 0.5460 vt 0.8689 0.5457 vt 0.8784 0.5455 vt 0.8879 0.5454 vt 0.8975 0.5454 vt 0.9070 0.5454 vt 0.9166 0.5455 vt 0.9325 0.5987 vt 0.9237 0.5982 vt 0.9409 0.5989 vt 0.8447 0.5985 vt 0.8364 0.5984 vt 0.8535 0.5981 vt 0.8623 0.5978 vt 0.8711 0.5975 vt 0.8799 0.5974 vt 0.8886 0.5974 vt 0.8973 0.5974 vt 0.9060 0.5976 vt 0.9148 0.5978 vt 0.9123 0.6212 vt 0.9202 0.6216 vt 0.9073 0.9061 vt 0.9017 0.9058 vt 0.9043 0.6209 vt 0.8961 0.9057 vt 0.8963 0.6208 vt 0.8905 0.9055 vt 0.8883 0.6207 vt 0.8848 0.9054 vt 0.8803 0.6206 vt 0.8792 0.9054 vt 0.8722 0.6207 vt 0.8736 0.9054 vt 0.8643 0.6208 vt 0.8680 0.9054 vt 0.8563 0.6210 vt 0.8623 0.9055 vt 0.8484 0.6215 vt 0.8567 0.9056 vt 0.8407 0.6223 vt 0.8511 0.9058 vt 0.9281 0.6222 vt 0.9358 0.6233 vt 0.9186 0.9067 vt 0.9130 0.9064 vt 0.9232 0.6025 vt 0.9233 0.6012 vt 0.9323 0.6018 vt 0.9322 0.6031 vt 0.9144 0.6021 vt 0.9145 0.6008 vt 0.9057 0.6018 vt 0.9057 0.6005 vt 0.9209 0.6186 vt 0.9211 0.6173 vt 0.9297 0.6179 vt 0.9292 0.6192 vt 0.9127 0.6182 vt 0.9129 0.6169 vt 0.9046 0.6179 vt 0.9047 0.6166 vt 0.8971 0.6017 vt 0.8971 0.6004 vt 0.8965 0.6178 vt 0.8966 0.6165 vt 0.8885 0.6016 vt 0.8885 0.6003 vt 0.8884 0.6177 vt 0.8884 0.6164 vt 0.8799 0.6016 vt 0.8798 0.6003 vt 0.8803 0.6177 vt 0.8802 0.6164 vt 0.8713 0.6018 vt 0.8712 0.6005 vt 0.8722 0.6177 vt 0.8721 0.6164 vt 0.8626 0.6020 vt 0.8625 0.6007 vt 0.8640 0.6179 vt 0.8639 0.6166 vt 0.8538 0.6023 vt 0.8537 0.6011 vt 0.8559 0.6181 vt 0.8556 0.6168 vt 0.8448 0.6027 vt 0.8447 0.6015 vt 0.8475 0.6185 vt 0.8471 0.6172 vt 0.8354 0.6026 vt 0.8357 0.6013 vt 0.8385 0.6195 vt 0.8377 0.6183 vt 0.9417 0.6021 vt 0.9420 0.6035 vt 0.9386 0.6194 vt 0.9378 0.6206 vt 0.2409 0.9694 vt 0.2582 0.9694 vt 0.2582 0.9831 vt 0.2409 0.9831 vt 0.2755 0.9694 vt 0.2755 0.9831 vt 0.2927 0.9694 vt 0.2927 0.9831 vt 0.3100 0.9694 vt 0.3100 0.9831 vt 0.3273 0.9694 vt 0.3273 0.9831 vt 0.3445 0.9694 vt 0.3445 0.9831 vt 0.3618 0.9694 vt 0.3618 0.9831 vt 0.0165 0.9694 vt 0.0337 0.9694 vt 0.0337 0.9831 vt 0.0165 0.9831 vt 0.0510 0.9694 vt 0.0510 0.9831 vt 0.0683 0.9694 vt 0.0683 0.9831 vt 0.0855 0.9694 vt 0.0855 0.9831 vt 0.1028 0.9694 vt 0.1028 0.9831 vt 0.1201 0.9694 vt 0.1201 0.9831 vt 0.1373 0.9694 vt 0.1373 0.9831 vt 0.1546 0.9694 vt 0.1546 0.9831 vt 0.1719 0.9694 vt 0.1719 0.9831 vt 0.1891 0.9694 vt 0.1891 0.9831 vt 0.2064 0.9694 vt 0.2064 0.9831 vt 0.2237 0.9694 vt 0.2237 0.9831 vt 0.2409 0.9597 vt 0.2409 0.9694 vt 0.2237 0.9694 vt 0.2237 0.9597 vt 0.2582 0.9597 vt 0.2582 0.9694 vt 0.2755 0.9597 vt 0.2755 0.9694 vt 0.2927 0.9597 vt 0.2927 0.9694 vt 0.3100 0.9597 vt 0.3100 0.9694 vt 0.3273 0.9597 vt 0.3273 0.9694 vt 0.3445 0.9597 vt 0.3445 0.9694 vt 0.3618 0.9597 vt 0.3618 0.9694 vt 0.0165 0.9694 vt 0.0165 0.9597 vt 0.0337 0.9597 vt 0.0337 0.9694 vt 0.0510 0.9597 vt 0.0510 0.9694 vt 0.0683 0.9597 vt 0.0683 0.9694 vt 0.0855 0.9597 vt 0.0855 0.9694 vt 0.1028 0.9597 vt 0.1028 0.9694 vt 0.1201 0.9597 vt 0.1201 0.9694 vt 0.1373 0.9597 vt 0.1373 0.9694 vt 0.1546 0.9597 vt 0.1546 0.9694 vt 0.1719 0.9597 vt 0.1719 0.9694 vt 0.1891 0.9597 vt 0.1891 0.9694 vt 0.2064 0.9597 vt 0.2064 0.9694 vt 0.5422 0.9238 vt 0.5464 0.9370 vt 0.5317 0.9393 vt 0.5289 0.9306 vt 0.5464 0.9508 vt 0.5317 0.9485 vt 0.5422 0.9639 vt 0.5289 0.9572 vt 0.5340 0.9751 vt 0.5235 0.9646 vt 0.5229 0.9833 vt 0.5161 0.9699 vt 0.5097 0.9875 vt 0.5074 0.9728 vt 0.4959 0.9875 vt 0.4982 0.9728 vt 0.4827 0.9833 vt 0.4895 0.9699 vt 0.4715 0.9751 vt 0.4821 0.9646 vt 0.4634 0.9639 vt 0.4767 0.9572 vt 0.4591 0.9508 vt 0.4739 0.9485 vt 0.4591 0.9370 vt 0.4739 0.9393 vt 0.4634 0.9238 vt 0.4767 0.9306 vt 0.4715 0.9126 vt 0.4821 0.9232 vt 0.4827 0.9045 vt 0.4895 0.9178 vt 0.4959 0.9002 vt 0.4982 0.9150 vt 0.5097 0.9002 vt 0.5074 0.9150 vt 0.5229 0.9045 vt 0.5161 0.9178 vt 0.5340 0.9126 vt 0.5235 0.9232 vt 0.4522 0.9308 vt 0.4116 0.9440 vt 0.4461 0.9189 vt 0.3770 0.9691 vt 0.3709 0.9572 vt 0.3689 0.9440 vt 0.3709 0.9308 vt 0.3770 0.9189 vt 0.3865 0.9095 vt 0.3984 0.9034 vt 0.4116 0.9013 vt 0.4247 0.9034 vt 0.4367 0.9095 vt 0.4543 0.9440 vt 0.4522 0.9572 vt 0.4461 0.9691 vt 0.4367 0.9786 vt 0.4247 0.9846 vt 0.4116 0.9867 vt 0.3984 0.9846 vt 0.3865 0.9786 vt 0.4461 0.9189 vt 0.4522 0.9308 vt 0.4522 0.9308 vt 0.4461 0.9189 vt 0.3770 0.9691 vt 0.3709 0.9572 vt 0.3709 0.9572 vt 0.3770 0.9691 vt 0.3689 0.9440 vt 0.3689 0.9440 vt 0.3709 0.9308 vt 0.3709 0.9308 vt 0.3770 0.9189 vt 0.3770 0.9189 vt 0.3865 0.9095 vt 0.3865 0.9095 vt 0.3984 0.9034 vt 0.3984 0.9034 vt 0.4116 0.9013 vt 0.4116 0.9013 vt 0.4247 0.9034 vt 0.4247 0.9034 vt 0.4367 0.9095 vt 0.4367 0.9095 vt 0.4543 0.9440 vt 0.4543 0.9440 vt 0.4522 0.9572 vt 0.4522 0.9572 vt 0.4461 0.9691 vt 0.4461 0.9691 vt 0.4367 0.9786 vt 0.4367 0.9786 vt 0.4247 0.9846 vt 0.4247 0.9846 vt 0.4116 0.9867 vt 0.4116 0.9867 vt 0.3984 0.9846 vt 0.3984 0.9846 vt 0.3865 0.9786 vt 0.3865 0.9786 vt 0.4522 0.9308 vt 0.4461 0.9189 vt 0.3709 0.9572 vt 0.3770 0.9691 vt 0.3689 0.9440 vt 0.3709 0.9308 vt 0.3770 0.9189 vt 0.3865 0.9095 vt 0.3984 0.9034 vt 0.4116 0.9013 vt 0.4247 0.9034 vt 0.4367 0.9095 vt 0.4543 0.9440 vt 0.4522 0.9572 vt 0.4461 0.9691 vt 0.4367 0.9786 vt 0.4247 0.9846 vt 0.4116 0.9867 vt 0.3984 0.9846 vt 0.3865 0.9786 vt 0.5289 0.9306 vt 0.5317 0.9393 vt 0.5317 0.9485 vt 0.5289 0.9572 vt 0.5235 0.9646 vt 0.5161 0.9699 vt 0.5074 0.9728 vt 0.4982 0.9728 vt 0.4895 0.9699 vt 0.4821 0.9646 vt 0.4767 0.9572 vt 0.4739 0.9485 vt 0.4739 0.9393 vt 0.4767 0.9306 vt 0.4821 0.9232 vt 0.4895 0.9178 vt 0.4982 0.9150 vt 0.5074 0.9150 vt 0.5161 0.9178 vt 0.5235 0.9232 vt 0.5652 0.9410 vt 0.5763 0.9408 vt 0.5786 0.9509 vt 0.5684 0.9552 vt 0.5677 0.9265 vt 0.5780 0.9307 vt 0.5755 0.9142 vt 0.5834 0.9219 vt 0.5875 0.9057 vt 0.5918 0.9159 vt 0.6017 0.9025 vt 0.6019 0.9136 vt 0.6162 0.9050 vt 0.6120 0.9153 vt 0.6285 0.9128 vt 0.6208 0.9207 vt 0.6370 0.9248 vt 0.6267 0.9291 vt 0.6402 0.9390 vt 0.6291 0.9392 vt 0.6377 0.9535 vt 0.6274 0.9493 vt 0.6299 0.9658 vt 0.6220 0.9581 vt 0.6179 0.9743 vt 0.6136 0.9641 vt 0.6037 0.9775 vt 0.6035 0.9664 vt 0.5892 0.9750 vt 0.5934 0.9647 vt 0.5768 0.9672 vt 0.5846 0.9593 vt 0.5817 0.9406 vt 0.5836 0.9486 vt 0.5831 0.9326 vt 0.5874 0.9256 vt 0.5941 0.9209 vt 0.6021 0.9190 vt 0.6101 0.9204 vt 0.6171 0.9247 vt 0.6218 0.9314 vt 0.6236 0.9394 vt 0.6223 0.9474 vt 0.6180 0.9544 vt 0.6113 0.9591 vt 0.6033 0.9610 vt 0.5953 0.9596 vt 0.5883 0.9553 vt 0.5923 0.9404 vt 0.5932 0.9444 vt 0.5929 0.9364 vt 0.5950 0.9329 vt 0.5983 0.9305 vt 0.6023 0.9296 vt 0.6063 0.9302 vt 0.6098 0.9323 vt 0.6122 0.9356 vt 0.6131 0.9396 vt 0.6125 0.9436 vt 0.6104 0.9471 vt 0.6071 0.9495 vt 0.6031 0.9504 vt 0.5991 0.9498 vt 0.5956 0.9477 vt 0.6027 0.9400 vt 0.7376 0.9197 vt 0.7376 0.9251 vt 0.7209 0.9251 vt 0.7209 0.9197 vt 0.7376 0.9305 vt 0.7209 0.9305 vt 0.7376 0.9359 vt 0.7209 0.9359 vt 0.7376 0.9412 vt 0.7209 0.9412 vt 0.7376 0.9466 vt 0.7209 0.9466 vt 0.7376 0.9520 vt 0.7209 0.9520 vt 0.7376 0.9574 vt 0.7209 0.9574 vt 0.7376 0.9628 vt 0.7209 0.9628 vt 0.7376 0.9682 vt 0.7209 0.9682 vt 0.7376 0.9735 vt 0.7209 0.9735 vt 0.7376 0.9789 vt 0.7209 0.9789 vt 0.7376 0.9843 vt 0.7209 0.9843 vt 0.7376 0.8982 vt 0.7376 0.9036 vt 0.7209 0.9036 vt 0.7209 0.8982 vt 0.7376 0.9089 vt 0.7209 0.9089 vt 0.7376 0.9143 vt 0.7209 0.9143 vt 0.7072 0.9367 vt 0.7044 0.9373 vt 0.6999 0.9273 vt 0.7022 0.9256 vt 0.7076 0.9488 vt 0.7048 0.9484 vt 0.6918 0.9198 vt 0.6933 0.9173 vt 0.6814 0.9159 vt 0.6819 0.9131 vt 0.6704 0.9163 vt 0.6697 0.9135 vt 0.6603 0.9209 vt 0.6587 0.9186 vt 0.6528 0.9290 vt 0.6504 0.9275 vt 0.6489 0.9393 vt 0.6461 0.9389 vt 0.6493 0.9504 vt 0.6466 0.9510 vt 0.6539 0.9604 vt 0.6516 0.9621 vt 0.6620 0.9679 vt 0.6605 0.9704 vt 0.6724 0.9718 vt 0.6719 0.9746 vt 0.6834 0.9714 vt 0.6841 0.9742 vt 0.6935 0.9668 vt 0.6951 0.9691 vt 0.7010 0.9587 vt 0.7034 0.9602 vt 0.5657 0.9565 vt 0.5622 0.9410 vt 0.5649 0.9255 vt 0.5733 0.9121 vt 0.5862 0.9030 vt 0.6017 0.8995 vt 0.6172 0.9022 vt 0.6306 0.9106 vt 0.6397 0.9235 vt 0.6432 0.9390 vt 0.6405 0.9545 vt 0.6321 0.9679 vt 0.6192 0.9770 vt 0.6037 0.9805 vt 0.5882 0.9778 vt 0.5748 0.9694 vt 0.6902 0.9407 vt 0.6879 0.9359 vt 0.6903 0.9460 vt 0.6885 0.9510 vt 0.6849 0.9549 vt 0.6800 0.9571 vt 0.6747 0.9573 vt 0.6697 0.9554 vt 0.6658 0.9518 vt 0.6636 0.9470 vt 0.6634 0.9417 vt 0.6653 0.9367 vt 0.6689 0.9328 vt 0.6738 0.9306 vt 0.6791 0.9304 vt 0.6840 0.9323 vt 0.5652 0.9410 vt 0.5763 0.9408 vt 0.5786 0.9509 vt 0.5684 0.9552 vt 0.5677 0.9265 vt 0.5780 0.9307 vt 0.5755 0.9142 vt 0.5834 0.9219 vt 0.5875 0.9057 vt 0.5918 0.9159 vt 0.6017 0.9025 vt 0.6019 0.9136 vt 0.6162 0.9050 vt 0.6120 0.9153 vt 0.6285 0.9128 vt 0.6208 0.9207 vt 0.6370 0.9248 vt 0.6267 0.9291 vt 0.6402 0.9390 vt 0.6291 0.9392 vt 0.6377 0.9535 vt 0.6274 0.9493 vt 0.6299 0.9658 vt 0.6220 0.9581 vt 0.6179 0.9743 vt 0.6136 0.9641 vt 0.6037 0.9775 vt 0.6035 0.9664 vt 0.5892 0.9750 vt 0.5934 0.9647 vt 0.5768 0.9672 vt 0.5846 0.9593 vt 0.5817 0.9406 vt 0.5836 0.9486 vt 0.5831 0.9326 vt 0.5874 0.9256 vt 0.5941 0.9209 vt 0.6021 0.9190 vt 0.6101 0.9204 vt 0.6171 0.9247 vt 0.6218 0.9314 vt 0.6236 0.9394 vt 0.6223 0.9474 vt 0.6180 0.9544 vt 0.6113 0.9591 vt 0.6033 0.9610 vt 0.5953 0.9596 vt 0.5883 0.9553 vt 0.5923 0.9404 vt 0.5932 0.9444 vt 0.5929 0.9364 vt 0.5950 0.9329 vt 0.5983 0.9305 vt 0.6023 0.9296 vt 0.6063 0.9302 vt 0.6098 0.9323 vt 0.6122 0.9356 vt 0.6131 0.9396 vt 0.6125 0.9436 vt 0.6104 0.9471 vt 0.6071 0.9495 vt 0.6031 0.9504 vt 0.5991 0.9498 vt 0.5956 0.9477 vt 0.6027 0.9400 vt 0.7376 0.9197 vt 0.7376 0.9251 vt 0.7209 0.9251 vt 0.7209 0.9197 vt 0.7376 0.9305 vt 0.7209 0.9305 vt 0.7376 0.9359 vt 0.7209 0.9359 vt 0.7376 0.9412 vt 0.7209 0.9412 vt 0.7376 0.9466 vt 0.7209 0.9466 vt 0.7376 0.9520 vt 0.7209 0.9520 vt 0.7376 0.9574 vt 0.7209 0.9574 vt 0.7376 0.9628 vt 0.7209 0.9628 vt 0.7376 0.9682 vt 0.7209 0.9682 vt 0.7376 0.9735 vt 0.7209 0.9735 vt 0.7376 0.9789 vt 0.7209 0.9789 vt 0.7376 0.9843 vt 0.7209 0.9843 vt 0.7376 0.8982 vt 0.7376 0.9036 vt 0.7209 0.9036 vt 0.7209 0.8982 vt 0.7376 0.9089 vt 0.7209 0.9089 vt 0.7376 0.9143 vt 0.7209 0.9143 vt 0.7072 0.9367 vt 0.7044 0.9373 vt 0.6999 0.9273 vt 0.7022 0.9256 vt 0.7076 0.9488 vt 0.7048 0.9484 vt 0.6918 0.9198 vt 0.6933 0.9173 vt 0.6814 0.9159 vt 0.6819 0.9131 vt 0.6704 0.9163 vt 0.6697 0.9135 vt 0.6603 0.9209 vt 0.6587 0.9186 vt 0.6528 0.9290 vt 0.6504 0.9275 vt 0.6489 0.9393 vt 0.6461 0.9389 vt 0.6493 0.9504 vt 0.6466 0.9510 vt 0.6539 0.9604 vt 0.6516 0.9621 vt 0.6620 0.9679 vt 0.6605 0.9704 vt 0.6724 0.9718 vt 0.6719 0.9746 vt 0.6834 0.9714 vt 0.6841 0.9742 vt 0.6935 0.9668 vt 0.6951 0.9691 vt 0.7010 0.9587 vt 0.7034 0.9602 vt 0.5657 0.9565 vt 0.5622 0.9410 vt 0.5649 0.9255 vt 0.5733 0.9121 vt 0.5862 0.9030 vt 0.6017 0.8995 vt 0.6172 0.9022 vt 0.6306 0.9106 vt 0.6397 0.9235 vt 0.6432 0.9390 vt 0.6405 0.9545 vt 0.6321 0.9679 vt 0.6192 0.9770 vt 0.6037 0.9805 vt 0.5882 0.9778 vt 0.5748 0.9694 vt 0.6902 0.9407 vt 0.6879 0.9359 vt 0.6903 0.9460 vt 0.6885 0.9510 vt 0.6849 0.9549 vt 0.6800 0.9571 vt 0.6747 0.9573 vt 0.6697 0.9554 vt 0.6658 0.9518 vt 0.6636 0.9470 vt 0.6634 0.9417 vt 0.6653 0.9367 vt 0.6689 0.9328 vt 0.6738 0.9306 vt 0.6791 0.9304 vt 0.6840 0.9323 vt 0.5652 0.9410 vt 0.5763 0.9408 vt 0.5786 0.9509 vt 0.5684 0.9552 vt 0.5677 0.9265 vt 0.5780 0.9307 vt 0.5755 0.9142 vt 0.5834 0.9219 vt 0.5875 0.9057 vt 0.5918 0.9159 vt 0.6017 0.9025 vt 0.6019 0.9136 vt 0.6162 0.9050 vt 0.6120 0.9153 vt 0.6285 0.9128 vt 0.6208 0.9207 vt 0.6370 0.9248 vt 0.6267 0.9291 vt 0.6402 0.9390 vt 0.6291 0.9392 vt 0.6377 0.9535 vt 0.6274 0.9493 vt 0.6299 0.9658 vt 0.6220 0.9581 vt 0.6179 0.9743 vt 0.6136 0.9641 vt 0.6037 0.9775 vt 0.6035 0.9664 vt 0.5892 0.9750 vt 0.5934 0.9647 vt 0.5768 0.9672 vt 0.5846 0.9593 vt 0.5817 0.9406 vt 0.5836 0.9486 vt 0.5831 0.9326 vt 0.5874 0.9256 vt 0.5941 0.9209 vt 0.6021 0.9190 vt 0.6101 0.9204 vt 0.6171 0.9247 vt 0.6218 0.9314 vt 0.6236 0.9394 vt 0.6223 0.9474 vt 0.6180 0.9544 vt 0.6113 0.9591 vt 0.6033 0.9610 vt 0.5953 0.9596 vt 0.5883 0.9553 vt 0.5923 0.9404 vt 0.5932 0.9444 vt 0.5929 0.9364 vt 0.5950 0.9329 vt 0.5983 0.9305 vt 0.6023 0.9296 vt 0.6063 0.9302 vt 0.6098 0.9323 vt 0.6122 0.9356 vt 0.6131 0.9396 vt 0.6125 0.9436 vt 0.6104 0.9471 vt 0.6071 0.9495 vt 0.6031 0.9504 vt 0.5991 0.9498 vt 0.5956 0.9477 vt 0.6027 0.9400 vt 0.7376 0.9197 vt 0.7376 0.9251 vt 0.7209 0.9251 vt 0.7209 0.9197 vt 0.7376 0.9305 vt 0.7209 0.9305 vt 0.7376 0.9359 vt 0.7209 0.9359 vt 0.7376 0.9412 vt 0.7209 0.9412 vt 0.7376 0.9466 vt 0.7209 0.9466 vt 0.7376 0.9520 vt 0.7209 0.9520 vt 0.7376 0.9574 vt 0.7209 0.9574 vt 0.7376 0.9628 vt 0.7209 0.9628 vt 0.7376 0.9682 vt 0.7209 0.9682 vt 0.7376 0.9735 vt 0.7209 0.9735 vt 0.7376 0.9789 vt 0.7209 0.9789 vt 0.7376 0.9843 vt 0.7209 0.9843 vt 0.7376 0.8982 vt 0.7376 0.9036 vt 0.7209 0.9036 vt 0.7209 0.8982 vt 0.7376 0.9089 vt 0.7209 0.9089 vt 0.7376 0.9143 vt 0.7209 0.9143 vt 0.7072 0.9367 vt 0.7044 0.9373 vt 0.6999 0.9273 vt 0.7022 0.9256 vt 0.7076 0.9488 vt 0.7048 0.9484 vt 0.6918 0.9198 vt 0.6933 0.9173 vt 0.6814 0.9159 vt 0.6819 0.9131 vt 0.6704 0.9163 vt 0.6697 0.9135 vt 0.6603 0.9209 vt 0.6587 0.9186 vt 0.6528 0.9290 vt 0.6504 0.9275 vt 0.6489 0.9393 vt 0.6461 0.9389 vt 0.6493 0.9504 vt 0.6466 0.9510 vt 0.6539 0.9604 vt 0.6516 0.9621 vt 0.6620 0.9679 vt 0.6605 0.9704 vt 0.6724 0.9718 vt 0.6719 0.9746 vt 0.6834 0.9714 vt 0.6841 0.9742 vt 0.6935 0.9668 vt 0.6951 0.9691 vt 0.7010 0.9587 vt 0.7034 0.9602 vt 0.5657 0.9565 vt 0.5622 0.9410 vt 0.5649 0.9255 vt 0.5733 0.9121 vt 0.5862 0.9030 vt 0.6017 0.8995 vt 0.6172 0.9022 vt 0.6306 0.9106 vt 0.6397 0.9235 vt 0.6432 0.9390 vt 0.6405 0.9545 vt 0.6321 0.9679 vt 0.6192 0.9770 vt 0.6037 0.9805 vt 0.5882 0.9778 vt 0.5748 0.9694 vt 0.6902 0.9407 vt 0.6879 0.9359 vt 0.6903 0.9460 vt 0.6885 0.9510 vt 0.6849 0.9549 vt 0.6800 0.9571 vt 0.6747 0.9573 vt 0.6697 0.9554 vt 0.6658 0.9518 vt 0.6636 0.9470 vt 0.6634 0.9417 vt 0.6653 0.9367 vt 0.6689 0.9328 vt 0.6738 0.9306 vt 0.6791 0.9304 vt 0.6840 0.9323 vt 0.2409 0.9694 vt 0.2582 0.9694 vt 0.2582 0.9831 vt 0.2409 0.9831 vt 0.2755 0.9694 vt 0.2755 0.9831 vt 0.2927 0.9694 vt 0.2927 0.9831 vt 0.3100 0.9694 vt 0.3100 0.9831 vt 0.3273 0.9694 vt 0.3273 0.9831 vt 0.3445 0.9694 vt 0.3445 0.9831 vt 0.3618 0.9694 vt 0.3618 0.9831 vt 0.0165 0.9694 vt 0.0337 0.9694 vt 0.0337 0.9831 vt 0.0165 0.9831 vt 0.0510 0.9694 vt 0.0510 0.9831 vt 0.0683 0.9694 vt 0.0683 0.9831 vt 0.0855 0.9694 vt 0.0855 0.9831 vt 0.1028 0.9694 vt 0.1028 0.9831 vt 0.1201 0.9694 vt 0.1201 0.9831 vt 0.1373 0.9694 vt 0.1373 0.9831 vt 0.1546 0.9694 vt 0.1546 0.9831 vt 0.1719 0.9694 vt 0.1719 0.9831 vt 0.1891 0.9694 vt 0.1891 0.9831 vt 0.2064 0.9694 vt 0.2064 0.9831 vt 0.2237 0.9694 vt 0.2237 0.9831 vt 0.2409 0.9597 vt 0.2409 0.9694 vt 0.2237 0.9694 vt 0.2237 0.9597 vt 0.2582 0.9597 vt 0.2582 0.9694 vt 0.2755 0.9597 vt 0.2755 0.9694 vt 0.2927 0.9597 vt 0.2927 0.9694 vt 0.3100 0.9597 vt 0.3100 0.9694 vt 0.3273 0.9597 vt 0.3273 0.9694 vt 0.3445 0.9597 vt 0.3445 0.9694 vt 0.3618 0.9597 vt 0.3618 0.9694 vt 0.0165 0.9694 vt 0.0165 0.9597 vt 0.0337 0.9597 vt 0.0337 0.9694 vt 0.0510 0.9597 vt 0.0510 0.9694 vt 0.0683 0.9597 vt 0.0683 0.9694 vt 0.0855 0.9597 vt 0.0855 0.9694 vt 0.1028 0.9597 vt 0.1028 0.9694 vt 0.1201 0.9597 vt 0.1201 0.9694 vt 0.1373 0.9597 vt 0.1373 0.9694 vt 0.1546 0.9597 vt 0.1546 0.9694 vt 0.1719 0.9597 vt 0.1719 0.9694 vt 0.1891 0.9597 vt 0.1891 0.9694 vt 0.2064 0.9597 vt 0.2064 0.9694 vt 0.5422 0.9238 vt 0.5464 0.9370 vt 0.5317 0.9393 vt 0.5289 0.9306 vt 0.5464 0.9508 vt 0.5317 0.9485 vt 0.5422 0.9639 vt 0.5289 0.9572 vt 0.5340 0.9751 vt 0.5235 0.9646 vt 0.5229 0.9833 vt 0.5161 0.9699 vt 0.5097 0.9875 vt 0.5074 0.9728 vt 0.4959 0.9875 vt 0.4982 0.9728 vt 0.4827 0.9833 vt 0.4895 0.9699 vt 0.4715 0.9751 vt 0.4821 0.9646 vt 0.4634 0.9639 vt 0.4767 0.9572 vt 0.4591 0.9508 vt 0.4739 0.9485 vt 0.4591 0.9370 vt 0.4739 0.9393 vt 0.4634 0.9238 vt 0.4767 0.9306 vt 0.4715 0.9126 vt 0.4821 0.9232 vt 0.4827 0.9045 vt 0.4895 0.9178 vt 0.4959 0.9002 vt 0.4982 0.9150 vt 0.5097 0.9002 vt 0.5074 0.9150 vt 0.5229 0.9045 vt 0.5161 0.9178 vt 0.5340 0.9126 vt 0.5235 0.9232 vt 0.4522 0.9308 vt 0.4116 0.9440 vt 0.4461 0.9189 vt 0.3770 0.9691 vt 0.3709 0.9572 vt 0.3689 0.9440 vt 0.3709 0.9308 vt 0.3770 0.9189 vt 0.3865 0.9095 vt 0.3984 0.9034 vt 0.4116 0.9013 vt 0.4247 0.9034 vt 0.4367 0.9095 vt 0.4543 0.9440 vt 0.4522 0.9572 vt 0.4461 0.9691 vt 0.4367 0.9786 vt 0.4247 0.9846 vt 0.4116 0.9867 vt 0.3984 0.9846 vt 0.3865 0.9786 vt 0.4461 0.9189 vt 0.4522 0.9308 vt 0.4522 0.9308 vt 0.4461 0.9189 vt 0.3770 0.9691 vt 0.3709 0.9572 vt 0.3709 0.9572 vt 0.3770 0.9691 vt 0.3689 0.9440 vt 0.3689 0.9440 vt 0.3709 0.9308 vt 0.3709 0.9308 vt 0.3770 0.9189 vt 0.3770 0.9189 vt 0.3865 0.9095 vt 0.3865 0.9095 vt 0.3984 0.9034 vt 0.3984 0.9034 vt 0.4116 0.9013 vt 0.4116 0.9013 vt 0.4247 0.9034 vt 0.4247 0.9034 vt 0.4367 0.9095 vt 0.4367 0.9095 vt 0.4543 0.9440 vt 0.4543 0.9440 vt 0.4522 0.9572 vt 0.4522 0.9572 vt 0.4461 0.9691 vt 0.4461 0.9691 vt 0.4367 0.9786 vt 0.4367 0.9786 vt 0.4247 0.9846 vt 0.4247 0.9846 vt 0.4116 0.9867 vt 0.4116 0.9867 vt 0.3984 0.9846 vt 0.3984 0.9846 vt 0.3865 0.9786 vt 0.3865 0.9786 vt 0.4522 0.9308 vt 0.4461 0.9189 vt 0.3709 0.9572 vt 0.3770 0.9691 vt 0.3689 0.9440 vt 0.3709 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3293/5420/209 3454/3007/209 3453/3006/209 f 3293/5420/209 3294/5421/209 3455/3008/209 3454/3007/209 f 3294/5421/209 3295/5422/209 3456/3009/209 3455/3008/209 f 3295/5422/209 3296/5423/209 3457/3010/209 3456/3009/209 f 3296/5423/209 3297/5424/209 3458/3011/209 3457/3010/209 f 3297/5424/209 3298/5425/209 3459/3012/209 3458/3011/209 f 3298/5425/209 3299/5426/209 3460/3013/209 3459/3012/209 f 3299/5426/209 3280/5407/209 3441/2994/209 3460/3013/209 MAVProxy-1.8.74/MAVProxy/modules/mavproxy_magical/glrenderer.py000066400000000000000000000057431504324515000245120ustar00rootroot00000000000000# Copyright (C) 2016 Intel Corporation. All rights reserved. # # This file is free software: you can redistribute it and/or modify it # under the terms of the GNU General Public License as published by the # Free Software Foundation, either version 3 of the License, or # (at your option) any later version. # # This file is distributed in the hope that it will be useful, but # WITHOUT ANY WARRANTY; without even the implied warranty of # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. # See the GNU General Public License for more details. # # You should have received a copy of the GNU General Public License along # with this program. If not, see . from OpenGL.GL import * from pymavlink.rotmat import Vector3 from MAVProxy.modules.lib import opengl from MAVProxy.modules.lib.wx_loader import wx from wx import glcanvas class Renderer(object): ''' Base class for rendering 3D opengl objects in Magical UI. It preforms common routines for the renderers used. The method render() should perform the rendering routine. The default implementation only does basic setup and can be called from the subclass. ''' def __init__(self, background): glClearColor(*background) self.program = opengl.Program() self.program.compile_and_link() self.program.use_light(opengl.Light( position=Vector3(-2.0, 0.0, -1.0), ambient=Vector3(0.8, 0.8, 0.8), diffuse=Vector3(0.5, 0.5, 0.5), specular=Vector3(0.25, 0.25, 0.25), att_linear=0.000, att_quad=0.000, )) self.camera = opengl.Camera() # Adjust camera to show NED coordinates properly self.camera.base = ( Vector3( 0, 1, 0), Vector3( 0, 0,-1), Vector3(-1, 0, 0), ) self.camera.position = Vector3(-100.0, 0, 0) near = -self.camera.position.x - 1.0 far = near + 2.0 self.projection = opengl.Orthographic(near=near, far=far) self.program.use_projection(self.projection) def set_viewport(self, viewport): glViewport(*viewport) def render(self): glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT) self.program.use_camera(self.camera) class GLCanvas(glcanvas.GLCanvas): def __init__(self, *k, **kw): kw['attribList'] = (glcanvas.WX_GL_SAMPLES, 4) super(GLCanvas, self).__init__(*k, **kw) self.context = glcanvas.GLContext(self) self.renderer = None self.Bind(wx.EVT_PAINT, self.OnPaint) def CreateRenderer(self): raise NotImplementedError() def OnPaint(self, evt): w, h = self.GetClientSize() e = min(w, h) if not e: return self.SetCurrent(self.context) if not self.renderer: self.CreateRenderer() x, y = int((w - e) / 2), int((h - e) / 2) self.renderer.set_viewport((x, y, e, e)) self.renderer.render() self.SwapBuffers() MAVProxy-1.8.74/MAVProxy/modules/mavproxy_magical/magical_ui.py000066400000000000000000000744601504324515000244550ustar00rootroot00000000000000# Copyright (C) 2016 Intel Corporation. All rights reserved. # # This file is free software: you can redistribute it and/or modify it # under the terms of the GNU General Public License as published by the # Free Software Foundation, either version 3 of the License, or # (at your option) any later version. # # This file is distributed in the hope that it will be useful, but # WITHOUT ANY WARRANTY; without even the implied warranty of # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. # See the GNU General Public License for more details. # # You should have received a copy of the GNU General Public License along # with this program. If not, see . import math import os import time from pymavlink.mavutil import mavlink from wx.lib.wordwrap import wordwrap from MAVProxy.modules import mavproxy_magical as magical from MAVProxy.modules.lib import wavefront as wv from MAVProxy.modules.lib.wx_loader import wx from MAVProxy.modules.mavproxy_magical.wxgeodesicgrid import GeodesicGrid from MAVProxy.modules.mavproxy_magical.wxvehicle import Vehicle COMMON_FOREGROUND = '#212121' LIGHT_BACKGROUND = '#fafafa' DARK_BACKGROUND = '#d1d1d1' PRIMARY_HIGHLIGHT = '#3359ec' SECONDARY_HIGHLIGHT = '#0c666a' def scale_color(color, scale): r, g, b = color r, g, b = round(scale * r), round(scale * g), round(scale * b) r, g, b = min(255, r), min(255, g), min(255, b) return wx.Colour(r, g, b) # Class only for allowing getting a common default foreground color class Panel(wx.Panel): def __init__(self, *k, **kw): super(Panel, self).__init__(*k, **kw) self.SetForegroundColour(COMMON_FOREGROUND) # Button with a custom style class Button(wx.PyControl): def __init__(self, *k, **kw): if 'style' not in kw: kw['style'] = wx.BORDER_NONE super(Button, self).__init__(*k, **kw) self.border_radius = 0 self.border_width = 0 self.border_color = None self.padding = wx.Size(0, 0) self.Bind(wx.EVT_PAINT, self.OnPaint) self.Bind(wx.EVT_LEFT_UP, self.OnLeftUp) self.SetCursor(wx.StockCursor(wx.CURSOR_HAND)) def OnLeftUp(self, evt): command_evt = wx.CommandEvent(wx.EVT_BUTTON.typeId, self.GetId()) command_evt.SetEventObject(self) self.GetEventHandler().AddPendingEvent(command_evt); def GetBorderRadius(self): return self.border_radius def SetBorderRadius(self, radius): self.border_radius = radius def GetBorderWidth(self): return self.border_width def SetBorderWidth(self, width): self.border_width = width def GetBorderColor(self): if not self.border_color: return self.GetBackgroundColour() return self.border_color def SetBorderColor(self, color): self.border_color = color def GetPadding(self): return self.padding def SetPadding(self, size): self.padding = size def OnPaint(self, evt): dc = wx.BufferedPaintDC(self) self.Draw(dc) def Draw(self, dc): width, height = self.GetClientSize() if not width or not height: return gcdc = wx.GCDC(dc) gcdc.SetPen(wx.NullPen) bg = self.GetParent().GetBackgroundColour() gcdc.SetBackground(wx.Brush(bg, wx.SOLID)) gcdc.Clear() border_radius = self.GetBorderRadius() border = self.GetBorderWidth() if border: gcdc.SetBrush(wx.Brush(self.GetBorderColor())) gcdc.DrawRoundedRectangle(0, 0, width, height, border_radius) w, h = width - 2 * border, height - 2 * border border_radius -= border gcdc.SetBrush(wx.Brush(self.GetBackgroundColour())) gcdc.DrawRoundedRectangle(border, border, w, h, border_radius) dc.SetFont(self.GetFont()) label = self.GetLabel() w, h = dc.GetTextExtent(label) x, y = (width - w) / 2, (height - h) / 2 dc.DrawText(label, x, y) def DoGetBestSize(self): dc = wx.ClientDC(self) dc.SetFont(self.GetFont()) w, h = dc.GetTextExtent(self.GetLabel()) pw, ph = self.GetPadding() w, h = w + pw, h + ph border = self.GetBorderWidth() w, h = w + 2 * border, h + 2 * border return wx.Size(w, h) class CountdownText(wx.PyWindow): def __init__(self, *k, **kw): super(CountdownText, self).__init__(*k, **kw) self.value = 0 self.border_color = COMMON_FOREGROUND self.Bind(wx.EVT_PAINT, self.OnPaint) def ShouldInheritColours(self): return True def GetBorderColor(self): return self.border_color def SetBorderColor(self, color): self.border_color = color def OnPaint(self, evt): dc = wx.BufferedPaintDC(self) self.Draw(dc) def Draw(self, dc): width, height = self.GetClientSize() if not width or not height: return gcdc = wx.GCDC(dc) bg = self.GetParent().GetBackgroundColour() gcdc.SetBackground(wx.Brush(bg, wx.SOLID)) gcdc.Clear() x, y = width / 2, height / 2 radius = min(x, y) border = int(radius / 20) gcdc.SetPen(wx.Pen(self.GetBorderColor(), border)) gcdc.SetBrush(wx.Brush(bg, wx.SOLID)) gcdc.DrawCircle(x, y, radius - border) # Set font size 70% of the diameter v = str(self.value) s = max(dc.GetTextExtent(v)) scale = 2 * radius * .7 / s font = self.GetFont() font.SetPointSize(round(font.GetPointSize() * scale)) dc.SetFont(font) w, h = dc.GetTextExtent(v) x, y = (width - w) / 2, (height - h) / 2 dc.DrawText(v, x, y) def SetValue(self, value): self.value = value self.Refresh() class ReportDialog(wx.Dialog): light_background = wx.Colour() light_background.SetFromString(LIGHT_BACKGROUND) light_background = scale_color(light_background, 1.2) class StatusIcon(wx.PyWindow): success_color = '#00ed00' failure_color = '#d81313' def __init__(self, *k, **kw): super(ReportDialog.StatusIcon, self).__init__(*k, **kw) self.success = True self.Bind(wx.EVT_PAINT, self.OnPaint) def Success(self, success): self.success = success self.Refresh() def OnPaint(self, evt): dc = wx.BufferedPaintDC(self) self.Draw(dc) def Draw(self, dc): width, height = self.GetClientSize() if not width or not height: return gcdc = wx.GCDC(dc) gcdc.SetPen(wx.NullPen) bg = self.GetParent().GetBackgroundColour() gcdc.SetBackground(wx.Brush(bg, wx.SOLID)) gcdc.Clear() color = self.success_color if self.success else self.failure_color gcdc.SetBrush(wx.Brush(color)) x = width / 2 y = height / 2 gcdc.DrawCircle(x, y, min(x, y)) class CompassPanel(Panel): def __init__(self, parent, m, *k, **kw): super(ReportDialog.CompassPanel, self).__init__(parent, *k, **kw) self.InitUI() self.compass_text.SetLabel('Compass %d' % m.compass_id) if m.cal_status == mavlink.MAG_CAL_SUCCESS: self.status_icon.Success(True) self.status_text.SetLabel('SUCCESS') else: self.status_icon.Success(False) self.status_text.SetLabel('FAILURE') self.fitness_value_text.SetLabel('%.3f' % m.fitness) texts = ( self.offsets_texts, self.diagonals_texts, self.offdiagonals_texts, ) params = ( (m.ofs_x, m.ofs_y, m.ofs_z), (m.diag_x, m.diag_y, m.diag_z), (m.offdiag_x, m.offdiag_y, m.offdiag_z), ) for targets, values in zip(texts, params): for target, value in zip(targets, values): target.SetLabel('%.2f' % value) def InitUI(self): color = wx.Colour() color.SetFromString(LIGHT_BACKGROUND) self.SetBackgroundColour(scale_color(color, 0.95)) font = self.GetFont() font.SetWeight(wx.FONTWEIGHT_BOLD) font.SetPointSize(24) self.SetFont(font) self.SetMinSize((400, -1)) self.compass_text = wx.StaticText(self) self.fitness_value_text = wx.StaticText(self) font.SetWeight(wx.FONTWEIGHT_NORMAL) self.fitness_value_text.SetFont(font) self.parameters_sizer = self.CalibrationParameters() fitness_sizer = wx.BoxSizer(wx.HORIZONTAL) text = wx.StaticText(self, label='Fitness') text.SetFont(self.fitness_value_text.GetFont()) fitness_sizer.Add(text, proportion=1, flag=wx.EXPAND) fitness_sizer.Add(self.fitness_value_text) sizer = wx.BoxSizer(wx.VERTICAL) self.SetSizer(sizer) sizer.AddSpacer(16) sizer.Add(self.compass_text, border=16, flag=wx.LEFT | wx.RIGHT) sizer.AddSpacer(16) sizer.Add(self.StatusPanel(), flag=wx.EXPAND) sizer.AddSpacer(16) sizer.Add(fitness_sizer, border=16, flag=wx.LEFT | wx.RIGHT | wx.EXPAND) sizer.AddSpacer(16) sizer.Add(self.parameters_sizer, border=16, flag=wx.LEFT | wx.RIGHT | wx.BOTTOM | wx.EXPAND) sizer.Hide(self.parameters_sizer) def StatusPanel(self): panel = Panel(self) panel.SetBackgroundColour(ReportDialog.light_background) self.status_icon = ReportDialog.StatusIcon(panel, size=(44, 44)) self.status_text = wx.StaticText(panel) sizer = wx.BoxSizer(wx.HORIZONTAL) panel.SetSizer(sizer) sizer.AddSpacer(16) sizer.Add(self.status_icon, border=5, flag=wx.TOP | wx.BOTTOM) sizer.AddSpacer(16) sizer.Add(self.status_text, flag=wx.ALIGN_CENTER) sizer.AddSpacer(16) return panel def CalibrationParameters(self): self.offsets_texts = tuple(wx.StaticText(self) for _ in range(3)) self.diagonals_texts = tuple(wx.StaticText(self) for _ in range(3)) self.offdiagonals_texts = tuple(wx.StaticText(self) for _ in range(3)) table = ( ('Offsets', self.offsets_texts), ('Diagonals', self.diagonals_texts), ('Off-diagonals', self.offdiagonals_texts), ) sizer = wx.FlexGridSizer(len(table) + 1, 4, 4, 10) sizer.AddGrowableCol(0) font = self.GetFont() font.SetPointSize(14) font.MakeItalic() text = wx.StaticText(self, label='Parameter') text.SetFont(font) sizer.Add(text) for label in ('X', 'Y', 'Z'): text = wx.StaticText(self, label=label) text.SetFont(font) sizer.Add(text, flag=wx.ALIGN_CENTER) font.SetWeight(wx.FONTWEIGHT_NORMAL) for label, (x, y, z) in table: text = wx.StaticText(self) text.SetLabel(label) text.SetFont(font) x.SetFont(font) y.SetFont(font) z.SetFont(font) sizer.Add(text) sizer.Add(x, flag=wx.ALIGN_RIGHT) sizer.Add(y, flag=wx.ALIGN_RIGHT) sizer.Add(z, flag=wx.ALIGN_RIGHT) return sizer def ShowCompassParameters(self, show): sizer = self.GetSizer() if show: sizer.Show(self.parameters_sizer) else: sizer.Hide(self.parameters_sizer) def __init__(self, parent, mavlink_messages, *k, **kw): super(ReportDialog, self).__init__(parent, *k, **kw) self.compass_parameters_shown = False self.mavlink_messages = mavlink_messages for m in self.mavlink_messages: if m.cal_status != mavlink.MAG_CAL_SUCCESS: self.success = False break else: self.success = True self.InitUI() def InitUI(self): color = wx.Colour() color.SetFromString(DARK_BACKGROUND) self.SetBackgroundColour(scale_color(color, .9)) cols = 2 if len(self.mavlink_messages) > 1 else 1 compass_sizer = wx.GridSizer(0, cols, 2, 2) self.compass_panels = [] for m in self.mavlink_messages: p = self.CompassPanel(self, m) compass_sizer.Add(p) self.compass_panels.append(p) sizer = wx.BoxSizer(wx.VERTICAL) self.SetSizer(sizer) sizer.Add(compass_sizer) sizer.Add(self.Footer(), flag=wx.EXPAND) sizer.Fit(self) def Footer(self): footer = Panel(self) footer.SetBackgroundColour(ReportDialog.light_background) font = footer.GetFont() font.SetPointSize(16) font.SetWeight(wx.FONTWEIGHT_BOLD) footer.SetFont(font) self.show_more_button = Button(footer) self.show_more_button.SetLabel('Show more') self.show_more_button.SetBackgroundColour(wx.TransparentColour) self.Bind(wx.EVT_BUTTON, self.OnShowMoreButton, self.show_more_button) if not self.success: self.try_again_button = Button(footer, wx.ID_REDO) self.try_again_button.SetLabel('TRY AGAIN') self.try_again_button.SetBackgroundColour(wx.TransparentColour) self.try_again_button.SetForegroundColour(PRIMARY_HIGHLIGHT) self.Bind(wx.EVT_BUTTON, self.OnActionButton, self.try_again_button) self.close_button = Button(footer, wx.ID_CLOSE) self.close_button.SetLabel('CLOSE') self.close_button.SetBackgroundColour(wx.TransparentColour) self.close_button.SetForegroundColour(PRIMARY_HIGHLIGHT) self.Bind(wx.EVT_BUTTON, self.OnActionButton, self.close_button) sizer = wx.BoxSizer(wx.HORIZONTAL) footer.SetSizer(sizer) sizer.AddSpacer(16) sizer.Add(self.show_more_button) sizer.AddStretchSpacer() if not self.success: sizer.Add(self.try_again_button) sizer.AddSpacer(32) sizer.Add(self.close_button) sizer.AddSpacer(16) return footer def OnActionButton(self, evt): r = evt.GetEventObject().GetId() if self.IsModal(): self.EndModal(r) else: self.SetReturnCode(r) self.Show(False) def OnShowMoreButton(self, evt): self.compass_parameters_shown = not self.compass_parameters_shown for p in self.compass_panels: p.ShowCompassParameters(self.compass_parameters_shown) if self.compass_parameters_shown: self.show_more_button.SetLabel('Show less') else: self.show_more_button.SetLabel('Show more') self.GetSizer().Fit(self) # Unfortunately, wx.StaticText sucks at wrapping text automatically, thus we # had to come up with our one (very simple) widget class InstructionText(wx.PyWindow): def __init__(self, *k, **kw): super(InstructionText, self).__init__(*k, **kw) self.text = '' self.min_lines = 1 self.Bind(wx.EVT_PAINT, self.OnPaint) def ShouldInheritColours(self): return True def SetText(self, text): self.text = text self.Refresh() def SetMinLines(self, lines): self.min_lines = lines def OnPaint(self, evt): dc = wx.BufferedPaintDC(self) self.Draw(dc) def Draw(self, dc): width, height = self.GetClientSize() if not width or not height: return bg = self.GetParent().GetBackgroundColour() dc.SetBackground(wx.Brush(bg, wx.SOLID)) dc.Clear() dc.SetFont(self.GetFont()) text = wordwrap(self.text, width, dc) lines = text.splitlines() _, h = dc.GetTextExtent(text) y = (height - h) / 2 for line in lines: w, h = dc.GetTextExtent(line) x = (width - w) / 2 dc.DrawText(line, x, y) y += h def DoGetBestSize(self): _, height = self.GetClientSize() dc = wx.ClientDC(self) dc.SetFont(self.GetFont()) _, h = dc.GetTextExtent('\n'.join([' '] * self.min_lines)) return -1, max(h, height) class MagicalFrame(wx.Frame): initial_instruction = 'To start calibration, please place your vehicle as the image shows and press start.' countdown_instruction = 'Get ready!' calibration_instructions = ( 'Rotate the vehicle in as many different ways as possible.', 'Some rotations can be repeated from different initial positions.', 'You can take the rotations above as a reference.', 'The image on the right is a visual feedback of the calibration progress.', 'Don\'t worry about the rotation direction (clockwise or counterclockwise), both work.', ) ref_rotations_script = () for yaw in (0, math.pi / 2): ref_rotations_script += ( ('.SetEuler', 0, 0, yaw), ('.SetAngvel', (1, 0, 0), math.pi / 2), ('wait', 4), ('.SetEuler', 0, 0, yaw), ('.SetAngvel', (0, 1, 0), math.pi / 2), ('wait', 4), ('.SetEuler', 0, 0, yaw), ('.SetAngvel', (1, 1, 0), math.pi / 2), ('wait', 4), ('.SetEuler', 0, 0, yaw), ('.SetAngvel', (1, -1, 0), math.pi / 2), ('wait', 4), ) for (roll, pitch, yaw), rotation_axis in ( ((0, 0, 0), 2), ((math.pi, 0, 0), 2), ((-math.pi / 2, 0, 0), 1), ((math.pi / 2, 0, 0), 1), ((0, -math.pi / 2, 0), 0), ((0, math.pi / 2, 0), 0), ): axis = [0, 0, 0] axis[rotation_axis] = 1 ref_rotations_script += ( ('.SetEuler', roll, pitch, yaw), ('.SetAngvel', axis, math.pi / 2), ('wait', 4), ) ref_rotations_script += (('restart',),) def __init__(self, conn): super(MagicalFrame, self).__init__(None, title='Magical') self.state = None self.grid = None self.conn = conn self.button_state = None self.ui_is_active = False self.countdown = 0 self.calibration_instruction_idx = 0 self.InitUI() self.timer = wx.Timer(self) self.Bind(wx.EVT_TIMER, self.OnTimer, self.timer) self.timer.Start(60) self.loader_timer = wx.Timer(self) self.Bind(wx.EVT_TIMER, self.OnLoaderTimer, self.loader_timer) self.loader_timer.Start(50) self.countdown_timer = wx.Timer(self) self.Bind(wx.EVT_TIMER, self.OnCountdownTimer, self.countdown_timer) self.calibration_instructions_timer = wx.Timer(self) self.Bind(wx.EVT_TIMER, self.OnCalibrationInstructionsTimer, self.calibration_instructions_timer) self.SetState('idle') self.main_panel.GetSizer().Fit(self) path = os.path.join(magical.datapath, 'quadcopter.obj') self.vehicle_loader = wv.ParserWorker( wv.ObjParser(filename=path), complete_callback=self.VehicleLoadCompleteCallback, ) self.vehicle_loader.start() def VehicleLoadCompleteCallback(self): wx.CallAfter(self.VehicleLoadComplete) def VehicleLoadComplete(self): self.grid.SetVehicleWavefront(self.vehicle_loader.obj) self.ref_vehicle.SetVehicleWavefront(self.vehicle_loader.obj) self.vehicle_loader = None self.loader_timer.Stop() self.HideLoadProgress() def InitUI(self): font = self.GetFont() font.SetFamily(wx.FONTFAMILY_SWISS) self.SetFont(font) self.main_panel = wx.ScrolledWindow(self) self.main_panel.SetScrollbars(1, 1, 1, 1) self.main_panel.SetBackgroundColour(DARK_BACKGROUND) sizer = wx.BoxSizer(wx.VERTICAL) self.main_panel.SetSizer(sizer) kw = dict(border=32, flag=wx.EXPAND | wx.LEFT | wx.RIGHT) sizer.AddSpacer(16) sizer.Add(self.Header(self.main_panel), **kw) sizer.AddSpacer(23) sizer.Add(self.Body(self.main_panel), proportion=1, **kw) sizer.AddSpacer(23) sizer.Add(self.Footer(self.main_panel), **kw) sizer.AddSpacer(23) def Header(self, parent): header = Panel(parent) header.SetBackgroundColour(LIGHT_BACKGROUND) sizer = wx.BoxSizer(wx.VERTICAL) header.SetSizer(sizer) font = header.GetFont() font.SetWeight(wx.FONTWEIGHT_BOLD) text = wx.StaticText(header) text.SetLabel('Compass Calibration') text.SetForegroundColour(PRIMARY_HIGHLIGHT) font.SetPointSize(26) text.SetFont(font) sizer.Add(text, border=16, flag=wx.ALL & ~wx.BOTTOM) text = wx.StaticText(header) text.SetLabel('Follow the procedure to calibrate your compass') font.SetPointSize(14) text.SetFont(font) sizer.Add(text, border=16, flag=wx.ALL & ~wx.TOP) return header def Body(self, parent): body = wx.BoxSizer(wx.HORIZONTAL) body.Add(self.InstructionsPanel(parent), proportion=2, flag=wx.EXPAND) body.AddSpacer(23) self.progress_panel = self.ProgressPanel(parent) body.Add(self.progress_panel, proportion=1, flag=wx.EXPAND) return body def InstructionsPanel(self, parent): panel = Panel(parent) panel.SetBackgroundColour(LIGHT_BACKGROUND) self.ref_vehicle = Vehicle(panel) self.ref_vehicle.SetMinSize((430, 430)) self.countdown_window = CountdownText(panel) self.countdown_window.SetMinSize((430, 430)) self.countdown_window.SetBorderColor(SECONDARY_HIGHLIGHT) self.countdown_window.SetForegroundColour(PRIMARY_HIGHLIGHT) font = self.countdown_window.GetFont() font.SetWeight(wx.FONTWEIGHT_BOLD) self.countdown_window.SetFont(font) self.instruction = InstructionText(panel) self.instruction.SetMinLines(3) font = self.instruction.GetFont() font.SetPointSize(26) self.instruction.SetFont(font) sizer = wx.BoxSizer(wx.VERTICAL) panel.SetSizer(sizer) sizer.AddStretchSpacer() sizer.Add(self.ref_vehicle, flag=wx.ALIGN_CENTER) sizer.Add(self.countdown_window, flag=wx.ALIGN_CENTER) sizer.AddStretchSpacer() sizer.Add(self.instruction, border=10, flag=wx.ALL | wx.EXPAND) sizer.AddStretchSpacer() sizer.Hide(self.countdown_window) return panel def ProgressPanel(self, parent): panel = Panel(parent) panel.SetBackgroundColour(LIGHT_BACKGROUND) self.progress = wx.StaticText(panel, label='0%') font = self.progress.GetFont() font.SetPointSize(70) font.SetWeight(wx.FONTWEIGHT_BOLD) self.progress.SetFont(font) self.grid = GeodesicGrid(panel) self.grid.SetMinSize((365, 365)) sizer = wx.BoxSizer(wx.VERTICAL) panel.SetSizer(sizer) sizer.AddStretchSpacer() sizer.Add(self.grid, flag=wx.ALIGN_CENTER) sizer.AddStretchSpacer() sizer.AddSpacer(16) sizer.Add(self.progress, flag=wx.ALIGN_CENTER) sizer.AddStretchSpacer() return panel def Footer(self, parent): footer = wx.BoxSizer(wx.HORIZONTAL) self.button = button = Button(parent, size=(180, -1)) button.SetPadding((0, 16)) button.SetBackgroundColour(LIGHT_BACKGROUND) button.SetBorderRadius(10) button.SetBorderWidth(2) font = button.GetFont() font.SetWeight(wx.FONTWEIGHT_BOLD) font.SetPointSize(20) button.SetFont(font) self.Bind(wx.EVT_BUTTON, self.OnButton, button) footer.Add(self.LoaderProgress(parent), proportion=1, flag=wx.EXPAND) footer.Add(button) return footer def LoaderProgress(self, parent): panel = wx.Panel(parent) panel.SetBackgroundColour(parent.GetBackgroundColour()) font = panel.GetFont() font.MakeItalic() panel.SetFont(font) self.load_progress = wx.Gauge(panel, size=(-1, 10)) self.load_progress_last_time = time.time() self.load_text = wx.StaticText(panel) sizer = wx.BoxSizer(wx.VERTICAL) panel.SetSizer(sizer) sizer.Add(self.load_progress, border=10, flag=wx.EXPAND | wx.LEFT | wx.RIGHT) sizer.Add(self.load_text, border=10, flag=wx.LEFT | wx.RIGHT) return panel def UpdateLoaderProgress(self, text, value, range): if value == -1: t = time.time() if t - self.load_progress_last_time > .001: self.load_progress.Pulse() self.load_progress_last_time = t else: self.load_progress.SetRange(range) self.load_progress.SetValue(value) if text != self.load_text.GetLabel(): self.load_text.SetLabel(text) self.ShowLoadProgress() def ShowLoadProgress(self): sizer = self.load_progress.GetContainingSizer() sizer.Show(self.load_progress) sizer.Show(self.load_text) def HideLoadProgress(self): sizer = self.load_progress.GetContainingSizer() sizer.Hide(self.load_progress) sizer.Hide(self.load_text) def SetState(self, state): if self.state == state: return if self.state == 'countdown': self.countdown = 0 self.countdown_timer.Stop() self.countdown_window.SetValue(self.countdown) sizer = self.countdown_window.GetContainingSizer() sizer.Show(self.ref_vehicle) sizer.Hide(self.countdown_window) sizer.Layout() elif self.state == 'running': self.calibration_instructions_timer.Stop() self.ref_vehicle.StopScript() self.ref_vehicle.SetEuler(0, 0, 0) if state == 'idle': self.SetInstructionText(self.initial_instruction) self.SetButtonState('start') elif state == 'countdown': self.countdown = 5 self.countdown_window.SetValue(self.countdown) self.SetInstructionText(self.countdown_instruction) self.countdown_timer.Start(1000) self.SetButtonState('cancel') sizer = self.countdown_window.GetContainingSizer() sizer.Show(self.countdown_window) sizer.Hide(self.ref_vehicle) sizer.Layout() elif state == 'start': self.conn.send('start') elif state == 'running': self.calibration_instruction_idx = 0 self.SetInstructionText(self.calibration_instructions[0]) self.calibration_instructions_timer.Start(5000) self.SetButtonState('cancel') self.ref_vehicle.RunScript(self.ref_rotations_script) elif state == 'cancel': self.conn.send('cancel') if self.state == 'countdown': self.SetState('idle') self.state = state def OnButton(self, evt): if self.button_state == 'start': self.SetState('countdown') elif self.button_state == 'cancel': self.SetState('cancel') def SetInstructionText(self, text): self.instruction.SetText(text) self.instruction.GetContainingSizer().Layout() def OnCountdownTimer(self, evt): self.countdown -= 1 self.countdown_window.SetValue(self.countdown) if not self.countdown: self.SetState('start') def OnLoaderTimer(self, evt): if self.vehicle_loader and self.vehicle_loader.is_alive(): i, num_lines = self.vehicle_loader.get_progress() self.UpdateLoaderProgress('Loading 3D vehicle object...', i, num_lines) def OnTimer(self, evt): close_requested = False while self.conn.poll(): msg = self.conn.recv() if msg['name'] == 'ui_is_active': self.ui_is_active = msg['value'] elif msg['name'] == 'close': close_requested = True elif msg['name'] == 'running': if msg['value']: self.SetState('running') else: if self.state != 'countdown': self.SetState('idle') elif msg['name'] == 'progress_update': self.UpdateProgress(msg['pct'], msg['sections']) elif msg['name'] == 'report': self.Report(msg['messages'], self.ui_is_active) elif msg['name'] == 'attitude': self.grid.SetAttitude(msg['roll'], msg['pitch'], msg['yaw'], msg['timestamp']) elif msg['name'] == 'mag': self.grid.SetMag(msg['x'], msg['y'], msg['z']) if close_requested: self.timer.Stop() self.Destroy() def OnCalibrationInstructionsTimer(self, evt): self.calibration_instruction_idx += 1 self.calibration_instruction_idx %= len(self.calibration_instructions) text = self.calibration_instructions[self.calibration_instruction_idx] self.SetInstructionText(text) def UpdateProgress(self, pct, sections): self.progress.SetLabel("%d%%" % pct) self.progress.GetContainingSizer().Layout() if self.grid: self.grid.UpdateVisibleSections(sections) def SetButtonState(self, state): if state == self.button_state: return if state == 'start': self.button.SetLabel('START') self.button.SetForegroundColour(PRIMARY_HIGHLIGHT) self.button.SetBorderColor(PRIMARY_HIGHLIGHT) elif state == 'cancel': self.button.SetLabel('CANCEL') self.button.SetBorderColor(COMMON_FOREGROUND) self.button.SetForegroundColour(COMMON_FOREGROUND) self.button_state = state self.button.Refresh() def Report(self, mavlink_messages, popup): self.SetState('idle') for m in mavlink_messages: if m.cal_status != mavlink.MAG_CAL_SUCCESS: break else: self.UpdateProgress(100, [True] * 80) if popup: p = ReportDialog(self, mavlink_messages) r = p.ShowModal() if r == wx.ID_REDO: self.SetState('countdown') MAVProxy-1.8.74/MAVProxy/modules/mavproxy_magical/wxgeodesicgrid.py000066400000000000000000000206561504324515000253700ustar00rootroot00000000000000# Copyright (C) 2016 Intel Corporation. All rights reserved. # # This file is free software: you can redistribute it and/or modify it # under the terms of the GNU General Public License as published by the # Free Software Foundation, either version 3 of the License, or # (at your option) any later version. # # This file is distributed in the hope that it will be useful, but # WITHOUT ANY WARRANTY; without even the implied warranty of # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. # See the GNU General Public License for more details. # # You should have received a copy of the GNU General Public License along # with this program. If not, see . from __future__ import division import math import os.path import time from OpenGL.GL import * from pymavlink import quaternion from pymavlink.rotmat import Vector3 from MAVProxy.modules import mavproxy_magical as magical from MAVProxy.modules.lib import geodesic_grid from MAVProxy.modules.lib import opengl from MAVProxy.modules.lib import wavefront as wv from MAVProxy.modules.lib.mp_util import quaternion_to_axis_angle from MAVProxy.modules.lib.wx_loader import wx from MAVProxy.modules.mavproxy_magical import glrenderer class Renderer(glrenderer.Renderer): def __init__(self, background): super(Renderer, self).__init__(background) glEnable(GL_DEPTH_TEST) glEnable(GL_MULTISAMPLE) glEnable(GL_BLEND) glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA) self.visible = [False for _ in range(len(geodesic_grid.sections))] self.common_model_transform = opengl.Transform() self.last_render_quaternion = quaternion.Quaternion( self.common_model_transform.quaternion) vertices = [(p.x, p.y, p.z) for t in geodesic_grid.sections for p in t] self.sphere = opengl.Object(vertices, enable_alpha=True) self.sphere.local.scale(0.46) self.sphere.model = self.common_model_transform self.base_color = Vector3(0.08, 0.68, 0.706667) self.vehicle = None path = os.path.join(magical.datapath, 'arrow.obj') obj = wv.ObjParser(filename=path).parse() self.mag = opengl.WavefrontObject(obj) self.mag.local.scale(.88) def get_load_progress(self): return self.vehicle_loader.get_progress() def rotate(self, vector, angle, rotate_mag=False): self.common_model_transform.rotate(vector, angle) if rotate_mag and self.mag: self.mag.model.rotate(vector, angle) def set_attitude(self, roll, pitch, yaw): self.common_model_transform.set_euler(roll, pitch, yaw) def set_mag(self, mag): if not mag.length(): return m = self.common_model_transform.apply(mag).normalized() axis = Vector3(0, 0, 1) % m angle = math.acos(Vector3(0, 0, 1) * m) self.mag.model.set_rotation(axis, angle) def render(self): super(Renderer, self).render() if self.vehicle: self.vehicle.draw(self.program) self.sphere.material.set_color(1.2 * self.base_color) self.sphere.material.specular_exponent = 4 self.sphere.material.alpha = 1.0 glPolygonMode(GL_FRONT_AND_BACK, GL_LINE) self.sphere.draw(self.program) glPolygonMode(GL_FRONT_AND_BACK, GL_FILL) self.mag.draw(self.program) self.sphere.material.set_color(self.base_color) self.sphere.material.alpha = .4 glPolygonMode(GL_FRONT_AND_BACK, GL_FILL) faces = [i for i in range(80) if self.visible[i]] self.sphere.draw(self.program, faces=faces, camera=self.camera) self.last_render_quaternion = quaternion.Quaternion( self.common_model_transform.quaternion) def set_section_visible(self, section, visible=True): self.visible[section] = visible def clear_sections(self): for i in range(len(self.visible)): self.visible[i] = False def set_vehicle_wavefront(self, vehicle): self.vehicle = opengl.WavefrontObject(vehicle) # FIXME: this class shouldn't need to be aware of the proper scaling self.vehicle.local.scale(3.5) self.vehicle.model = self.common_model_transform class GeodesicGrid(glrenderer.GLCanvas): def __init__(self, *k, **kw): super(GeodesicGrid, self).__init__(*k, **kw) self.vehicle_wavefront = None self.dragging = False self.Bind(wx.EVT_LEFT_DOWN, self.OnLeftDown) self.Bind(wx.EVT_LEFT_UP, self.OnLeftUp) self.Bind(wx.EVT_MOTION, self.OnMotion) self.attitude_timer = wx.Timer(self) self.Bind(wx.EVT_TIMER, self.OnAttitudeTimer, self.attitude_timer) self.attitude_timer.Start(40) self.gyro = Vector3(0, 0, 0) self.mag = Vector3(0, 0, 0) self.filtered_mag = Vector3(0, 0, 0) self.attitude_timer_last = 0 self.attitude_timestamp = 0 def CreateRenderer(self): r, g, b = self.GetParent().GetBackgroundColour() self.renderer = Renderer( background=(r / 255.0, g / 255.0, b / 255.0, 1), ) if self.vehicle_wavefront: self.renderer.set_vehicle_wavefront(self.vehicle_wavefront) self.vehicle_wavefront = None def SetVehicleWavefront(self, vehicle): if self.renderer: self.SetCurrent(self.context) self.renderer.set_vehicle_wavefront(vehicle) self.Refresh() return self.vehicle_wavefront = vehicle def SetMag(self, x, y, z): self.mag = Vector3(x, y, z) def SetAttitude(self, roll, pitch, yaw, timestamp): if not self.renderer: return dt = 0xFFFFFFFF & (timestamp - self.attitude_timestamp) dt *= 0.001 self.attitude_timestamp = timestamp desired_quaternion = quaternion.Quaternion((roll, pitch, yaw)) desired_quaternion.normalize() error = desired_quaternion / self.renderer.common_model_transform.quaternion error.normalize() self.gyro = quaternion_to_axis_angle(error) * (1.0 / dt) def OnAttitudeTimer(self, evt): if not self.renderer: return if self.dragging: return t = time.time() dt = t - self.attitude_timer_last self.attitude_timer_last = t angle = self.gyro.length() angle *= dt self.renderer.rotate(self.gyro, angle) alpha = 0.8 self.filtered_mag = alpha * self.filtered_mag + (1 - alpha) * self.mag self.renderer.set_mag(self.filtered_mag) q = self.renderer.common_model_transform.quaternion diff = q / self.renderer.last_render_quaternion angle = quaternion_to_axis_angle(diff).length() if angle < math.radians(.5): # Save some CPU time return self.Refresh() def CalcRotationVector(self, dx, dy): angle = math.degrees(math.atan2(dy, dx)) # Make angle discrete on multiples of 45 degrees angle = angle + 22.5 - (angle + 22.5) % 45 if angle % 90 == 45: x, y = 1, 1 elif (angle / 90) % 2 == 0: x, y = 1, 0 else: x, y = 0, 1 if abs(angle) > 90: x *= -1 if angle < 0: y *= -1 # NED coordinates from the camera point of view dx, dy, dz = 0, x, y # Get rotation axis by rotating the moving vector -90 degrees on x axis self.rotation_vector = Vector3(dx, dz, -dy) def GetDeltaAngle(self): radius = 60.0 pos = wx.GetMousePosition() d = pos - self.motion_reference self.motion_reference = pos self.CalcRotationVector(d.x, d.y) arc = math.sqrt(d.x**2 + d.y**2) return arc / radius def OnLeftDown(self, evt): self.motion_reference = wx.GetMousePosition() self.dragging = True def OnLeftUp(self, evt): self.dragging = False def OnMotion(self, evt): if hasattr(evt, 'ButtonIsDown'): left_button_down = evt.ButtonIsDown(wx.MOUSE_BTN_LEFT) else: left_button_down = evt.leftIsDown if not evt.Dragging() or not left_button_down: return angle = self.GetDeltaAngle() self.renderer.rotate(self.rotation_vector, angle, rotate_mag=True) self.Refresh() def UpdateVisibleSections(self, visible): for i, v in enumerate(visible): self.renderer.set_section_visible(i, v) self.Refresh() MAVProxy-1.8.74/MAVProxy/modules/mavproxy_magical/wxvehicle.py000066400000000000000000000176641504324515000243640ustar00rootroot00000000000000# Copyright (C) 2016 Intel Corporation. All rights reserved. # # This file is free software: you can redistribute it and/or modify it # under the terms of the GNU General Public License as published by the # Free Software Foundation, either version 3 of the License, or # (at your option) any later version. # # This file is distributed in the hope that it will be useful, but # WITHOUT ANY WARRANTY; without even the implied warranty of # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. # See the GNU General Public License for more details. # # You should have received a copy of the GNU General Public License along # with this program. If not, see . from __future__ import division import math import time from OpenGL.GL import * from pymavlink.quaternion import Quaternion from pymavlink.rotmat import Vector3 from MAVProxy.modules.lib import opengl from MAVProxy.modules.lib.mp_util import quaternion_to_axis_angle from MAVProxy.modules.lib.wx_loader import wx from MAVProxy.modules.mavproxy_magical import glrenderer from wx import glcanvas class Renderer(glrenderer.Renderer): def __init__(self, background): super(Renderer, self).__init__(background) glEnable(GL_DEPTH_TEST) glEnable(GL_MULTISAMPLE) self.vehicle = None def render(self): super(Renderer, self).render() if self.vehicle: self.vehicle.draw(self.program) def set_vehicle_wavefront(self, vehicle): self.vehicle = opengl.WavefrontObject(vehicle) # FIXME: this class shouldn't need to be aware of the proper scaling self.vehicle.local.scale(4.4) class Vehicle(glrenderer.GLCanvas): script_available_methods = ( 'SetAngvel', 'SetEuler', ) def __init__(self, *k, **kw): kw['attribList'] = (glcanvas.WX_GL_SAMPLES, 4) super(Vehicle, self).__init__(*k, **kw) self.context = glcanvas.GLContext(self) self.vehicle_wavefront = None self.script = None self.script_command = 0 self.script_timer = wx.Timer(self) self.Bind(wx.EVT_TIMER, self.OnScriptTimer, self.script_timer) self.angvel = None self.desired_quaternion = None self.attitude_callback = None self.actuation_state = None self.actuation_timer = wx.Timer(self) self.Bind(wx.EVT_TIMER, self.OnActuationTimer, self.actuation_timer) def CreateRenderer(self): r, g, b = self.GetParent().GetBackgroundColour() self.renderer = Renderer( background=(r / 255.0, g / 255.0, b / 255.0, 1), ) if self.vehicle_wavefront: self.renderer.set_vehicle_wavefront(self.vehicle_wavefront) self.vehicle_wavefront = None def SetVehicleWavefront(self, vehicle): if self.renderer: self.SetCurrent(self.context) self.renderer.set_vehicle_wavefront(vehicle) self.Refresh() return self.vehicle_wavefront = vehicle def SetEuler(self, roll, pitch, yaw, callback=None): self.desired_quaternion = Quaternion((roll, pitch, yaw)) self.attitude_callback = callback self.actuation_state = 'attitude' self.angvel = Vector3(1, 0, 0), 0 self.StartActuation() def SetAngvel(self, axis, speed): if not isinstance(axis, Vector3): axis = Vector3(*axis) axis = self.renderer.vehicle.model.apply(axis) self.angvel = axis, speed self.actuation_state = 'angvel' self.StartActuation() def StartActuation(self): if not self.actuation_timer.IsRunning(): self.actuation_timer.Start(40) def StopActuation(self): self.actuation_timer.Stop() def OnActuationTimer(self, evt): if not self.renderer.vehicle: return dt = evt.GetInterval() * .001 axis, speed = self.angvel angle = speed * dt self.renderer.vehicle.model.rotate(axis, angle) if self.actuation_state == 'attitude': diff = self.desired_quaternion / self.renderer.vehicle.model.quaternion diff = quaternion_to_axis_angle(diff) angle = diff.length() if abs(angle) <= 0.001: self.renderer.vehicle.model.quaternion = self.desired_quaternion self.StopActuation() if self.attitude_callback: self.attitude_callback() self.attitude_callback = None else: speed = angle / dt self.angvel = Vector3(diff.x, diff.y, diff.z), speed * .3 self.Refresh() def RunScript(self, script): ''' Actuate on the vehicle through a script. The script is a sequence of commands. Each command is a sequence with the first element as the command name and the remaining values as parameters. The script is executed asynchronously by a timer with a period of 0.1 seconds. At each timer tick, the next command is executed if it's ready for execution. If a command name starts with '.', then the remaining characters are a method name and the arguments are passed to the method call. For example, the command ('.SetEuler', 0, math.pi / 2, 0) sets the vehicle nose up. The methods available for that type of command are in the class property script_available_methods. The other possible commands are: - wait(sec): wait for sec seconds. Because of the timer period, some inaccuracy is expected depending on the value of sec. - restart: go back to the first command. Example:: vehicle.RunScript(( ('.SetEuler', 0, 0, 0), # Set vehicle level ('wait', 2), # Wait for 2 seconds # Rotate continuously on the x-axis at a rate of 90 degrees per # second ('.SetAngvel', (1, 0, 0), math.pi / 2), ('wait', 5), # Let the vehicle rotating for 5 seconds ('restart',), # Restart the script )) ''' self.script = script self.script_command = 0 self.script_command_start_time = 0 self.script_command_state = 'ready' self.script_timer.Start(100) self.script_wait_time = 0 def OnScriptTimer(self, evt): if not self.script or self.script_command >= len(self.script): self.StopScript() return cmd = self.script[self.script_command] name = cmd[0] args = cmd[1:] if self.script_command_state == 'ready': if name.startswith('.'): name = name[1:] if name not in self.script_available_methods: raise Exception("Vehicle: script: invalid method name \"%s\"" % name) if name == 'SetEuler': self.script_command_state = 'running' def callback(): self.script_command += 1 self.script_command_state = 'ready' args = tuple(args[:3]) + (callback,) else: self.script_command += 1 getattr(self, name)(*args) elif name == 'wait': self.script_wait_time = float(args[0]) if args else 1 self.script_command_state = 'running' elif name == 'restart': self.script_command = 0 else: raise Exception("Vehicle: script: invalid command \"%s\"" % name) self.script_command_start_time = time.time() elif self.script_command_state == 'running': if name == 'wait': t = time.time() - self.script_command_start_time if t >= self.script_wait_time: self.script_command += 1 self.script_command_state = 'ready' def StopScript(self): self.script_timer.Stop() self.script = None MAVProxy-1.8.74/MAVProxy/modules/mavproxy_map/000077500000000000000000000000001504324515000211565ustar00rootroot00000000000000MAVProxy-1.8.74/MAVProxy/modules/mavproxy_map/GAreader.py000077500000000000000000000164041504324515000232120ustar00rootroot00000000000000#!/usr/bin/env python3 ''' Module to read DTM files published by Geoscience Australia Written by Stephen Dade (stephen_dade@hotmail.com ''' import os import sys import numpy class ERMap: '''Class to read GA files''' def __init__(self): self.header = None self.data = None self.startlongitude = 0 self.startlatitude = 0 self.endlongitude = 0 self.endlatitude = 0 self.deltalongitude = 0 self.deltalatitude = 0 def read_ermapper(self, ifile): '''Read in a DEM file and associated .ers file''' ers_index = ifile.find('.ers') if ers_index > 0: data_file = ifile[0:ers_index] header_file = ifile else: data_file = ifile header_file = ifile + '.ers' self.header = self.read_ermapper_header(header_file) nroflines = int(self.header['nroflines']) nrofcellsperlines = int(self.header['nrofcellsperline']) self.data = self.read_ermapper_data(data_file, offset=int(self.header['headeroffset'])) self.data = numpy.reshape(self.data,(nroflines,nrofcellsperlines)) longy = numpy.fromstring(self.getHeaderParam('longitude'), sep=':') latty = numpy.fromstring(self.getHeaderParam('latitude'), sep=':') self.deltalatitude = float(self.header['ydimension']) self.deltalongitude = float(self.header['xdimension']) if longy[0] < 0: self.startlongitude = longy[0]+-((longy[1]/60)+(longy[2]/3600)) self.endlongitude = self.startlongitude - int(self.header['nrofcellsperline'])*self.deltalongitude else: self.startlongitude = longy[0]+(longy[1]/60)+(longy[2]/3600) self.endlongitude = self.startlongitude + int(self.header['nrofcellsperline'])*self.deltalongitude if latty[0] < 0: self.startlatitude = latty[0]-((latty[1]/60)+(latty[2]/3600)) self.endlatitude = self.startlatitude - int(self.header['nroflines'])*self.deltalatitude else: self.startlatitude = latty[0]+(latty[1]/60)+(latty[2]/3600) self.endlatitude = self.startlatitude + int(self.header['nroflines'])*self.deltalatitude def read_ermapper_header(self, ifile): # function for reading an ERMapper header from file header = {} fid = open(ifile,'rt') header_string = fid.readlines() fid.close() for line in header_string: if line.find('=') > 0: tmp_string = line.strip().split('=') header[tmp_string[0].strip().lower()]= tmp_string[1].strip() return header def read_ermapper_data(self, ifile, data_format = numpy.float32, offset=0): # open input file in a binary format and read the input string fid = open(ifile,'rb') if offset != 0: fid.seek(offset) input_string = fid.read() fid.close() # convert input string to required format (Note default format is numpy.float32) grid_as_float = numpy.fromstring(input_string,data_format) return grid_as_float def getHeaderParam(self, key): '''Find a parameter in the associated .ers file''' return self.header[key] def printBoundingBox(self): '''Print the bounding box that this DEM covers''' print("Bounding Latitude: ") print(self.startlatitude) print(self.endlatitude) print("Bounding Longitude: ") print(self.startlongitude) print(self.endlongitude) def getPercentBlank(self): '''Print how many null cells are in the DEM - Quality measure''' blank = 0 nonblank = 0 for x in self.data.flat: if x == -99999.0: blank = blank + 1 else: nonblank = nonblank + 1 print("Blank tiles = ", blank, "out of ", (nonblank+blank)) def getAltitudeAtPoint(self, latty, longy): '''Return the altitude at a particular long/lat''' #check the bounds if self.startlongitude > 0 and (longy < self.startlongitude or longy > self.endlongitude): return -1 if self.startlongitude < 0 and (longy > self.startlongitude or longy < self.endlongitude): return -1 if self.startlatitude > 0 and (latty < self.startlatitude or longy > self.endlatitude): return -1 if self.startlatitude < 0 and (latty > self.startlatitude or longy < self.endlatitude): return -1 x = numpy.abs((latty - self.startlatitude)/self.deltalatitude) y = numpy.abs((longy - self.startlongitude)/self.deltalongitude) #do some interpolation # print("x,y", x, y) x_int = int(x) x_frac = x - int(x) y_int = int(y) y_frac = y - int(y) #print("frac", x_int, x_frac, y_int, y_frac) value00 = self.data[x_int, y_int] value10 = self.data[x_int+1, y_int] value01 = self.data[x_int, y_int+1] value11 = self.data[x_int+1, y_int+1] #print("values ", value00, value10, value01, value11) #check for null values if value00 == -99999: value00 = 0 if value10 == -99999: value10 = 0 if value01 == -99999: value01 = 0 if value11 == -99999: value11 = 0 value1 = self._avg(value00, value10, x_frac) value2 = self._avg(value01, value11, x_frac) value = self._avg(value1, value2, y_frac) return value @staticmethod def _avg(value1, value2, weight): """Returns the weighted average of two values and handles the case where one value is None. If both values are None, None is returned. """ if value1 is None: return value2 if value2 is None: return value1 return value2 * weight + value1 * (1 - weight) if __name__ == '__main__': print("./Canberra/GSNSW_P756demg") mappy = ERMap() mappy.read_ermapper(os.path.join(os.environ['HOME'], './Documents/Elevation/Canberra/GSNSW_P756demg')) #print some header data mappy.printBoundingBox() #get a measure of data quality #mappy.getPercentBlank() #test the altitude (around Canberra): alt = mappy.getAltitudeAtPoint(-35.274411, 149.097504) print("Alt at (-35.274411, 149.097504) is 807m (Google) or " + str(alt)) alt = mappy.getAltitudeAtPoint(-35.239648, 149.126118) print("Alt at (-35.239648, 149.126118) is 577m (Google) or " + str(alt)) alt = mappy.getAltitudeAtPoint(-35.362751, 149.165361) print("Alt at (-35.362751, 149.165361) is 584m (Google) or " + str(alt)) alt = mappy.getAltitudeAtPoint(-35.306992, 149.194274) print("Alt at (-35.306992, 149.194274) is 570m (Google) or " + str(alt)) alt = mappy.getAltitudeAtPoint(-35.261612, 149.542091) print("Alt at (-35.261612, 149.542091) is 766m (Google) or " + str(alt)) alt = mappy.getAltitudeAtPoint(-35.052544, 149.509165) print("Alt at (-35.052544, 149.509165) is 700m (Google) or " + str(alt)) alt = mappy.getAltitudeAtPoint(-35.045126, 149.257482) print("Alt at (-35.045126, 149.257482) is 577m (Google) or " + str(alt)) alt = mappy.getAltitudeAtPoint(-35.564044, 149.177657) print("Alt at (-35.564044, 149.177657) is 1113m (Google) or " + str(alt)) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_map/__init__.py000066400000000000000000001737701504324515000233060ustar00rootroot00000000000000#!/usr/bin/env python3 ''' map display module Andrew Tridgell June 2012 ''' import sys, os, math import functools import time import datetime from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import mp_settings from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib.mp_menu import * from pymavlink import mavutil from PIL import ImageColor class MapModule(mp_module.MPModule): def __init__(self, mpstate): super(MapModule, self).__init__(mpstate, "map", "map display", public = True, multi_instance=True, multi_vehicle=True) cmdname = "map" if self.instance > 1: cmdname += "%u" % self.instance # lat/lon per system ID self.lat_lon_heading = {} self.wp_change_time = 0 self.fence_change_time = 0 self.rally_change_time = 0 self.terrain_contour_ids = [] self.have_simstate = False self.have_vehicle = {} self.move_wp = -1 self.moving_wp = None self.moving_fencepoint = None self.moving_rally = None self.mission_list = None self.moving_polygon_point = None self.moving_circle = None self.setting_circle_radius = None self.icon_counter = 0 self.circle_counter = 0 self.draw_line = None self.draw_callback = None self.current_ROI = None self.have_global_position = False self.vehicle_type_by_sysid = {} self.vehicle_type_name = 'plane' self.last_unload_check_time = time.time() self.unload_check_interval = 0.1 # seconds self.trajectory_layers = set() self.vehicle_type_override = {} self.map_settings = mp_settings.MPSettings( [ ('showgpspos', int, 1), ('showgps2pos', int, 1), ('showsimpos', int, 0), ('showahrspos', int, 1), ('showahrs2pos', int, 0), ('showahrs3pos', int, 0), ('brightness', float, 1), ('rallycircle', bool, False), ('loitercircle',bool, False), ('showclicktime',int, 2), ('showwpnum',bool, True), ('circle_linewidth', int, 1), ('showdirection', bool, False), ('setpos_accuracy', float, 50), ('mission_color', str, "white"), ('font_size', float, 0.5), ('contour_levels', int, 20), ('contour_grid_spacing', float, 30.0), ('contour_grid_extent', float, 20000.0), ]) service='MicrosoftHyb' if 'MAP_SERVICE' in os.environ: service = os.environ['MAP_SERVICE'] import platform from MAVProxy.modules.mavproxy_map import mp_slipmap title = "Map" if self.instance > 1: title += str(self.instance) elevation = None terrain_module = self.module('terrain') if terrain_module is not None: elevation = terrain_module.ElevationModel.database self.map = mp_slipmap.MPSlipMap(service=service, elevation=elevation, title=title) if self.instance == 1: self.mpstate.map = self.map mpstate.map_functions = { 'draw_lines' : self.draw_lines } self.map.add_callback(functools.partial(self.map_callback)) self.add_command(cmdname, self.cmd_map, "map control", ['icon', 'set (MAPSETTING)', 'vehicletype', 'zoom', 'center', 'follow', 'menu', 'marker', 'clear']) self.add_completion_function('(MAPSETTING)', self.map_settings.completion) self.default_popup = MPMenuSubMenu('Popup', items=[]) self.add_menu(MPMenuItem('Fly To', 'Fly To', '# guided ', handler=MPMenuCallTextDropdownDialog(title='Altitude', default=self.mpstate.settings.guidedalt, dropdown_label='Frame', dropdown_options=['AboveHome','AGL','AMSL'], default_dropdown=self.settings.flytoframe))) self.add_menu(MPMenuItem('Terrain Check', 'Terrain Check', '# terrain check')) self.add_menu(MPMenuItem('Show Position', 'Show Position', 'showPosition')) self.add_menu(MPMenuItem('Google Maps Link', 'Google Maps Link', 'printGoogleMapsLink')) self.add_menu(MPMenuItem('Set ROI', 'Set ROI', '# map setroi ')) self.add_menu(MPMenuItem('Set Position', 'Set Position', '# map setposition ')) self.add_menu(MPMenuSubMenu('Home', items=[ MPMenuItem('Set Home', 'Set Home', '# confirm "Set HOME?" map sethomepos '), MPMenuItem('Set Home (with height)', 'Set Home', '# confirm "Set HOME with height?" map sethome '), MPMenuItem('Set Origin', 'Set Origin', '# confirm "Set ORIGIN?" map setoriginpos '), MPMenuItem('Set Origin (with height)', 'Set Origin', '# confirm "Set ORIGIN with height?" map setorigin '), ])) self.cmd_menu_add(["Marker:Flag", "map", "marker", "flag"]) self.cmd_menu_add(["Marker:Barrell", "map", "marker", "barrell"]) self.cmd_menu_add(["Marker:Flame", "map", "marker", "flame"]) self._colour_for_wp_command = { # takeoff commands mavutil.mavlink.MAV_CMD_NAV_TAKEOFF: (255,0,0), mavutil.mavlink.MAV_CMD_NAV_TAKEOFF_LOCAL: (255,0,0), mavutil.mavlink.MAV_CMD_NAV_VTOL_TAKEOFF: (255,0,0), # land commands mavutil.mavlink.MAV_CMD_NAV_LAND_LOCAL: (255,255,0), mavutil.mavlink.MAV_CMD_NAV_LAND: (255,255,0), mavutil.mavlink.MAV_CMD_NAV_VTOL_LAND: (255,255,0), # waypoint commands mavutil.mavlink.MAV_CMD_NAV_WAYPOINT: (0,255,255), mavutil.mavlink.MAV_CMD_NAV_SPLINE_WAYPOINT: (64,255,64), # other commands mavutil.mavlink.MAV_CMD_DO_LAND_START: (255,127,0), } self._label_suffix_for_wp_command = { mavutil.mavlink.MAV_CMD_NAV_TAKEOFF: "TOff", mavutil.mavlink.MAV_CMD_DO_LAND_START: "DLS", mavutil.mavlink.MAV_CMD_NAV_SPLINE_WAYPOINT: "SW", mavutil.mavlink.MAV_CMD_NAV_VTOL_LAND: "VL", } self.add_menu(MPMenuSubMenu('Terrain', items=[ MPMenuItem('Show Contours', returnkey='showTerrainContours'), MPMenuItem('Hide Contours', returnkey='hideTerrainContours'), MPMenuItem('Remove Contours', returnkey='removeTerrainContours'), ])) def add_menu(self, menu): '''add to the default popup menu''' from MAVProxy.modules.mavproxy_map import mp_slipmap self.default_popup.add(menu) self.map.add_object(mp_slipmap.SlipDefaultPopup(self.default_popup, combine=True)) def cmd_menu_add(self, args): '''add to map menus''' if len(args) < 2: print("Usage: map menu add MenuPath command") return menupath = args[0].strip('"').split(':') name = menupath[-1] cmd = '# ' + ' '.join(args[1:]) self.default_popup.add_to_submenu(menupath[:-1], MPMenuItem(name, name, cmd)) self.map.add_object(mp_slipmap.SlipDefaultPopup(self.default_popup, combine=True)) def cmd_menu(self, args): '''control console menus''' if len(args) < 2: print("Usage: map menu ") return if args[0] == 'add': self.cmd_menu_add(args[1:]) def remove_menu(self, menu): '''add to the default popup menu''' from MAVProxy.modules.mavproxy_map import mp_slipmap self.default_popup.remove(menu) self.map.add_object(mp_slipmap.SlipDefaultPopup(self.default_popup, combine=True)) def show_position(self): '''show map position click information''' pos = self.mpstate.click_location dms = (mp_util.degrees_to_dms(pos[0]), mp_util.degrees_to_dms(pos[1])) msg = "Coordinates in WGS84\n" msg += "Decimal: %.6f %.6f\n" % (pos[0], pos[1]) msg += "DMS: %s %s\n" % (dms[0], dms[1]) msg += "Grid: %s\n" % mp_util.latlon_to_grid(pos) if self.logdir: logf = open(os.path.join(self.logdir, "positions.txt"), "a") logf.write("Position: %.6f %.6f at %s\n" % (pos[0], pos[1], time.ctime())) logf.close() posbox = MPMenuChildMessageDialog('Position', msg, font_size=32) posbox.show() def print_google_maps_link(self): '''show map position click information''' pos = self.mpstate.click_location print("https://www.google.com/maps/search/?api=1&query=%f,%f" % (pos[0], pos[1])) def write_JSON(self, fname, template, vardict): '''write a JSON file in log directory''' fname = os.path.join(self.logdir, fname) json = template for k in vardict.keys(): value = vardict[k] json = json.replace("{{" + k + "}}", str(value)) open(fname, 'w').write(json) def cmd_map_marker(self, args, latlon=None): '''add a map marker''' usage = "Usage: map marker " if latlon is None: latlon = self.mpstate.click_location if latlon is None: print("Need click position for marker") return (lat, lon) = latlon marker = 'flag' text = '' if len(args) > 0: marker = args[0] if len(args) > 1: text = ' '.join(args[1:]) flag = marker + '.png' icon = self.map.icon(flag) self.map.add_object(mp_slipmap.SlipIcon( 'icon - %s [%u]' % (str(flag),self.icon_counter), (float(lat),float(lon)), icon, layer=3, rotation=0, follow=False)) self.icon_counter += 1 now = time.time() tstr = datetime.datetime.fromtimestamp(now).strftime("%Y_%m_%d_%H_%M_%S") subsec = now - math.floor(now) millis = int(subsec * 1000) fname = "marker_%s_%03u.json" % (tstr, millis) gpi = self.master.messages.get('GLOBAL_POSITION_INT',None) att = self.master.messages.get('ATTITUDE',None) self.write_JSON(fname,'''{ "marker" : {{MARKER}}, "text" : "{{TEXT}}", "tsec" : {{TIMESEC}}, "mlat" : {{LAT}}, "mlon" : {{LON}}, "vlat" : {{VLAT}}, "vlon" : {{VLON}}, "valt" : {{VALT}}, "gspeed" : {{GSPEED}}, "ghead" : {{GHEAD}}, "roll" : {{ROLL}}, "pitch" : {{PITCH}}, "yaw" : {{YAW}}, } ''', { "TIMESEC" : now, "MARKER" : marker, "TEXT" : text, "LAT" : lat, "LON" : lon, "VLAT" : "%.9f" % (gpi.lat*1.0e-7), "VLON" : "%.9f" % (gpi.lon*1.0e-7), "VALT" : gpi.alt*1.0e-3, "GSPEED" : math.sqrt(gpi.vx**2+gpi.vy**2)*0.01, "GHEAD" : gpi.hdg*0.01, "ROLL" : math.degrees(att.roll), "PITCH" : math.degrees(att.pitch), "YAW" : math.degrees(att.yaw) }) print("Wrote marker %s" % fname) def cmd_map(self, args): '''map commands''' from MAVProxy.modules.mavproxy_map import mp_slipmap if len(args) < 1: print("usage: map ") elif args[0] == "menu": self.cmd_menu(args[1:]) elif args[0] == "icon": usage = "Usage: map icon " flag = 'flag.png' if len(args) > 2: lat = args[1] lon = args[2] if len(args) > 3: flag = args[3] + '.png' elif self.mpstate.click_location is not None: if len(args) >= 1: # i.e. "map icon" (lat, lon) = self.mpstate.click_location if len(args) == 2: # i.e. map icon barrell flag = args[1] else: print(usage) return icon = self.map.icon(flag) self.map.add_object(mp_slipmap.SlipIcon( 'icon - %s [%u]' % (str(flag),self.icon_counter), (float(lat),float(lon)), icon, layer=3, rotation=0, follow=False)) self.icon_counter += 1 elif args[0] == "marker": self.cmd_map_marker(args[1:]) elif args[0] == "vehicletype": if len(args) < 3: print("Usage: map vehicletype SYSID TYPE") else: sysid = int(args[1]) vtype = int(args[2]) self.vehicle_type_override[sysid] = vtype print("Set sysid %u to vehicle type %u" % (sysid, vtype)) elif args[0] == "circle": self.cmd_map_circle(args[1:]) elif args[0] == "set": self.map_settings.command(args[1:]) self.map.add_object(mp_slipmap.SlipBrightness(self.map_settings.brightness)) elif args[0] == "sethome": self.cmd_set_home(args) elif args[0] == "sethomepos": self.cmd_set_homepos(args) elif args[0] == "setorigin": self.cmd_set_origin(args) elif args[0] == "setoriginpos": self.cmd_set_originpos(args) elif args[0] == "zoom": self.cmd_zoom(args) elif args[0] == "center": self.cmd_center(args) elif args[0] == "follow": self.cmd_follow(args) elif args[0] == "clear": self.cmd_clear(args) elif args[0] == "setroi": self.cmd_set_roi(args) elif args[0] == "setposition": self.cmd_set_position(args) else: print("usage: map ") def cmd_map_circle(self, args): usage = ''' Usage: map circle Usage: map circle ''' lat = None colour = None # syntax 1, lat/lon/radius/colour if len(args) == 4: colour = args[3] args = args[0:3] if len(args) == 3: lat = args[0] lon = args[1] radius = args[2] # syntax 2, radius/colour, uses click position if len(args) == 2: colour = args[1] args = args[0:1] if len(args) == 1: pos = self.mpstate.click_location if pos is None: print("Need click or location") print(usage) return (lat, lon) = pos radius = args[0] if lat is None: print(usage) return if colour is None: colour = "red" if colour == "red": colour = (255,0,0) elif colour == "green": colour = (0,255,0) elif colour == "blue": colour = (0,0,255) else: colour = eval(colour) circle = mp_slipmap.SlipCircle( "circle %u" % self.circle_counter, 3, (float(lat), float(lon)), float(radius), colour, linewidth=self.map_settings.circle_linewidth, ) self.map.add_object(circle) self.circle_counter += 1 def colour_for_wp(self, wp_num): '''return a tuple describing the colour a waypoint should appear on the map''' wp = self.module('wp').wploader.wp(wp_num) command = wp.command return self._colour_for_wp_command.get(command, (0,255,0)) def label_for_waypoint(self, wp_num): '''return the label the waypoint which should appear on the map''' wp = self.module('wp').wploader.wp(wp_num) command = wp.command if command not in self._label_suffix_for_wp_command: return str(wp_num) return str(wp_num) + "(" + self._label_suffix_for_wp_command[command] + ")" def display_waypoints(self): '''display the waypoints''' from MAVProxy.modules.mavproxy_map import mp_slipmap self.mission_list = self.module('wp').wploader.view_list() polygons = self.module('wp').wploader.polygon_list() self.map.add_object(mp_slipmap.SlipClearLayer('Mission')) items = [MPMenuItem('WP Set', returnkey='popupMissionSet'), MPMenuItem('WP Remove', returnkey='popupMissionRemove'), MPMenuItem('WP Move', returnkey='popupMissionMove'), MPMenuItem('WP Split', returnkey='popupMissionSplit'), ] for i in range(len(polygons)): p = polygons[i] if len(p) > 1: popup = MPMenuSubMenu('Popup', items) self.map.add_object(mp_slipmap.SlipPolygon('mission %u' % i, p, layer='Mission', linewidth=2, colour=ImageColor.getrgb(self.map_settings.mission_color), arrow = self.map_settings.showdirection, popup_menu=popup)) labeled_wps = {} self.map.add_object(mp_slipmap.SlipClearLayer('LoiterCircles')) if not self.map_settings.showwpnum: return font_size = self.map_settings.font_size for i in range(len(self.mission_list)): next_list = self.mission_list[i] for j in range(len(next_list)): #label already printed for this wp? if (next_list[j] not in labeled_wps): label = self.label_for_waypoint(next_list[j]) colour = self.colour_for_wp(next_list[j]) self.map.add_object(mp_slipmap.SlipLabel( 'miss_cmd %u/%u' % (i,j), polygons[i][j], label, 'Mission', colour=colour, size=font_size)) if (self.map_settings.loitercircle and self.module('wp').wploader.wp_is_loiter(next_list[j])): wp = self.module('wp').wploader.wp(next_list[j]) if wp.command != mavutil.mavlink.MAV_CMD_NAV_LOITER_TO_ALT and wp.param3 != 0: # wp radius and direction is defined by the mission loiter_rad = wp.param3 elif wp.command == mavutil.mavlink.MAV_CMD_NAV_LOITER_TO_ALT and wp.param2 != 0: # wp radius and direction is defined by the mission loiter_rad = wp.param2 else: # wp radius and direction is defined by the parameter loiter_rad = self.get_mav_param('WP_LOITER_RAD') self.map.add_object(mp_slipmap.SlipCircle('Loiter Circle %u' % (next_list[j] + 1), 'LoiterCircles', polygons[i][j], loiter_rad, (255, 255, 255), 2, arrow = self.map_settings.showdirection)) labeled_wps[next_list[j]] = (i,j) # Start: handling of PolyFence popup menu items def polyfence_remove_circle(self, id): '''called when a fence is right-clicked and remove is selected; removes the circle ''' (seq, type) = id.split(":") self.module('fence').removecircle(int(seq)) def polyfence_move_circle(self, id): '''called when a fence is right-clicked and move circle is selected; start moving the circle ''' (seq, t) = id.split(":") self.moving_circle = int(seq) def polyfence_set_circle_radius(self, id): '''called when a fence is right-clicked and change-circle-radius is selected; next click sets the radius ''' (seq, t) = id.split(":") self.setting_circle_radius = int(seq) def polyfence_remove_returnpoint(self, id): '''called when a returnpoint is right-clicked and remove is selected; removes the return point ''' (seq, type) = id.split(":") self.module('fence').removereturnpoint(int(seq)) def polyfence_remove_polygon(self, id): '''called when a fence is right-clicked and remove is selected; removes the polygon ''' (seq, type) = id.split(":") self.module('fence').removepolygon(int(seq)) def polyfence_remove_polygon_point(self, id, extra): '''called when a fence is right-clicked and remove point is selected; removes the polygon point ''' (seq, type) = id.split(":") self.module('fence').removepolygon_point(int(seq), int(extra)) def polyfence_add_polygon_point(self, id, extra): '''called when a fence is right-clicked and add point is selected; adds a polygon *before* this one in the list ''' (seq, type) = id.split(":") self.module('fence').addpolygon_point(int(seq), int(extra)) def polyfence_move_polygon_point(self, id, extra): '''called when a fence is right-clicked and move point is selected; start moving the polygon point ''' (seq, t) = id.split(":") self.moving_polygon_point = (int(seq), extra) # End: handling of PolyFence popup menu items def display_polyfences_circles(self, circles, colour): '''draws circles in the PolyFence layer with colour colour''' for circle in circles: lat = circle.x lng = circle.y if circle.get_type() == 'MISSION_ITEM_INT': lat *= 1e-7 lng *= 1e-7 items = [ MPMenuItem('Remove Circle', returnkey='popupPolyFenceRemoveCircle'), MPMenuItem('Move Circle', returnkey='popupPolyFenceMoveCircle'), MPMenuItem('Set Circle Radius w/click', returnkey='popupPolyFenceSetCircleRadius'), ] popup = MPMenuSubMenu('Popup', items) slipcircle = mp_slipmap.SlipCircle( str(circle.seq) + ":circle", # key "PolyFence", # layer (lat, lng), # latlon circle.param1, # radius colour, linewidth=2, popup_menu=popup) self.map.add_object(slipcircle) def display_polyfences_inclusion_circles(self): '''draws inclusion circles in the PolyFence layer with colour colour''' inclusions = self.module('fence').inclusion_circles() self.display_polyfences_circles(inclusions, (0, 255, 0)) def display_polyfences_exclusion_circles(self): '''draws exclusion circles in the PolyFence layer with colour colour''' exclusions = self.module('fence').exclusion_circles() self.display_polyfences_circles(exclusions, (255, 0, 0)) def display_polyfences_polygons(self, polygons, colour): '''draws polygons in the PolyFence layer with colour colour''' for polygon in polygons: points = [] for point in polygon: lat = point.x lng = point.y if point.get_type() == 'MISSION_ITEM_INT': lat *= 1e-7 lng *= 1e-7 points.append((lat, lng)) items = [ MPMenuItem('Remove Polygon', returnkey='popupPolyFenceRemovePolygon'), ] if len(points) > 3: items.append(MPMenuItem('Remove Polygon Point', returnkey='popupPolyFenceRemovePolygonPoint')) items.append(MPMenuItem('Move Polygon Point', returnkey='popupPolyFenceMovePolygonPoint')) items.append(MPMenuItem('Add Polygon Point', returnkey='popupPolyFenceAddPolygonPoint')) popup = MPMenuSubMenu('Popup', items) poly = mp_slipmap.UnclosedSlipPolygon( str(polygon[0].seq) + ":poly", # key, points, layer='PolyFence', linewidth=2, colour=colour, popup_menu=popup) self.map.add_object(poly) def display_polyfences_returnpoint(self): returnpoint = self.module('fence').returnpoint() if returnpoint is None: return lat = returnpoint.x lng = returnpoint.y if returnpoint.get_type() == 'MISSION_ITEM_INT': lat *= 1e-7 lng *= 1e-7 popup = MPMenuSubMenu('Popup', [ MPMenuItem('Remove Return Point', returnkey='popupPolyFenceRemoveReturnPoint'), ]) self.map.add_object(mp_slipmap.SlipCircle( str(returnpoint.seq) + ":returnpoint", # key 'PolyFence', (lat, lng), 10, (255,127,127), 2, popup_menu=popup, )) def display_polyfences_inclusion_polygons(self): '''draws inclusion polygons in the PolyFence layer with colour colour''' inclusions = self.module('fence').inclusion_polygons() self.display_polyfences_polygons(inclusions, (0, 255, 0)) def display_polyfences_exclusion_polygons(self): '''draws exclusion polygons in the PolyFence layer with colour colour''' exclusions = self.module('fence').exclusion_polygons() self.display_polyfences_polygons(exclusions, (255, 0, 0)) def display_polyfences(self): '''draws PolyFence items in the PolyFence layer''' self.map.add_object(mp_slipmap.SlipClearLayer('PolyFence')) self.display_polyfences_inclusion_circles() self.display_polyfences_exclusion_circles() self.display_polyfences_inclusion_polygons() self.display_polyfences_exclusion_polygons() self.display_polyfences_returnpoint() def display_fence(self): '''display the fence''' from MAVProxy.modules.mavproxy_map import mp_slipmap if getattr(self.module('fence'), "cmd_addcircle", None) is not None: # we're doing fences via MissionItemProtocol and thus have # much more work to do return self.display_polyfences() # traditional module, a single polygon fence transfered using # FENCE_POINT protocol: points = self.module('fence').fenceloader.polygon() self.map.add_object(mp_slipmap.SlipClearLayer('Fence')) if len(points) > 1: popup = MPMenuSubMenu('Popup', items=[MPMenuItem('FencePoint Remove', returnkey='popupFenceRemove'), MPMenuItem('FencePoint Move', returnkey='popupFenceMove')]) self.map.add_object(mp_slipmap.SlipPolygon('Fence', points, layer=1, linewidth=2, colour=(0,255,0), popup_menu=popup)) else: self.map.remove_object('Fence') def closest_waypoint(self, latlon): '''find closest waypoint to a position''' (lat, lon) = latlon best_distance = -1 closest = -1 for i in range(self.module('wp').wploader.count()): w = self.module('wp').wploader.wp(i) distance = mp_util.gps_distance(lat, lon, w.x, w.y) if best_distance == -1 or distance < best_distance: best_distance = distance closest = i if best_distance < 20: return closest else: return -1 def remove_rally(self, key): '''remove a rally point''' a = key.split(' ') if a[0] != 'Rally' or len(a) != 2: print("Bad rally object %s" % key) return i = int(a[1]) self.mpstate.functions.process_stdin('rally remove %u' % i) def move_rally(self, key): '''move a rally point''' a = key.split(' ') if a[0] != 'Rally' or len(a) != 2: print("Bad rally object %s" % key) return i = int(a[1]) self.moving_rally = i def selection_index_to_idx(self, key, selection_index): '''return a mission idx from a selection_index''' a = key.split(' ') if a[0] != 'mission' or len(a) != 2: print("Bad mission object %s" % key) return None midx = int(a[1]) if midx < 0 or midx >= len(self.mission_list): print("Bad mission index %s" % key) return None mlist = self.mission_list[midx] if selection_index < 0 or selection_index >= len(mlist): print("Bad mission polygon %s" % selection_index) return None idx = mlist[selection_index] return idx def move_mission(self, key, selection_index): '''move a mission point''' idx = self.selection_index_to_idx(key, selection_index) self.moving_wp = idx print("Moving wp %u" % idx) def remove_mission(self, key, selection_index): '''remove a mission point''' idx = self.selection_index_to_idx(key, selection_index) self.mpstate.functions.process_stdin('wp remove %u' % idx) def split_mission_wp(self, key, selection_index): '''add wp before this one''' idx = self.selection_index_to_idx(key, selection_index) self.mpstate.functions.process_stdin('wp split %u' % idx) def remove_fencepoint(self, key, selection_index): '''remove a fence point''' self.mpstate.functions.process_stdin('fence remove %u' % (selection_index+1)) def move_fencepoint(self, key, selection_index): '''move a fence point''' self.moving_fencepoint = selection_index print("Moving fence point %u" % selection_index) def set_mission(self, key, selection_index): '''set a mission point''' idx = self.selection_index_to_idx(key, selection_index) self.mpstate.functions.process_stdin('wp set %u' % idx) def handle_menu_event(self, obj): '''handle a popup menu event from the map''' menuitem = obj.menuitem if menuitem.returnkey.startswith('# '): cmd = menuitem.returnkey[2:] if menuitem.handler is not None: if menuitem.handler_result is None: return cmd += menuitem.handler_result self.mpstate.functions.process_stdin(cmd) elif menuitem.returnkey == 'popupRallyRemove': self.remove_rally(obj.selected[0].objkey) elif menuitem.returnkey == 'popupRallyMove': self.move_rally(obj.selected[0].objkey) elif menuitem.returnkey == 'popupMissionSet': self.set_mission(obj.selected[0].objkey, obj.selected[0].extra_info) elif menuitem.returnkey == 'popupMissionRemove': self.remove_mission(obj.selected[0].objkey, obj.selected[0].extra_info) elif menuitem.returnkey == 'popupMissionMove': self.move_mission(obj.selected[0].objkey, obj.selected[0].extra_info) elif menuitem.returnkey == 'popupMissionSplit': self.split_mission_wp(obj.selected[0].objkey, obj.selected[0].extra_info) elif menuitem.returnkey == 'popupFenceMove': self.move_fencepoint(obj.selected[0].objkey, obj.selected[0].extra_info) elif menuitem.returnkey == 'popupPolyFenceRemoveCircle': self.polyfence_remove_circle(obj.selected[0].objkey) elif menuitem.returnkey == 'popupPolyFenceMoveCircle': self.polyfence_move_circle(obj.selected[0].objkey) elif menuitem.returnkey == 'popupPolyFenceSetCircleRadius': self.polyfence_set_circle_radius(obj.selected[0].objkey) elif menuitem.returnkey == 'popupPolyFenceRemoveReturnPoint': self.polyfence_remove_returnpoint(obj.selected[0].objkey) elif menuitem.returnkey == 'popupPolyFenceRemovePolygon': self.polyfence_remove_polygon(obj.selected[0].objkey) elif menuitem.returnkey == 'popupPolyFenceMovePolygonPoint': self.polyfence_move_polygon_point(obj.selected[0].objkey, obj.selected[0].extra_info) elif menuitem.returnkey == 'popupPolyFenceAddPolygonPoint': self.polyfence_add_polygon_point(obj.selected[0].objkey, obj.selected[0].extra_info) elif menuitem.returnkey == 'popupPolyFenceRemovePolygonPoint': self.polyfence_remove_polygon_point(obj.selected[0].objkey, obj.selected[0].extra_info) elif menuitem.returnkey == 'showPosition': self.show_position() elif menuitem.returnkey == 'printGoogleMapsLink': self.print_google_maps_link() elif menuitem.returnkey == 'setServiceTerrain': self.module('terrain').cmd_terrain(['set', 'source', menuitem.get_choice()]) elif menuitem.returnkey == 'showTerrainContours': self.display_terrain_contours() elif menuitem.returnkey == 'hideTerrainContours': self.hide_terrain_contours() elif menuitem.returnkey == 'removeTerrainContours': self.remove_terrain_contours() def map_callback(self, obj): '''called when an event happens on the slipmap''' from MAVProxy.modules.mavproxy_map import mp_slipmap if isinstance(obj, mp_slipmap.SlipMenuEvent): self.handle_menu_event(obj) return if not isinstance(obj, mp_slipmap.SlipMouseEvent): return if obj.event.leftIsDown and self.moving_rally is not None: self.mpstate.click(obj.latlon) self.mpstate.functions.process_stdin("rally move %u" % self.moving_rally) self.moving_rally = None return if obj.event.rightIsDown and self.moving_rally is not None: print("Cancelled rally move") self.moving_rally = None return if obj.event.leftIsDown and self.moving_wp is not None: self.mpstate.click(obj.latlon) self.mpstate.functions.process_stdin("wp move %u" % self.moving_wp) self.moving_wp = None return if obj.event.leftIsDown and self.moving_fencepoint is not None: self.mpstate.click(obj.latlon) self.mpstate.functions.process_stdin("fence move %u" % (self.moving_fencepoint+1)) self.moving_fencepoint = None return if obj.event.rightIsDown and self.moving_wp is not None: print("Cancelled wp move") self.moving_wp = None return if obj.event.leftIsDown and self.moving_polygon_point is not None: self.mpstate.click(obj.latlon) (seq, offset) = self.moving_polygon_point self.mpstate.functions.process_stdin("fence movepolypoint %u %u" % (int(seq), int(offset))) self.moving_polygon_point = None return if obj.event.rightIsDown and self.moving_polygon_point is not None: print("Cancelled polygon point move") self.moving_polygon_point = None return if obj.event.rightIsDown and self.moving_fencepoint is not None: print("Cancelled fence move") self.moving_fencepoint = None return elif obj.event.leftIsDown: if (self.mpstate.click_time is None or time.time() - self.mpstate.click_time > 0.1): self.mpstate.click(obj.latlon) self.drawing_update() if obj.event.rightIsDown: if self.draw_callback is not None: self.drawing_end() return if (self.mpstate.click_time is None or time.time() - self.mpstate.click_time > 0.1): self.mpstate.click(obj.latlon) if obj.event.leftIsDown and self.moving_circle is not None: self.mpstate.click(obj.latlon) seq = self.moving_circle self.mpstate.functions.process_stdin("fence movecircle %u" % int(seq)) self.moving_circle = None return if obj.event.rightIsDown and self.moving_circle is not None: print("Cancelled circle move") self.moving_circle = None return if obj.event.leftIsDown and self.setting_circle_radius is not None: self.mpstate.click(obj.latlon) seq = self.setting_circle_radius self.mpstate.functions.process_stdin("fence setcircleradius %u" % int(seq)) self.setting_circle_radius = None return if obj.event.rightIsDown and self.setting_circle_radius is not None: print("Cancelled circle move") self.setting_circle_radius = None return def click_updated(self): '''called when the click position has changed''' if self.map_settings.showclicktime == 0: return self.map.add_object(mp_slipmap.SlipClickLocation(self.mpstate.click_location, timeout=self.map_settings.showclicktime)) def unload(self): '''unload module''' super(MapModule, self).unload() self.map.close() if self.instance == 1: self.mpstate.map = None self.mpstate.map_functions = {} def idle_task(self): now = time.time() if self.last_unload_check_time + self.unload_check_interval < now: self.last_unload_check_time = now if not self.map.is_alive(): self.needs_unloading = True # check for any events from the map self.map.check_events() def create_vehicle_icon(self, name, colour, follow=False, vehicle_type=None): '''add a vehicle to the map''' from MAVProxy.modules.mavproxy_map import mp_slipmap if vehicle_type is None: vehicle_type = self.vehicle_type_name if name in self.have_vehicle and self.have_vehicle[name] == vehicle_type: return self.have_vehicle[name] = vehicle_type icon = self.map.icon(colour + vehicle_type + '.png') self.map.add_object(mp_slipmap.SlipIcon(name, (0,0), icon, layer=3, rotation=0, follow=follow, trail=mp_slipmap.SlipTrail())) def remove_vehicle_icon(self, name, vehicle_type=None): from MAVProxy.modules.mavproxy_map import mp_slipmap if vehicle_type is None: vehicle_type = self.vehicle_type_name if name not in self.have_vehicle or self.have_vehicle[name] != vehicle_type: return del self.have_vehicle[name] self.map.remove_object(name) def drawing_update(self): '''update line drawing''' from MAVProxy.modules.mavproxy_map import mp_slipmap if self.draw_callback is None: return self.draw_line.append(self.mpstate.click_location) if len(self.draw_line) > 1: self.map.add_object(mp_slipmap.SlipPolygon('drawing', self.draw_line, layer='Drawing', linewidth=2, colour=self.draw_colour)) def drawing_end(self): '''end line drawing''' from MAVProxy.modules.mavproxy_map import mp_slipmap if self.draw_callback is None: return self.draw_callback(self.draw_line) self.draw_callback = None self.map.add_object(mp_slipmap.SlipDefaultPopup(self.default_popup, combine=True)) self.map.add_object(mp_slipmap.SlipClearLayer('Drawing')) def draw_lines(self, callback, colour=(128,128,255)): '''draw a series of connected lines on the map, calling callback when done''' from MAVProxy.modules.mavproxy_map import mp_slipmap self.draw_callback = callback self.draw_colour = colour self.draw_line = [] self.map.add_object(mp_slipmap.SlipDefaultPopup(None)) def cmd_set_home(self, args): '''called when user selects "Set Home (with height)" on map''' (lat, lon) = (self.mpstate.click_location[0], self.mpstate.click_location[1]) alt = self.module('terrain').ElevationModel.GetElevation(lat, lon) print("Setting home to: ", lat, lon, alt) self.master.mav.command_long_send( self.settings.target_system, self.settings.target_component, mavutil.mavlink.MAV_CMD_DO_SET_HOME, 1, # set position 0, # param1 0, # param2 0, # param3 0, # param4 lat, # lat lon, # lon alt) # param7 def cmd_set_homepos(self, args): '''called when user selects "Set Home" on map''' (lat, lon) = (self.mpstate.click_location[0], self.mpstate.click_location[1]) print("Setting home to: ", lat, lon) self.master.mav.command_int_send( self.settings.target_system, self.settings.target_component, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, mavutil.mavlink.MAV_CMD_DO_SET_HOME, 1, # current 0, # autocontinue 0, # param1 0, # param2 0, # param3 0, # param4 int(lat*1e7), # lat int(lon*1e7), # lon 0) # no height change def cmd_set_roi(self, args): '''called when user selects "Set ROI" on map''' (lat, lon) = (self.mpstate.click_location[0], self.mpstate.click_location[1]) alt = self.module('terrain').ElevationModel.GetElevation(lat, lon) print("Setting ROI to: ", lat, lon, alt) self.current_ROI = (lat,lon,alt) self.master.mav.command_int_send( self.settings.target_system, self.settings.target_component, mavutil.mavlink.MAV_FRAME_GLOBAL, mavutil.mavlink.MAV_CMD_DO_SET_ROI_LOCATION, 0, # current 0, # autocontinue 0, # param1 0, # param2 0, # param3 0, # param4 int(lat*1e7), # lat int(lon*1e7), # lon alt) # param7 def cmd_set_position(self, args): '''called when user selects "Set Position" on map''' (lat, lon) = (self.mpstate.click_location[0], self.mpstate.click_location[1]) accuracy = self.map_settings.setpos_accuracy print("Setting position to (%.7f %.7f) with accuracy %.1fm" % (lat, lon, accuracy)) now = time.time() self.master.mav.command_int_send( self.settings.target_system, self.settings.target_component, mavutil.mavlink.MAV_FRAME_GLOBAL, mavutil.mavlink.MAV_CMD_EXTERNAL_POSITION_ESTIMATE, 0, # current 0, # autocontinue time.time() - self.mpstate.start_time_s, # transmission_time 0, # processing_time self.map_settings.setpos_accuracy, # accuracy 0, # param4 int(lat*1e7), # lat int(lon*1e7), # lon float('NaN')) # alt, send as NaN for ignore def cmd_set_origin(self, args): '''called when user selects "Set Origin (with height)" on map''' (lat, lon) = (self.mpstate.click_location[0], self.mpstate.click_location[1]) alt = self.module('terrain').ElevationModel.GetElevation(lat, lon) print("Setting origin to: ", lat, lon, alt) self.master.mav.set_gps_global_origin_send( self.settings.target_system, int(lat*10000000), # lat int(lon*10000000), # lon int(alt*1000)) # param7 def cmd_set_originpos(self, args): '''called when user selects "Set Origin" on map''' (lat, lon) = (self.mpstate.click_location[0], self.mpstate.click_location[1]) print("Setting origin to: ", lat, lon) self.master.mav.set_gps_global_origin_send( self.settings.target_system, int(lat*10000000), # lat int(lon*10000000), # lon 0*1000) # no height change def cmd_zoom(self, args): '''control zoom''' if len(args) < 2: print("map zoom WIDTH(m)") return ground_width = float(args[1]) self.map.set_zoom(ground_width) def cmd_center(self, args): '''control center of view''' if len(args) < 3: print("map center LAT LON") return lat = float(args[1]) lon = float(args[2]) self.map.set_center(lat, lon) def cmd_follow(self, args): '''control following of vehicle''' if len(args) < 2: print("map follow 0|1") return follow = int(args[1]) self.map.set_follow(follow) def cmd_clear(self, args): '''clear displayed vehicle icons''' self.map.add_object(mp_slipmap.SlipClearLayer(3)) self.have_vehicle = {} def set_secondary_vehicle_position(self, m): '''show 2nd vehicle on map''' if m.get_type() != 'GLOBAL_POSITION_INT': return (lat, lon, heading) = (m.lat*1.0e-7, m.lon*1.0e-7, m.hdg*0.01) if abs(lat) < 1.0e-3 and abs(lon) > 1.0e-3: return # hack for OBC2016 alt = self.module('terrain').ElevationModel.GetElevation(lat, lon) agl = m.alt * 0.001 - alt agl_s = str(int(agl)) + 'm' self.create_vehicle_icon('VehiclePos2', 'blue', follow=False, vehicle_type='plane') self.map.set_position('VehiclePos2', (lat, lon), rotation=heading, label=agl_s, colour=(0,255,255)) def update_vehicle_icon(self, name, vehicle, colour, m, display): '''update display of a vehicle on the map. m is expected to store location in lat/lng *1e7 ''' latlon = (m.lat*1.0e-7, m.lng*1.0e-7) yaw = math.degrees(m.yaw) self.update_vehicle_icon_to_loc(name, vehicle, colour, display, latlon, yaw) def update_vehicle_icon_to_loc(self, name, vehicle, colour, display, latlon, yaw): '''update display of a vehicle on the map at latlon ''' key = name + vehicle # don't display this icon if the settings don't say so: if not display: # remove from display if it was being displayed: self.remove_vehicle_icon(key) return # create the icon if we weren't displaying: self.create_vehicle_icon(key, colour) # update placement on map: self.map.set_position(key, latlon, rotation=yaw) def mavlink_packet(self, m): '''handle an incoming mavlink packet''' from MAVProxy.modules.mavproxy_map import mp_slipmap mtype = m.get_type() sysid = m.get_srcSystem() if mtype == "HEARTBEAT" or mtype == "HIGH_LATENCY2": vname = None vtype = self.vehicle_type_override.get(sysid, m.type) if vtype in [mavutil.mavlink.MAV_TYPE_FIXED_WING, mavutil.mavlink.MAV_TYPE_VTOL_DUOROTOR, mavutil.mavlink.MAV_TYPE_VTOL_QUADROTOR, mavutil.mavlink.MAV_TYPE_VTOL_TILTROTOR]: vname = 'plane' elif vtype in [mavutil.mavlink.MAV_TYPE_GROUND_ROVER]: vname = 'rover' elif vtype in [mavutil.mavlink.MAV_TYPE_SUBMARINE]: vname = 'sub' elif vtype in [mavutil.mavlink.MAV_TYPE_SURFACE_BOAT]: vname = 'boat' elif vtype in [mavutil.mavlink.MAV_TYPE_QUADROTOR, mavutil.mavlink.MAV_TYPE_HEXAROTOR, mavutil.mavlink.MAV_TYPE_OCTOROTOR, mavutil.mavlink.MAV_TYPE_TRICOPTER, mavutil.mavlink.MAV_TYPE_DODECAROTOR, mavutil.mavlink.MAV_TYPE_DECAROTOR]: vname = 'copter' elif vtype in [mavutil.mavlink.MAV_TYPE_COAXIAL]: vname = 'singlecopter' elif vtype in [mavutil.mavlink.MAV_TYPE_HELICOPTER]: vname = 'heli' elif vtype in [mavutil.mavlink.MAV_TYPE_ANTENNA_TRACKER]: vname = 'antenna' elif vtype in [mavutil.mavlink.MAV_TYPE_AIRSHIP]: vname = 'blimp' if vname is not None: self.vehicle_type_by_sysid[sysid] = vname if not sysid in self.vehicle_type_by_sysid: self.vehicle_type_by_sysid[sysid] = 'plane' self.vehicle_type_name = self.vehicle_type_by_sysid[sysid] # this is the beginnings of allowing support for multiple vehicles # in the air at the same time vehicle = 'Vehicle%u' % m.get_srcSystem() if mtype == "SIMSTATE": self.update_vehicle_icon('Sim', vehicle, 'green', m, self.map_settings.showsimpos) elif mtype == "AHRS2" and self.map_settings.showahrs2pos: self.update_vehicle_icon('AHRS2', vehicle, 'purple', m, self.map_settings.showahrs2pos) elif mtype == "AHRS3" and self.map_settings.showahrs3pos: self.update_vehicle_icon('AHRS3', vehicle, 'orange', m, self.map_settings.showahrs3pos) elif mtype == "GPS_RAW_INT": (lat, lon) = (m.lat*1.0e-7, m.lon*1.0e-7) if lat != 0 or lon != 0: if m.vel > 300 or m.get_srcSystem() not in self.lat_lon_heading: heading = m.cog*0.01 else: (_,_,heading) = self.lat_lon_heading[m.get_srcSystem()] self.update_vehicle_icon_to_loc('GPS', vehicle, 'blue', self.map_settings.showgpspos, (lat, lon), heading) elif mtype == "GPS2_RAW": (lat, lon) = (m.lat*1.0e-7, m.lon*1.0e-7) if lat != 0 or lon != 0: self.update_vehicle_icon_to_loc('GPS2', vehicle, 'green', self.map_settings.showgps2pos, (lat, lon), m.cog*0.01) elif mtype == 'GLOBAL_POSITION_INT': (lat, lon, heading) = (m.lat*1.0e-7, m.lon*1.0e-7, m.hdg*0.01) self.lat_lon_heading[m.get_srcSystem()] = (lat,lon,heading) if self.map_settings.showahrspos: if abs(lat) > 1.0e-3 or abs(lon) > 1.0e-3: self.have_global_position = True self.create_vehicle_icon('Pos' + vehicle, 'red', follow=True) if len(self.vehicle_type_by_sysid) > 1: label = str(sysid) else: label = None self.map.set_position('Pos' + vehicle, (lat, lon), rotation=heading, label=label, colour=(255,255,255)) self.map.set_follow_object('Pos' + vehicle, self.message_is_from_primary_vehicle(m)) else: self.remove_vehicle_icon('Pos' + vehicle) elif mtype == "HIGH_LATENCY2" and self.map_settings.showahrspos: (lat, lon) = (m.latitude*1.0e-7, m.longitude*1.0e-7) if lat != 0 or lon != 0: cog = m.heading * 2 self.have_global_position = True self.create_vehicle_icon('Pos' + vehicle, 'red', follow=True) if len(self.vehicle_type_by_sysid) > 1: label = str(sysid) else: label = None self.map.set_position('Pos' + vehicle, (lat, lon), rotation=cog, label=label, colour=(255,255,255)) self.map.set_follow_object('Pos' + vehicle, self.message_is_from_primary_vehicle(m)) elif mtype == 'HOME_POSITION': (lat, lon) = (m.latitude*1.0e-7, m.longitude*1.0e-7) icon = self.map.icon('home.png') self.map.add_object(mp_slipmap.SlipIcon('HOME_POSITION', (lat,lon), icon, layer=3, rotation=0, follow=False)) elif mtype == "NAV_CONTROLLER_OUTPUT": tlayer = 'Trajectory%u' % m.get_srcSystem() if (self.master.flightmode in [ "AUTO", "GUIDED", "LOITER", "RTL", "QRTL", "QLOITER", "QLAND", "FOLLOW", "ZIGZAG" ] and m.get_srcSystem() in self.lat_lon_heading): (lat,lon,_) = self.lat_lon_heading[m.get_srcSystem()] trajectory = [ (lat, lon), mp_util.gps_newpos(lat, lon, m.target_bearing, m.wp_dist) ] self.map.add_object(mp_slipmap.SlipPolygon('trajectory', trajectory, layer=tlayer, linewidth=2, colour=(255,0,180))) self.trajectory_layers.add(tlayer) else: if tlayer in self.trajectory_layers: self.map.add_object(mp_slipmap.SlipClearLayer(tlayer)) self.trajectory_layers.remove(tlayer) elif mtype == "POSITION_TARGET_GLOBAL_INT": # FIXME: base this off SYS_STATUS.MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL? if not m.get_srcSystem() in self.lat_lon_heading: return tlayer = 'PostionTarget%u' % m.get_srcSystem() (lat,lon,_) = self.lat_lon_heading[m.get_srcSystem()] if (self.master.flightmode in [ "AUTO", "GUIDED", "LOITER", "RTL", "QRTL", "QLOITER", "QLAND", "FOLLOW" ]): lat_float = m.lat_int*1e-7 lon_float = m.lon_int*1e-7 vec = [ (lat_float, lon_float), (lat, lon) ] self.map.add_object(mp_slipmap.SlipPolygon('position_target', vec, layer=tlayer, linewidth=2, colour=(0,255,0))) else: self.map.add_object(mp_slipmap.SlipClearLayer(tlayer)) if not self.message_is_from_primary_vehicle(m): # the rest should only be done for the primary vehicle return self.check_redisplay_waypoints() self.check_redisplay_fencepoints() self.check_redisplay_rallypoints() # check for any events from the map self.map.check_events() def check_redisplay_waypoints(self): # if the waypoints have changed, redisplay wp_module = self.module('wp') if wp_module is None: '''wp nodule not loaded''' return last_wp_change = wp_module.wploader.last_change if self.wp_change_time != last_wp_change and abs(time.time() - last_wp_change) > 1: self.wp_change_time = last_wp_change self.display_waypoints() #this may have affected the landing lines from the rally points: self.rally_change_time = time.time() def check_redisplay_fencepoints(self): # if the fence has changed, redisplay fence_module = self.module('fence') if fence_module is not None: if hasattr(fence_module, 'last_change'): # new fence module last_change = fence_module.last_change() else: # old fence module last_change = fence_module.fenceloader.last_change if self.fence_change_time != last_change: self.fence_change_time = last_change self.display_fence() def check_redisplay_rallypoints(self): # if the rallypoints have changed, redisplay if (self.module('rally') and self.rally_change_time != self.module('rally').last_change()): self.rally_change_time = self.module('rally').last_change() icon = self.map.icon('rallypoint.png') self.map.add_object(mp_slipmap.SlipClearLayer('RallyPoints')) for i in range(self.module('rally').rally_count()): rp = self.module('rally').rally_point(i) popup = MPMenuSubMenu('Popup', items=[MPMenuItem('Rally Remove', returnkey='popupRallyRemove'), MPMenuItem('Rally Move', returnkey='popupRallyMove')]) self.map.add_object(mp_slipmap.SlipIcon('Rally %u' % (i+1), (rp.lat*1.0e-7, rp.lng*1.0e-7), icon, layer='RallyPoints', rotation=0, follow=False, popup_menu=popup)) loiter_rad = self.get_mav_param('WP_LOITER_RAD') if self.map_settings.rallycircle: self.map.add_object(mp_slipmap.SlipCircle('Rally Circ %u' % (i+1), 'RallyPoints', (rp.lat*1.0e-7, rp.lng*1.0e-7), loiter_rad, (255,255,0), 2, arrow = self.map_settings.showdirection)) #draw a line between rally point and nearest landing point nearest_land_wp = None nearest_distance = 10000000.0 for j in range(self.module('wp').wploader.count()): w = self.module('wp').wploader.wp(j) if (w.command == 21): #if landing waypoint #get distance between rally point and this waypoint dis = mp_util.gps_distance(w.x, w.y, rp.lat*1.0e-7, rp.lng*1.0e-7) if (dis < nearest_distance): nearest_land_wp = w nearest_distance = dis if nearest_land_wp is not None: points = [] #tangential approach? if self.get_mav_param('LAND_BREAK_PATH') == 0: theta = math.degrees(math.atan(loiter_rad / nearest_distance)) tan_dis = math.sqrt(nearest_distance * nearest_distance - (loiter_rad * loiter_rad)) ral_bearing = mp_util.gps_bearing(nearest_land_wp.x, nearest_land_wp.y,rp.lat*1.0e-7, rp.lng*1.0e-7) points.append(mp_util.gps_newpos(nearest_land_wp.x,nearest_land_wp.y, ral_bearing + theta, tan_dis)) else: #not tangential approach points.append((rp.lat*1.0e-7, rp.lng*1.0e-7)) points.append((nearest_land_wp.x, nearest_land_wp.y)) self.map.add_object(mp_slipmap.SlipPolygon('Rally Land %u' % (i+1), points, 'RallyPoints', (255,255,0), 2)) def display_terrain_contours(self): """ Show terrain contours """ from MAVProxy.modules.mavproxy_map import mp_slipmap import numpy as np # configure matplotlib for non-gui use import matplotlib matplotlib.use('Agg') # disable interactive plotting mode import matplotlib.pyplot as plt plt.ioff() terrain_module = self.module('terrain') if terrain_module is None: return elevation_model = terrain_module.ElevationModel # show contours if they have already been calculated if len(self.terrain_contour_ids) > 0: self.show_terrain_contours() return # centre terrain grid about clicked location if self.mpstate.click_location is None: return (lat, lon) = self.mpstate.click_location # retrieve grid options from map settings grid_spacing = self.map_settings.contour_grid_spacing grid_extent = self.map_settings.contour_grid_extent levels = self.map_settings.contour_levels # create mesh grid x = np.arange(-0.5 * grid_extent, 0.5 * grid_extent, grid_spacing) y = np.arange(-0.5 * grid_extent, 0.5 * grid_extent, grid_spacing) x_grid, y_grid = np.meshgrid(x, y) def terrain_surface(lat, lon, x, y): """ Calculate terrain altitudes for the NED offsets (x, y) centred on (lat, lon). """ alt = [] for east in y: alt_y = [] for north in x: (lat2, lon2) = mp_util.gps_offset(lat, lon, east, north) alt_y.append(elevation_model.GetElevation(lat2, lon2)) alt.append(alt_y) return alt def ned_to_latlon(contours, lat, lon): """ Convert contour polygons in NED coordinates offset from (lat, lon) to polygons in orthometric coordinates. """ contours_latlon = [] for polygons in contours: polygons_latlon = [] for polygon in polygons: polygon_latlon = [] for point in polygon: (north, east) = point (lat2, lon2) = mp_util.gps_offset(lat, lon, east, north) polygon_latlon.append([lat2, lon2]) polygons_latlon.append(polygon_latlon) contours_latlon.append(polygons_latlon) return contours_latlon # generate surface and contours z_grid = np.array(terrain_surface(lat, lon, x, y)) _, (ax1) = plt.subplots(1, 1, figsize=(10,10)) cs = ax1.contour(x_grid, y_grid, z_grid, levels=levels) contours = ned_to_latlon(cs.allsegs, lat, lon) # add terrain layer and contour polygons self.map.add_object(mp_slipmap.SlipClearLayer('Terrain')) self.terrain_contour_ids.clear() num_contours = len(contours) for i in range(num_contours): polygons = contours[i] for j in range(len(polygons)): p = polygons[j] if len(p) > 1: id = f"terrain {i} {j}" self.terrain_contour_ids.append(id) contour_colour = (255, 255, 255) self.map.add_object(mp_slipmap.SlipPolygon( id, p, layer='Terrain', linewidth=1, colour=contour_colour, showcircles=False )) def show_terrain_contours(self): """ Show terrain contours. 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count+=1 if self.child.is_alive(): self.child.terminate() self.child.join() def is_alive(self): '''check if graph is still going''' return self.child.is_alive() def add_object(self, obj): '''add or update an object on the map''' self.object_queue.put(obj) def remove_object(self, key): '''remove an object on the map by key''' self.object_queue.put(SlipRemoveObject(key)) def set_zoom(self, ground_width): '''set ground width of view''' self.object_queue.put(SlipZoom(ground_width)) def set_center(self, lat, lon): '''set center of view''' self.object_queue.put(SlipCenter((lat,lon))) def set_follow(self, enable): '''set follow on/off''' self.object_queue.put(SlipFollow(enable)) def set_follow_object(self, key, enable): '''set follow on/off on an object''' self.object_queue.put(SlipFollowObject(key, enable)) def hide_object(self, key, hide=True): '''hide an object on the map by key''' self.object_queue.put(SlipHideObject(key, hide)) def set_position(self, key, latlon, layer='', rotation=0, label=None, colour=None): '''move an object on the map''' self.object_queue.put(SlipPosition(key, latlon, layer, rotation, label, colour)) def event_queue_empty(self): '''return True if there are no events waiting to be processed''' return self.event_queue.empty() def set_layout(self, layout): '''set window layout''' self.object_queue.put(layout) def get_event(self): '''return next event or None''' if self.event_queue.empty(): return None evt = self.event_queue.get() while isinstance(evt, win_layout.WinLayout): win_layout.set_layout(evt, self.set_layout) if self.event_queue.empty(): return None evt = self.event_queue.get() return evt def add_callback(self, callback): '''add a callback for events from the map''' self._callbacks.add(callback) def check_events(self): '''check for events, calling registered callbacks as needed''' while not self.event_queue_empty(): event = self.get_event() for callback in self._callbacks: callback(event) def icon(self, filename): '''load an icon from the data directory''' return mp_tile.mp_icon(filename) def _wait_ready(self, timeout): '''Wait at most timeout for the application to be ready Param ----- timeout: float timeout in seconds Returns True if the map is ready, False if the timeout is reached. ''' start_time = time.time() while time.time() - start_time < timeout: if self.app_ready.is_set(): return True time.sleep(0.1) return False if __name__ == "__main__": multiproc.freeze_support() import time from argparse import ArgumentParser parser = ArgumentParser("mp_slipmap.py [options]") parser.add_argument("--lat", type=float, default=-26.582218, help="start latitude") parser.add_argument("--lon", type=float, default=151.840113, help="start longitude") parser.add_argument("--service", default="MicrosoftSat", help="tile service") parser.add_argument("--offline", action='store_true', default=False, help="no download") parser.add_argument("--delay", type=float, default=0.3, help="tile download delay") parser.add_argument("--max-zoom", type=int, default=19, help="maximum tile zoom") parser.add_argument("--debug", action='store_true', default=False, help="show debug info") parser.add_argument("--boundary", default=None, help="show boundary") parser.add_argument("--mission", default=[], action='append', help="show mission") parser.add_argument("--thumbnail", default=None, help="show thumbnail") parser.add_argument("--icon", default=None, help="show icon") parser.add_argument("--flag", default=[], type=str, action='append', help="flag positions") parser.add_argument("--grid", default=False, action='store_true', help="add a UTM grid") parser.add_argument("--verbose", action='store_true', default=False, help="show mount actions") parser.add_argument("--elevation", type=str, default="SRTM3", choices=["SRTM1", "SRTM3", "None"], help="Elevation model") args = parser.parse_args() sm = MPSlipMap(lat=args.lat, lon=args.lon, download=not args.offline, service=args.service, debug=args.debug, max_zoom=args.max_zoom, elevation=args.elevation, tile_delay=args.delay) if args.boundary: boundary = mp_util.polygon_load(args.boundary) sm.add_object(SlipPolygon('boundary', boundary, layer=1, linewidth=2, colour=(0,255,0))) if args.mission: from pymavlink import mavwp for file in args.mission: wp = mavwp.MAVWPLoader() wp.load(file) boundary = wp.polygon() sm.add_object(SlipPolygon('mission-%s' % file, boundary, layer=1, linewidth=1, colour=(255,255,255))) if args.grid: sm.add_object(SlipGrid('grid', layer=3, linewidth=1, colour=(255,255,0))) if args.thumbnail: thumb = cv2.imread(args.thumbnail) sm.add_object(SlipThumbnail('thumb', (args.lat,args.lon), layer=1, img=thumb, border_width=2, border_colour=(255,0,0))) if args.icon: icon = cv2.imread(args.icon) sm.add_object(SlipIcon('icon', (args.lat,args.lon), icon, layer=3, rotation=90, follow=True)) sm.set_position('icon', mp_util.gps_newpos(args.lat,args.lon, 180, 100), rotation=45) sm.add_object(SlipInfoImage('detail', icon)) sm.add_object(SlipInfoText('detail text', 'test text')) for flag in args.flag: (lat,lon) = flag.split(',') icon = sm.icon('flag.png') sm.add_object(SlipIcon('icon - %s' % str(flag), (float(lat),float(lon)), icon, layer=3, rotation=0, follow=False)) while sm.is_alive(): while not sm.event_queue_empty(): obj = sm.get_event() if not args.verbose: continue if isinstance(obj, SlipMouseEvent): print("Mouse event at %s (X/Y=%u/%u) for %u objects" % (obj.latlon, obj.event.X, obj.event.Y, len(obj.selected))) if isinstance(obj, SlipKeyEvent): print("Key event at %s for %u objects" % (obj.latlon, len(obj.selected))) time.sleep(0.1) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_map/mp_slipmap_ui.py000066400000000000000000000754261504324515000244040ustar00rootroot00000000000000import functools import math from MAVProxy.modules.lib import mp_elevation import numpy as np import os import time import copy from ..lib.wx_loader import wx from MAVProxy.modules.mavproxy_map.mp_slipmap_util import SlipBrightness from MAVProxy.modules.mavproxy_map.mp_slipmap_util import SlipCenter from MAVProxy.modules.mavproxy_map.mp_slipmap_util import SlipClearLayer from MAVProxy.modules.mavproxy_map.mp_slipmap_util import SlipDefaultPopup from MAVProxy.modules.mavproxy_map.mp_slipmap_util import SlipFlightModeLegend from MAVProxy.modules.mavproxy_map.mp_slipmap_util import SlipGrid from MAVProxy.modules.mavproxy_map.mp_slipmap_util import SlipHideObject from MAVProxy.modules.mavproxy_map.mp_slipmap_util import SlipIcon from MAVProxy.modules.mavproxy_map.mp_slipmap_util import SlipInformation from MAVProxy.modules.mavproxy_map.mp_slipmap_util import SlipKeyEvent from MAVProxy.modules.mavproxy_map.mp_slipmap_util import SlipMenuEvent from MAVProxy.modules.mavproxy_map.mp_slipmap_util import SlipMouseEvent from MAVProxy.modules.mavproxy_map.mp_slipmap_util import SlipObject from MAVProxy.modules.mavproxy_map.mp_slipmap_util import SlipObjectSelection from MAVProxy.modules.mavproxy_map.mp_slipmap_util import SlipPosition from MAVProxy.modules.mavproxy_map.mp_slipmap_util import SlipRemoveObject from MAVProxy.modules.mavproxy_map.mp_slipmap_util import SlipThumbnail from MAVProxy.modules.mavproxy_map.mp_slipmap_util import SlipZoom from MAVProxy.modules.mavproxy_map.mp_slipmap_util import SlipFollow from MAVProxy.modules.mavproxy_map.mp_slipmap_util import SlipFollowObject from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import win_layout from MAVProxy.modules.lib import icon from MAVProxy.modules.lib.mp_menu import MPMenuCheckbox from MAVProxy.modules.lib.mp_menu import MPMenuItem from MAVProxy.modules.lib.mp_menu import MPMenuRadio from MAVProxy.modules.lib.mp_menu import MPMenuSeparator from MAVProxy.modules.lib.mp_menu import MPMenuSubMenu from MAVProxy.modules.lib.mp_menu import MPMenuTop from MAVProxy.modules.mavproxy_map.mp_elevation import TERRAIN_SERVICES class MPSlipMapFrame(wx.Frame): """ The main frame of the viewer """ def __init__(self, state): wx.Frame.__init__(self, None, wx.ID_ANY, state.title) try: self.SetIcon(icon.SimpleIcon("MAP").get_ico()) except Exception: pass self.state = state state.frame = self state.grid = True state.follow = True state.download = True state.popup_objects = None state.popup_latlon = None state.popup_started = False state.default_popup = None state.panel = MPSlipMapPanel(self, state) self.last_layout_send = time.time() self.Bind(wx.EVT_IDLE, self.on_idle) self.Bind(wx.EVT_SIZE, state.panel.on_size) self.legend_checkbox_menuitem_added = False # create the View menu self.menu = MPMenuTop([ MPMenuSubMenu('View', items=[ MPMenuCheckbox('Follow\tCtrl+F', 'Follow Aircraft', 'toggleFollow', checked=state.follow), MPMenuCheckbox('Grid\tCtrl+G', 'Enable Grid', 'toggleGrid', checked=state.grid), MPMenuItem('Goto\tCtrl+P', 'Goto Position', 'gotoPosition'), MPMenuItem('Brightness +\tCtrl+B', 'Increase Brightness', 'increaseBrightness'), MPMenuItem('Brightness -\tCtrl+Shift+B', 'Decrease Brightness', 'decreaseBrightness'), MPMenuItem('Zoom +\t+', 'Zoom In', 'zoomIn'), MPMenuItem('Zoom -\t-', 'Zoom Out', 'zoomOut'), MPMenuCheckbox('Download Tiles\tCtrl+D', 'Enable Tile Download', 'toggleDownload', checked=state.download), MPMenuRadio('Tile Service', 'Select map tile service', returnkey='setService', selected=state.mt.get_service(), items=state.mt.get_service_list()), MPMenuRadio('Terrain Service', 'Select terrain service', returnkey='setServiceTerrain', selected=state.elevation, items=sorted(TERRAIN_SERVICES.keys()))])]) self.SetMenuBar(self.menu.wx_menu()) self.Bind(wx.EVT_MENU, self.on_menu) def on_menu(self, event): '''handle menu selection''' state = self.state # see if it is a popup menu if state.popup_objects is not None: for obj in state.popup_objects: ret = obj.popup_menu.find_selected(event) if ret is not None: ret.call_handler() state.event_queue.put(SlipMenuEvent(state.popup_latlon, event, [SlipObjectSelection(obj.key, 0, obj.layer, obj.selection_info())], ret)) break state.popup_objects = None state.popup_latlon = None if state.default_popup is not None: ret = state.default_popup.popup.find_selected(event) if ret is not None: ret.call_handler() state.event_queue.put(SlipMenuEvent(state.popup_latlon, event, [], ret)) # otherwise a normal menu ret = self.menu.find_selected(event) if ret is None: return ret.call_handler() if ret.returnkey == 'toggleGrid': state.grid = ret.IsChecked() elif ret.returnkey == 'toggleLegend': state.legend = ret.IsChecked() elif ret.returnkey == 'toggleFollow': state.follow = ret.IsChecked() elif ret.returnkey == 'toggleDownload': state.download = ret.IsChecked() elif ret.returnkey == 'setService': state.mt.set_service(ret.get_choice()) elif ret.returnkey == 'setServiceTerrain': state.elevation = ret.get_choice() state.ElevationMap = mp_elevation.ElevationModel(database=state.elevation) # Send to MAVProxy main process, so the terrain module can be updated too state.event_queue.put(SlipMenuEvent(None, event, [], ret)) elif ret.returnkey == 'gotoPosition': state.panel.enter_position() elif ret.returnkey == 'increaseBrightness': state.brightness += 20 if state.brightness > 255: state.brightness = 255 elif ret.returnkey == 'decreaseBrightness': state.brightness -= 20 if state.brightness < -255: state.brightness = -255 elif ret.returnkey == 'zoomIn': state.panel.change_zoom(1.0/1.2) elif ret.returnkey == 'zoomOut': state.panel.change_zoom(1.2) state.need_redraw = True def find_object(self, key, layers): '''find an object to be modified''' state = self.state if layers is None or layers == '': layers = state.layers.keys() for layer in layers: if key in state.layers[layer]: return state.layers[layer][key] return None def follow(self, object): '''follow an object on the map''' state = self.state (px,py) = state.panel.pixmapper(object.latlon) ratio = 0.25 if (px > ratio*state.width and px < (1.0-ratio)*state.width and py > ratio*state.height and py < (1.0-ratio)*state.height): # we're in the mid part of the map already, don't move return if not state.follow: # the user has disabled following return (lat, lon) = object.latlon state.panel.re_center(state.width/2, state.height/2, lat, lon) def add_legend_checkbox_menuitem(self): self.menu.add_to_submenu(['View'], [MPMenuCheckbox('Legend\tCtrl+L', 'Enable Legend', 'toggleLegend', checked=self.state.legend) ]) def add_object(self, obj): '''add an object to a layer''' state = self.state if not obj.layer in state.layers: # its a new layer state.layers[obj.layer] = {} state.layers[obj.layer][obj.key] = obj state.need_redraw = True if (not self.legend_checkbox_menuitem_added and isinstance(obj, SlipFlightModeLegend)): self.add_legend_checkbox_menuitem() self.legend_checkbox_menuitem_added = True self.SetMenuBar(self.menu.wx_menu()) def remove_object(self, key): '''remove an object by key from all layers''' state = self.state for layer in state.layers: state.layers[layer].pop(key, None) state.need_redraw = True def on_idle(self, event): '''prevent the main loop spinning too fast''' state = self.state if state.close_window.acquire(False): self.state.app.ExitMainLoop() now = time.time() if now - self.last_layout_send > 1: self.last_layout_send = now state.event_queue.put(win_layout.get_wx_window_layout(self)) # receive any display objects from the parent obj = None while not state.object_queue.empty(): obj = state.object_queue.get() if isinstance(obj, win_layout.WinLayout): win_layout.set_wx_window_layout(self, obj) if isinstance(obj, SlipObject): self.add_object(obj) if isinstance(obj, SlipPosition): # move an object object = self.find_object(obj.key, obj.layer) if object is not None: object.update_position(obj) if getattr(object, 'follow', False): self.follow(object) if obj.label is not None: object.label = obj.label if obj.colour is not None: object.colour = obj.colour state.need_redraw = True if isinstance(obj, SlipDefaultPopup): state.default_popup = obj if isinstance(obj, SlipInformation): # see if its a existing one or a new one if obj.key in state.info: # print('update %s' % str(obj.key)) state.info[obj.key].update(obj) else: # print('add %s' % str(obj.key)) state.info[obj.key] = obj state.need_redraw = True if isinstance(obj, SlipCenter): # move center (lat,lon) = obj.latlon state.panel.re_center(state.width/2, state.height/2, lat, lon) state.need_redraw = True if isinstance(obj, SlipZoom): # change zoom state.panel.set_ground_width(obj.ground_width) state.need_redraw = True if isinstance(obj, SlipFollow): # enable/disable follow state.follow = obj.enable if isinstance(obj, SlipFollowObject): # enable/disable follow on an object for layer in state.layers: if obj.key in state.layers[layer]: if hasattr(state.layers[layer][obj.key], 'follow'): state.layers[layer][obj.key].follow = obj.enable if isinstance(obj, SlipBrightness): # set map brightness state.brightness = obj.brightness state.need_redraw = True if isinstance(obj, SlipClearLayer): # remove all objects from a layer if obj.layer in state.layers: state.layers.pop(obj.layer) state.need_redraw = True if isinstance(obj, SlipRemoveObject): # remove an object by key for layer in state.layers: if obj.key in state.layers[layer]: state.layers[layer].pop(obj.key) state.need_redraw = True if isinstance(obj, SlipHideObject): # hide an object by key for layer in state.layers: if obj.key in state.layers[layer]: state.layers[layer][obj.key].set_hidden(obj.hide) state.need_redraw = True if state.timelim_pipe is not None: while state.timelim_pipe[1].poll(): try: obj = state.timelim_pipe[1].recv() except Exception: state.timelim_pipe = None break for layer in state.layers: for key in state.layers[layer].keys(): state.layers[layer][key].set_time_range(obj) state.need_redraw = True if obj is None: time.sleep(0.05) class MPSlipMapPanel(wx.Panel): """ The image panel """ def __init__(self, parent, state): from MAVProxy.modules.lib import mp_widgets wx.Panel.__init__(self, parent) self.state = state self.img = None self.map_img = None self.redraw_timer = wx.Timer(self) self.Bind(wx.EVT_TIMER, self.on_redraw_timer, self.redraw_timer) self.Bind(wx.EVT_SET_FOCUS, self.on_focus) self.redraw_timer.Start(200) self.mouse_pos = None self.mouse_down = None self.click_pos = None self.last_click_pos = None self.last_click_pos_used_for_text = None self.last_terrain_height = None if state.elevation != "None": state.ElevationMap = mp_elevation.ElevationModel(database=state.elevation) self.mainSizer = wx.BoxSizer(wx.VERTICAL) self.SetSizer(self.mainSizer) # display for lat/lon/elevation self.position = wx.TextCtrl(self, style=wx.TE_MULTILINE|wx.TE_READONLY) if os.name == 'nt': self.position.SetValue("line 1\nline 2\n") size = self.position.GetBestSize() self.position.SetMinSize(size) self.position.SetValue("") else: textsize = tuple(self.position.GetFullTextExtent('line 1\nline 2\n')[0:2]) self.position.SetMinSize(textsize) self.mainSizer.AddSpacer(2) self.mainSizer.Add(self.position, flag=wx.LEFT | wx.BOTTOM | wx.GROW, border=0) self.position.Bind(wx.EVT_SET_FOCUS, self.on_focus) # a place to put control flags self.controls = wx.BoxSizer(wx.HORIZONTAL) self.mainSizer.Add(self.controls, 0, flag=wx.ALIGN_LEFT | wx.TOP | wx.GROW) self.mainSizer.AddSpacer(2) # a place to put information like image details self.information = wx.BoxSizer(wx.HORIZONTAL) self.mainSizer.Add(self.information, 0, flag=wx.ALIGN_LEFT | wx.TOP | wx.GROW) self.mainSizer.AddSpacer(2) # panel for the main map image self.imagePanel = mp_widgets.ImagePanel(self, np.zeros((state.height, state.width, 3), dtype=np.uint8)) self.mainSizer.Add(self.imagePanel, flag=wx.GROW, border=5) self.imagePanel.Bind(wx.EVT_MOUSE_EVENTS, self.on_mouse) self.imagePanel.Bind(wx.EVT_KEY_DOWN, self.on_key_down) self.imagePanel.Bind(wx.EVT_MOUSEWHEEL, self.on_mouse_wheel) # a function to convert from (lat,lon) to (px,py) on the map self.pixmapper = functools.partial(self.pixel_coords) self.last_view = None self.redraw_map() state.frame.Fit() def on_focus(self, event): '''called when the panel gets focus''' self.imagePanel.SetFocus() def current_view(self): '''return a tuple representing the current view''' state = self.state return (state.lat, state.lon, state.width, state.height, state.ground_width, state.mt.tiles_pending()) def coordinates(self, x, y): '''return coordinates of a pixel in the map''' state = self.state return state.mt.coord_from_area(x, y, state.lat, state.lon, state.width, state.ground_width) def constrain_latlon(self): self.state.lat = mp_util.constrain(self.state.lat, -85, 85) self.state.lon = mp_util.wrap_180(self.state.lon) def re_center(self, x, y, lat, lon): '''re-center view for pixel x,y''' state = self.state if lat is None or lon is None: return (lat2,lon2) = self.coordinates(x, y) distance = mp_util.gps_distance(lat2, lon2, lat, lon) bearing = mp_util.gps_bearing(lat2, lon2, lat, lon) (state.lat, state.lon) = mp_util.gps_newpos(state.lat, state.lon, bearing, distance) self.constrain_latlon() def set_ground_width(self, ground_width): '''set ground width of view''' state = self.state state.ground_width = ground_width state.panel.re_center(state.width/2, state.height/2, state.lat, state.lon) def change_zoom(self, zoom): '''zoom in or out by zoom factor, keeping centered''' state = self.state if self.mouse_pos: (x,y) = (self.mouse_pos.x, self.mouse_pos.y) else: (x,y) = (state.width/2, state.height/2) (lat,lon) = self.coordinates(x, y) lat = mp_util.constrain(lat, -85, 85) lon = mp_util.constrain(lon, -180, 180) state.ground_width *= zoom # limit ground_width to sane values state.ground_width = max(state.ground_width, 2) state.ground_width = min(state.ground_width, 20000000) self.re_center(x,y, lat, lon) def enter_position(self): '''enter new position''' state = self.state dlg = wx.TextEntryDialog(self, 'Enter new position', 'Position') dlg.SetValue("%f %f" % (state.lat, state.lon)) if dlg.ShowModal() == wx.ID_OK: latlon = dlg.GetValue().split() dlg.Destroy() state.lat = float(latlon[0]) state.lon = float(latlon[1]) self.constrain_latlon() self.re_center(state.width/2,state.height/2, state.lat, state.lon) self.redraw_map() def update_position(self): '''update position text''' state = self.state pos = self.mouse_pos newtext = '' alt = 0 if pos is not None: (lat,lon) = self.coordinates(pos.x, pos.y) newtext += 'Cursor: %.8f %.8f (%s)' % (lat, lon, mp_util.latlon_to_grid((lat, lon))) if state.elevation != "None": alt = state.ElevationMap.GetElevation(lat, lon) if alt is not None: newtext += ' %.1fm %uft' % (alt, alt*3.28084) state.mt.set_download(state.download) pending = 0 if state.download: pending = state.mt.tiles_pending() if pending: newtext += ' Map Downloading %u ' % pending if alt == -1: newtext += ' SRTM Downloading ' newtext += '\n' cpt = self.click_position_text() if cpt is not None: newtext += cpt if newtext != self.state.oldtext: self.position.Clear() self.position.WriteText(newtext) self.state.oldtext = newtext def click_position_text(self): if self.click_pos is None: return None if self.click_pos == self.last_click_pos: return self.last_click_position_text if self.click_pos == self.last_click_pos_used_for_text: return self.last_click_position_text terrain_height = None terrain_height_str = "?" if self.state.elevation != "None": terrain_height = self.state.ElevationMap.GetElevation(self.click_pos[0], self.click_pos[1]) if terrain_height is not None: terrain_height_str = ' %.1fm' % (terrain_height,) newtext = 'Click: %.8f %.8f %s (%s %s) (%s)' % ( self.click_pos[0], self.click_pos[1], terrain_height_str, mp_util.degrees_to_dms(self.click_pos[0]), mp_util.degrees_to_dms(self.click_pos[1]), mp_util.latlon_to_grid(self.click_pos) ) if self.last_click_pos is not None: # provide information about the differences between the # previous click position: distance = mp_util.gps_distance(self.last_click_pos[0], self.last_click_pos[1], self.click_pos[0], self.click_pos[1]) bearing = mp_util.gps_bearing(self.last_click_pos[0], self.last_click_pos[1], self.click_pos[0], self.click_pos[1]) newtext += ' Distance: %.3fm %.3fnm Bearing %.1f' % (distance, distance*0.000539957, bearing) if terrain_height_str == "?": self.last_terrain_height = None else: if self.last_terrain_height is not None: delta = terrain_height - self.last_terrain_height newtext += " (height %f)" % (delta, ) self.last_terrain_height = terrain_height self.last_click_pos_used_for_text = self.click_pos self.last_click_position_text = newtext return newtext def pixel_coords(self, latlon, reverse=False): '''return pixel coordinates in the map image for a (lat,lon) if reverse is set, then return lat/lon for a pixel coordinate ''' state = self.state if reverse: (x,y) = latlon return self.coordinates(x,y) (lat,lon) = (latlon[0], latlon[1]) return state.mt.coord_to_pixel(state.lat, state.lon, state.width, state.ground_width, lat, lon) def draw_objects(self, objects, bounds, img): '''draw objects on the image''' keys = sorted(objects.keys()) for k in keys: obj = objects[k] if not self.state.legend and isinstance(obj, SlipFlightModeLegend): continue bounds2 = obj.bounds() if bounds2 is None or mp_util.bounds_overlap(bounds, bounds2): obj.draw(img, self.pixmapper, bounds) def redraw_map(self): '''redraw the map with current settings''' state = self.state view_same = (self.last_view is not None and self.map_img is not None and self.last_view == self.current_view()) if view_same and not state.need_redraw: return # get the new map self.map_img = state.mt.area_to_image(state.lat, state.lon, state.width, state.height, state.ground_width) if state.brightness != 0: # valid state.brightness range is [-255, 255] brightness = np.uint8(np.abs(state.brightness)) if state.brightness > 0: self.map_img = np.where((255 - self.map_img) < brightness, 255, self.map_img + brightness) else: self.map_img = np.where((255 + self.map_img) < brightness, 0, self.map_img - brightness) # find display bounding box (lat2,lon2) = self.coordinates(state.width-1, state.height-1) bounds = (lat2, state.lon, state.lat-lat2, mp_util.wrap_180(lon2-state.lon)) # get the image img = self.map_img.copy() # possibly draw a grid if state.grid: SlipGrid('grid', layer=3, linewidth=1, colour=(255,255,0)).draw(img, self.pixmapper, bounds) # draw layer objects keys = state.layers.keys() keys = sorted(list(keys)) for k in keys: self.draw_objects(state.layers[k], bounds, img) # draw information objects for key in state.info: state.info[key].draw(state.panel, state.panel.information) # display the image self.imagePanel.set_image(img) self.update_position() self.mainSizer.Fit(self) self.Refresh() self.last_view = self.current_view() state.need_redraw = False def on_redraw_timer(self, event): '''the redraw timer ensures we show new map tiles as they are downloaded''' self.redraw_map() def on_size(self, event): '''handle window size changes''' state = self.state size = event.GetSize() state.width = size.width state.height = size.height self.redraw_map() def on_mouse_wheel(self, event): '''handle mouse wheel zoom changes''' # >>> print -1/120 # -1 wheel_rotation = event.GetWheelRotation() rotation = abs(wheel_rotation) // event.GetWheelDelta() if rotation == 0: return zoom = 1.1 * rotation if wheel_rotation > 0: # zooming out zoom = 1.0/zoom self.change_zoom(zoom) self.redraw_map() def selected_objects(self, pos): '''return a list of matching objects for a position''' state = self.state selected = [] (px, py) = pos for layer in state.layers: for key in state.layers[layer]: obj = state.layers[layer][key] distance = obj.clicked(px, py) if distance is not None: selected.append(SlipObjectSelection(key, distance, layer, extra_info=obj.selection_info())) selected.sort(key=lambda c: c.distance) return selected def show_popup(self, objs, pos): '''show popup menu for an object''' state = self.state popup_menu = None popups = [ p.popup_menu for p in objs ] if state.default_popup is not None and state.default_popup.combine: popups.append(state.default_popup.popup) popup_menu = popups[0] if len(popups) > 1: for p in popups[1:]: popup_menu = copy.deepcopy(popup_menu) popup_menu.add(MPMenuSeparator()) popup_menu.combine(p) wx_menu = popup_menu.wx_menu() state.frame.PopupMenu(wx_menu, pos) def show_default_popup(self, pos): '''show default popup menu''' state = self.state if state.default_popup.popup is not None: wx_menu = state.default_popup.popup.wx_menu() state.frame.PopupMenu(wx_menu, pos) def on_mouse(self, event): '''handle mouse events''' state = self.state pos = event.GetPosition() if event.Leaving(): self.mouse_pos = None else: self.mouse_pos = pos self.update_position() if hasattr(event, 'ButtonIsDown'): any_button_down = event.ButtonIsDown(wx.MOUSE_BTN_ANY) left_button_down = event.ButtonIsDown(wx.MOUSE_BTN_LEFT) right_button_down = event.ButtonIsDown(wx.MOUSE_BTN_RIGHT) else: left_button_down = event.leftIsDown right_button_down = event.rightIsDown any_button_down = left_button_down or right_button_down if any_button_down or event.ButtonUp(): # send any event with a mouse button to the parent latlon = self.coordinates(pos.x, pos.y) selected = self.selected_objects(pos) state.event_queue.put(SlipMouseEvent(latlon, event, selected)) if event.RightDown(): state.popup_objects = None state.popup_latlon = None if len(selected) > 0: objs = [ state.layers[s.layer][s.objkey] for s in selected if state.layers[s.layer][s.objkey].popup_menu is not None ] if len(objs) > 0: state.popup_objects = objs state.popup_latlon = latlon self.show_popup(objs, pos) state.popup_started = True if not state.popup_started and state.default_popup is not None: state.popup_latlon = latlon self.show_default_popup(pos) state.popup_started = True if not right_button_down: state.popup_started = False if event.LeftDown() or event.RightDown(): self.mouse_down = pos self.last_click_pos = self.click_pos self.click_pos = self.coordinates(pos.x, pos.y) if event.Dragging() and left_button_down: # drag map to new position newpos = pos if self.mouse_down and newpos: dx = (self.mouse_down.x - newpos.x) dy = -(self.mouse_down.y - newpos.y) pdist = math.sqrt(dx**2 + dy**2) if pdist > state.drag_step: bearing = math.degrees(math.atan2(dx, dy)) distance = (state.ground_width/float(state.width)) * pdist newlatlon = mp_util.gps_newpos(state.lat, state.lon, bearing, distance) (state.lat, state.lon) = newlatlon self.constrain_latlon() self.mouse_down = newpos self.redraw_map() def clear_thumbnails(self): '''clear all thumbnails from the map''' state = self.state for l in state.layers: keys = list(state.layers[l].keys())[:] for key in keys: if (isinstance(state.layers[l][key], SlipThumbnail) and not isinstance(state.layers[l][key], SlipIcon)): state.layers[l].pop(key) def on_key_down(self, event): '''handle keyboard input''' state = self.state # send all key events to the parent if self.mouse_pos: latlon = self.coordinates(self.mouse_pos.x, self.mouse_pos.y) selected = self.selected_objects(self.mouse_pos) state.event_queue.put(SlipKeyEvent(latlon, event, selected)) if hasattr(event,'GetUnicodeKey'): c = event.GetUnicodeKey() else: c = event.GetUniChar() if c == ord('+') or (c == ord('=') and event.ShiftDown()): self.change_zoom(1.0/1.2) elif c == ord('-'): self.change_zoom(1.2) elif c == ord('G') and not event.ControlDown(): self.enter_position() elif c == ord('C'): self.clear_thumbnails() else: # propogate event: event.Skip() MAVProxy-1.8.74/MAVProxy/modules/mavproxy_map/mp_slipmap_util.py000066400000000000000000000661731504324515000247430ustar00rootroot00000000000000#!/usr/bin/env python3 # -*- coding: utf-8 -*- ''' slipmap based on mp_tile Andrew Tridgell June 2012 ''' import functools import math import os, sys import time import cv2 import numpy as np import warnings from MAVProxy.modules.mavproxy_map import mp_tile from MAVProxy.modules.lib import mp_util font = cv2.FONT_HERSHEY_DUPLEX def image_shape(img): '''handle different image formats, returning (width,height) tuple''' if hasattr(img, 'shape'): return (img.shape[1], img.shape[0]) return (img.width, img.height) class SlipObject: '''an object to display on the map''' def __init__(self, key, layer, popup_menu=None): self.key = key self.layer = str(layer) self.latlon = None self.popup_menu = popup_menu self.hidden = False self._timestamp_range = None def clip(self, px, py, w, h, img): '''clip an area for display on the map''' sx = 0 sy = 0 if px < 0: sx = -px w += px px = 0 if py < 0: sy = -py h += py py = 0 (width, height) = image_shape(img) if px+w > width: w = width - px if py+h > height: h = height - py return (px, py, sx, sy, w, h) def draw(self, img, pixmapper, bounds): '''default draw method''' pass def update_position(self, newpos): '''update object position''' if getattr(self, 'trail', None) is not None: self.trail.update_position(newpos) self.latlon = newpos.latlon if hasattr(self, 'rotation'): self.rotation = newpos.rotation def clicked(self, px, py): '''check if a click on px,py should be considered a click on the object. Return None if definitely not a click, otherwise return the distance of the click, smaller being nearer ''' return None def selection_info(self): '''extra selection information sent when object is selected''' return None def bounds(self): '''return bounding box or None''' return None def set_hidden(self, hidden): '''set hidden attribute''' self.hidden = hidden def set_time_range(self, trange): '''set timestamp range for display''' self._timestamp_range = trange class SlipLabel(SlipObject): '''a text label to display on the map''' def __init__(self, key, point, label, layer, colour, size=0.5): SlipObject.__init__(self, key, layer) self.point = point self.colour = colour self.label = label self.size = size def draw_label(self, img, pixmapper): pix1 = pixmapper(self.point) cv2.putText(img, self.label, pix1, font, self.size, self.colour) def draw(self, img, pixmapper, bounds): if self.hidden: return self.draw_label(img, pixmapper) def bounds(self): '''return bounding box''' if self.hidden: return None return (self.point[0], self.point[1], 0, 0) class SlipArrow(SlipObject): '''an arrow to display direction of movement''' def __init__(self, key, layer, xy_pix, colour, linewidth, rotation, reverse = False, arrow_size = 7, popup_menu=None): SlipObject.__init__(self, key, layer, popup_menu=popup_menu) self.xy_pix = xy_pix self.colour = colour self.arrow_size = arrow_size self.linewidth = linewidth if reverse: self.rotation = rotation + math.pi else: self.rotation = rotation def draw(self, img): if self.hidden: return crot = self.arrow_size*math.cos(self.rotation) srot = self.arrow_size*math.sin(self.rotation) x1 = -crot-srot x2 = crot-srot y1 = crot-srot y2 = crot+srot pix1 = (int(self.xy_pix[0]+x1), int(self.xy_pix[1]+y1)) pix2 = (int(self.xy_pix[0]+x2), int(self.xy_pix[1]+y2)) cv2.line(img, pix1, self.xy_pix, self.colour, self.linewidth) cv2.line(img, pix2, self.xy_pix, self.colour, self.linewidth) class SlipCircle(SlipObject): '''a circle to display on the map''' def __init__(self, key, layer, latlon, radius, color, linewidth, arrow = False, popup_menu=None, start_angle=None, end_angle=None, rotation=None, add_radii=False): SlipObject.__init__(self, key, layer, popup_menu=popup_menu) self.latlon = latlon if radius < 0: self.reverse = True else: self.reverse = False self.radius = abs(float(radius)) self.color = color self.linewidth = linewidth self.arrow = arrow self.start_angle = start_angle self.end_angle = end_angle self.rotation = rotation self.add_radii = add_radii def draw(self, img, pixmapper, bounds): if self.hidden: return center_px = pixmapper(self.latlon) # figure out pixels per meter ref_pt = (self.latlon[0] + 1.0, self.latlon[1]) dis = mp_util.gps_distance(self.latlon[0], self.latlon[1], ref_pt[0], ref_pt[1]) ref_px = pixmapper(ref_pt) dis_px = math.sqrt(float(center_px[1] - ref_px[1]) ** 2.0) pixels_per_meter = dis_px / dis radius_px = int(self.radius * pixels_per_meter) if self.start_angle is not None: axes = (radius_px, radius_px) cv2.ellipse(img, center_px, axes, self.rotation, self.start_angle, self.end_angle, self.color, self.linewidth) if self.add_radii: rimpoint1 = (center_px[0] + int(radius_px * math.cos(math.radians(self.rotation+self.start_angle))), center_px[1] + int(radius_px * math.sin(math.radians(self.rotation+self.start_angle)))) rimpoint2 = (center_px[0] + int(radius_px * math.cos(math.radians(self.rotation+self.end_angle))), center_px[1] + int(radius_px * math.sin(math.radians(self.rotation+self.end_angle)))) cv2.line(img, center_px, rimpoint1, self.color, self.linewidth) cv2.line(img, center_px, rimpoint2, self.color, self.linewidth) else: cv2.circle(img, center_px, radius_px, self.color, self.linewidth) if self.arrow: SlipArrow(self.key, self.layer, (center_px[0]-radius_px, center_px[1]), self.color, self.linewidth, 0, reverse = self.reverse).draw(img) SlipArrow(self.key, self.layer, (center_px[0]+radius_px, center_px[1]), self.color, self.linewidth, math.pi, reverse = self.reverse).draw(img) # stash some values for determining closest click location self.radius_px = radius_px self.center_px = center_px def bounds(self): '''return bounding box''' if self.hidden: return None return (self.latlon[0], self.latlon[1], 0, 0) def clicked(self, px, py): '''check if a click on px,py should be considered a click on the object. Return None if definitely not a click, otherwise return the distance of the click, smaller being nearer ''' radius_px = getattr(self, "radius_px", None) if radius_px is None: return dx = self.center_px[0] - px dy = self.center_px[1] - py ret = abs(math.sqrt(dx*dx+dy*dy) - radius_px) if ret > 10: # threshold of within 10 pixels for a click to count return None return ret class SlipPolygon(SlipObject): '''a polygon to display on the map''' def __init__(self, key, points, layer, colour, linewidth, arrow = False, popup_menu=None, showlines=True, showcircles=True): SlipObject.__init__(self, key, layer, popup_menu=popup_menu) self.points = points self.colour = colour self.linewidth = linewidth self.arrow = arrow self._bounds = mp_util.polygon_bounds(self.points) self._pix_points = [] self._selected_vertex = None self._has_timestamps = False self._showlines = showlines self._showcircles = showcircles def set_colour(self, colour): self.colour = colour def bounds(self): '''return bounding box''' if self.hidden: return None return self._bounds def draw_line(self, img, pixmapper, pt1, pt2, colour, linewidth): '''draw a line on the image''' pt1 = mp_util.constrain_latlon(pt1) pt2 = mp_util.constrain_latlon(pt2) pix1 = pixmapper(pt1) pix2 = pixmapper(pt2) (width, height) = image_shape(img) (ret, pix1, pix2) = cv2.clipLine((0, 0, width, height), pix1, pix2) if ret is False: if len(self._pix_points) == 0: self._pix_points.append(None) self._pix_points.append(None) return if self._showlines: cv2.line(img, pix1, pix2, colour, linewidth) if self._showcircles: cv2.circle(img, pix2, linewidth*2, colour) if len(self._pix_points) == 0: self._pix_points.append(pix1) self._pix_points.append(pix2) if self.arrow: xdiff = pix2[0]-pix1[0] ydiff = pix2[1]-pix1[1] if (xdiff*xdiff + ydiff*ydiff) > 400: # the segment is longer than 20 pix SlipArrow(self.key, self.layer, (int(pix1[0]+xdiff/2.0), int(pix1[1]+ydiff/2.0)), self.colour, self.linewidth, math.atan2(ydiff, xdiff)+math.pi/2.0).draw(img) def draw(self, img, pixmapper, bounds): '''draw a polygon on the image''' if self.hidden: return self._has_timestamps = len(self.points) > 0 and len(self.points[0]) > 3 self._pix_points = [] for i in range(len(self.points)-1): if len(self.points[i]) > 2: colour = self.points[i][2] else: colour = self.colour if len(self.points[i]) > 3: timestamp = self.points[i][3] if self._timestamp_range is not None: if timestamp < self._timestamp_range[0] or timestamp > self._timestamp_range[1]: continue self.draw_line(img, pixmapper, self.points[i], self.points[i+1], colour, self.linewidth) def clicked(self, px, py): '''see if the polygon has been clicked on. Consider it clicked if the pixel is within 6 of the point ''' if self.hidden: return None num_points = len(self._pix_points) if num_points <= 0: return None for idx in range(num_points): # the odd ordering here is to that the home point, which is index 0, is checked last # as home cannot be moved i = (idx+1) % num_points if self._pix_points[i] is None: continue (pixx,pixy) = self._pix_points[i] if abs(px - pixx) < 6 and abs(py - pixy) < 6: self._selected_vertex = i return math.sqrt((px - pixx)**2 + (py - pixy)**2) return None def selection_info(self): '''extra selection information sent when object is selected''' return self._selected_vertex class UnclosedSlipPolygon(SlipPolygon): '''a polygon to display on the map - but one with no return point or closing vertex''' def draw(self, img, pixmapper, bounds, colour=(0,0,0)): '''draw a polygon on the image''' if self.hidden: return self._pix_points = [] for i in range(len(self.points)): if len(self.points[i]) > 2: colour = self.points[i][2] else: colour = self.colour _from = self.points[i] if i+1 == len(self.points): _to = self.points[0] else: _to = self.points[i+1] self.draw_line( img, pixmapper, _from, _to, colour, self.linewidth) class SlipGrid(SlipObject): '''a map grid''' def __init__(self, key, layer, colour, linewidth): SlipObject.__init__(self, key, layer, ) self.colour = colour self.linewidth = linewidth def draw_line(self, img, pixmapper, pt1, pt2, colour, linewidth): '''draw a line on the image''' pt1 = mp_util.constrain_latlon(pt1) pt2 = mp_util.constrain_latlon(pt2) pix1 = pixmapper(pt1) pix2 = pixmapper(pt2) (width, height) = image_shape(img) (ret, pix1, pix2) = cv2.clipLine((0, 0, width, height), pix1, pix2) if ret is False: return cv2.line(img, pix1, pix2, colour, linewidth) def draw(self, img, pixmapper, bounds): '''draw a polygon on the image''' if self.hidden: return (lat,lon,w,h) = bounds # note that w and h are in degrees spacing = 1000 lat2 = mp_util.constrain(lat+h*0.5,-85,85) lon2 = mp_util.wrap_180(lon+w) dist = mp_util.gps_distance(lat2,lon,lat2,lon2) while True: count = int(dist / spacing) if count < 2: spacing /= 10.0 elif count > 50: spacing *= 10.0 else: break count += 10 start = mp_util.latlon_round((lat,lon), spacing) for i in range(count): # draw vertical lines of constant longitude pos1 = mp_util.gps_newpos(start[0], start[1], 90, i*spacing) pos3 = (pos1[0]+h*2, pos1[1]) self.draw_line(img, pixmapper, pos1, pos3, self.colour, self.linewidth) # draw horizontal lines of constant latitude pos1 = mp_util.gps_newpos(start[0], start[1], 0, i*spacing) pos3 = (pos1[0], pos1[1]+w*2) self.draw_line(img, pixmapper, pos1, pos3, self.colour, self.linewidth) class SlipFlightModeLegend(SlipObject): '''a legend to display in the map area''' def __init__(self, key, tuples, layer=1): SlipObject.__init__(self, key, layer) self.tuples = tuples self._img = None self.top_margin = 5 self.bottom_margin = 5 self.left_margin = 5 self.right_margin = 5 self.swatch_min_width = 5 self.swatch_min_height = 5 self.swatch_text_gap = 2 self.row_gap = 2 self.border_width = 1 self.border_colour = (255,0,0) self.text_colour = (0,0,0) self.font_scale = 0.5 def draw_legend(self): fontscale = self.font_scale width = 0 height = self.top_margin + self.bottom_margin row_height_max = self.swatch_min_height for (mode, colour) in self.tuples: if mode is None: mode = "Unknown" ((tw,th),tb) = cv2.getTextSize(mode, font, fontscale, 1) width = max(width, tw) row_height_max = max(row_height_max, th) row_count = len(self.tuples) height = self.top_margin + row_count*row_height_max + (row_count-1)*self.row_gap + self.bottom_margin swatch_height = max(self.swatch_min_height, row_height_max) swatch_width = max(self.swatch_min_width, swatch_height) width += self.left_margin + self.right_margin width += swatch_width + self.swatch_text_gap img = np.zeros((height,width,3),np.uint8) img[:] = (255,255,255) cv2.rectangle(img, (0, 0), (width-1, height-1), self.border_colour, self.border_width) y = self.top_margin for (mode, colour) in self.tuples: if mode is None: mode = "Unknown" x = self.left_margin cv2.rectangle(img, (x, y), (x+swatch_width-1, y+swatch_height-1), colour, -1) x += swatch_width x += self.swatch_text_gap cv2.putText(img, mode, (x, y+row_height_max), font, fontscale, self.text_colour) y += row_height_max + self.row_gap return img def draw(self, img, pixmapper, bounds): '''draw legend on the image''' if self._img is None: self._img = self.draw_legend() w = self._img.shape[1] h = self._img.shape[0] px = 5 py = 5 img[py:py+h,px:px+w] = self._img class SlipThumbnail(SlipObject): '''a thumbnail to display on the map''' def __init__(self, key, latlon, layer, img, border_colour=None, border_width=0, popup_menu=None): SlipObject.__init__(self, key, layer, popup_menu=popup_menu) self.latlon = latlon self._img = None if isinstance(img, str): img = mp_tile.mp_icon(img) if not hasattr(img, 'shape'): img = np.asarray(img[:,:]) self.original_img = img (self.width, self.height) = image_shape(img) self.border_width = border_width self.border_colour = border_colour self.posx = -1 self.posy = -1 def bounds(self): '''return bounding box''' if self.hidden: return None return (self.latlon[0], self.latlon[1], 0, 0) def img(self): '''return a cv image for the thumbnail''' if self._img is not None: return self._img self._img = cv2.cvtColor(self.original_img, cv2.COLOR_BGR2RGB) if self.border_width and self.border_colour is not None: cv2.rectangle(self._img, (0, 0), (self.width-1, self.height-1), self.border_colour, self.border_width) return self._img def draw(self, img, pixmapper, bounds): '''draw the thumbnail on the image''' if self.hidden: return thumb = self.img() (px,py) = pixmapper(self.latlon) # find top left (w, h) = image_shape(thumb) px -= w//2 py -= h//2 (px, py, sx, sy, w, h) = self.clip(px, py, w, h, img) thumb_roi = thumb[sy:sy+h, sx:sx+w] img[py:py+h, px:px+w] = thumb_roi # remember where we placed it for clicked() self.posx = px+w//2 self.posy = py+h//2 def clicked(self, px, py): '''see if the image has been clicked on''' if self.hidden: return None if (abs(px - self.posx) > self.width/2 or abs(py - self.posy) > self.height/2): return None return math.sqrt((px-self.posx)**2 + (py-self.posy)**2) class SlipTrail: '''trail information for a moving icon''' def __init__(self, timestep=0.2, colour=(255,255,0), count=60, points=[]): self.timestep = timestep self.colour = colour self.count = count self.points = points self.last_time = time.time() def update_position(self, newpos): '''update trail''' tnow = time.time() if tnow >= self.last_time + self.timestep: self.points.append(newpos.latlon) self.last_time = tnow while len(self.points) > self.count: self.points.pop(0) def draw(self, img, pixmapper, bounds): '''draw the trail''' for p in self.points: (px,py) = pixmapper(p) (width, height) = image_shape(img) if px >= 0 and py >= 0 and px < width and py < height: cv2.circle(img, (px,py), 1, self.colour) class SlipIcon(SlipThumbnail): '''a icon to display on the map''' def __init__(self, key, latlon, img, layer=1, rotation=0, follow=False, trail=None, popup_menu=None, label=None, colour=(255,255,255)): SlipThumbnail.__init__(self, key, latlon, layer, img, popup_menu=popup_menu) self.rotation = rotation self.follow = follow self.trail = trail self.label = label self.colour = colour # label colour def img(self): '''return a cv image for the icon''' SlipThumbnail.img(self) if self.rotation: # rotate the image mat = cv2.getRotationMatrix2D((self.height//2, self.width//2), -self.rotation, 1.0) self._rotated = cv2.warpAffine(self._img, mat, (self.height, self.width)) else: self._rotated = self._img return self._rotated def draw(self, img, pixmapper, bounds): '''draw the icon on the image''' if self.hidden: return if self.trail is not None: self.trail.draw(img, pixmapper, bounds) icon = self.img() (px,py) = pixmapper(self.latlon) # find top left (w, h) = image_shape(icon) px -= w//2 py -= h//2 (px, py, sx, sy, w, h) = self.clip(px, py, w, h, img) img[py:py + h, px:px + w] = cv2.add(img[py:py+h, px:px+w], icon[sy:sy+h, sx:sx+w]) if self.label is not None: cv2.putText(img, self.label, (px,py), font, 1.0, self.colour) # remember where we placed it for clicked() self.posx = px+w//2 self.posy = py+h//2 class SlipPosition: '''an position object to move an existing object on the map''' def __init__(self, key, latlon, layer='', rotation=0, label=None, colour=None): self.key = key self.layer = str(layer) self.latlon = latlon self.rotation = rotation self.label = label self.colour = colour class SlipClickLocation(SlipObject): '''current click location tuple''' def __init__(self, location, layer='', timeout=-1): self.location = location self.linewidth = 2 self.colour = (0, 0, 255) self.length = 10 self.layer = layer self.key = "click" self.timeout = timeout self.start = time.time() def draw(self, img, pixmapper, bounds): '''X marks the spot''' if self.location is None: return if self.timeout != -1 and time.time() - self.start > self.timeout: return (px,py) = pixmapper(self.location) p1 = (px-self.length, py-self.length) p2 = (px+self.length, py+self.length) p3 = (px-self.length, py+self.length) p4 = (px+self.length, py-self.length) cv2.line(img, p1, p2, self.colour, self.linewidth) cv2.line(img, p3, p4, self.colour, self.linewidth) class SlipCenter: '''an object to move the view center''' def __init__(self, latlon): self.latlon = latlon class SlipZoom: '''an object to change ground width''' def __init__(self, ground_width): self.ground_width = ground_width class SlipFollow: '''enable/disable follow''' def __init__(self, enable): self.enable = enable class SlipFollowObject: '''enable/disable follow for an object''' def __init__(self, key, enable): self.key = key self.enable = enable class SlipBrightness: '''an object to change map brightness''' def __init__(self, brightness): self.brightness = brightness class SlipClearLayer: '''remove all objects in a layer''' def __init__(self, layer): self.layer = str(layer) class SlipRemoveObject: '''remove an object by key''' def __init__(self, key): self.key = key class SlipHideObject: '''hide an object by key''' def __init__(self, key, hide): self.key = key self.hide = hide class SlipInformation: '''an object to display in the information box''' def __init__(self, key): self.key = key def draw(self, parent, box): '''default draw method''' pass def update(self, newinfo): '''update the information''' pass class SlipDefaultPopup: '''an object to hold a default popup menu''' def __init__(self, popup, combine=False): self.popup = popup self.combine = combine class SlipInfoImage(SlipInformation): '''an image to display in the info box''' def __init__(self, key, img): SlipInformation.__init__(self, key) self.imgstr = img.tostring() (self.width, self.height) = image_shape(img) self.imgpanel = None def img(self): '''return a wx image''' import wx with warnings.catch_warnings(): warnings.simplefilter('ignore') img = wx.EmptyImage(self.width, self.height) img.SetData(self.imgstr) return img def draw(self, parent, box): '''redraw the image''' import wx from MAVProxy.modules.lib import mp_widgets if self.imgpanel is None: self.imgpanel = mp_widgets.ImagePanel(parent, self.img()) box.Add(self.imgpanel, flag=wx.LEFT, border=0) box.Layout() def update(self, newinfo): '''update the image''' self.imgstr = newinfo.imgstr self.width = newinfo.width self.height = newinfo.height if self.imgpanel is not None: self.imgpanel.set_image(self.img()) class SlipInfoText(SlipInformation): '''text to display in the info box''' def __init__(self, key, text): SlipInformation.__init__(self, key) self.text = text self.textctrl = None def _resize(self): '''calculate and set text size, handling multi-line''' lines = self.text.split('\n') xsize, ysize = 0, 0 for line in lines: size = self.textctrl.GetTextExtent(line) xsize = max(xsize, size[0]) ysize = ysize + size[1] xsize = int(xsize*1.2) self.textctrl.SetSize((xsize, ysize)) self.textctrl.SetMinSize((xsize, ysize)) def draw(self, parent, box): '''redraw the text''' import wx if self.textctrl is None: self.textctrl = wx.TextCtrl(parent, style=wx.TE_MULTILINE|wx.TE_READONLY) self.textctrl.WriteText(self.text) self._resize() box.Add(self.textctrl, flag=wx.LEFT, border=0) box.Layout() def update(self, newinfo): '''update the image''' self.text = newinfo.text if self.textctrl is not None: self.textctrl.Clear() self.textctrl.WriteText(self.text) self._resize() class SlipObjectSelection: '''description of a object under the cursor during an event''' def __init__(self, objkey, distance, layer, extra_info=None): self.distance = distance self.objkey = objkey self.layer = str(layer) self.extra_info = extra_info class SlipEvent: '''an event sent to the parent. latlon = (lat,lon) of mouse on map event = wx event objkeys = list of SlipObjectSelection selections ''' def __init__(self, latlon, event, selected): self.latlon = latlon self.event = mp_util.object_container(event) self.selected = selected class SlipMouseEvent(SlipEvent): '''a mouse event sent to the parent''' def __init__(self, latlon, event, selected): SlipEvent.__init__(self, latlon, event, selected) class SlipKeyEvent(SlipEvent): '''a key event sent to the parent''' def __init__(self, latlon, event, selected): SlipEvent.__init__(self, latlon, event, selected) class SlipMenuEvent(SlipEvent): '''a menu event sent to the parent''' def __init__(self, latlon, event, selected, menuitem): SlipEvent.__init__(self, latlon, event, selected) self.menuitem = menuitem MAVProxy-1.8.74/MAVProxy/modules/mavproxy_map/mp_tile.py000077500000000000000000000630661504324515000231770ustar00rootroot00000000000000#!/usr/bin/env python3 ''' access satellite map tile database some functions are based on code from mapUtils.py in gmapcatcher Andrew Tridgell May 2012 released under GNU GPL v3 or later conventions: - lat,lon is top left corner of area - ground_width is width at top of area see also: https://wiki.openstreetmap.org/wiki/Zoom_levels ''' import collections import errno import hashlib import sys import math import threading import os import pathlib import string import time import cv2 import numpy as np from math import log, tan, radians, degrees, sin, cos, exp, pi, asin, atan if sys.version_info.major < 3: from urllib2 import Request as url_request from urllib2 import urlopen as url_open from urllib2 import URLError as url_error else: from urllib.request import Request as url_request from urllib.request import urlopen as url_open from urllib.error import URLError as actual_url_error from http.client import RemoteDisconnected url_error = (RemoteDisconnected, actual_url_error) from MAVProxy.modules.lib import mp_util class TileException(Exception): '''tile error class''' def __init__(self, msg): Exception.__init__(self, msg) TILE_SERVICES = { # thanks to http://go2log.com/2011/09/26/fetching-tiles-for-offline-map/ # for the URL mapping info "GoogleSat" : "https://mt${GOOG_DIGIT}.google.com/vt/lyrs=s@812&hl=pt-PT&x=${X}&y=${Y}&z=${ZOOM}&s=${GALILEO}", "GoogleMap" : "https://mt${GOOG_DIGIT}.google.com/vt/lyrs=m@132&hl=pt-PT&x=${X}&y=${Y}&z=${ZOOM}&s=${GALILEO}", "GoogleTer" : "https://mt${GOOG_DIGIT}.google.com/vt/v=t@132,r@249&hl=pt-PT&x=${X}&y=${Y}&z=${ZOOM}&s=${GALILEO}", "GoogleChina" : "http://mt${GOOG_DIGIT}.google.cn/vt/lyrs=m@121&hl=en&gl=cn&x=${X}&y=${Y}&z=${ZOOM}&s=${GALILEO}", "MicrosoftBrMap" : "http://imakm${MS_DIGITBR}.maplink3.com.br/maps.ashx?v=${QUAD}|t&call=2.2.4", "MicrosoftHyb" : "http://ecn.t${MS_DIGIT}.tiles.virtualearth.net/tiles/h${QUAD}.png?g=441&mkt=en-us&n=z", "MicrosoftSat" : "http://ecn.t${MS_DIGIT}.tiles.virtualearth.net/tiles/a${QUAD}.png?g=441&mkt=en-us&n=z", "MicrosoftMap" : "http://ecn.t${MS_DIGIT}.tiles.virtualearth.net/tiles/r${QUAD}.png?g=441&mkt=en-us&n=z", "MicrosoftTer" : "http://ecn.t${MS_DIGIT}.tiles.virtualearth.net/tiles/r${QUAD}.png?g=441&mkt=en-us&shading=hill&n=z", "OpenStreetMap" : "http://tile.openstreetmap.org/${ZOOM}/${X}/${Y}.png", "Gulesider DK,NO,SE,FI" : "https://map.eniro.com/geowebcache/service/tms1.0.0/map/${ZOOM}/${X}/${ENI_Y}.png", "StatkartTopo" : "https://cache.kartverket.no/v1/wmts/1.0.0/topo/default/webmercator/${ZOOM}/${Y}/${X}", "StatkartTopoRaster" : "https://cache.kartverket.no/v1/wmts/1.0.0/toporaster/default/webmercator/${ZOOM}/${Y}/${X}", "Svalbard" : "https://geodata.npolar.no/arcgis/rest/services/Basisdata/NP_Basiskart_Svalbard_WMTS_3857/MapServer/WMTS/tile/1.0.0/Basisdata_NP_Basiskart_Svalbard_WMTS_3857/default/default028mm/${ZOOM}/${Y}/${X}", "MapsNSW" : "http://maps.six.nsw.gov.au/arcgis/rest/services/public/NSW_Topo_Map/MapServer/tile/${Z}/${Y}/${X}/jpg", "OpenTopoMapA": "https://a.tile.opentopomap.org/${Z}/${X}/${Y}.png", } # these are the md5sums of "unavailable" tiles BLANK_TILES = set(["d16657bbee25d7f15c583f5c5bf23f50", "c0e76e6e90ff881da047c15dbea380c7", "d41d8cd98f00b204e9800998ecf8427e"]) # all tiles are 256x256 TILES_WIDTH = 256 TILES_HEIGHT = 256 class TileServiceInfo: '''a lookup object for the URL templates''' def __init__(self, x, y, zoom): self.X = x self.Y = y self.Z = zoom quadcode = '' for i in range(zoom - 1, -1, -1): quadcode += str((((((y >> i) & 1) << 1) + ((x >> i) & 1)))) self.ZOOM = zoom self.QUAD = quadcode self.OAM_ZOOM = 17 - zoom self.GOOG_DIGIT = (x + y) & 3 self.MS_DIGITBR = (((y & 1) << 1) + (x & 1)) + 1 self.MS_DIGIT = (((y & 3) << 1) + (x & 1)) self.Y_DIGIT = (x + y + zoom) % 3 + 1 self.GALILEO = "Galileo"[0:(3 * x + y) & 7] self.ENI_Y = (1< 0: time.sleep(self.tile_delay) keys = sorted(self._download_pending.keys()) # work out which one to download next, choosing by request_time tile_info = self._download_pending[keys[0]] for key in keys: if self._download_pending[key].request_time > tile_info.request_time: tile_info = self._download_pending[key] url = tile_info.url(self.service) path = self.tile_to_path(tile_info) key = tile_info.key() try: if self.debug: print("Downloading %s [%u left]" % (url, len(keys))) req = url_request(url) req.add_header('User-Agent', 'MAVProxy') # try to re-use our cached data: try: mtime = os.path.getmtime(path) req.add_header('If-Modified-Since', time.strftime('%a, %d %b %Y %H:%M:%S GMT', time.gmtime(mtime))) except Exception: pass if url.find('google') != -1: req.add_header('Referer', 'https://maps.google.com/') resp = url_open(req) headers = resp.info() except url_error as e: try: if e.getcode() == 304: # cache hit; touch the file to reset its refresh time pathlib.Path(path).touch() self._download_pending.pop(key) continue except Exception as ex: pass #print('Error loading %s' % url) if not key in self._tile_cache: self._tile_cache[key] = self._unavailable self._download_pending.pop(key) if self.debug: print("Failed %s: %s" % (url, str(e))) continue if 'content-type' not in headers or headers['content-type'].find('image') == -1: if not key in self._tile_cache: self._tile_cache[key] = self._unavailable self._download_pending.pop(key) if self.debug: print("non-image response %s" % url) continue else: img = resp.read() # see if its a blank/unavailable tile md5 = hashlib.md5(img).hexdigest() if md5 in BLANK_TILES: if self.debug: print("blank tile %s" % url) if not key in self._tile_cache: self._tile_cache[key] = self._unavailable self._download_pending.pop(key) continue mp_util.mkdir_p(os.path.dirname(path)) h = open(path+'.tmp','wb') h.write(img) h.close() try: os.unlink(path) except Exception: pass os.rename(path+'.tmp', path) self._download_pending.pop(key) self._download_thread = None def start_download_thread(self): '''start the downloader''' if self._download_thread: return t = threading.Thread(target=self.downloader) t.daemon = True self._download_thread = t t.start() def load_tile_lowres(self, tile): '''load a lower resolution tile from cache to fill in a map while waiting for a higher resolution tile''' if tile.zoom == self.min_zoom: return None # find the equivalent lower res tile (lat,lon) = tile.coord() width2 = TILES_WIDTH height2 = TILES_HEIGHT for zoom2 in range(tile.zoom-1, self.min_zoom-1, -1): width2 //= 2 height2 //= 2 if width2 == 0 or height2 == 0: break tile_info = self.coord_to_tile(lat, lon, zoom2) # see if its in the tile cache key = tile_info.key() if key in self._tile_cache: img = self._tile_cache[key] if np.array_equal(img, np.array(self._unavailable)): continue else: path = self.tile_to_path(tile_info) if not os.path.exists(path): continue img = cv2.imread(path) if img is None: continue #cv2.rectangle(img, (0,0), (TILES_WIDTH-1,TILES_WIDTH-1), (255,0,0), 1) # add it to the tile cache self._tile_cache[key] = img while len(self._tile_cache) > self.cache_size: self._tile_cache.popitem(0) # copy out the quadrant we want availx = min(TILES_WIDTH - tile_info.offsetx, width2) availy = min(TILES_HEIGHT - tile_info.offsety, height2) if availx != width2 or availy != height2: continue roi = img[tile_info.offsety:tile_info.offsety+height2, tile_info.offsetx:tile_info.offsetx+width2] # and scale it try: scaled = cv2.resize(roi, (TILES_HEIGHT,TILES_WIDTH)) except Exception as ex: return None #cv.Rectangle(scaled, (0,0), (255,255), (0,255,0), 1) return scaled return None def load_tile(self, tile): '''load a tile from cache or tile server''' # see if its in the tile cache key = tile.key() if key in self._tile_cache: img = self._tile_cache[key] if np.array_equal(img, self._unavailable): img = self.load_tile_lowres(tile) if img is None: img = self._unavailable return img path = self.tile_to_path(tile) if not os.path.exists(path): ret = None else: ret = cv2.imread(path) if ret is not None: #cv2.rectangle(ret, (0,0), (TILES_WIDTH-1,TILES_WIDTH-1), (255,0,0), 1) # if it is an old tile, then try to refresh if os.path.getmtime(path) + self.refresh_age < time.time(): try: self._download_pending[key].refresh_time() except Exception: self._download_pending[key] = tile self.start_download_thread() # add it to the tile cache self._tile_cache[key] = ret while len(self._tile_cache) > self.cache_size: self._tile_cache.popitem(0) return ret if not self.download: img = self.load_tile_lowres(tile) if img is None: img = self._unavailable return img try: self._download_pending[key].refresh_time() except Exception: self._download_pending[key] = tile self.start_download_thread() img = self.load_tile_lowres(tile) if img is None: img = self._loading return img def scaled_tile(self, tile): '''return a scaled tile''' width = int(TILES_WIDTH / tile.scale) height = int(TILES_HEIGHT / tile.scale) full_tile = self.load_tile(tile) scaled_tile = cv2.resize(full_tile, (height, width)) return scaled_tile def coord_from_area(self, x, y, lat, lon, width, ground_width): '''return (lat,lon) for a pixel in an area image x is pixel coord to the right from top,left y is pixel coord down from top left ''' scale1 = mp_util.constrain(cos(radians(lat)), 1.0e-15, 1) pixel_width = ground_width / float(width) pixel_width_equator = (ground_width / float(width)) / cos(radians(lat)) latr = radians(lat) y0 = abs(1.0/cos(latr) + tan(latr)) lat2 = 2 * atan(y0 * exp(-(y * pixel_width_equator) / mp_util.radius_of_earth)) - pi/2.0 lat2 = degrees(lat2) dx = pixel_width_equator * cos(radians(lat2)) * x (lat2,lon2) = mp_util.gps_offset(lat2, lon, dx, 0) return (lat2,lon2) def coord_to_pixel(self, lat, lon, width, ground_width, lat2, lon2): '''return pixel coordinate (px,py) for position (lat2,lon2) in an area image. Note that the results are relative to top,left and may be outside the image ground_width is with at lat,lon px is pixel coord to the right from top,left py is pixel coord down from top left ''' pixel_width_equator = (ground_width / float(width)) / cos(radians(lat)) latr = radians(lat) lat2r = radians(lat2) C = mp_util.radius_of_earth / pixel_width_equator y = C * (log(abs(1.0/cos(latr) + tan(latr))) - log(abs(1.0/cos(lat2r) + tan(lat2r)))) y = int(y+0.5) dx = mp_util.gps_distance(lat2, lon, lat2, lon2) if mp_util.gps_bearing(lat2, lon, lat2, lon2) > 180: dx = -dx x = int(0.5 + dx / (pixel_width_equator * cos(radians(lat2)))) return (x,y) def area_to_tile_list(self, lat, lon, width, height, ground_width, zoom=None): '''return a list of TileInfoScaled objects needed for an area of land, with ground_width in meters, and width/height in pixels. lat/lon is the top left corner. If unspecified, the zoom is automatically chosen to avoid having to grow the tiles ''' pixel_width = ground_width / float(width) ground_height = ground_width * (height/(float(width))) top_right = mp_util.gps_newpos(lat, lon, 90, ground_width) bottom_left = mp_util.gps_newpos(lat, lon, 180, ground_height) ground_width_bottom = ground_width * cos(radians(lat)) / max(1.0e-15,cos(radians(bottom_left[0]))) bottom_right = mp_util.gps_newpos(bottom_left[0], bottom_left[1], 90, ground_width_bottom) # choose a zoom level if not provided if zoom is None: zooms = range(self.min_zoom, self.max_zoom+1) else: zooms = [zoom] for zoom in zooms: tile_min = self.coord_to_tile(lat, lon, zoom) (twidth,theight) = tile_min.size() tile_pixel_width = twidth / float(TILES_WIDTH) scale = pixel_width / tile_pixel_width if scale >= 1.0: break scaled_tile_width = int(TILES_WIDTH / scale) scaled_tile_height = int(TILES_HEIGHT / scale) # work out the bottom right tile tile_max = self.coord_to_tile(bottom_right[0], bottom_right[1], zoom) ofsx = int(tile_min.offsetx / scale) ofsy = int(tile_min.offsety / scale) srcy = ofsy dsty = 0 ret = [] # place the tiles for y in range(tile_min.y, tile_max.y+1): srcx = ofsx dstx = 0 world_tiles = 1< 0 and h > 0: scaled_tile_roi = scaled_tile[t.srcy:t.srcy+h, t.srcx:t.srcx+w] h = scaled_tile_roi.shape[0] w = scaled_tile_roi.shape[1] img[t.dsty:t.dsty+h, t.dstx:t.dstx+w] = scaled_tile_roi.copy() # return as an RGB image img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB) return img def mp_icon(filename): '''load an icon from the data directory''' # we have to jump through a lot of hoops to get an OpenCV image # when we may be in a package zip file raw = None try: import pkg_resources name = __name__ if name == "__main__": name = "MAVProxy.modules.mavproxy_map.mp_tile" stream = pkg_resources.resource_stream(name, f"data/{filename}") raw = np.frombuffer(stream.read(), dtype=np.uint8) except Exception: try: with open(os.path.join(os.path.dirname(__file__), 'data', filename), 'rb') as f: raw = np.frombuffer(f.read(), dtype=np.uint8) except Exception: try: import pkgutil stream = pkgutil.get_data('MAVProxy', f'modules/mavproxy_map/data/{filename}') raw = np.frombuffer(stream, dtype=np.uint8) except Exception as e: print(f"Failed to load image '{filename}': {e}") return None img = cv2.imdecode(raw, cv2.IMREAD_COLOR) return img if __name__ == "__main__": from optparse import OptionParser parser = OptionParser("mp_tile.py [options]") parser.add_option("--lat", type='float', default=-35.362938, help="start latitude") parser.add_option("--lon", type='float', default=149.165085, help="start longitude") parser.add_option("--width", type='float', default=1000.0, help="width in meters") parser.add_option("--service", default="MicrosoftSat", help="tile service") parser.add_option("--zoom", default=None, type='int', help="zoom level") parser.add_option("--max-zoom", type='int', default=19, help="maximum tile zoom") parser.add_option("--delay", type='float', default=1.0, help="tile download delay") parser.add_option("--boundary", default=None, help="region boundary") parser.add_option("--debug", action='store_true', default=False, help="show debug info") (opts, args) = parser.parse_args() lat = opts.lat lon = opts.lon ground_width = opts.width if opts.boundary: boundary = mp_util.polygon_load(opts.boundary) bounds = mp_util.polygon_bounds(boundary) lat = bounds[0]+bounds[2] lon = bounds[1] ground_width = max(mp_util.gps_distance(lat, lon, lat, mp_util.wrap_180(lon+bounds[3])), mp_util.gps_distance(lat, lon, lat-bounds[2], lon)) print(lat, lon, ground_width) mt = MPTile(debug=opts.debug, service=opts.service, tile_delay=opts.delay, max_zoom=opts.max_zoom) if opts.zoom is None: zooms = range(mt.min_zoom, mt.max_zoom+1) else: zooms = [opts.zoom] for zoom in zooms: tlist = mt.area_to_tile_list(lat, lon, width=1024, height=1024, ground_width=ground_width, zoom=zoom) print("zoom %u needs %u tiles" % (zoom, len(tlist))) for tile in tlist: mt.load_tile(tile) while mt.tiles_pending() > 0: time.sleep(2) print("Waiting on %u tiles" % mt.tiles_pending()) print('Done') MAVProxy-1.8.74/MAVProxy/modules/mavproxy_map/srtm.py000066400000000000000000000002541504324515000225160ustar00rootroot00000000000000#!/usr/bin/env python3 '''backwards-compatability module - srtm was moved into lib but we don't want to break existing users ''' from MAVProxy.modules.lib.srtm import * MAVProxy-1.8.74/MAVProxy/modules/mavproxy_message.py000066400000000000000000000030321504324515000223750ustar00rootroot00000000000000#!/usr/bin/env python3 ''' Arbitrary Message Module Peter Barker, September 2017 ''' import time from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_settings class message(mp_module.MPModule): def __init__(self, mpstate): """Initialise module""" super(message, self).__init__(mpstate, "message", "") self.status_callcount = 0 self.boredom_interval = 10 # seconds self.last_bored = time.time() self.packets_mytarget = 0 self.packets_othertarget = 0 self.verbose = False self.message_settings = mp_settings.MPSettings( [('verbose', bool, False)]) self.add_command('message', self.cmd_message, "message module", []) def usage(self): '''show help on command line options''' return "Usage: message TYPE ARG..." def cmd_message(self, args): if len(args) == 0: print(self.usage()) else: packettype = args[0] methodname = packettype.lower() + "_send" transformed = [eval(x) for x in args[1:]] try: method = getattr(self.master.mav, methodname) except AttributeError: print("Unable to find %s" % methodname) return method(*transformed) def init(mpstate): '''initialise module''' return message(mpstate) # STABILIZE> message MISSION_CLEAR_ALL int(1) int(1) # STABILIZE> Got MAVLink msg: MISSION_ACK {target_system : 255, # target_component : 0, type : 0} MAVProxy-1.8.74/MAVProxy/modules/mavproxy_messagerate.py000066400000000000000000000115651504324515000232630ustar00rootroot00000000000000#!/usr/bin/env python3 ''' Message Rate viewer Peter Barker, December 2018 Simply display message rates ''' import time from MAVProxy.modules.lib import mp_module from pymavlink import mavutil class messagerate(mp_module.MPModule): def __init__(self, mpstate): """Initialise module""" super(messagerate, self).__init__(mpstate, "messagerate", "") self.counts = {} self.buckets = [] self.max_buckets = 5 self.last_calc = time.time() self.add_command('messagerate', self.cmd_messagerate, "messagerate module", ['status', 'reset', 'set', 'get']) def usage(self): '''show help on command line options''' return "Usage: messagerate " def cmd_messagerate(self, args): '''control behaviour of the module''' if len(args) == 0: print(self.usage()) elif args[0] == "status": print(self.status()) elif args[0] == "reset": self.reset() elif args[0] == "get": if len(args) != 2: print(self.usage()) return message_name = args[1] mavlink_map = mavutil.mavlink.mavlink_map for msg_id in mavlink_map.keys(): msg_type = mavlink_map[msg_id] mav_cmd_name = msg_type.msgname if hasattr(msg_type, "msgname") else msg_type.name if mav_cmd_name == message_name: self.master.mav.command_long_send( self.settings.target_system, self.settings.target_component, mavutil.mavlink.MAV_CMD_GET_MESSAGE_INTERVAL, 0, msg_id, 0, 0, 0, 0, 0, 0) return print("Unknown message ID:%s" % message_name) elif args[0] == "set": if len(args) < 3: print(self.usage()) return message_name = args[1] message_rate = float(args[2]) # Special handling for -1 and 0 which correspond to "stop sending" and "reset to default rate" message_rate = message_rate if message_rate <= 0 else 1E6/message_rate priority = 0 if len(args) > 3: priority = int(args[3]) mavlink_map = mavutil.mavlink.mavlink_map for msg_id in mavlink_map.keys(): msg_type = mavlink_map[msg_id] mav_cmd_name = msg_type.msgname if hasattr(msg_type, "msgname") else msg_type.name if mav_cmd_name == message_name: self.master.mav.command_long_send( self.settings.target_system, self.settings.target_component, mavutil.mavlink.MAV_CMD_SET_MESSAGE_INTERVAL, 0, msg_id, (int) (message_rate), priority, 0, 0, 0, 0) return print("Unknown message ID:%s" % message_name) else: print(self.usage()) def reset(self): '''reset rates''' self.counts = {} self.buckets = [] self.last_calc = time.time() def status(self): '''returns rates''' counts = {} for bucket in self.buckets: for x in bucket: if not x in counts: counts[x] = 0 counts[x] += bucket[x] ret = "" mtypes = counts.keys() mtypes = sorted(mtypes) for mtype in mtypes: ret += "%s: %0.1f/s\n" % (mtype, counts[mtype]/float(len(self.buckets))) return ret def idle_task(self): '''called rapidly by mavproxy''' now = time.time() time_delta = now - self.last_calc if time_delta > 1: self.last_calc = now self.buckets.append(self.counts) self.counts = {} if len(self.buckets) > self.max_buckets: self.buckets = self.buckets[-self.max_buckets:] def mavlink_packet(self, m): '''handle mavlink packets''' mtype = m.get_type() if mtype not in self.counts: self.counts[mtype] = 0 self.counts[mtype] += 1 mavlink_map = mavutil.mavlink.mavlink_map if mtype == 'MESSAGE_INTERVAL': if m.message_id in mavlink_map: msg_type = mavlink_map[m.message_id] mav_cmd_name = msg_type.msgname if hasattr(msg_type, "msgname") else msg_type.name print("Msg:%s rate:%0.2fHz" % (mav_cmd_name, (1E6/m.interval_us) ) ) else: print("Msg ID:%s rate:%0.2fHz" % (m.message_id, (1E6/m.interval_us) ) ) def init(mpstate): '''initialise module''' return messagerate(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_misc.py000066400000000000000000000674551504324515000217270ustar00rootroot00000000000000#!/usr/bin/env python3 ''' miscellaneous commands AP_FLAKE8_CLEAN ''' import math import os import sys import time from pymavlink import mavutil from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_util from signal import signal from subprocess import PIPE, Popen class RepeatCommand(object): '''repeated command object''' def __init__(self, period, cmd): self.period = period self.cmd = cmd self.event = mavutil.periodic_event(1.0/period) def __str__(self): return "Every %.1f seconds: %s" % (self.period, self.cmd) def run_command(args, cwd=None, shell=False, timeout=None, env=None): ''' Run a shell command with a timeout. See http://stackoverflow.com/questions/1191374/subprocess-with-timeout ''' try: # py2 from StringIO import StringIO except ImportError: # py3 from io import StringIO import fcntl p = Popen(args, shell=shell, cwd=cwd, stdout=PIPE, stderr=PIPE, env=env) tstart = time.time() buf = StringIO() # try to make it non-blocking try: fcntl.fcntl(p.stdout, fcntl.F_SETFL, fcntl.fcntl(p.stdout, fcntl.F_GETFL) | os.O_NONBLOCK) except Exception: pass while True: time.sleep(0.1) retcode = p.poll() try: s = p.stdout.read() if sys.version_info.major >= 3: s = s.decode('utf-8') buf.write(s) except Exception: pass if retcode is not None: break if timeout is not None and time.time() > tstart + timeout: print("timeout in process %u" % p.pid) try: os.kill(p.pid, signal.SIGKILL) except OSError: pass p.wait() return buf.getvalue() class MiscModule(mp_module.MPModule): def __init__(self, mpstate): super(MiscModule, self).__init__(mpstate, "misc", "misc commands", public=True) self.add_command('alt', self.cmd_alt, "show altitude information") self.add_command('up', self.cmd_up, "adjust pitch trim by up to 5 degrees") self.add_command('reboot', self.cmd_reboot, "reboot autopilot") self.add_command('time', self.cmd_time, "show autopilot time") self.add_command('shell', self.cmd_shell, "run shell command") self.add_command('changealt', self.cmd_changealt, "change target altitude") self.add_command('changealt_abs', self.cmd_changealt_abs, "change target absolute altitude") self.add_command('land', self.cmd_land, "auto land") self.add_command('repeat', self.cmd_repeat, "repeat a command at regular intervals", [""]) self.add_command('version', self.cmd_version, "fetch autopilot version") self.add_command('capabilities', self.cmd_capabilities, "fetch autopilot capabilities") self.add_command('rcbind', self.cmd_rcbind, "bind RC receiver") self.add_command('led', self.cmd_led, "control board LED") self.add_command('oreoled', self.cmd_oreoled, "control OreoLEDs") self.add_command('playtune', self.cmd_playtune, "play tune remotely") self.add_command('devid', self.cmd_devid, "show device names from parameter IDs") self.add_command('gethome', self.cmd_gethome, "get HOME_POSITION") self.add_command('flashbootloader', self.cmd_flashbootloader, "flash bootloader (dangerous)") self.add_command('wipe_parameters', self.cmd_wipe_parameters, "wipe autopilot parameters") self.add_command('lockup_autopilot', self.cmd_lockup_autopilot, "lockup autopilot") self.add_command('corrupt_params', self.cmd_corrupt_param, "corrupt param storage") self.add_command('hardfault_autopilot', self.cmd_hardfault_autopilot, "hardfault autopilot") self.add_command('panic_autopilot', self.cmd_panic_autopilot, "panic autopilot") self.add_command('longloop_autopilot', self.cmd_longloop_autopilot, "cause long loop in autopilot") self.add_command('configerror_autopilot', self.cmd_config_error_autopilot, "ask autopilot to jump to its config error loop") # noqa:E501 self.add_command('internalerror_autopilot', self.cmd_internalerror_autopilot, "cause internal error in autopilot") self.add_command('dfu_boot', self.cmd_dfu_boot, "boot into DFU mode") self.add_command('deadlock', self.cmd_deadlock, "trigger deadlock") self.add_command('nullptr_read', self.cmd_nullptr_read, "read from a very low address") self.add_command('nullptr_write', self.cmd_nullptr_write, "write to a very low address") self.add_command('batreset', self.cmd_battery_reset, "reset battery remaining") self.add_command('setorigin', self.cmd_setorigin, "set global origin") self.add_command('magsetfield', self.cmd_magset_field, "set expected mag field by field") self.add_command('magresetofs', self.cmd_magreset_ofs, "reset offsets for all compasses") self.add_command('namedvaluefloat', self.cmd_namedvaluefloat, "send a NAMED_VALUE_FLOAT") self.add_command('scripting', self.cmd_scripting, "control onboard scripting", [""]) self.add_command('formatsdcard', self.cmd_formatsdcard, "format SD card") self.add_command('canforward', self.cmd_canforward, "enable CAN forwarding") self.add_command('gear', self.cmd_landing_gear, "landing gear control") self.repeats = [] # support for changing altitude via command rather than mission item: self.accepts_DO_CMD_CHANGE_ALTITUDE = {} # keyed by (sysid, compid) def altitude_difference(self, pressure1, pressure2, ground_temp): '''calculate barometric altitude''' scaling = pressure2 / pressure1 temp = ground_temp + 273.15 return 153.8462 * temp * (1.0 - math.exp(0.190259 * math.log(scaling))) def qnh_estimate(self): '''estimate QNH pressure from GPS altitude and scaled pressure''' alt_gps = self.master.field('GPS_RAW_INT', 'alt', 0) * 0.001 pressure2 = self.master.field('SCALED_PRESSURE', 'press_abs', 0) ground_temp = self.get_mav_param('GND_TEMP', 21) temp = ground_temp + 273.15 pressure1 = pressure2 / math.exp(math.log(1.0 - (alt_gps / (153.8462 * temp))) / 0.190259) return pressure1 def cmd_alt(self, args): '''show altitude''' print("Altitude: %.1f" % self.status.altitude) qnh_pressure = self.get_mav_param('AFS_QNH_PRESSURE', None) if qnh_pressure is not None and qnh_pressure > 0: ground_temp = self.get_mav_param('GND_TEMP', 21) pressure = self.master.field('SCALED_PRESSURE', 'press_abs', 0) qnh_alt = self.altitude_difference(qnh_pressure, pressure, ground_temp) print("QNH Alt: %u meters %u feet for QNH pressure %.1f" % (qnh_alt, qnh_alt*3.2808, qnh_pressure)) print("QNH Estimate: %.1f millibars" % self.qnh_estimate()) def cmd_shell(self, args): '''shell command''' print(run_command(args, shell=False, timeout=3)) def cmd_up(self, args): '''adjust TRIM_PITCH_CD up by 5 degrees''' if len(args) == 0: adjust = 5.0 else: adjust = float(args[0]) old_trim = self.get_mav_param('TRIM_PITCH_CD', None) if old_trim is None: print("Existing trim value unknown!") return new_trim = int(old_trim + (adjust*100)) if math.fabs(new_trim - old_trim) > 1000: print("Adjustment by %d too large (from %d to %d)" % (adjust*100, old_trim, new_trim)) return print("Adjusting TRIM_PITCH_CD from %d to %d" % (old_trim, new_trim)) self.param_set('TRIM_PITCH_CD', new_trim) def cmd_reboot(self, args): '''reboot autopilot''' hold_in_bootloader = "bootloader" in args force = "force" in args # different path for force/not force to avoid dependency on # pymavlink's force-reboot support: if force: if hold_in_bootloader: param1 = 3 else: param1 = 1 param6 = 20190226 self.master.mav.command_long_send( self.target_system, self.target_component, mavutil.mavlink.MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, 0, param1, 0, 0, 0, 0, param6, 0 ) return if len(args) > 0 and args[0] == 'bootloader': self.master.reboot_autopilot(True) else: self.master.reboot_autopilot() def cmd_wipe_parameters(self, args): self.master.mav.command_long_send( self.settings.target_system, self.settings.target_component, mavutil.mavlink.MAV_CMD_PREFLIGHT_STORAGE, 0, 2, 0, 0, 0, 0, 0, 0) def cmd_dosomethingreallynastyto_autopilot(self, args, description, code): '''helper function for the following commands which do unpleasant things to the autopilot''' if len(args) > 0 and args[0] == 'IREALLYMEANIT': print("Sending %s command" % description) self.master.mav.command_long_send( self.settings.target_system, self.settings.target_component, mavutil.mavlink.MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, 0, 42, 24, 71, code, 0, 0, 0) else: print("Invalid %s command" % description) def cmd_lockup_autopilot(self, args): '''lockup autopilot for watchdog testing''' self.cmd_dosomethingreallynastyto_autopilot(args, 'lockup', 93) def cmd_hardfault_autopilot(self, args): '''lockup autopilot for watchdog testing''' self.cmd_dosomethingreallynastyto_autopilot(args, 'hardfault', 94) def cmd_panic_autopilot(self, args): '''get ArduPilot to call AP_HAL::panic()''' self.cmd_dosomethingreallynastyto_autopilot(args, 'panic', 95) def cmd_corrupt_param(self, args): '''corrupt parameter storage for backup testing''' self.cmd_dosomethingreallynastyto_autopilot(args, 'corruption', 96) def cmd_longloop_autopilot(self, args): '''Ask the autopilot to create a long loop''' self.cmd_dosomethingreallynastyto_autopilot(args, 'long-loop', 97) def cmd_internalerror_autopilot(self, args): '''Ask the autopilot to create an internal error''' self.cmd_dosomethingreallynastyto_autopilot(args, 'internal-error', 98) def cmd_dfu_boot(self, args): '''boot into DFU bootloader without hold''' self.cmd_dosomethingreallynastyto_autopilot(args, 'DFU-boot-without-hold', 99) def cmd_config_error_autopilot(self, args): '''Ask the autopilot to jump into its config error loop''' self.cmd_dosomethingreallynastyto_autopilot(args, 'config-loop', 101) def cmd_deadlock(self, args): '''trigger a mutex deadlock''' self.cmd_dosomethingreallynastyto_autopilot(args, 'mutex-deadlock', 100) def cmd_nullptr_write(self, args): '''write to a low address (nullptr-deref)''' self.cmd_dosomethingreallynastyto_autopilot(args, 'nullptr-deref-write', 102) def cmd_nullptr_read(self, args): '''read from a low address (nullptr-deref)''' self.cmd_dosomethingreallynastyto_autopilot(args, 'nullptr-deref-read', 103) def cmd_battery_reset(self, args): '''reset battery remaining''' mask = -1 remaining_pct = 100 if len(args) > 0: mask = int(args[0]) if len(args) > 1: remaining_pct = int(args[1]) self.master.mav.command_long_send(self.settings.target_system, self.settings.target_component, mavutil.mavlink.MAV_CMD_BATTERY_RESET, 0, mask, remaining_pct, 0, 0, 0, 0, 0) def cmd_time(self, args): '''show autopilot time''' tusec = self.master.field('SYSTEM_TIME', 'time_unix_usec', 0) if tusec == 0: print("No SYSTEM_TIME time available") return print("%s (%s)\n" % (time.ctime(tusec * 1.0e-6), time.ctime())) def _cmd_changealt(self, alt, frame): '''send commands. May send both if we don't know which is the right one to set''' key = (self.target_system, self.target_component) supports = self.accepts_DO_CMD_CHANGE_ALTITUDE.get(key, None) if supports or supports is None: self.master.mav.command_long_send( self.settings.target_system, self.settings.target_component, mavutil.mavlink.MAV_CMD_DO_CHANGE_ALTITUDE, 0, # confirmation alt, # p1 frame, # p2 0, 0, 0, 0, 0 ) print(f"Sent change altitude command for {alt:.2f} meters") if supports is True: return self.master.mav.mission_item_send(self.settings.target_system, self.settings.target_component, 0, frame, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 3, 1, 0, 0, 0, 0, 0, 0, alt) print("Sent change altitude mission item command for %.1f meters" % alt) def cmd_changealt(self, args): '''change target altitude''' if len(args) < 1: print("usage: changealt ") return relalt = float(args[0]) self._cmd_changealt(relalt, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT) def cmd_changealt_abs(self, args): '''change target altitude''' if len(args) < 1: print("usage: changealt_abs ") return absalt = float(args[0]) self._cmd_changealt(absalt, mavutil.mavlink.MAV_FRAME_GLOBAL) def cmd_land(self, args): '''auto land commands''' if len(args) < 1: self.master.mav.command_long_send(self.settings.target_system, 0, mavutil.mavlink.MAV_CMD_DO_LAND_START, 0, 0, 0, 0, 0, 0, 0, 0) elif args[0] == 'abort': self.master.mav.command_long_send(self.settings.target_system, 0, mavutil.mavlink.MAV_CMD_DO_GO_AROUND, 0, 0, 0, 0, 0, 0, 0, 0) else: print("Usage: land [abort]") def request_message(self, message_id, p1=0): self.master.mav.command_long_send( self.settings.target_system, self.settings.target_component, mavutil.mavlink.MAV_CMD_REQUEST_MESSAGE, 0, # confirmation message_id, 0, 0, 0, 0, 0, 0) def cmd_version(self, args): '''show version''' self.request_message(mavutil.mavlink.MAVLINK_MSG_ID_AUTOPILOT_VERSION) def cmd_capabilities(self, args): '''show capabilities''' self.request_message(mavutil.mavlink.MAVLINK_MSG_ID_AUTOPILOT_VERSION) def cmd_rcbind(self, args): '''start RC bind''' if len(args) < 1: print("Usage: rcbind ") return self.master.mav.command_long_send(self.settings.target_system, self.settings.target_component, mavutil.mavlink.MAV_CMD_START_RX_PAIR, 0, float(args[0]), 0, 0, 0, 0, 0, 0) def cmd_gethome(self, args): '''get home position''' self.master.mav.command_long_send(self.settings.target_system, 0, mavutil.mavlink.MAV_CMD_GET_HOME_POSITION, 0, 0, 0, 0, 0, 0, 0, 0) def cmd_led(self, args): '''send LED pattern as override''' if len(args) < 3: print("Usage: led RED GREEN BLUE ") return pattern = [0] * 24 pattern[0] = int(args[0]) pattern[1] = int(args[1]) pattern[2] = int(args[2]) if len(args) == 4: plen = 4 pattern[3] = int(args[3]) else: plen = 3 self.master.mav.led_control_send(self.settings.target_system, self.settings.target_component, 0, 0, plen, pattern) def cmd_scripting(self, args): '''control onboard scripting''' if len(args) < 1: print("Usage: scripting ") return if args[0] == 'restart': cmd = mavutil.mavlink.SCRIPTING_CMD_STOP_AND_RESTART elif args[0] == 'stop': cmd = mavutil.mavlink.SCRIPTING_CMD_STOP else: print("Usage: scripting ") return # MAVProxy command to stop and re-start is: command_int 0 42701 0 0 3 0 0 0 0 0 0 self.master.mav.command_int_send( self.settings.target_system, self.settings.target_component, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, mavutil.mavlink.MAV_CMD_SCRIPTING, 0, 0, cmd, 0, 0, 0, 0, 0, 0) def cmd_formatsdcard(self, args): '''format SD card''' self.master.mav.command_int_send( self.settings.target_system, self.settings.target_component, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, mavutil.mavlink.MAV_CMD_STORAGE_FORMAT, 0, 0, 1, 1, 0, 0, 0, 0, 0) def cmd_oreoled(self, args): '''send LED pattern as override, using OreoLED conventions''' if len(args) < 4: print("Usage: oreoled LEDNUM RED GREEN BLUE ") return lednum = int(args[0]) pattern = [0] * 24 pattern[0] = ord('R') pattern[1] = ord('G') pattern[2] = ord('B') pattern[3] = ord('0') pattern[4] = 0 pattern[5] = int(args[1]) pattern[6] = int(args[2]) pattern[7] = int(args[3]) self.master.mav.led_control_send(self.settings.target_system, self.settings.target_component, lednum, 255, 8, pattern) def cmd_flashbootloader(self, args): '''flash bootloader''' self.master.mav.command_long_send( self.settings.target_system, 0, mavutil.mavlink.MAV_CMD_FLASH_BOOTLOADER, 0, 0, 0, 0, 0, 290876, 0, 0 ) def cmd_playtune(self, args): '''send PLAY_TUNE message''' if len(args) < 1: print("Usage: playtune TUNE") return tune = args[0] str1 = tune[0:30] str2 = tune[30:] if sys.version_info.major >= 3 and not isinstance(str1, bytes): str1 = bytes(str1, "ascii") if sys.version_info.major >= 3 and not isinstance(str2, bytes): str2 = bytes(str2, "ascii") self.master.mav.play_tune_send(self.settings.target_system, self.settings.target_component, str1, str2) def cmd_repeat(self, args): '''repeat a command at regular intervals''' if len(args) == 0: if len(self.repeats) == 0: print("No repeats") return for i in range(len(self.repeats)): print("%u: %s" % (i, self.repeats[i])) return if args[0] == 'add': if len(args) < 3: print("Usage: repeat add PERIOD CMD") return self.repeats.append(RepeatCommand(float(args[1]), " ".join(args[2:]))) elif args[0] == 'remove': if len(args) < 2: print("Usage: repeat remove INDEX") return i = int(args[1]) if i < 0 or i >= len(self.repeats): print("Invalid index %d" % i) return self.repeats.pop(i) return elif args[0] == 'clean': self.repeats = [] else: print("Usage: repeat ") def cmd_devid(self, args): '''decode device IDs from parameters''' for p in self.mav_param.keys(): if p.startswith('COMPASS_DEV_ID') or p.startswith('COMPASS_PRIO') or ( p.startswith('COMPASS') and p.endswith('DEV_ID')): mp_util.decode_devid(self.mav_param[p], p) if p.startswith('INS') and p.endswith('_ID'): mp_util.decode_devid(self.mav_param[p], p) if p.startswith('GND_BARO') and p.endswith('_ID'): mp_util.decode_devid(self.mav_param[p], p) if p.startswith('BARO') and p.endswith('_DEVID'): mp_util.decode_devid(self.mav_param[p], p) if p.startswith('ARSPD') and p.endswith('_DEVID'): mp_util.decode_devid(self.mav_param[p], p) def cmd_setorigin(self, args): '''set global origin''' if len(args) < 3: print("Usage: setorigin LAT(deg) LON(deg) ALT(m)") return lat = float(args[0]) lon = float(args[1]) alt = float(args[2]) print("Setting origin to: ", lat, lon, alt) self.master.mav.set_gps_global_origin_send( self.settings.target_system, int(lat*10000000), # lat int(lon*10000000), # lon int(alt*1000)) # param7 def cmd_magset_field(self, args): '''set compass offsets by field''' if len(args) < 3: print("Usage: magsetfield MagX MagY MagZ") return magX = int(args[0]) magY = int(args[1]) magZ = int(args[2]) field1x = self.master.field('RAW_IMU', 'xmag', 0) field1y = self.master.field('RAW_IMU', 'ymag', 0) field1z = self.master.field('RAW_IMU', 'zmag', 0) field2x = self.master.field('SCALED_IMU2', 'xmag', 0) field2y = self.master.field('SCALED_IMU2', 'ymag', 0) field2z = self.master.field('SCALED_IMU2', 'zmag', 0) field3x = self.master.field('SCALED_IMU3', 'xmag', 0) field3y = self.master.field('SCALED_IMU3', 'ymag', 0) field3z = self.master.field('SCALED_IMU3', 'zmag', 0) self.param_set('COMPASS_OFS_X', magX - (field1x - self.get_mav_param('COMPASS_OFS_X', 0))) self.param_set('COMPASS_OFS_Y', magY - (field1y - self.get_mav_param('COMPASS_OFS_Y', 0))) self.param_set('COMPASS_OFS_Z', magZ - (field1z - self.get_mav_param('COMPASS_OFS_Z', 0))) self.param_set('COMPASS_OFS2_X', magX - (field2x - self.get_mav_param('COMPASS_OFS2_X', 0))) self.param_set('COMPASS_OFS2_Y', magY - (field2y - self.get_mav_param('COMPASS_OFS2_Y', 0))) self.param_set('COMPASS_OFS2_Z', magZ - (field2z - self.get_mav_param('COMPASS_OFS2_Z', 0))) self.param_set('COMPASS_OFS3_X', magX - (field3x - self.get_mav_param('COMPASS_OFS3_X', 0))) self.param_set('COMPASS_OFS3_Y', magY - (field3y - self.get_mav_param('COMPASS_OFS3_Y', 0))) self.param_set('COMPASS_OFS3_Z', magZ - (field3z - self.get_mav_param('COMPASS_OFS3_Z', 0))) def cmd_magreset_ofs(self, args): '''set compass offsets to all zero''' self.param_set('COMPASS_OFS_X', 0) self.param_set('COMPASS_OFS_Y', 0) self.param_set('COMPASS_OFS_Z', 0) self.param_set('COMPASS_DIA_X', 1) self.param_set('COMPASS_DIA_Y', 1) self.param_set('COMPASS_DIA_Z', 1) self.param_set('COMPASS_ODI_X', 0) self.param_set('COMPASS_ODI_Y', 0) self.param_set('COMPASS_ODI_Z', 0) self.param_set('COMPASS_OFS2_X', 0) self.param_set('COMPASS_OFS2_Y', 0) self.param_set('COMPASS_OFS2_Z', 0) self.param_set('COMPASS_DIA2_X', 1) self.param_set('COMPASS_DIA2_Y', 1) self.param_set('COMPASS_DIA2_Z', 1) self.param_set('COMPASS_ODI2_X', 0) self.param_set('COMPASS_ODI2_Y', 0) self.param_set('COMPASS_ODI2_Z', 0) self.param_set('COMPASS_OFS3_X', 0) self.param_set('COMPASS_OFS3_Y', 0) self.param_set('COMPASS_OFS3_Z', 0) self.param_set('COMPASS_DIA3_X', 1) self.param_set('COMPASS_DIA3_Y', 1) self.param_set('COMPASS_DIA3_Z', 1) self.param_set('COMPASS_ODI3_X', 0) self.param_set('COMPASS_ODI3_Y', 0) self.param_set('COMPASS_ODI3_Z', 0) def cmd_namedvaluefloat(self, args): '''send a NAMED_VALUE_FLOAT''' if len(args) < 2: print("Usage: namedvaluefloat NAME value") return tnow_ms = int((time.time() - self.mpstate.start_time_s)*1000) name = args[0] value = float(args[1]) self.master.mav.named_value_float_send(tnow_ms, name.encode("utf-8"), value) def cmd_canforward(self, args): if len(args) < 1: print("Usage: canforward bus") return bus = int(args[0]) self.master.mav.command_long_send( self.settings.target_system, self.settings.target_component, mavutil.mavlink.MAV_CMD_CAN_FORWARD, 0, bus, 0, 0, 0, 0, 0, 0) def cmd_landing_gear(self, args): usage = '''Usage: gear [ID] Alt: gear [ID]''' if len(args) == 0 or args[0] not in ['up', 'down', 'extend', 'retract']: print(usage) return if args[0] in ['down', 'extend']: DesiredState = 0 elif args[0] in ['up', 'retract']: DesiredState = 1 else: print(usage) return if len(args) == 1: ID = -1 elif len(args) == 2: try: ID = int(args[1]) except ValueError: print(usage) return if ID < -1: print(usage) return else: print(usage) return self.master.mav.command_long_send( self.target_system, self.target_component, mavutil.mavlink.MAV_CMD_AIRFRAME_CONFIGURATION , 0, ID, DesiredState, 0, 0, 0, 0, 0, 0 ) def mavlink_packet(self, m): '''handle an incoming mavlink packet''' mtype = m.get_type() if mtype == "COMMAND_ACK": # check to see if the vehicle has bounced our attempts to # set the current mission item via mavlink command (as # opposed to the old message): if m.command == mavutil.mavlink.MAV_CMD_DO_CHANGE_ALTITUDE: key = (m.get_srcSystem(), m.get_srcComponent()) if m.result == mavutil.mavlink.MAV_RESULT_UNSUPPORTED: # stop sending the commands: self.accepts_DO_CMD_CHANGE_ALTITUDE[key] = False elif m.result in [mavutil.mavlink.MAV_RESULT_ACCEPTED]: self.accepts_DO_CMD_CHANGE_ALTITUDE[key] = True def idle_task(self): '''called on idle''' for r in self.repeats: if r.event.trigger(): self.mpstate.functions.process_stdin(r.cmd, immediate=True) def init(mpstate): '''initialise module''' return MiscModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_misseditor/000077500000000000000000000000001504324515000225635ustar00rootroot00000000000000MAVProxy-1.8.74/MAVProxy/modules/mavproxy_misseditor/__init__.py000066400000000000000000000022031504324515000246710ustar00rootroot00000000000000#!/usr/bin/env python3 ''' mission editor module Michael Day June 2104 ''' from MAVProxy.modules.lib import mp_module class MissionEditorModule(mp_module.MPModule): ''' A Mission Editor for use with MAVProxy ''' def __init__(self, mpstate): super(MissionEditorModule, self).__init__(mpstate, "misseditor", "mission editor", public = True) # to work around an issue on MacOS this module is a thin wrapper around a separate MissionEditorMain object from MAVProxy.modules.mavproxy_misseditor import mission_editor self.me_main = mission_editor.MissionEditorMain(mpstate, self.module('terrain').ElevationModel.database) def unload(self): '''unload module''' self.me_main.unload() def idle_task(self): self.me_main.idle_task() if self.me_main.needs_unloading: self.needs_unloading = True def mavlink_packet(self, m): self.me_main.mavlink_packet(m) def click_updated(self): self.me_main.update_map_click_position(self.mpstate.click_location) def init(mpstate): '''initialise module''' return MissionEditorModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_misseditor/button_renderer.py000066400000000000000000000055341504324515000263450ustar00rootroot00000000000000#!/usr/bin/env python3 ''' Custom button render class for use inside a wx.grid (ported from http://forums.wxwidgets.org/viewtopic.php?t=14403 ) Michael Day June 2014 ''' from ..lib.wx_loader import wx from wx import grid import copy class ButtonRenderer(wx.grid.PyGridCellRenderer): def __init__(self,label,width=75,height=25): self.label = label self.width = width self.height = height wx.grid.PyGridCellRenderer.__init__(self) def Clone(self): return copy.copy(self) def GetBestSize(self, grid, dc, row, col): return wx.Size(self.width,self.height) def Draw(self, grid, attr, dc, rect, row, col, isSelected): dc.SetBrush(wx.Brush(wx.SystemSettings.GetColour( wx.SYS_COLOUR_BTNFACE))) dc.DrawRectangle( rect.GetX(), rect.GetY(), rect.GetWidth(), rect.GetHeight()) #draw a shaded rectangle to emulate a button #(taken from src/generic/renderg.cpp) strength = 1 pen1 = wx.Pen(wx.WHITE, strength) dc.SetPen(pen1) dc.DrawLine(rect.GetLeft()+strength-1, rect.GetTop()+strength-1, rect.GetLeft()+strength-1, rect.GetBottom()-strength+1) dc.DrawLine(rect.GetLeft()+strength-1, rect.GetTop()+strength-1, rect.GetRight()-strength, rect.GetTop()+strength-1) pen2 = wx.Pen(wx.BLACK, strength) dc.SetPen(pen2) dc.DrawLine(rect.GetRight()-strength, rect.GetTop(), rect.GetRight()-strength, rect.GetBottom()); dc.DrawLine(rect.GetLeft(), rect.GetBottom(), rect.GetRight() - strength, rect.GetBottom()); ''' #another drawing routine #(taken from src/generic/renderg.cpp) #Could port this later for animating the button when clicking const wxCoord x = rect.x, y = rect.y, w = rect.width, h = rect.height; dc.SetBrush(*wxTRANSPARENT_BRUSH); wxPen pen(*wxBLACK, 1); dc.SetPen(pen); dc.DrawLine( x+w, y, x+w, y+h ); // right (outer) dc.DrawRectangle( x, y+h, w+1, 1 ); // bottom (outer) pen.SetColour(wxColour(wxT("DARK GREY"))); dc.SetPen(pen); dc.DrawLine( x+w-1, y, x+w-1, y+h ); // right (inner) dc.DrawRectangle( x+1, y+h-1, w-2, 1 ); // bottom (inner) pen.SetColour(*wxWHITE); dc.SetPen(pen); dc.DrawRectangle( x, y, w, 1 ); // top (outer) dc.DrawRectangle( x, y, 1, h ); // left (outer) dc.DrawLine( x, y+h-1, x+1, y+h-1 ); dc.DrawLine( x+w-1, y, x+w-1, y+1 ); ''' # draw the button-label dc.SetBackgroundMode(wx.TRANSPARENT ) dc.SetTextForeground(attr.GetTextColour() ) dc.SetFont( attr.GetFont() ) #dc.DrawLabel( wxT("Delete"), rect, dc.DrawLabel( self.label, rect, wx.ALIGN_CENTER_VERTICAL | wx.ALIGN_CENTER_HORIZONTAL) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_misseditor/me_defines.py000066400000000000000000000043151504324515000252360ustar00rootroot00000000000000from pymavlink import mavutil import fnmatch miss_cmds = {} frame_enum = {0: "Abs", 3: "Rel", 10: "AGL"} frame_enum_rev = {v:k for k,v in frame_enum.items()} # auto-generate the list of mission commands for cmd in mavutil.mavlink.enums['MAV_CMD']: enum = mavutil.mavlink.enums['MAV_CMD'][cmd] name = enum.name name = name.replace('MAV_CMD_','') if name == 'ENUM_END': continue miss_cmds[cmd] = name def cmd_reverse_lookup(command_name): '''returns 0 if key not found''' for key, value in miss_cmds.items(): if (value.upper() == command_name.upper()): return key return 0 # a wildcard map from parameter descriptions to column names. If not found in this map # then the default "Pn" is used description_map = [ ('Empty' , '-'), ('Latitude*' , 'Lat'), ('Longitude*' , 'Lon'), ('Altitude*' , 'Alt'), ('Minimum pitch*' , 'Pitch'), ('Yaw*' , 'Yaw'), ('Desired yaw*' , 'Yaw'), ('Radius*' , 'Radius'), ('Turns*' , 'Turns'), ('Seconds*' , 'Time(s)'), ('Delay in seconds*' , 'Time(s)'), ('On / Off*' , 'Enable'), ('Descent / Ascend' , 'Rate'), ('Finish Altitude' , 'Altitude'), ('Distance*' , 'Distance'), ('Mode*' , 'Mode'), ('Custom mode*' , 'CustomMode'), ('Sequence*' , 'Seq'), ('Repeat*' , 'Repeat'), ('Speed type*' , 'SpeedType'), ('Speed*' , 'Speed'), ('Throttle*' , 'Throttle') ] def make_column_label(command_name, description, default): '''try to work out a reasonable column name from parameter description''' for (pattern, label) in description_map: if fnmatch.fnmatch(description, pattern): return label return default def get_column_labels(command_name): '''return dictionary of column labels if available''' cmd = cmd_reverse_lookup(command_name) if cmd == 0: return {} labels = {} enum = mavutil.mavlink.enums['MAV_CMD'][cmd] for col in enum.param.keys(): labels[col] = make_column_label(command_name, enum.param[col], "P%u" % col) return labels MAVProxy-1.8.74/MAVProxy/modules/mavproxy_misseditor/me_event.py000066400000000000000000000033271504324515000247440ustar00rootroot00000000000000#!/usr/bin/env python3 ''' Event class and enums for Mission Editor Michael Day June 2014 ''' #MissionEditorEvents come FROM the GUI (with a few exceptions where the Mission Editor Module sends a message to itself, e.g., MEE_TIME_TO_QUIT) #MissionEditorGUIEvents go TO the GUI #enum for MissionEditorEvent types MEE_READ_WPS = 0 MEE_WRITE_WPS = 1 MEE_TIME_TO_QUIT = 2 MEE_GET_WP_RAD = 3 MEE_GET_LOIT_RAD = 4 MEE_GET_WP_DEFAULT_ALT = 5 MEE_WRITE_WP_NUM = 6 MEE_LOAD_WP_FILE = 7 MEE_SAVE_WP_FILE = 8 MEE_SET_WP_RAD = 9 MEE_SET_LOIT_RAD = 10 MEE_SET_WP_DEFAULT_ALT = 11 #enum of MissionEditorGUIEvent types MEGE_CLEAR_MISS_TABLE = 0 MEGE_ADD_MISS_TABLE_ROWS = 1 MEGE_SET_MISS_ITEM = 2 MEGE_SET_WP_RAD = 3 MEGE_SET_LOIT_RAD = 4 MEGE_SET_WP_DEFAULT_ALT = 5 MEGE_SET_LAST_MAP_CLICK_POS = 6 class MissionEditorEvent: def __init__(self, type, **kwargs): self.type = type self.arg_dict = kwargs if not self.type in [MEE_READ_WPS, MEE_WRITE_WPS, MEGE_CLEAR_MISS_TABLE, MEGE_ADD_MISS_TABLE_ROWS, MEGE_SET_MISS_ITEM, MEE_TIME_TO_QUIT, MEE_GET_WP_RAD, MEE_GET_LOIT_RAD, MEGE_SET_WP_RAD, MEGE_SET_LOIT_RAD, MEE_GET_WP_DEFAULT_ALT, MEGE_SET_WP_DEFAULT_ALT, MEE_WRITE_WP_NUM, MEE_LOAD_WP_FILE, MEE_SAVE_WP_FILE, MEE_SET_WP_RAD, MEE_SET_LOIT_RAD, MEE_SET_WP_DEFAULT_ALT]: raise TypeError("Unrecongized MissionEditorEvent type:" + str(self.type)) def get_type(self): return self.type def get_arg(self, key): if not key in self.arg_dict: print("No key %s in %s" % (key, str(self.type))) return None return self.arg_dict[key] MAVProxy-1.8.74/MAVProxy/modules/mavproxy_misseditor/missionEditorFrame.py000077500000000000000000001240241504324515000267460ustar00rootroot00000000000000#!/usr/bin/env python3 # -*- coding: utf-8 -*- # # generated by wxGlade 0.6.8 on Wed Jun 11 13:41:49 2014 # from ..lib.wx_loader import wx from wx import grid import traceback # begin wxGlade: dependencies # end wxGlade import time, math, os from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import win_layout from MAVProxy.modules.mavproxy_misseditor import me_event MissionEditorEvent = me_event.MissionEditorEvent from MAVProxy.modules.mavproxy_misseditor import me_defines from MAVProxy.modules.lib import mp_elevation from MAVProxy.modules.mavproxy_misseditor import button_renderer from pymavlink import mavutil #define column names via "enums": ME_COMMAND_COL = 0 ME_P1_COL = 1 ME_P2_COL = 2 ME_P3_COL = 3 ME_P4_COL = 4 ME_LAT_COL = 5 ME_LON_COL = 6 ME_ALT_COL = 7 ME_FRAME_COL = 8 ME_DELETE_COL = 9 ME_UP_COL = 10 ME_DOWN_COL = 11 ME_DIST_COL = 12 ME_ANGLE_COL = 13 ME_AGL_COL = 14 class ListCtrlComboPopup(wx.ComboPopup): def __init__(self): wx.ComboPopup.__init__(self) self.lc = None def AddItem(self, txt): self.lc.InsertItem(self.lc.GetItemCount(), txt) def OnMotion(self, evt): item, flags = self.lc.HitTest(evt.GetPosition()) if item >= 0: self.lc.Select(item) self.curitem = item def OnLeftDown(self, evt): self.value = self.curitem self.Dismiss() # This is called immediately after construction finishes. You can # use self.GetCombo if needed to get to the ComboCtrl instance. def Init(self): self.value = -1 self.curitem = -1 # Create the popup child control. Return true for success. def Create(self, parent): self.lc = wx.ListCtrl(parent, style=wx.LC_SINGLE_SEL | wx.SIMPLE_BORDER | wx.LC_REPORT | wx.LC_NO_HEADER) self.lc.InsertColumn(0, '') self.lc.Bind(wx.EVT_MOTION, self.OnMotion) self.lc.Bind(wx.EVT_LEFT_DOWN, self.OnLeftDown) return True # Return the widget that is to be used for the popup def GetControl(self): return self.lc # Called just prior to displaying the popup, you can use it to # 'select' the current item. def SetStringValue(self, val): idx = self.lc.FindItem(-1, val) if idx != wx.NOT_FOUND: self.lc.Select(idx) def FindString(self, val): idx = self.lc.FindItem(-1, val) if idx == wx.NOT_FOUND: idx = 0 return idx # Return a string representation of the current item. def GetStringValue(self): if self.value >= 0: return self.lc.GetItemText(self.value) return "" # Called immediately after the popup is shown def OnPopup(self): self.lc.SetColumnWidth(0, wx.LIST_AUTOSIZE) wx.ComboPopup.OnPopup(self) # Called when popup is dismissed def OnDismiss(self): wx.ComboPopup.OnDismiss(self) # This is called to custom paint in the combo control itself # (ie. not the popup). Default implementation draws value as # string. def PaintComboControl(self, dc, rect): wx.ComboPopup.PaintComboControl(self, dc, rect) # Receives key events from the parent ComboCtrl. Events not # handled should be skipped, as usual. def OnComboKeyEvent(self, event): wx.ComboPopup.OnComboKeyEvent(self, event) # Implement if you need to support special action when user # double-clicks on the parent wxComboCtrl. def OnComboDoubleClick(self): wx.ComboPopup.OnComboDoubleClick(self) # Return final size of popup. Called on every popup, just prior to OnPopup. # minWidth = preferred minimum width for window # prefHeight = preferred height. Only applies if > 0, # maxHeight = max height for window, as limited by screen size # and should only be rounded down, if necessary. def GetAdjustedSize(self, minWidth, prefHeight, maxHeight): return wx.ComboPopup.GetAdjustedSize(self, minWidth, prefHeight, maxHeight) # Return true if you want delay the call to Create until the popup # is shown for the first time. It is more efficient, but note that # it is often more convenient to have the control created # immediately. # Default returns false. def LazyCreate(self): return wx.ComboPopup.LazyCreate(self) class DropdownCellEditor(grid.GridCellEditor): def __init__(self, choices): super().__init__() self.choices = choices def Create(self, parent, id, evtHandler): self.control = wx.ComboCtrl(parent, id, "", style=wx.CB_READONLY) self.popupCtrl = ListCtrlComboPopup() self.control.SetPopupControl(self.popupCtrl) for choice in self.choices: self.popupCtrl.AddItem(choice) self.SetControl(self.control) def Clone(self): return DropdownCellEditor(self.choices) def BeginEdit(self, row, col, grid): self.startValue = grid.GetTable().GetValue(row, col) self.control.SetValue(self.startValue) def EndEdit(self, row, col, grid, oldval): self.endValue = self.popupCtrl.GetStringValue() if self.endValue != oldval and self.endValue != "": return self.endValue else: return None def ApplyEdit(self, row, col, grid): self.control.SetValue(self.endValue) grid.GetTable().SetValue(row, col, self.endValue) def Reset(self): self.control.SetValue(self.startValue) class MissionEditorFrame(wx.Frame): def __init__(self, state, elemodel='SRTM3', *args, **kwds): # begin wxGlade: MissionEditorFrame.__init__ self.state = state kwds["style"] = wx.DEFAULT_FRAME_STYLE wx.Frame.__init__(self, *args, **kwds) self.label_sync_state = wx.StaticText(self, wx.ID_ANY, "UNSYNCED \n", style=wx.ALIGN_CENTRE) self.label_wp_radius = wx.StaticText(self, wx.ID_ANY, "WP Radius") self.text_ctrl_wp_radius = wx.TextCtrl(self, wx.ID_ANY, "", style=wx.TE_PROCESS_ENTER | wx.TE_PROCESS_TAB) self.label_loiter_rad = wx.StaticText(self, wx.ID_ANY, "Loiter Radius") self.text_ctrl_loiter_radius = wx.TextCtrl(self, wx.ID_ANY, "", style=wx.TE_PROCESS_ENTER | wx.TE_PROCESS_TAB) self.checkbox_loiter_dir = wx.CheckBox(self, wx.ID_ANY, "CW") # The AGL checkbox is not yet implemented. # self.checkbox_agl = wx.CheckBox(self, wx.ID_ANY, "AGL") self.label_default_alt = wx.StaticText(self, wx.ID_ANY, "Default Alt") self.text_ctrl_wp_default_alt = wx.TextCtrl(self, wx.ID_ANY, "", style=wx.TE_PROCESS_ENTER | wx.TE_PROCESS_TAB) self.label_home_location = wx.StaticText(self, wx.ID_ANY, "Home Location") self.label_home_lat = wx.StaticText(self, wx.ID_ANY, "Lat") self.label_home_lat_value = wx.StaticText(self, wx.ID_ANY, "0.0") self.label_home_lon = wx.StaticText(self, wx.ID_ANY, "Lon") self.label_home_lon_value = wx.StaticText(self, wx.ID_ANY, "0.0") self.label_home_alt = wx.StaticText(self, wx.ID_ANY, "Alt (abs)") self.label_home_alt_value = wx.StaticText(self, wx.ID_ANY, "0.0") self.button_read_wps = wx.Button(self, wx.ID_ANY, "Read WPs") self.button_write_wps = wx.Button(self, wx.ID_ANY, "Write WPs") self.button_load_wp_file = wx.Button(self, wx.ID_ANY, "Load WP File") self.button_save_wp_file = wx.Button(self, wx.ID_ANY, "Save WP File") self.grid_mission = wx.grid.Grid(self, wx.ID_ANY, size=(1, 1)) self.button_add_wp = wx.Button(self, wx.ID_ANY, "Add Below") self.button_split = wx.Button(self, wx.ID_ANY, "Split") self.__set_properties() self.__do_layout() self.ElevationModel = mp_elevation.ElevationModel(database=elemodel) self.Bind(wx.EVT_TEXT_ENTER, self.on_wp_radius_enter, self.text_ctrl_wp_radius) self.Bind(wx.EVT_TEXT, self.on_wp_radius_changed, self.text_ctrl_wp_radius) self.Bind(wx.EVT_TEXT_ENTER, self.on_loiter_rad_enter, self.text_ctrl_loiter_radius) self.Bind(wx.EVT_TEXT, self.on_loiter_rad_change, self.text_ctrl_loiter_radius) self.Bind(wx.EVT_CHECKBOX, self.on_loiter_dir_cb_change, self.checkbox_loiter_dir) self.Bind(wx.EVT_TEXT_ENTER, self.on_wp_default_alt_enter, self.text_ctrl_wp_default_alt) self.Bind(wx.EVT_TEXT, self.on_wp_default_alt_change, self.text_ctrl_wp_default_alt) self.Bind(wx.EVT_BUTTON, self.read_wp_pushed, self.button_read_wps) self.Bind(wx.EVT_BUTTON, self.write_wp_pushed, self.button_write_wps) self.Bind(wx.EVT_BUTTON, self.load_wp_file_pushed, self.button_load_wp_file) self.Bind(wx.EVT_BUTTON, self.save_wp_file_pushed, self.button_save_wp_file) self.Bind(wx.grid.EVT_GRID_CMD_CELL_CHANGED, self.on_mission_grid_cell_changed, self.grid_mission) self.Bind(wx.grid.EVT_GRID_CMD_CELL_LEFT_CLICK, self.on_mission_grid_cell_left_click, self.grid_mission) self.Bind(wx.grid.EVT_GRID_CMD_SELECT_CELL, self.on_mission_grid_cell_select, self.grid_mission) self.Bind(wx.EVT_BUTTON, self.add_wp_below_pushed, self.button_add_wp) self.Bind(wx.EVT_BUTTON, self.split_pushed, self.button_split) # end wxGlade #use a timer to facilitate event an event handlers for events #passed from another process. self.timer = wx.Timer(self) self.Bind(wx.EVT_TIMER, self.time_to_process_gui_events, self.timer) self.timer.Start(200) self.last_layout_send = time.time() self.Bind(wx.EVT_IDLE, self.on_idle) delete_br = button_renderer.ButtonRenderer("Delete",70,20) up_br = button_renderer.ButtonRenderer("+",20,20) down_br = button_renderer.ButtonRenderer("-",1,1) self.del_attr = wx.grid.GridCellAttr() self.del_attr.SetReadOnly(True) self.del_attr.SetRenderer(delete_br) self.up_attr = wx.grid.GridCellAttr() self.up_attr.SetReadOnly(True) self.up_attr.SetRenderer(up_br) self.down_attr = wx.grid.GridCellAttr() self.down_attr.SetReadOnly(True) self.down_attr.SetRenderer(down_br) self.read_only_attr = wx.grid.GridCellAttr() self.read_only_attr.SetReadOnly(True) self.grid_mission.SetColAttr(ME_DELETE_COL, self.del_attr) self.grid_mission.SetColAttr(ME_UP_COL, self.up_attr) self.grid_mission.SetColAttr(ME_DOWN_COL, self.down_attr) self.grid_mission.SetColAttr(ME_DIST_COL, self.read_only_attr) self.grid_mission.SetColAttr(ME_ANGLE_COL, self.read_only_attr) self.grid_mission.SetColAttr(ME_AGL_COL, self.read_only_attr) self.grid_mission.SetRowLabelSize(50) #remember what mission we opened/saved last self.last_mission_file_path = "" #remember last map click position self.last_map_click_pos = None def __set_properties(self): # begin wxGlade: MissionEditorFrame.__set_properties self.SetTitle("Mission Editor") self.SetSize((820, 480)) self.label_sync_state.SetForegroundColour(wx.Colour(255, 0, 0)) self.label_sync_state.SetFont(wx.Font(14, wx.DEFAULT, wx.NORMAL, wx.NORMAL, 0, "Droid Sans")) self.text_ctrl_wp_radius.SetMinSize((50, 27)) self.text_ctrl_loiter_radius.SetMinSize((50, 27)) self.text_ctrl_wp_default_alt.SetMinSize((70, 27)) self.label_home_lat_value.SetMinSize((100, 17)) self.label_home_lat_value.SetForegroundColour(wx.Colour(0, 127, 255)) self.label_home_lon_value.SetMinSize((100, 17)) self.label_home_lon_value.SetForegroundColour(wx.Colour(0, 127, 255)) self.label_home_alt_value.SetForegroundColour(wx.Colour(0, 127, 255)) self.grid_mission.CreateGrid(0, 15) self.grid_mission.SetRowLabelSize(20) self.grid_mission.SetColLabelSize(20) self.grid_mission.SetColLabelValue(0, "Command") self.grid_mission.SetColSize(0, 150) self.grid_mission.SetColLabelValue(1, "P1") self.grid_mission.SetColLabelValue(2, "P2") self.grid_mission.SetColLabelValue(3, "P3") self.grid_mission.SetColLabelValue(4, "P4") self.grid_mission.SetColLabelValue(5, "Lat") self.grid_mission.SetColLabelValue(6, "Lon") self.grid_mission.SetColLabelValue(7, "Alt") self.grid_mission.SetColLabelValue(8, "Frame") self.grid_mission.SetColLabelValue(9, "Delete") self.grid_mission.SetColLabelValue(10, "Up") self.grid_mission.SetColLabelValue(11, "Down") self.grid_mission.SetDefaultColSize(-1) self.grid_mission.SetColLabelValue(12, "Distance") self.grid_mission.SetColLabelValue(13, "Grad (deg)") self.grid_mission.SetColLabelValue(14, "AGL") # end wxGlade def __do_layout(self): # begin wxGlade: MissionEditorFrame.__do_layout sizer_3 = wx.BoxSizer(wx.VERTICAL) sizer_16 = wx.BoxSizer(wx.HORIZONTAL) sizer_4 = wx.BoxSizer(wx.HORIZONTAL) sizer_12 = wx.BoxSizer(wx.VERTICAL) sizer_14 = wx.BoxSizer(wx.HORIZONTAL) sizer_13 = wx.BoxSizer(wx.HORIZONTAL) sizer_1 = wx.BoxSizer(wx.VERTICAL) sizer_11 = wx.BoxSizer(wx.HORIZONTAL) sizer_10 = wx.BoxSizer(wx.HORIZONTAL) sizer_2 = wx.BoxSizer(wx.HORIZONTAL) sizer_9 = wx.BoxSizer(wx.VERTICAL) sizer_5 = wx.BoxSizer(wx.VERTICAL) sizer_15 = wx.BoxSizer(wx.HORIZONTAL) sizer_4.Add(self.label_sync_state, 0, wx.LEFT | wx.ALIGN_CENTER_VERTICAL, 10) sizer_4.Add((10, 0), 0, 0, 0) sizer_5.Add(self.label_wp_radius, 0, 0, 0) sizer_5.Add(self.text_ctrl_wp_radius, 0, 0, 0) sizer_5.Add(self.label_loiter_rad, 0, 0, 0) sizer_15.Add(self.text_ctrl_loiter_radius, 0, 0, 0) sizer_15.Add(self.checkbox_loiter_dir, 0, 0, 0) sizer_5.Add(sizer_15, 1, wx.EXPAND, 0) sizer_4.Add(sizer_5, 0, wx.EXPAND, 0) sizer_4.Add((20, 20), 0, 0, 0) sizer_9.Add(self.label_default_alt, 0, 0, 0) sizer_9.Add(self.text_ctrl_wp_default_alt, 0, 0, 0) sizer_4.Add(sizer_9, 0, wx.EXPAND, 0) sizer_4.Add((20, 20), 0, 0, 0) sizer_1.Add(self.label_home_location, 0, 0, 0) sizer_2.Add(self.label_home_lat, 0, 0, 0) sizer_2.Add((40, 0), 0, 0, 0) sizer_2.Add(self.label_home_lat_value, 0, 0, 0) sizer_1.Add(sizer_2, 1, wx.EXPAND, 0) sizer_10.Add(self.label_home_lon, 0, 0, 0) sizer_10.Add((36, 0), 0, 0, 0) sizer_10.Add(self.label_home_lon_value, 0, 0, 0) sizer_1.Add(sizer_10, 1, wx.EXPAND, 0) sizer_11.Add(self.label_home_alt, 0, 0, 0) sizer_11.Add((11, 0), 0, 0, 0) sizer_11.Add(self.label_home_alt_value, 0, 0, 0) sizer_1.Add(sizer_11, 1, wx.EXPAND, 0) sizer_4.Add(sizer_1, 0, wx.EXPAND, 0) sizer_13.Add(self.button_read_wps, 0, 0, 0) sizer_13.Add((20, 20), 0, 0, 0) sizer_13.Add(self.button_write_wps, 0, 0, 0) sizer_12.Add(sizer_13, 1, wx.EXPAND, 0) sizer_12.Add((20, 20), 0, 0, 0) sizer_14.Add(self.button_load_wp_file, 0, 0, 0) sizer_14.Add((20, 20), 0, 0, 0) sizer_14.Add(self.button_save_wp_file, 0, 0, 0) sizer_12.Add(sizer_14, 1, wx.EXPAND, 0) sizer_4.Add(sizer_12, 0, wx.EXPAND, 0) sizer_3.Add(sizer_4, 0, wx.EXPAND, 0) sizer_3.Add(self.grid_mission, 1, wx.EXPAND, 0) sizer_16.Add(self.button_add_wp, 0, 0, 0) sizer_16.Add(self.button_split, 0, 0, 0) sizer_3.Add(sizer_16, 0, wx.EXPAND, 0) self.SetSizer(sizer_3) self.Layout() # end wxGlade def set_event_queue(self, q): self.event_queue = q def set_event_queue_lock(self, l): self.event_queue_lock = l def set_gui_event_queue(self, q): self.gui_event_queue = q def set_gui_event_queue_lock(self, l): self.gui_event_queue_lock = l def set_close_window_semaphore(self, sem): self.close_window_semaphore = sem def time_to_process_gui_events(self, evt): event_processed = False queue_access_start_time = time.time() self.gui_event_queue_lock.acquire() while (not self.gui_event_queue.empty()) and (time.time() < queue_access_start_time) < 0.6: event_processed = True event = self.gui_event_queue.get() try: self.process_gui_event(event) except Exception as e: print("Caught exception (%s)" % str(e)) self.gui_event_queue_lock.release() if (event_processed == True): #redraw window to apply changes self.Refresh() self.Update() def process_gui_event(self, event): if event.get_type() == me_event.MEGE_CLEAR_MISS_TABLE: self.grid_mission.ClearGrid() if (self.grid_mission.GetNumberRows() > 0): self.grid_mission.DeleteRows(0, self.grid_mission.GetNumberRows()) self.grid_mission.SetDefaultColSize(50, True) self.grid_mission.SetColSize(ME_COMMAND_COL, 150) self.grid_mission.SetColSize(ME_LAT_COL, 100) self.grid_mission.SetColSize(ME_LON_COL, 100) self.grid_mission.SetColSize(ME_ALT_COL, 75) self.grid_mission.SetColSize(ME_DIST_COL, 1) self.grid_mission.SetColSize(ME_ANGLE_COL, 1) self.grid_mission.SetColSize(ME_AGL_COL, 1) self.grid_mission.ForceRefresh() elif event.get_type() == me_event.MEGE_ADD_MISS_TABLE_ROWS: num_new_rows = event.get_arg("num_rows") if (num_new_rows < 1): return old_num_rows = self.grid_mission.GetNumberRows() self.grid_mission.AppendRows(num_new_rows) self.prep_new_rows(old_num_rows, num_new_rows) self.grid_mission.ForceRefresh() elif event.get_type() == me_event.MEGE_SET_MISS_ITEM: row = event.get_arg("num") - 1 command = event.get_arg("command") if row == -1: #1st mission item is special: it's the immutable home position self.label_home_lat_value.SetLabel( str(event.get_arg("lat"))) self.label_home_lon_value.SetLabel( str(event.get_arg("lon"))) self.label_home_alt_value.SetLabel( str(event.get_arg("alt"))) else: #not the first mission item if command in me_defines.miss_cmds: self.grid_mission.SetCellValue(row, ME_COMMAND_COL, me_defines.miss_cmds[command]) else: self.grid_mission.SetCellValue(row, ME_COMMAND_COL, str(command)) self.grid_mission.SetCellValue(row, ME_P1_COL, str(event.get_arg("param1"))) self.grid_mission.SetCellValue(row, ME_P2_COL, str(event.get_arg("param2"))) self.grid_mission.SetCellValue(row, ME_P3_COL, str(event.get_arg("param3"))) self.grid_mission.SetCellValue(row, ME_P4_COL, str(event.get_arg("param4"))) self.grid_mission.SetCellValue(row, ME_LAT_COL, str(event.get_arg("lat"))) self.grid_mission.SetCellValue(row, ME_LON_COL, str(event.get_arg("lon"))) self.grid_mission.SetCellValue(row, ME_ALT_COL, "%.2f" % event.get_arg("alt")) self.set_grad_dist() self.set_agl() frame_num = event.get_arg("frame") if frame_num in me_defines.frame_enum: self.grid_mission.SetCellValue(row, ME_FRAME_COL, me_defines.frame_enum[frame_num]) else: self.grid_mission.SetCellValue(row, ME_FRAME_COL, "Und") elif event.get_type() == me_event.MEGE_SET_WP_RAD: self.text_ctrl_wp_radius.SetValue(str(event.get_arg("wp_rad"))) self.text_ctrl_wp_radius.SetForegroundColour(wx.Colour(0, 0, 0)) elif event.get_type() == me_event.MEGE_SET_LOIT_RAD: loiter_radius = event.get_arg("loit_rad") self.text_ctrl_loiter_radius.SetValue( str(math.fabs(loiter_radius))) self.text_ctrl_loiter_radius.SetForegroundColour(wx.Colour(0, 0, 0)) if (loiter_radius < 0.0): self.checkbox_loiter_dir.SetValue(False) else: self.checkbox_loiter_dir.SetValue(True) elif event.get_type() == me_event.MEGE_SET_WP_DEFAULT_ALT: self.text_ctrl_wp_default_alt.SetValue(str( event.get_arg("def_wp_alt"))) self.text_ctrl_wp_default_alt.SetForegroundColour(wx.Colour(0, 0, 0)) elif event.get_type() == me_event.MEGE_SET_LAST_MAP_CLICK_POS: self.last_map_click_pos = event.get_arg("click_pos") def prep_new_row(self, row_num): command_choices = sorted(list(me_defines.miss_cmds.values())) cell_ed = DropdownCellEditor(command_choices) self.grid_mission.SetCellEditor(row_num, ME_COMMAND_COL, cell_ed) cell_ed.IncRef() self.grid_mission.SetCellValue(row_num, ME_COMMAND_COL, "NAV_WAYPOINT") for i in range(1, 7): self.grid_mission.SetCellValue(row_num, i, "0.0") for i in range(12, 14): self.grid_mission.SetCellValue(row_num, i, "0.0") #set altitude to default: self.grid_mission.SetCellValue(row_num, ME_ALT_COL, self.text_ctrl_wp_default_alt.GetValue()) #populate frm cell editor and set to default value frame_cell_ed = wx.grid.GridCellChoiceEditor(list(me_defines.frame_enum.values())) self.grid_mission.SetCellEditor(row_num, ME_FRAME_COL, frame_cell_ed) # default to previous rows frame if row_num > 0: frame = self.grid_mission.GetCellValue(row_num-1, ME_FRAME_COL) if frame not in ["Rel", "AGL"]: frame = "Rel" else: frame = "Rel" self.grid_mission.SetCellValue(row_num, ME_FRAME_COL, frame) #this makes newest row always have the cursor in it, #making the "Add Below" button work like I want: self.grid_mission.SetGridCursor(row_num, ME_COMMAND_COL) def prep_new_rows(self, start_row, num_rows): num_remaining = num_rows current_row = start_row while num_remaining > 0: self.prep_new_row(current_row) current_row = current_row + 1 num_remaining = num_remaining - 1 def set_modified_state(self, modified): if (modified): self.set_grad_dist() self.set_agl() self.label_sync_state.SetLabel("MODIFIED") self.label_sync_state.SetForegroundColour(wx.Colour(255, 0, 0)) else: self.label_sync_state.SetLabel("SYNCED") self.label_sync_state.SetForegroundColour(wx.Colour(12, 152, 26)) def read_wp_pushed(self, event): # wxGlade: MissionEditorFrame. self.event_queue_lock.acquire() self.event_queue.put(MissionEditorEvent(me_event.MEE_READ_WPS)) #sneak in some queries about a few other items as well: self.event_queue.put(MissionEditorEvent(me_event.MEE_GET_WP_RAD)) self.event_queue.put(MissionEditorEvent(me_event.MEE_GET_LOIT_RAD)) self.event_queue.put(MissionEditorEvent(me_event.MEE_GET_WP_DEFAULT_ALT)) self.event_queue_lock.release() event.Skip() #TODO: the read actually has to succeed before I can say this: self.set_modified_state(False) def write_wp_pushed(self, event): # wxGlade: MissionEditorFrame. self.event_queue_lock.acquire() self.event_queue.put(MissionEditorEvent(me_event.MEE_WRITE_WPS,count= self.grid_mission.GetNumberRows()+1)) #home point first: lat = float(self.label_home_lat_value.GetLabel()) lon = float(self.label_home_lon_value.GetLabel()) alt = float(self.label_home_alt_value.GetLabel()) self.event_queue.put(MissionEditorEvent(me_event.MEE_WRITE_WP_NUM, num=0,cmd_id=16,p1=0.0,p2=0.0,p3=0.0,p4=0.0, lat=lat,lon=lon,alt=alt,frame=0)) for i in range(0, self.grid_mission.GetNumberRows()): cmd_id = me_defines.cmd_reverse_lookup(self.grid_mission.GetCellValue(i,0)) #don't lock up the misseditor on missing input! #anything missing will just be zero try: p1 = float(self.grid_mission.GetCellValue(i,ME_P1_COL)) except: p1 = 0.0 try: p2 = float(self.grid_mission.GetCellValue(i,ME_P2_COL)) except: p2 = 0.0 try: p3 = float(self.grid_mission.GetCellValue(i,ME_P3_COL)) except: p3 = 0.0 try: p4 = float(self.grid_mission.GetCellValue(i,ME_P4_COL)) except: p4 = 0.0 try: lat = float(self.grid_mission.GetCellValue(i,ME_LAT_COL)) except: lat = 0.0 try: lon = float(self.grid_mission.GetCellValue(i,ME_LON_COL)) except: lon = 0.0 try: alt = float(self.grid_mission.GetCellValue(i,ME_ALT_COL)) except: alt = 0.0 try: frame = float(me_defines.frame_enum_rev[self.grid_mission.GetCellValue(i,ME_FRAME_COL)]) except: frame = 0.0 self.event_queue.put(MissionEditorEvent(me_event.MEE_WRITE_WP_NUM, num=i+1,cmd_id=cmd_id,p1=p1,p2=p2,p3=p3,p4=p4, lat=lat,lon=lon,alt=alt,frame=frame)) self.event_queue_lock.release() self.set_modified_state(False) event.Skip() def load_wp_file_pushed(self, event): # wxGlade: MissionEditorFrame. fd = wx.FileDialog(self, "Open Mission File", os.getcwd(), "", "MissionFiles(*.txt.*.wp,*.waypoints)|*.txt;*.wp;*.waypoints", wx.FD_OPEN | wx.FD_FILE_MUST_EXIST) if (fd.ShowModal() == wx.ID_CANCEL): return #user changed their mind... self.event_queue_lock.acquire() self.event_queue.put(MissionEditorEvent(me_event.MEE_LOAD_WP_FILE, path=fd.GetPath())) self.event_queue_lock.release() self.last_mission_file_path = fd.GetPath() event.Skip() def add_wp_below_pushed(self, event): # wxGlade: MissionEditorFrame. row_selected = self.grid_mission.GetGridCursorRow() if (row_selected < 0): row_selected = self.grid_mission.GetNumberRows()-1 self.grid_mission.InsertRows(row_selected+1) self.prep_new_row(row_selected+1) #set lat/lon based on last map click position: if self.last_map_click_pos is not None: self.grid_mission.SetCellValue(row_selected + 1, ME_LAT_COL, str(self.last_map_click_pos[0])) self.grid_mission.SetCellValue(row_selected + 1, ME_LON_COL, str(self.last_map_click_pos[1])) #highlight new row self.grid_mission.SelectRow(row_selected+1) self.set_modified_state(True) self.fix_jumps(row_selected+1, 1) event.Skip() def split_pushed(self, event): # wxGlade: MissionEditorFrame. row_selected = self.grid_mission.GetGridCursorRow() if (row_selected < 2): print("Invalid row selected") event.Skip() return if self.grid_mission.GetCellValue(row_selected, ME_COMMAND_COL) != "NAV_WAYPOINT": print("Bad command (need NAV_WAYPOINT)") event.Skip() return if self.grid_mission.GetCellValue(row_selected-1, ME_COMMAND_COL) != "NAV_WAYPOINT": print("Bad previous command (need NAV_WAYPOINT)") event.Skip() return if (self.grid_mission.GetCellValue(row_selected, ME_FRAME_COL) != self.grid_mission.GetCellValue(row_selected-1, ME_FRAME_COL)): print("Items differ in frame") event.Skip() return lat = (float(self.grid_mission.GetCellValue(row_selected, ME_LAT_COL)) + float(self.grid_mission.GetCellValue(row_selected-1, ME_LAT_COL)))/2 lng = (float(self.grid_mission.GetCellValue(row_selected, ME_LON_COL)) + float(self.grid_mission.GetCellValue(row_selected-1, ME_LON_COL)))/2 alt = (float(self.grid_mission.GetCellValue(row_selected, ME_ALT_COL)) + float(self.grid_mission.GetCellValue(row_selected-1, ME_ALT_COL)))/2 self.grid_mission.InsertRows(row_selected) self.prep_new_row(row_selected) self.grid_mission.SetCellValue(row_selected, ME_LAT_COL, str(lat)) self.grid_mission.SetCellValue(row_selected, ME_LON_COL, str(lng)) self.grid_mission.SetCellValue(row_selected, ME_ALT_COL, str(alt)) #highlight new row self.grid_mission.SelectRow(row_selected) self.set_modified_state(True) self.fix_jumps(row_selected, 1) event.Skip() def save_wp_file_pushed(self, event): # wxGlade: MissionEditorFrame. fd = wx.FileDialog(self, "Save Mission File", os.getcwd(), os.path.basename(self.last_mission_file_path), "MissionFiles(*.txt.*.wp,*.waypoints)|*.txt;*.wp;*.waypoints", wx.FD_SAVE | wx.FD_OVERWRITE_PROMPT) if (fd.ShowModal() == wx.ID_CANCEL): return #user change their mind... #ask mp_misseditor module to save file self.event_queue_lock.acquire() self.event_queue.put(MissionEditorEvent(me_event.MEE_SAVE_WP_FILE, path=fd.GetPath())) self.event_queue_lock.release() self.last_mission_file_path = fd.GetPath() event.Skip() def on_mission_grid_cell_select(self, event): # wxGlade: MissionEditorFrame. self.grid_mission.SetColLabelValue(ME_P1_COL, "P1") self.grid_mission.SetColLabelValue(ME_P2_COL, "P2") self.grid_mission.SetColLabelValue(ME_P3_COL, "P3") self.grid_mission.SetColLabelValue(ME_P4_COL, "P4") self.grid_mission.SetColLabelValue(ME_LAT_COL, "Lat") self.grid_mission.SetColLabelValue(ME_LON_COL, "Lon") self.grid_mission.SetColLabelValue(ME_ALT_COL, "Alt") self.grid_mission.SetColLabelValue(ME_DIST_COL, "Distance") self.grid_mission.SetColLabelValue(ME_ANGLE_COL, "Grad (deg)") self.grid_mission.SetColLabelValue(ME_AGL_COL, "AGL") if event.GetRow() == self.grid_mission.GetNumberRows(): # this event fires when last row is deleted; ignore # attempt to set a cell in that deleted row as selected. return command = self.grid_mission.GetCellValue(event.GetRow(), ME_COMMAND_COL) col_labels = me_defines.get_column_labels(command) for col in col_labels.keys(): self.grid_mission.SetColLabelValue(col, col_labels[col]) event.Skip() def on_mission_grid_cell_left_click(self, event): # wxGlade: MissionEditorFrame. #delete column? if (event.GetCol() == ME_DELETE_COL): row = event.GetRow() dlg = wx.MessageDialog(self, 'Sure you want to delete item ' + str(row+1) + '?', 'Really Delete?', wx.YES_NO | wx.ICON_EXCLAMATION) result = dlg.ShowModal() if (result == wx.ID_YES): #delete this row self.grid_mission.DeleteRows(row) self.set_modified_state(True) self.fix_jumps(row, -1) #up column? elif (event.GetCol() == ME_UP_COL): row = event.GetRow() if (row == 0): #can't go any higher return #insert a copy of this row above the previous row, then delete this row self.grid_mission.InsertRows(row-1) self.prep_new_row(row-1) for i in range(0, self.grid_mission.GetNumberCols()): self.grid_mission.SetCellValue(row-1, i, self.grid_mission.GetCellValue(row+1,i)) self.grid_mission.DeleteRows(row+1) #move the cursor to where the row moved and highlight the row self.grid_mission.SetGridCursor(row-1,ME_UP_COL) self.grid_mission.SelectRow(row-1) self.set_modified_state(True) #Return so we don't skip the event so the cursor will go where expected return #down column? elif (event.GetCol() == ME_DOWN_COL): row = event.GetRow() if (row == self.grid_mission.GetNumberRows() - 1): #can't go lower return #insert a copy of this row 2 rows down, then delete this row self.grid_mission.InsertRows(row+2) self.prep_new_row(row+2) for i in range(0, self.grid_mission.GetNumberCols()): self.grid_mission.SetCellValue(row+2, i, self.grid_mission.GetCellValue(row, i)) self.grid_mission.DeleteRows(row) #move the cursor to where the row moved and highlight the row self.grid_mission.SetGridCursor(row+1,ME_DOWN_COL) self.grid_mission.SelectRow(row+1) self.set_modified_state(True) #Return so we don't skip the event so the cursor will go where expected return event.Skip() def on_mission_grid_cell_changed(self, event): # wxGlade: MissionEditorFrame. self.set_modified_state(True) event.Skip() def on_wp_radius_changed(self, event): # wxGlade: MissionEditorFrame. #change text red self.text_ctrl_wp_radius.SetForegroundColour(wx.Colour(255, 0, 0)) event.Skip() def on_wp_radius_enter(self, event): # wxGlade: MissionEditorFrame. try: wp_radius = float(self.text_ctrl_wp_radius.GetValue()) except Exception as e: print(str(e)) return #text back to black self.text_ctrl_wp_radius.SetForegroundColour(wx.Colour(0, 0, 0)) self.event_queue_lock.acquire() self.event_queue.put(MissionEditorEvent(me_event.MEE_SET_WP_RAD, rad=wp_radius)) self.event_queue_lock.release() event.Skip() def send_loiter_rad_msg(self): try: loit_radius = float(self.text_ctrl_loiter_radius.GetValue()) except Exception as e: print(str(e)) return if (not self.checkbox_loiter_dir.IsChecked()): loit_radius = loit_radius * -1.0 #text back to black self.text_ctrl_loiter_radius.SetForegroundColour(wx.Colour(0, 0, 0)) self.event_queue_lock.acquire() self.event_queue.put(MissionEditorEvent(me_event.MEE_SET_LOIT_RAD, rad=loit_radius)) self.event_queue_lock.release() def on_loiter_rad_enter(self, event): # wxGlade: MissionEditorFrame. self.send_loiter_rad_msg() event.Skip() def on_loiter_rad_change(self, event): # wxGlade: MissionEditorFrame. #change text red self.text_ctrl_loiter_radius.SetForegroundColour(wx.Colour(255, 0, 0)) event.Skip() def on_loiter_dir_cb_change(self, event): # wxGlade: MissionEditorFrame. self.send_loiter_rad_msg() event.Skip() def on_wp_default_alt_enter(self, event): # wxGlade: MissionEditorFrame. try: def_alt = float(self.text_ctrl_wp_default_alt.GetValue()) except Exception as e: print(str(e)) return #text back to black self.text_ctrl_wp_default_alt.SetForegroundColour(wx.Colour(0, 0, 0)) self.event_queue_lock.acquire() self.event_queue.put(MissionEditorEvent(me_event.MEE_SET_WP_DEFAULT_ALT, alt=def_alt)) self.event_queue_lock.release() event.Skip() def on_wp_default_alt_change(self, event): # wxGlade: MissionEditorFrame. #change text red self.text_ctrl_wp_default_alt.SetForegroundColour(wx.Colour(255, 0, 0)) event.Skip() def fix_jumps(self, row_selected, delta): '''fix up jumps when we add/remove rows''' numrows = self.grid_mission.GetNumberRows() for row in range(numrows): command = self.grid_mission.GetCellValue(row, ME_COMMAND_COL) if command in ["DO_JUMP", "DO_CONDITION_JUMP"]: p1 = int(float(self.grid_mission.GetCellValue(row, ME_P1_COL))) if p1 > row_selected and p1+delta>0: self.grid_mission.SetCellValue(row, ME_P1_COL, str(float(p1+delta))) def has_location_cmd(self, cmd_id): '''return True if a WP command has a location''' if isinstance(cmd_id, str): cmd_id = eval(f"mavutil.mavlink.MAV_CMD_{cmd_id}") if cmd_id in mavutil.mavlink.enums['MAV_CMD'].keys(): cmd_enum = mavutil.mavlink.enums['MAV_CMD'][cmd_id] # default to having location for older installs of pymavlink # which don't have the attribute return getattr(cmd_enum,'has_location',True) return False def has_location(self, lat, lon, cmd_id): '''return True if a WP command has a location''' if lat == 0 and lon == 0: return False return self.has_location_cmd(cmd_id) def set_grad_dist(self): '''fix up distance and gradient when changing cell values''' home_def_alt = float(self.label_home_alt_value.GetLabel()) numrows = self.grid_mission.GetNumberRows() for row in range(1,numrows): command = self.grid_mission.GetCellValue(row, ME_COMMAND_COL) command_prev = self.grid_mission.GetCellValue(row - 1, ME_COMMAND_COL) lat = float(self.grid_mission.GetCellValue(row, ME_LAT_COL)) lon = float(self.grid_mission.GetCellValue(row, ME_LON_COL)) if not self.has_location(lat, lon, command): dist = 0.0 grad = 0.0 else : if "NAV" in command: row_prev = row - 1 while not self.has_location_cmd(command_prev) and (row_prev > 0): command_prev = self.grid_mission.GetCellValue(row_prev - 1, ME_COMMAND_COL) row_prev = row_prev - 1 prev_lat = float(self.grid_mission.GetCellValue(row_prev, ME_LAT_COL)) prev_lon = float(self.grid_mission.GetCellValue(row_prev, ME_LON_COL)) prev_alt = float(self.grid_mission.GetCellValue(row_prev, ME_ALT_COL)) if (self.grid_mission.GetCellValue(row_prev, ME_FRAME_COL) == "Rel"): prev_alt = prev_alt + home_def_alt elif (self.grid_mission.GetCellValue(row_prev, ME_FRAME_COL) == "AGL"): prev_alt = self.ElevationModel.GetElevation(prev_lat, prev_lon) + prev_alt while not self.has_location(prev_lat,prev_lon,command_prev) and (row_prev > 0): prev_lat = float(self.grid_mission.GetCellValue(row_prev - 1, ME_LAT_COL)) prev_lon = float(self.grid_mission.GetCellValue(row_prev - 1, ME_LON_COL)) command_prev = self.grid_mission.GetCellValue(row_prev - 1, ME_COMMAND_COL) row_prev = row_prev - 1 dist = mp_util.gps_distance(lat, lon, prev_lat, prev_lon) curr_alt = float(self.grid_mission.GetCellValue(row, ME_ALT_COL)) if (self.grid_mission.GetCellValue(row, ME_FRAME_COL) == "Rel"): curr_alt = curr_alt + home_def_alt elif(self.grid_mission.GetCellValue(row, ME_FRAME_COL) == "AGL"): curr_alt = curr_alt + self.ElevationModel.GetElevation(lat, lon) grad = math.atan2(curr_alt - prev_alt, dist) *180 / math.pi else: grad = 0.0 dist = 0.0 dist = format(dist, '.1f') grad = format(grad, '.1f') self.grid_mission.SetCellValue(row, ME_DIST_COL, str(dist)) self.grid_mission.SetCellValue(row, ME_ANGLE_COL, str(grad)) def set_agl(self): '''update agl altitude when changing cell values''' home_def_alt = float(self.label_home_alt_value.GetLabel()) numrows = self.grid_mission.GetNumberRows() for row in range(0,numrows): command = self.grid_mission.GetCellValue(row, ME_COMMAND_COL) lat = float(self.grid_mission.GetCellValue(row, ME_LAT_COL)) lon = float(self.grid_mission.GetCellValue(row, ME_LON_COL)) agl = 0.0 elevation = self.ElevationModel.GetElevation(lat, lon) if elevation == None: continue if self.has_location(lat, lon, command) and "NAV" in command: agl = float(self.grid_mission.GetCellValue(row, ME_ALT_COL)) frame = self.grid_mission.GetCellValue(row, ME_FRAME_COL) if frame == "Rel": agl = agl + home_def_alt - elevation elif self.grid_mission.GetCellValue(row, ME_FRAME_COL) == "Abs": agl = agl - elevation else: continue agl = format(float(agl), '.1f') self.grid_mission.SetCellValue(row, ME_AGL_COL, agl) def on_idle(self, event): now = time.time() if now - self.last_layout_send > 1: self.last_layout_send = now self.event_queue.put(win_layout.get_wx_window_layout(self)) obj = None while not self.state.object_queue.empty(): obj = self.state.object_queue.get() if isinstance(obj, win_layout.WinLayout): win_layout.set_wx_window_layout(self, obj) # end of class MissionEditorFrame if __name__ == "__main__": app = wx.App(False) wx.InitAllImageHandlers() missionEditor = (None, wx.ID_ANY, "") app.SetTopWindow(missionEditor) missionEditor.Show() app.MainLoop() MAVProxy-1.8.74/MAVProxy/modules/mavproxy_misseditor/mission_editor.py000066400000000000000000000411071504324515000261670ustar00rootroot00000000000000#!/usr/bin/env python3 ''' mission editor module Michael Day June 2104 ''' from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import multiproc from MAVProxy.modules.lib import win_layout from MAVProxy.modules.mavproxy_misseditor import me_event MissionEditorEvent = me_event.MissionEditorEvent from pymavlink import mavutil from pymavlink import mavwp import time import threading class MissionEditorEventThread(threading.Thread): def __init__(self, mp_misseditor, q, l): threading.Thread.__init__(self) self.mp_misseditor = mp_misseditor self.event_queue = q self.event_queue_lock = l self.time_to_quit = False def module(self, name): '''access another module''' return self.mp_misseditor.mpstate.module(name) def master(self): '''access master mavlink connection''' return self.mp_misseditor.mpstate.master() def run(self): while not self.time_to_quit: queue_access_start_time = time.time() self.event_queue_lock.acquire() request_read_after_processing_queue = False while (not self.event_queue.empty()) and (time.time() - queue_access_start_time) < 0.6: event = self.event_queue.get() if isinstance(event, win_layout.WinLayout): win_layout.set_layout(event, self.mp_misseditor.set_layout) elif isinstance(event, mavwp.MAVWPLoader): self.mp_misseditor.gui_event_queue_lock.acquire() self.mp_misseditor.gui_event_queue.put(MissionEditorEvent( me_event.MEGE_CLEAR_MISS_TABLE)) self.mp_misseditor.gui_event_queue_lock.release() if event.count() > 0: self.mp_misseditor.gui_event_queue_lock.acquire() self.mp_misseditor.gui_event_queue.put(MissionEditorEvent( me_event.MEGE_ADD_MISS_TABLE_ROWS,num_rows=event.count()-1)) self.mp_misseditor.gui_event_queue_lock.release() for m in event.wpoints: self.mp_misseditor.gui_event_queue_lock.acquire() self.mp_misseditor.gui_event_queue.put(MissionEditorEvent( me_event.MEGE_SET_MISS_ITEM, num=m.seq,command=m.command,param1=m.param1, param2=m.param2,param3=m.param3,param4=m.param4, lat=m.x,lon=m.y,alt=m.z,frame=m.frame)) self.mp_misseditor.gui_event_queue_lock.release() else: event_type = event.get_type() if event_type == me_event.MEE_READ_WPS: self.module('wp').cmd_wp(['list']) #list the rally points while I'm add it: #TODO: DON'T KNOW WHY THIS DOESN'T WORK #self.module('rally').cmd_rally(['list']) #means I'm doing a read & don't know how many wps to expect: self.mp_misseditor.num_wps_expected = -1 self.wps_received = {} elif event_type == me_event.MEE_TIME_TO_QUIT: self.time_to_quit = True elif event_type == me_event.MEE_GET_WP_RAD: wp_radius = self.module('param').mav_param.get('WP_RADIUS') if (wp_radius is None): continue self.mp_misseditor.gui_event_queue_lock.acquire() self.mp_misseditor.gui_event_queue.put(MissionEditorEvent( me_event.MEGE_SET_WP_RAD,wp_rad=wp_radius)) self.mp_misseditor.gui_event_queue_lock.release() elif event_type == me_event.MEE_SET_WP_RAD: self.mp_misseditor.param_set('WP_RADIUS',event.get_arg("rad")) elif event_type == me_event.MEE_GET_LOIT_RAD: loiter_radius = self.module('param').mav_param.get('WP_LOITER_RAD') if (loiter_radius is None): continue self.mp_misseditor.gui_event_queue_lock.acquire() self.mp_misseditor.gui_event_queue.put(MissionEditorEvent( me_event.MEGE_SET_LOIT_RAD,loit_rad=loiter_radius)) self.mp_misseditor.gui_event_queue_lock.release() elif event_type == me_event.MEE_SET_LOIT_RAD: loit_rad = event.get_arg("rad") if (loit_rad is None): continue self.mp_misseditor.param_set('WP_LOITER_RAD', loit_rad) #need to redraw rally points # Don't understand why this rally refresh isn't lagging... # likely same reason why "timeout setting WP_LOITER_RAD" #comes back: #TODO: fix timeout issue self.module('rally').set_last_change(time.time()) elif event_type == me_event.MEE_GET_WP_DEFAULT_ALT: self.mp_misseditor.gui_event_queue_lock.acquire() self.mp_misseditor.gui_event_queue.put(MissionEditorEvent( me_event.MEGE_SET_WP_DEFAULT_ALT,def_wp_alt=self.mp_misseditor.mpstate.settings.wpalt)) self.mp_misseditor.gui_event_queue_lock.release() elif event_type == me_event.MEE_SET_WP_DEFAULT_ALT: self.mp_misseditor.mpstate.settings.command(["wpalt",event.get_arg("alt")]) elif event_type == me_event.MEE_WRITE_WPS: self.module('wp').wploader.clear() self.module('wp').wploader.expected_count = event.get_arg("count") self.master().waypoint_count_send(event.get_arg("count")) self.mp_misseditor.num_wps_expected = event.get_arg("count") self.mp_misseditor.wps_received = {} elif event_type == me_event.MEE_WRITE_WP_NUM: w = mavutil.mavlink.MAVLink_mission_item_message( self.mp_misseditor.mpstate.settings.target_system, self.mp_misseditor.mpstate.settings.target_component, event.get_arg("num"), int(event.get_arg("frame")), event.get_arg("cmd_id"), 0, 1, event.get_arg("p1"), event.get_arg("p2"), event.get_arg("p3"), event.get_arg("p4"), event.get_arg("lat"), event.get_arg("lon"), event.get_arg("alt")) self.module('wp').wploader.add(w) wsend = self.module('wp').wploader.wp(w.seq) if self.mp_misseditor.mpstate.settings.wp_use_mission_int: wsend = self.module('wp').wp_to_mission_item_int(w) self.master().mav.send(wsend) #tell the wp module to expect some waypoints self.module('wp').loading_waypoints = True elif event_type == me_event.MEE_LOAD_WP_FILE: self.module('wp').cmd_wp(['load',event.get_arg("path")]) elif event_type == me_event.MEE_SAVE_WP_FILE: self.module('wp').cmd_wp(['save',event.get_arg("path")]) self.event_queue_lock.release() #if event processing operations require a mission referesh in GUI #(e.g., after a load or a verified-completed write): if (request_read_after_processing_queue): self.event_queue_lock.acquire() self.event_queue.put(MissionEditorEvent(me_event.MEE_READ_WPS)) self.event_queue_lock.release() #periodically re-request WPs that were never received: #DON'T NEED TO! -- wp module already doing this time.sleep(0.2) class MissionEditorMain(object): def __init__(self, mpstate, elemodel): self.num_wps_expected = 0 #helps me to know if all my waypoints I'm expecting have arrived self.wps_received = {} self.event_queue = multiproc.Queue() self.event_queue_lock = multiproc.Lock() self.gui_event_queue = multiproc.Queue() self.gui_event_queue_lock = multiproc.Lock() self.object_queue = multiproc.Queue() self.close_window = multiproc.Semaphore() self.close_window.acquire() self.child = multiproc.Process(target=self.child_task,args=(self.event_queue,self.event_queue_lock,self.gui_event_queue,self.gui_event_queue_lock,self.close_window, elemodel)) self.child.start() self.event_thread = MissionEditorEventThread(self, self.event_queue, self.event_queue_lock) self.event_thread.start() self.mpstate = mpstate self.mpstate.miss_editor = self self.last_unload_check_time = time.time() self.unload_check_interval = 0.1 # seconds self.time_to_quit = False self.mavlink_message_queue = multiproc.Queue() self.mavlink_message_queue_handler = threading.Thread(target=self.mavlink_message_queue_handler) self.mavlink_message_queue_handler.start() self.needs_unloading = False self.last_wp_change = time.time() def mavlink_message_queue_handler(self): while not self.time_to_quit: while True: if self.time_to_quit: return if not self.mavlink_message_queue.empty(): break time.sleep(0.1) m = self.mavlink_message_queue.get() #MAKE SURE YOU RELEASE THIS LOCK BEFORE LEAVING THIS METHOD!!! #No "return" statement should be put in this method! self.gui_event_queue_lock.acquire() try: self.process_mavlink_packet(m) except Exception as e: print("Caught exception (%s)" % str(e)) import traceback traceback.print_stack() self.gui_event_queue_lock.release() def unload(self): '''unload module''' self.mpstate.miss_editor.close() self.mpstate.miss_editor = None def get_wps_from_module(self): '''get WP list from wp module''' self.event_queue_lock.acquire() self.event_queue.put(self.mpstate.module('wp').wploader) self.event_queue_lock.release() def idle_task(self): now = time.time() if self.last_unload_check_time + self.unload_check_interval < now: self.last_unload_check_time = now if not self.child.is_alive(): self.close() return last_wp_change = self.mpstate.module('wp').loading_waypoint_lasttime if last_wp_change > self.last_wp_change: self.last_wp_change = last_wp_change self.get_wps_from_module() def mavlink_packet(self, m): if (getattr(m, 'mission_type', None) is not None and m.mission_type != mavutil.mavlink.MAV_MISSION_TYPE_MISSION): return mtype = m.get_type() if mtype in ['MISSION_COUNT', 'MISSION_ITEM', 'MISSION_ITEM_INT']: if mtype == 'MISSION_ITEM_INT': m = self.mpstate.module('wp').wp_from_mission_item_int(m) self.mavlink_message_queue.put(m) def process_mavlink_packet(self, m): '''handle an incoming mavlink packet''' mtype = m.get_type() # if you add processing for an mtype here, remember to add it # to mavlink_packet, above if (getattr(m, 'mission_type', None) is not None and m.mission_type != mavutil.mavlink.MAV_MISSION_TYPE_MISSION): return if mtype in ['MISSION_COUNT']: if (self.num_wps_expected == 0): #I haven't asked for WPs, or these messages are duplicates #of msgs I've already received. self.mpstate.console.error("No waypoint load started (from Editor).") #I only clear the mission in the Editor if this was a read event elif (self.num_wps_expected == -1): self.gui_event_queue.put(MissionEditorEvent( me_event.MEGE_CLEAR_MISS_TABLE)) self.num_wps_expected = m.count self.wps_received = {} if m.count > 1: self.gui_event_queue.put(MissionEditorEvent( me_event.MEGE_ADD_MISS_TABLE_ROWS,num_rows=m.count-1)) #write has been sent by the mission editor: elif (self.num_wps_expected > 1): if (m.count != self.num_wps_expected): self.mpstate.console.error("wpedit: mission is stale") #since this is a write operation from the Editor there #should be no need to update number of table rows elif mtype in ['MISSION_ITEM']: #still expecting wps? if (len(self.wps_received) < self.num_wps_expected): #if we haven't already received this wp, write it to the GUI: if (m.seq not in self.wps_received.keys()): self.gui_event_queue.put(MissionEditorEvent( me_event.MEGE_SET_MISS_ITEM, num=m.seq,command=m.command,param1=m.param1, param2=m.param2,param3=m.param3,param4=m.param4, lat=m.x,lon=m.y,alt=m.z,frame=m.frame)) self.wps_received[m.seq] = True if len(self.wps_received) == self.num_wps_expected: # if we have received everything then reset # our state to indicate we're not currently # expecting waypoints. That way if we receive # a count we don't expect we don't spew errors self.num_wps_expected = -1 def child_task(self, q, l, gq, gl, cw_sem, elemodel): '''child process - this holds GUI elements''' mp_util.child_close_fds() from MAVProxy.modules.lib import wx_processguard from ..lib.wx_loader import wx from MAVProxy.modules.mavproxy_misseditor import missionEditorFrame self.app = wx.App(False) self.app.frame = missionEditorFrame.MissionEditorFrame(self,parent=None,id=wx.ID_ANY, elemodel=elemodel) self.app.frame.set_event_queue(q) self.app.frame.set_event_queue_lock(l) self.app.frame.set_gui_event_queue(gq) self.app.frame.set_gui_event_queue_lock(gl) self.app.frame.set_close_window_semaphore(cw_sem) self.app.SetExitOnFrameDelete(True) self.app.frame.Show() # start a thread to monitor the "close window" semaphore: class CloseWindowSemaphoreWatcher(threading.Thread): def __init__(self, task, sem): threading.Thread.__init__(self) self.task = task self.sem = sem def run(self): self.sem.acquire(True) self.task.app.ExitMainLoop() watcher_thread = CloseWindowSemaphoreWatcher(self, cw_sem) watcher_thread.start() self.app.MainLoop() # tell the watcher it is OK to quit: cw_sem.release() watcher_thread.join() def close(self): '''close the Mission Editor window''' self.time_to_quit = True self.close_window.release() if self.child.is_alive(): self.child.join(1) self.child.terminate() self.mavlink_message_queue_handler.time_to_quit = True self.mavlink_message_queue_handler.join() self.event_queue_lock.acquire() self.event_queue.put(MissionEditorEvent(me_event.MEE_TIME_TO_QUIT)); self.event_queue_lock.release() self.needs_unloading = True def read_waypoints(self): self.module('wp').cmd_wp(['list']) def update_map_click_position(self, new_click_pos): self.gui_event_queue_lock.acquire() self.gui_event_queue.put(MissionEditorEvent( me_event.MEGE_SET_LAST_MAP_CLICK_POS,click_pos=new_click_pos)) self.gui_event_queue_lock.release() def set_layout(self, layout): self.object_queue.put(layout) def init(mpstate): '''initialise module''' return MissionEditorModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_mmap/000077500000000000000000000000001504324515000213335ustar00rootroot00000000000000MAVProxy-1.8.74/MAVProxy/modules/mavproxy_mmap/__init__.py000066400000000000000000000025111504324515000234430ustar00rootroot00000000000000import os import sys import webbrowser import mmap_server g_module_context = None from MAVProxy.modules.lib import mp_module class MMapModule(mp_module.MPModule): def __init__(self, mpstate): super(MMapModule, self).__init__(mpstate, 'mmap', 'modest map display') self.lat = None self.lon = None self.alt = None self.speed = None self.airspeed = None self.groundspeed = None self.heading = 0 self.wp_change_time = 0 self.fence_change_time = 0 self.server = None self.server = mmap_server.start_server('127.0.0.1', port=9999, module_state=self) webbrowser.open('http://127.0.0.1:9999/', autoraise=True) def unload(self): """unload module""" self.server.terminate() def mavlink_packet(self, m): """handle an incoming mavlink packet""" mtype = m.get_type() if mtype == 'GPS_RAW': (self.lat, self.lon) = (m.lat, m.lon) elif mtype == 'GPS_RAW_INT': (self.lat, self.lon) = (m.lat / 1.0e7, m.lon / 1.0e7) elif mtype == "VFR_HUD": self.heading = m.heading self.alt = m.alt self.airspeed = m.airspeed self.groundspeed = m.groundspeed def init(mpstate): '''initialise module''' return MMapModule(mpstate)MAVProxy-1.8.74/MAVProxy/modules/mavproxy_mmap/mmap_app/000077500000000000000000000000001504324515000231255ustar00rootroot00000000000000MAVProxy-1.8.74/MAVProxy/modules/mavproxy_mmap/mmap_app/bing.js000066400000000000000000000044431504324515000244070ustar00rootroot00000000000000// namespacing! if (!MM) { MM = { }; } MM.BingProvider = function(key, style, onready) { this.key = key; this.style = style; // hit the imagery metadata service // http://msdn.microsoft.com/en-us/library/ff701716.aspx // Aerial, AerialWithLabels, Road var script = document.createElement('script'); script.type = 'text/javascript'; document.getElementsByTagName('head')[0].appendChild(script); script.src = 'http://dev.virtualearth.net/REST/V1/Imagery/Metadata/'+style+'/?key='+key+'&jsonp=onBingComplete'; function toMicrosoft(column, row, zoom) { // generate zoom string by interleaving row/col bits // NB:- this assumes you're only asking for positive row/cols var quadKey = ""; for (var i = 1; i <= zoom; i++) { var rowBit = (row >> zoom-i) & 1; var colBit = (column >> zoom-i) & 1; quadKey += (rowBit << 1) + colBit; } return quadKey; } var provider = this; window.onBingComplete = function(data) { var resourceSets = data.resourceSets; for (var i = 0; i < resourceSets.length; i++) { var resources = data.resourceSets[i].resources; for (var j = 0; j < resources.length; j++) { var resource = resources[j]; var serverSalt = Math.floor(Math.random() * 4); provider.getTile = function(coord) { var quadKey = toMicrosoft(coord.column, coord.row, coord.zoom); // this is so that requests will be consistent in this session, rather than totally random var server = Math.abs(serverSalt + coord.column + coord.row + coord.zoom) % 4; return resource.imageUrl .replace('{quadkey}',quadKey) .replace('{subdomain}', resource.imageUrlSubdomains[server]); }; // TODO: use resource.imageWidth // TODO: use resource.imageHeight } } // TODO: display data.brandLogoUri // TODO: display data.copyright onready(provider); }; }; MM.BingProvider.prototype = { key: null, style: null, subdomains: null, getTileUrl: null }; MM.extend(MM.BingProvider, MM.MapProvider); MAVProxy-1.8.74/MAVProxy/modules/mavproxy_mmap/mmap_app/bluemarble.js000066400000000000000000000007111504324515000255740ustar00rootroot00000000000000MM.BlueMarbleProvider = function() { MM.MapProvider.call(this, function(coordinate) { coordinate = this.sourceCoordinate(coordinate); if (!coordinate) return null; var img = coordinate.zoom.toFixed(0) +'-r'+ coordinate.row.toFixed(0) +'-c'+ coordinate.column.toFixed(0) + '.jpg'; return 'http://s3.amazonaws.com/com.modestmaps.bluemarble/' + img; }); }; com.modestmaps.extend(MM.BlueMarbleProvider, MM.MapProvider); MAVProxy-1.8.74/MAVProxy/modules/mavproxy_mmap/mmap_app/drone-md.png000066400000000000000000000015601504324515000253420ustar00rootroot00000000000000PNG  IHDR,bKGD̿ pHYsHHFk>IDATx=K#Q(V6lm Z,RYFtgv$sL<A"\LR/mGe,Z49/kVBwwT| :eUͥጬ9X~ Z:U5C;sϫ_gֺ9"ڸhŠz*vfǚ:Ț:̚ʚg5&2z&3z&YAYZQ&D}FXD]FXwDyFXDqFXD~FXDfFXD؝Bp։vCXVD;7 ]֮.ͼ=)Nfg-t7e5aX kh% a!,BX ,@X a6(~U_;;O>8zW3Ň X.995>G8'9$az9eeee'kpԸ^! x?BX ,@X aa!,BX  a!,BX ,@X aa!,BX BXKX a!,a!,BX  a!,BX ,z7(ȟVu3q KX a!,aCXEWbnױ%z!q/K%tEXtdate:create2012-03-24T19:21:04-04:002%tEXtdate:modify2012-03-24T19:21:04-04:00o"IENDB`MAVProxy-1.8.74/MAVProxy/modules/mavproxy_mmap/mmap_app/drone-sm.png000066400000000000000000000011331504324515000253550ustar00rootroot00000000000000PNG  IHDRdR{bKGD̿ pHYsHHFk>IDATx۽K@? CQȢ UB A*K?݀5o.ZyݯJ"BDDDDDDDTP6a!w2T^30tA}͇QԾrT)7EfpMH~ar U*}P gP. !(Z+kֹVzEi`݃2uI#~(ېH2uHq9U,[pz`Aa/`PX`Vew$)u[ 'aqW^ew~`I}k`9bch)VV/M-WƭC#v +ܔX`X`X`X`X`X`X`X`X`X`X`?˫:JX՞+.|;W/EDDDDD>xLhۓP%tEXtdate:create2012-03-24T19:21:04-04:002%tEXtdate:modify2012-03-24T19:21:04-04:00o"IENDB`MAVProxy-1.8.74/MAVProxy/modules/mavproxy_mmap/mmap_app/index.html000066400000000000000000000220021504324515000251160ustar00rootroot00000000000000 modest mavmap
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MAVProxy-1.8.74/MAVProxy/modules/mavproxy_mmap/mmap_app/modestmaps.js000066400000000000000000003244471504324515000256550ustar00rootroot00000000000000/*! * Modest Maps JS v1.0.0-beta1 * http://modestmaps.com/ * * Copyright (c) 2011 Stamen Design, All Rights Reserved. * * Open source under the BSD License. * http://creativecommons.org/licenses/BSD/ * * Versioned using Semantic Versioning (v.major.minor.patch) * See CHANGELOG and http://semver.org/ for more details. * */ var previousMM = MM; // namespacing for backwards-compatibility if (!com) { var com = {}; if (!com.modestmaps) com.modestmaps = {}; } var MM = com.modestmaps = { noConflict: function() { MM = previousMM; return this; } }; (function(MM) { // Make inheritance bearable: clone one level of properties MM.extend = function(child, parent) { for (var property in parent.prototype) { if (typeof child.prototype[property] == "undefined") { child.prototype[property] = parent.prototype[property]; } } return child; }; MM.getFrame = function () { // native animation frames // http://webstuff.nfshost.com/anim-timing/Overview.html // http://dev.chromium.org/developers/design-documents/requestanimationframe-implementation // http://paulirish.com/2011/requestanimationframe-for-smart-animating/ // can't apply these directly to MM because Chrome needs window // to own webkitRequestAnimationFrame (for example) // perhaps we should namespace an alias onto window instead? // e.g. window.mmRequestAnimationFrame? return function(callback) { (window.requestAnimationFrame || window.webkitRequestAnimationFrame || window.mozRequestAnimationFrame || window.oRequestAnimationFrame || window.msRequestAnimationFrame || function (callback) { window.setTimeout(function () { callback(+new Date()); }, 10); })(callback); }; }(); // Inspired by LeafletJS MM.transformProperty = (function(props) { if (!this.document) return; // node.js safety var style = document.documentElement.style; for (var i = 0; i < props.length; i++) { if (props[i] in style) { return props[i]; } } return false; })(['transformProperty', 'WebkitTransform', 'OTransform', 'MozTransform', 'msTransform']); MM.matrixString = function(point) { // Make the result of point.scale * point.width a whole number. if (point.scale * point.width % 1) { point.scale += (1 - point.scale * point.width % 1) / point.width; } var scale = point.scale || 1; if (MM._browser.webkit3d) { // return 'scale3d(' + scale + ',' + scale + ', 1) translate3d(' + point.x.toFixed(6) + 'px,' + point.y.toFixed(6) + 'px, 0px)'; return 'scale3d(' + scale + ',' + scale + ', 1) translate3d(' + point.x.toFixed(0) + 'px,' + point.y.toFixed(0) + 'px, 0px)'; } else { return 'scale(' + scale + ',' + scale + ') translate(' + point.x.toFixed(6) + 'px,' + point.y.toFixed(6) + 'px)'; } }; MM._browser = (function(window) { return { webkit: ('WebKitCSSMatrix' in window), webkit3d: ('WebKitCSSMatrix' in window) && ('m11' in new WebKitCSSMatrix()) }; })(this); // use this for node.js global MM.moveElement = function(el, point) { if (MM.transformProperty) { // Optimize for identity transforms, where you don't actually // need to change this element's string. Browsers can optimize for // the .style.left case but not for this CSS case. if (!point.scale) point.scale = 1; if (!point.width) point.width = 0; if (!point.height) point.height = 0; var ms = MM.matrixString(point); if (el[MM.transformProperty] !== ms) { el.style[MM.transformProperty] = el[MM.transformProperty] = ms; } } else { el.style.left = point.x + 'px'; el.style.top = point.y + 'px'; // Don't set width unless asked to: this is performance-intensive // and not always necessary if (point.width && point.height && point.scale) { el.style.width = Math.ceil(point.width * point.scale) + 'px'; el.style.height = Math.ceil(point.height * point.scale) + 'px'; } } }; // Events // Cancel an event: prevent it from bubbling MM.cancelEvent = function(e) { // there's more than one way to skin this cat e.cancelBubble = true; e.cancel = true; e.returnValue = false; if (e.stopPropagation) { e.stopPropagation(); } if (e.preventDefault) { e.preventDefault(); } return false; }; // From underscore.js MM.bind = function(func, obj) { var slice = Array.prototype.slice; var nativeBind = Function.prototype.bind; if (func.bind === nativeBind && nativeBind) { return nativeBind.apply(func, slice.call(arguments, 1)); } var args = slice.call(arguments, 2); return function() { return func.apply(obj, args.concat(slice.call(arguments))); }; }; MM.coerceLayer = function(layerish) { if (typeof layerish == 'string') { // Probably a template string return new MM.Layer(new MM.TemplatedMapProvider(layerish)); } else if ('draw' in layerish && typeof layerish.draw == 'function') { // good enough, though we should probably enforce .parent and .destroy() too return layerish; } else { // probably a MapProvider return new MM.Layer(layerish); } }; // see http://ejohn.org/apps/jselect/event.html for the originals MM.addEvent = function(obj, type, fn) { if (obj.addEventListener) { obj.addEventListener(type, fn, false); if (type == 'mousewheel') { obj.addEventListener('DOMMouseScroll', fn, false); } } else if (obj.attachEvent) { obj['e'+type+fn] = fn; obj[type+fn] = function(){ obj['e'+type+fn](window.event); }; obj.attachEvent('on'+type, obj[type+fn]); } }; MM.removeEvent = function( obj, type, fn ) { if (obj.removeEventListener) { obj.removeEventListener(type, fn, false); if (type == 'mousewheel') { obj.removeEventListener('DOMMouseScroll', fn, false); } } else if (obj.detachEvent) { obj.detachEvent('on'+type, obj[type+fn]); obj[type+fn] = null; } }; // Cross-browser function to get current element style property MM.getStyle = function(el,styleProp) { if (el.currentStyle) return el.currentStyle[styleProp]; else if (window.getComputedStyle) return document.defaultView.getComputedStyle(el,null).getPropertyValue(styleProp); }; // Point MM.Point = function(x, y) { this.x = parseFloat(x); this.y = parseFloat(y); }; MM.Point.prototype = { x: 0, y: 0, toString: function() { return "(" + this.x.toFixed(3) + ", " + this.y.toFixed(3) + ")"; }, copy: function() { return new MM.Point(this.x, this.y); } }; // Get the euclidean distance between two points MM.Point.distance = function(p1, p2) { return Math.sqrt( Math.pow(p2.x - p1.x, 2) + Math.pow(p2.y - p1.y, 2)); }; // Get a point between two other points, biased by `t`. MM.Point.interpolate = function(p1, p2, t) { return new MM.Point( p1.x + (p2.x - p1.x) * t, p1.y + (p2.y - p1.y) * t); }; // Coordinate // ---------- // An object representing a tile position, at as specified zoom level. // This is not necessarily a precise tile - `row`, `column`, and // `zoom` can be floating-point numbers, and the `container()` function // can be used to find the actual tile that contains the point. MM.Coordinate = function(row, column, zoom) { this.row = row; this.column = column; this.zoom = zoom; }; MM.Coordinate.prototype = { row: 0, column: 0, zoom: 0, toString: function() { return "(" + this.row.toFixed(3) + ", " + this.column.toFixed(3) + " @" + this.zoom.toFixed(3) + ")"; }, // Quickly generate a string representation of this coordinate to // index it in hashes. toKey: function() { // We've tried to use efficient hash functions here before but we took // them out. Contributions welcome but watch out for collisions when the // row or column are negative and check thoroughly (exhaustively) before // committing. return this.zoom + ',' + this.row + ',' + this.column; }, // Clone this object. copy: function() { return new MM.Coordinate(this.row, this.column, this.zoom); }, // Get the actual, rounded-number tile that contains this point. container: function() { // using floor here (not parseInt, ~~) because we want -0.56 --> -1 return new MM.Coordinate(Math.floor(this.row), Math.floor(this.column), Math.floor(this.zoom)); }, // Recalculate this Coordinate at a different zoom level and return the // new object. zoomTo: function(destination) { var power = Math.pow(2, destination - this.zoom); return new MM.Coordinate(this.row * power, this.column * power, destination); }, // Recalculate this Coordinate at a different relative zoom level and return the // new object. zoomBy: function(distance) { var power = Math.pow(2, distance); return new MM.Coordinate(this.row * power, this.column * power, this.zoom + distance); }, // Move this coordinate up by `dist` coordinates up: function(dist) { if (dist === undefined) dist = 1; return new MM.Coordinate(this.row - dist, this.column, this.zoom); }, // Move this coordinate right by `dist` coordinates right: function(dist) { if (dist === undefined) dist = 1; return new MM.Coordinate(this.row, this.column + dist, this.zoom); }, // Move this coordinate down by `dist` coordinates down: function(dist) { if (dist === undefined) dist = 1; return new MM.Coordinate(this.row + dist, this.column, this.zoom); }, // Move this coordinate left by `dist` coordinates left: function(dist) { if (dist === undefined) dist = 1; return new MM.Coordinate(this.row, this.column - dist, this.zoom); } }; // Location // -------- MM.Location = function(lat, lon) { this.lat = parseFloat(lat); this.lon = parseFloat(lon); }; MM.Location.prototype = { lat: 0, lon: 0, toString: function() { return "(" + this.lat.toFixed(3) + ", " + this.lon.toFixed(3) + ")"; }, copy: function() { return new MM.Location(this.lat, this.lon); } }; // returns approximate distance between start and end locations // // default unit is meters // // you can specify different units by optionally providing the // earth's radius in the units you desire // // Default is 6,378,000 metres, suggested values are: // // * 3963.1 statute miles // * 3443.9 nautical miles // * 6378 km // // see [Formula and code for calculating distance based on two lat/lon locations](http://jan.ucc.nau.edu/~cvm/latlon_formula.html) MM.Location.distance = function(l1, l2, r) { if (!r) { // default to meters r = 6378000; } var deg2rad = Math.PI / 180.0, a1 = l1.lat * deg2rad, b1 = l1.lon * deg2rad, a2 = l2.lat * deg2rad, b2 = l2.lon * deg2rad, c = Math.cos(a1) * Math.cos(b1) * Math.cos(a2) * Math.cos(b2), d = Math.cos(a1) * Math.sin(b1) * Math.cos(a2) * Math.sin(b2), e = Math.sin(a1) * Math.sin(a2); return Math.acos(c + d + e) * r; }; // Interpolates along a great circle, f between 0 and 1 // // * FIXME: could be heavily optimized (lots of trig calls to cache) // * FIXME: could be inmproved for calculating a full path MM.Location.interpolate = function(l1, l2, f) { if (l1.lat === l2.lat && l1.lon === l2.lon) { return new MM.Location(l1.lat, l1.lon); } var deg2rad = Math.PI / 180.0, lat1 = l1.lat * deg2rad, lon1 = l1.lon * deg2rad, lat2 = l2.lat * deg2rad, lon2 = l2.lon * deg2rad; var d = 2 * Math.asin( Math.sqrt( Math.pow(Math.sin((lat1 - lat2) / 2), 2) + Math.cos(lat1) * Math.cos(lat2) * Math.pow(Math.sin((lon1 - lon2) / 2), 2))); var A = Math.sin((1-f)*d)/Math.sin(d); var B = Math.sin(f*d)/Math.sin(d); var x = A * Math.cos(lat1) * Math.cos(lon1) + B * Math.cos(lat2) * Math.cos(lon2); var y = A * Math.cos(lat1) * Math.sin(lon1) + B * Math.cos(lat2) * Math.sin(lon2); var z = A * Math.sin(lat1) + B * Math.sin(lat2); var latN = Math.atan2(z, Math.sqrt(Math.pow(x, 2) + Math.pow(y, 2))); var lonN = Math.atan2(y,x); return new MM.Location(latN / deg2rad, lonN / deg2rad); }; // Returns bearing from one point to another // // * FIXME: bearing is not constant along significant great circle arcs. MM.Location.bearing = function(l1, l2) { var result = Math.atan2( Math.sin(lon1 - lon2) * Math.cos(lat2), Math.cos(lat1) * Math.sin(lat2) - Math.sin(lat1) * Math.cos(lat2) * Math.cos(lon1 - lon2) ) / -(Math.PI / 180); // map it into 0-360 range return (result < 0) ? result + 360 : result; }; // Extent // ---------- // An object representing a map's rectangular extent, defined by its north, // south, east and west bounds. MM.Extent = function(north, west, south, east) { if (north instanceof MM.Location && west instanceof MM.Location) { var northwest = north, southeast = west; north = northwest.lat; west = northwest.lon; south = southeast.lat; east = southeast.lon; } if (isNaN(south)) south = north; if (isNaN(east)) east = west; this.north = Math.max(north, south); this.south = Math.min(north, south); this.east = Math.max(east, west); this.west = Math.min(east, west); }; MM.Extent.prototype = { // boundary attributes north: 0, south: 0, east: 0, west: 0, copy: function() { return new MM.Extent(this.north, this.west, this.south, this.east); }, toString: function(precision) { if (isNaN(precision)) precision = 3; return [ this.north.toFixed(precision), this.west.toFixed(precision), this.south.toFixed(precision), this.east.toFixed(precision) ].join(", "); }, // getters for the corner locations northWest: function() { return new MM.Location(this.north, this.west); }, southEast: function() { return new MM.Location(this.south, this.east); }, northEast: function() { return new MM.Location(this.north, this.east); }, southWest: function() { return new MM.Location(this.south, this.west); }, // getter for the center location center: function() { return new MM.Location( this.south + (this.north - this.south) / 2, this.east + (this.west - this.east) / 2 ); }, // extend the bounds to include a location's latitude and longitude encloseLocation: function(loc) { if (loc.lat > this.north) this.north = loc.lat; if (loc.lat < this.south) this.south = loc.lat; if (loc.lon > this.east) this.east = loc.lon; if (loc.lon < this.west) this.west = loc.lon; }, // extend the bounds to include multiple locations encloseLocations: function(locations) { var len = locations.length; for (var i = 0; i < len; i++) { this.encloseLocation(locations[i]); } }, // reset bounds from a list of locations setFromLocations: function(locations) { var len = locations.length, first = locations[0]; this.north = this.south = first.lat; this.east = this.west = first.lon; for (var i = 1; i < len; i++) { this.encloseLocation(locations[i]); } }, // extend the bounds to include another extent encloseExtent: function(extent) { if (extent.north > this.north) this.north = extent.north; if (extent.south < this.south) this.south = extent.south; if (extent.east > this.east) this.east = extent.east; if (extent.west < this.west) this.west = extent.west; }, // determine if a location is within this extent containsLocation: function(loc) { return loc.lat >= this.south && loc.lat <= this.north && loc.lon >= this.west && loc.lon <= this.east; }, // turn an extent into an array of locations containing its northwest // and southeast corners (used in MM.Map.setExtent()) toArray: function() { return [this.northWest(), this.southEast()]; } }; MM.Extent.fromString = function(str) { var parts = str.split(/\s*,\s*/); if (parts.length != 4) { throw "Invalid extent string (expecting 4 comma-separated numbers)"; } return new MM.Extent( parseFloat(parts[0]), parseFloat(parts[1]), parseFloat(parts[2]), parseFloat(parts[3]) ); }; MM.Extent.fromArray = function(locations) { var extent = new MM.Extent(); extent.setFromLocations(locations); return extent; }; // Transformation // -------------- MM.Transformation = function(ax, bx, cx, ay, by, cy) { this.ax = ax; this.bx = bx; this.cx = cx; this.ay = ay; this.by = by; this.cy = cy; }; MM.Transformation.prototype = { ax: 0, bx: 0, cx: 0, ay: 0, by: 0, cy: 0, transform: function(point) { return new MM.Point(this.ax * point.x + this.bx * point.y + this.cx, this.ay * point.x + this.by * point.y + this.cy); }, untransform: function(point) { return new MM.Point((point.x * this.by - point.y * this.bx - this.cx * this.by + this.cy * this.bx) / (this.ax * this.by - this.ay * this.bx), (point.x * this.ay - point.y * this.ax - this.cx * this.ay + this.cy * this.ax) / (this.bx * this.ay - this.by * this.ax)); } }; // Generates a transform based on three pairs of points, // a1 -> a2, b1 -> b2, c1 -> c2. MM.deriveTransformation = function(a1x, a1y, a2x, a2y, b1x, b1y, b2x, b2y, c1x, c1y, c2x, c2y) { var x = MM.linearSolution(a1x, a1y, a2x, b1x, b1y, b2x, c1x, c1y, c2x); var y = MM.linearSolution(a1x, a1y, a2y, b1x, b1y, b2y, c1x, c1y, c2y); return new MM.Transformation(x[0], x[1], x[2], y[0], y[1], y[2]); }; // Solves a system of linear equations. // // t1 = (a * r1) + (b + s1) + c // t2 = (a * r2) + (b + s2) + c // t3 = (a * r3) + (b + s3) + c // // r1 - t3 are the known values. // a, b, c are the unknowns to be solved. // returns the a, b, c coefficients. MM.linearSolution = function(r1, s1, t1, r2, s2, t2, r3, s3, t3) { // make them all floats r1 = parseFloat(r1); s1 = parseFloat(s1); t1 = parseFloat(t1); r2 = parseFloat(r2); s2 = parseFloat(s2); t2 = parseFloat(t2); r3 = parseFloat(r3); s3 = parseFloat(s3); t3 = parseFloat(t3); var a = (((t2 - t3) * (s1 - s2)) - ((t1 - t2) * (s2 - s3))) / (((r2 - r3) * (s1 - s2)) - ((r1 - r2) * (s2 - s3))); var b = (((t2 - t3) * (r1 - r2)) - ((t1 - t2) * (r2 - r3))) / (((s2 - s3) * (r1 - r2)) - ((s1 - s2) * (r2 - r3))); var c = t1 - (r1 * a) - (s1 * b); return [ a, b, c ]; }; // Projection // ---------- // An abstract class / interface for projections MM.Projection = function(zoom, transformation) { if (!transformation) { transformation = new MM.Transformation(1, 0, 0, 0, 1, 0); } this.zoom = zoom; this.transformation = transformation; }; MM.Projection.prototype = { zoom: 0, transformation: null, rawProject: function(point) { throw "Abstract method not implemented by subclass."; }, rawUnproject: function(point) { throw "Abstract method not implemented by subclass."; }, project: function(point) { point = this.rawProject(point); if(this.transformation) { point = this.transformation.transform(point); } return point; }, unproject: function(point) { if(this.transformation) { point = this.transformation.untransform(point); } point = this.rawUnproject(point); return point; }, locationCoordinate: function(location) { var point = new MM.Point(Math.PI * location.lon / 180.0, Math.PI * location.lat / 180.0); point = this.project(point); return new MM.Coordinate(point.y, point.x, this.zoom); }, coordinateLocation: function(coordinate) { coordinate = coordinate.zoomTo(this.zoom); var point = new MM.Point(coordinate.column, coordinate.row); point = this.unproject(point); return new MM.Location(180.0 * point.y / Math.PI, 180.0 * point.x / Math.PI); } }; // A projection for equilateral maps, based on longitude and latitude MM.LinearProjection = function(zoom, transformation) { MM.Projection.call(this, zoom, transformation); }; // The Linear projection doesn't reproject points MM.LinearProjection.prototype = { rawProject: function(point) { return new MM.Point(point.x, point.y); }, rawUnproject: function(point) { return new MM.Point(point.x, point.y); } }; MM.extend(MM.LinearProjection, MM.Projection); MM.MercatorProjection = function(zoom, transformation) { // super! MM.Projection.call(this, zoom, transformation); }; // Project lon/lat points into meters required for Mercator MM.MercatorProjection.prototype = { rawProject: function(point) { return new MM.Point(point.x, Math.log(Math.tan(0.25 * Math.PI + 0.5 * point.y))); }, rawUnproject: function(point) { return new MM.Point(point.x, 2 * Math.atan(Math.pow(Math.E, point.y)) - 0.5 * Math.PI); } }; MM.extend(MM.MercatorProjection, MM.Projection); // Providers // --------- // Providers provide tile URLs and possibly elements for layers. // // MapProvider -> // TemplatedMapProvider // MM.MapProvider = function(getTile) { if (getTile) { this.getTile = getTile; } }; MM.MapProvider.prototype = { // these are limits for available *tiles* // panning limits will be different (since you can wrap around columns) // but if you put Infinity in here it will screw up sourceCoordinate tileLimits: [ new MM.Coordinate(0,0,0), // top left outer new MM.Coordinate(1,1,0).zoomTo(18) // bottom right inner ], getTileUrl: function(coordinate) { throw "Abstract method not implemented by subclass."; }, getTile: function(coordinate) { throw "Abstract method not implemented by subclass."; }, // releaseTile is not required releaseTile: function(element) { }, // use this to tell MapProvider that tiles only exist between certain zoom levels. // should be set separately on Map to restrict interactive zoom/pan ranges setZoomRange: function(minZoom, maxZoom) { this.tileLimits[0] = this.tileLimits[0].zoomTo(minZoom); this.tileLimits[1] = this.tileLimits[1].zoomTo(maxZoom); }, // return null if coord is above/below row extents // wrap column around the world if it's outside column extents // ... you should override this function if you change the tile limits // ... see enforce-limits in examples for details sourceCoordinate: function(coord) { var TL = this.tileLimits[0].zoomTo(coord.zoom), BR = this.tileLimits[1].zoomTo(coord.zoom), columnSize = Math.pow(2, coord.zoom), wrappedColumn; if (coord.column < 0) { wrappedColumn = (coord.column + columnSize) % columnSize; } else { wrappedColumn = coord.column % columnSize; } if (coord.row < TL.row || coord.row >= BR.row) { return null; } else if (wrappedColumn < TL.column || wrappedColumn >= BR.column) { return null; } else { return new MM.Coordinate(coord.row, wrappedColumn, coord.zoom); } } }; /** * FIXME: need a better explanation here! This is a pretty crucial part of * understanding how to use ModestMaps. * * TemplatedMapProvider is a tile provider that generates tile URLs from a * template string by replacing the following bits for each tile * coordinate: * * {Z}: the tile's zoom level (from 1 to ~20) * {X}: the tile's X, or column (from 0 to a very large number at higher * zooms) * {Y}: the tile's Y, or row (from 0 to a very large number at higher * zooms) * * E.g.: * * var osm = new MM.TemplatedMapProvider("http://tile.openstreetmap.org/{Z}/{X}/{Y}.png"); * * Or: * * var placeholder = new MM.TemplatedMapProvider("http://placehold.it/256/f0f/fff.png&text={Z}/{X}/{Y}"); * */ MM.TemplatedMapProvider = function(template, subdomains) { var isQuadKey = template.match(/{(Q|quadkey)}/); // replace Microsoft style substitution strings if (isQuadKey) template = template .replace('{subdomains}', '{S}') .replace('{zoom}', '{Z}') .replace('{quadkey}', '{Q}'); var hasSubdomains = (subdomains && subdomains.length && template.indexOf("{S}") >= 0); var getTileUrl = function(coordinate) { var coord = this.sourceCoordinate(coordinate); if (!coord) { return null; } var base = template; if (hasSubdomains) { var index = parseInt(coord.zoom + coord.row + coord.column, 10) % subdomains.length; base = base.replace('{S}', subdomains[index]); } if (isQuadKey) { return base .replace('{Z}', coord.zoom.toFixed(0)) .replace('{Q}', this.quadKey(coord.row, coord.column, coord.zoom)); } else { return base .replace('{Z}', coord.zoom.toFixed(0)) .replace('{X}', coord.column.toFixed(0)) .replace('{Y}', coord.row.toFixed(0)); } }; MM.MapProvider.call(this, getTileUrl); }; MM.TemplatedMapProvider.prototype = { // quadKey generator quadKey: function(row, column, zoom) { var key = ''; for (var i = 1; i <= zoom; i++) { key += (((row >> zoom - i) & 1) << 1) | ((column >> zoom - i) & 1); } return key || '0'; }, getTile: function(coord) { return this.getTileUrl(coord); } }; MM.extend(MM.TemplatedMapProvider, MM.MapProvider); MM.TemplatedLayer = function(template, subdomains) { return new MM.Layer(new MM.TemplatedMapProvider(template, subdomains)); }; // Event Handlers // -------------- // A utility function for finding the offset of the // mouse from the top-left of the page MM.getMousePoint = function(e, map) { // start with just the mouse (x, y) var point = new MM.Point(e.clientX, e.clientY); // correct for scrolled document point.x += document.body.scrollLeft + document.documentElement.scrollLeft; point.y += document.body.scrollTop + document.documentElement.scrollTop; // correct for nested offsets in DOM for (var node = map.parent; node; node = node.offsetParent) { point.x -= node.offsetLeft; point.y -= node.offsetTop; } return point; }; // A handler that allows mouse-wheel zooming - zooming in // when page would scroll up, and out when the page would scroll down. MM.MouseWheelHandler = function(map, precise) { // only init() if we get a map if (map) { this.init(map, precise); // allow (null, true) as constructor args } else if (arguments.length > 1) { this.precise = precise ? true : false; } }; MM.MouseWheelHandler.prototype = { precise: false, init: function(map) { this.map = map; this._mouseWheel = MM.bind(this.mouseWheel, this); this._zoomDiv = document.body.appendChild(document.createElement('div')); this._zoomDiv.style.cssText = 'visibility:hidden;top:0;height:0;width:0;overflow-y:scroll'; var innerDiv = this._zoomDiv.appendChild(document.createElement('div')); innerDiv.style.height = '2000px'; MM.addEvent(map.parent, 'mousewheel', this._mouseWheel); }, remove: function() { MM.removeEvent(this.map.parent, 'mousewheel', this._mouseWheel); this._zoomDiv.parentNode.removeChild(this._zoomDiv); }, mouseWheel: function(e) { var delta = 0; this.prevTime = this.prevTime || new Date().getTime(); try { this._zoomDiv.scrollTop = 1000; this._zoomDiv.dispatchEvent(e); delta = 1000 - this._zoomDiv.scrollTop; } catch (error) { delta = e.wheelDelta || (-e.detail * 5); } // limit mousewheeling to once every 200ms var timeSince = new Date().getTime() - this.prevTime; if (Math.abs(delta) > 0 && (timeSince > 200) && !this.precise) { var point = MM.getMousePoint(e, this.map); this.map.zoomByAbout(delta > 0 ? 1 : -1, point); this.prevTime = new Date().getTime(); } else if (this.precise) { var point = MM.getMousePoint(e, this.map); this.map.zoomByAbout(delta * 0.001, point); } // Cancel the event so that the page doesn't scroll return MM.cancelEvent(e); } }; // Handle double clicks, that zoom the map in one zoom level. MM.DoubleClickHandler = function(map) { if (map !== undefined) { this.init(map); } }; MM.DoubleClickHandler.prototype = { init: function(map) { this.map = map; this._doubleClick = MM.bind(this.doubleClick, this); MM.addEvent(map.parent, 'dblclick', this._doubleClick); }, remove: function() { MM.removeEvent(this.map.parent, 'dblclick', this._doubleClick); }, doubleClick: function(e) { // Ensure that this handler is attached once. // Get the point on the map that was double-clicked var point = MM.getMousePoint(e, this.map); // use shift-double-click to zoom out this.map.zoomByAbout(e.shiftKey ? -1 : 1, point); return MM.cancelEvent(e); } }; // Handle the use of mouse dragging to pan the map. MM.DragHandler = function(map) { if (map !== undefined) { this.init(map); } }; MM.DragHandler.prototype = { init: function(map) { this.map = map; this._mouseDown = MM.bind(this.mouseDown, this); MM.addEvent(map.parent, 'mousedown', this._mouseDown); }, remove: function() { MM.removeEvent(this.map.parent, 'mousedown', this._mouseDown); }, mouseDown: function(e) { MM.addEvent(document, 'mouseup', this._mouseUp = MM.bind(this.mouseUp, this)); MM.addEvent(document, 'mousemove', this._mouseMove = MM.bind(this.mouseMove, this)); this.prevMouse = new MM.Point(e.clientX, e.clientY); this.map.parent.style.cursor = 'move'; return MM.cancelEvent(e); }, mouseMove: function(e) { if (this.prevMouse) { this.map.panBy( e.clientX - this.prevMouse.x, e.clientY - this.prevMouse.y); this.prevMouse.x = e.clientX; this.prevMouse.y = e.clientY; this.prevMouse.t = +new Date(); } return MM.cancelEvent(e); }, mouseUp: function(e) { MM.removeEvent(document, 'mouseup', this._mouseUp); MM.removeEvent(document, 'mousemove', this._mouseMove); this.prevMouse = null; this.map.parent.style.cursor = ''; return MM.cancelEvent(e); } }; // A shortcut for adding drag, double click, // and mouse wheel events to the map. This is the default // handler attached to a map if the handlers argument isn't given. MM.MouseHandler = function(map) { if (map !== undefined) { this.init(map); } }; MM.MouseHandler.prototype = { init: function(map) { this.map = map; this.handlers = [ new MM.DragHandler(map), new MM.DoubleClickHandler(map), new MM.MouseWheelHandler(map) ]; }, remove: function() { for (var i = 0; i < this.handlers.length; i++) { this.handlers[i].remove(); } } }; var HAS_HASHCHANGE = (function() { var doc_mode = window.documentMode; return ('onhashchange' in window) && (doc_mode === undefined || doc_mode > 7); })(); MM.Hash = function(map) { this.onMapMove = MM.bind(this.onMapMove, this); this.onHashChange = MM.bind(this.onHashChange, this); if (map) { this.init(map); } }; MM.Hash.prototype = { map: null, lastHash: null, parseHash: function(hash) { var args = hash.split("/"); if (args.length == 3) { var zoom = parseInt(args[0], 10), lat = parseFloat(args[1]), lon = parseFloat(args[2]); if (isNaN(zoom) || isNaN(lat) || isNaN(lon)) { return false; } else { return { center: new MM.Location(lat, lon), zoom: zoom }; } } else { return false; } }, formatHash: function(map) { var center = map.getCenter(), zoom = map.getZoom(), precision = Math.max(0, Math.ceil(Math.log(zoom) / Math.LN2)); return "#" + [zoom, center.lat.toFixed(precision), center.lon.toFixed(precision) ].join("/"); }, init: function(map) { this.map = map; this.map.addCallback("drawn", this.onMapMove); // reset the hash this.lastHash = null; this.onHashChange(); if (!this.isListening) { this.startListening(); } }, remove: function() { this.map = null; if (this.isListening) { this.stopListening(); } }, onMapMove: function(map) { // bail if we're moving the map (updating from a hash), // or if the map has no zoom set if (this.movingMap || this.map.zoom === 0) { return false; } var hash = this.formatHash(map); if (this.lastHash != hash) { location.replace(hash); this.lastHash = hash; } }, movingMap: false, update: function() { var hash = location.hash; if (hash === this.lastHash) { // console.info("(no change)"); return; } var sansHash = hash.substr(1), parsed = this.parseHash(sansHash); if (parsed) { // console.log("parsed:", parsed.zoom, parsed.center.toString()); this.movingMap = true; this.map.setCenterZoom(parsed.center, parsed.zoom); this.movingMap = false; } else { // console.warn("parse error; resetting:", this.map.getCenter(), this.map.getZoom()); this.onMapMove(this.map); } }, // defer hash change updates every 100ms changeDefer: 100, changeTimeout: null, onHashChange: function() { // throttle calls to update() so that they only happen every // `changeDefer` ms if (!this.changeTimeout) { var that = this; this.changeTimeout = setTimeout(function() { that.update(); that.changeTimeout = null; }, this.changeDefer); } }, isListening: false, hashChangeInterval: null, startListening: function() { if (HAS_HASHCHANGE) { window.addEventListener("hashchange", this.onHashChange, false); } else { clearInterval(this.hashChangeInterval); this.hashChangeInterval = setInterval(this.onHashChange, 50); } this.isListening = true; }, stopListening: function() { if (HAS_HASHCHANGE) { window.removeEventListener("hashchange", this.onHashChange); } else { clearInterval(this.hashChangeInterval); } this.isListening = false; } }; MM.TouchHandler = function(map, options) { if (map) { this.init(map, options); } }; MM.TouchHandler.prototype = { maxTapTime: 250, maxTapDistance: 30, maxDoubleTapDelay: 350, locations: {}, taps: [], wasPinching: false, lastPinchCenter: null, init: function(map, options) { this.map = map; options = options || {}; // Fail early if this isn't a touch device. if (!this.isTouchable()) return false; this._touchStartMachine = MM.bind(this.touchStartMachine, this); this._touchMoveMachine = MM.bind(this.touchMoveMachine, this); this._touchEndMachine = MM.bind(this.touchEndMachine, this); MM.addEvent(map.parent, 'touchstart', this._touchStartMachine); MM.addEvent(map.parent, 'touchmove', this._touchMoveMachine); MM.addEvent(map.parent, 'touchend', this._touchEndMachine); this.options = {}; this.options.snapToZoom = options.snapToZoom || true; }, isTouchable: function() { var el = document.createElement('div'); el.setAttribute('ongesturestart', 'return;'); return (typeof el.ongesturestart === 'function'); }, remove: function() { // Fail early if this isn't a touch device. if (!this.isTouchable()) return false; MM.removeEvent(this.map.parent, 'touchstart', this._touchStartMachine); MM.removeEvent(this.map.parent, 'touchmove', this._touchMoveMachine); MM.removeEvent(this.map.parent, 'touchend', this._touchEndMachine); }, updateTouches: function(e) { for (var i = 0; i < e.touches.length; i += 1) { var t = e.touches[i]; if (t.identifier in this.locations) { var l = this.locations[t.identifier]; l.x = t.screenX; l.y = t.screenY; l.scale = e.scale; } else { this.locations[t.identifier] = { scale: e.scale, startPos: { x: t.screenX, y: t.screenY }, x: t.screenX, y: t.screenY, time: new Date().getTime() }; } } }, // Test whether touches are from the same source - // whether this is the same touchmove event. sameTouch: function(event, touch) { return (event && event.touch) && (touch.identifier == event.touch.identifier); }, touchStartMachine: function(e) { this.updateTouches(e); return MM.cancelEvent(e); }, touchMoveMachine: function(e) { switch (e.touches.length) { case 1: this.onPanning(e.touches[0]); break; case 2: this.onPinching(e); break; } this.updateTouches(e); return MM.cancelEvent(e); }, touchEndMachine: function(e) { var now = new Date().getTime(); // round zoom if we're done pinching if (e.touches.length === 0 && this.wasPinching) { this.onPinched(this.lastPinchCenter); } // Look at each changed touch in turn. for (var i = 0; i < e.changedTouches.length; i += 1) { var t = e.changedTouches[i], loc = this.locations[t.identifier]; // if we didn't see this one (bug?) // or if it was consumed by pinching already // just skip to the next one if (!loc || loc.wasPinch) { continue; } // we now know we have an event object and a // matching touch that's just ended. Let's see // what kind of event it is based on how long it // lasted and how far it moved. var pos = { x: t.screenX, y: t.screenY }, time = now - loc.time, travel = MM.Point.distance(pos, loc.startPos); if (travel > this.maxTapDistance) { // we will to assume that the drag has been handled separately } else if (time > this.maxTapTime) { // close in space, but not in time: a hold pos.end = now; pos.duration = time; this.onHold(pos); } else { // close in both time and space: a tap pos.time = now; this.onTap(pos); } } // Weird, sometimes an end event doesn't get thrown // for a touch that nevertheless has disappeared. // Still, this will eventually catch those ids: var validTouchIds = {}; for (var j = 0; j < e.touches.length; j++) { validTouchIds[e.touches[j].identifier] = true; } for (var id in this.locations) { if (!(id in validTouchIds)) { delete validTouchIds[id]; } } return MM.cancelEvent(e); }, onHold: function(hold) { // TODO }, // Handle a tap event - mainly watch for a doubleTap onTap: function(tap) { if (this.taps.length && (tap.time - this.taps[0].time) < this.maxDoubleTapDelay) { this.onDoubleTap(tap); this.taps = []; return; } this.taps = [tap]; }, // Handle a double tap by zooming in a single zoom level to a // round zoom. onDoubleTap: function(tap) { var z = this.map.getZoom(), // current zoom tz = Math.round(z) + 1, // target zoom dz = tz - z; // desired delate // zoom in to a round number var p = new MM.Point(tap.x, tap.y); this.map.zoomByAbout(dz, p); }, // Re-transform the actual map parent's CSS transformation onPanning: function(touch) { var pos = { x: touch.screenX, y: touch.screenY }, prev = this.locations[touch.identifier]; this.map.panBy(pos.x - prev.x, pos.y - prev.y); }, onPinching: function(e) { // use the first two touches and their previous positions var t0 = e.touches[0], t1 = e.touches[1], p0 = new MM.Point(t0.screenX, t0.screenY), p1 = new MM.Point(t1.screenX, t1.screenY), l0 = this.locations[t0.identifier], l1 = this.locations[t1.identifier]; // mark these touches so they aren't used as taps/holds l0.wasPinch = true; l1.wasPinch = true; // scale about the center of these touches var center = MM.Point.interpolate(p0, p1, 0.5); this.map.zoomByAbout( Math.log(e.scale) / Math.LN2 - Math.log(l0.scale) / Math.LN2, center ); // pan from the previous center of these touches var prevCenter = MM.Point.interpolate(l0, l1, 0.5); this.map.panBy(center.x - prevCenter.x, center.y - prevCenter.y); this.wasPinching = true; this.lastPinchCenter = center; }, // When a pinch event ends, round the zoom of the map. onPinched: function(p) { // TODO: easing if (this.options.snapToZoom) { var z = this.map.getZoom(), // current zoom tz = Math.round(z); // target zoom this.map.zoomByAbout(tz - z, p); } this.wasPinching = false; } }; // CallbackManager // --------------- // A general-purpose event binding manager used by `Map` // and `RequestManager` // Construct a new CallbackManager, with an list of // supported events. MM.CallbackManager = function(owner, events) { this.owner = owner; this.callbacks = {}; for (var i = 0; i < events.length; i++) { this.callbacks[events[i]] = []; } }; // CallbackManager does simple event management for modestmaps MM.CallbackManager.prototype = { // The element on which callbacks will be triggered. owner: null, // An object of callbacks in the form // // { event: function } callbacks: null, // Add a callback to this object - where the `event` is a string of // the event name and `callback` is a function. addCallback: function(event, callback) { if (typeof(callback) == 'function' && this.callbacks[event]) { this.callbacks[event].push(callback); } }, // Remove a callback. The given function needs to be equal (`===`) to // the callback added in `addCallback`, so named functions should be // used as callbacks. removeCallback: function(event, callback) { if (typeof(callback) == 'function' && this.callbacks[event]) { var cbs = this.callbacks[event], len = cbs.length; for (var i = 0; i < len; i++) { if (cbs[i] === callback) { cbs.splice(i,1); break; } } } }, // Trigger a callback, passing it an object or string from the second // argument. dispatchCallback: function(event, message) { if(this.callbacks[event]) { for (var i = 0; i < this.callbacks[event].length; i += 1) { try { this.callbacks[event][i](this.owner, message); } catch(e) { //console.log(e); // meh } } } } }; // RequestManager // -------------- // an image loading queue MM.RequestManager = function() { // The loading bay is a document fragment to optimize appending, since // the elements within are invisible. See // [this blog post](http://ejohn.org/blog/dom-documentfragments/). this.loadingBay = document.createDocumentFragment(); this.requestsById = {}; this.openRequestCount = 0; this.maxOpenRequests = 4; this.requestQueue = []; this.callbackManager = new MM.CallbackManager(this, [ 'requestcomplete', 'requesterror']); }; MM.RequestManager.prototype = { // DOM element, hidden, for making sure images dispatch complete events loadingBay: null, // all known requests, by ID requestsById: null, // current pending requests requestQueue: null, // current open requests (children of loadingBay) openRequestCount: null, // the number of open requests permitted at one time, clamped down // because of domain-connection limits. maxOpenRequests: null, // for dispatching 'requestcomplete' callbackManager: null, addCallback: function(event, callback) { this.callbackManager.addCallback(event,callback); }, removeCallback: function(event, callback) { this.callbackManager.removeCallback(event,callback); }, dispatchCallback: function(event, message) { this.callbackManager.dispatchCallback(event,message); }, // Clear everything in the queue by excluding nothing clear: function() { this.clearExcept({}); }, clearRequest: function(id) { if(id in this.requestsById) { delete this.requestsById[id]; } for(var i = 0; i < this.requestQueue.length; i++) { var request = this.requestQueue[i]; if(request && request.id == id) { this.requestQueue[i] = null; } } }, // Clear everything in the queue except for certain keys, specified // by an object of the form // // { key: throwawayvalue } clearExcept: function(validIds) { // clear things from the queue first... for (var i = 0; i < this.requestQueue.length; i++) { var request = this.requestQueue[i]; if (request && !(request.id in validIds)) { this.requestQueue[i] = null; } } // then check the loadingBay... var openRequests = this.loadingBay.childNodes; for (var j = openRequests.length-1; j >= 0; j--) { var img = openRequests[j]; if (!(img.id in validIds)) { this.loadingBay.removeChild(img); this.openRequestCount--; /* console.log(this.openRequestCount + " open requests"); */ img.src = img.coord = img.onload = img.onerror = null; } } // hasOwnProperty protects against prototype additions // > "The standard describes an augmentable Object.prototype. // Ignore standards at your own peril." // -- http://www.yuiblog.com/blog/2006/09/26/for-in-intrigue/ for (var id in this.requestsById) { if (!(id in validIds)) { if (this.requestsById.hasOwnProperty(id)) { var requestToRemove = this.requestsById[id]; // whether we've done the request or not... delete this.requestsById[id]; if (requestToRemove !== null) { requestToRemove = requestToRemove.id = requestToRemove.coord = requestToRemove.url = null; } } } } }, // Given a tile id, check whether the RequestManager is currently // requesting it and waiting for the result. hasRequest: function(id) { return (id in this.requestsById); }, // * TODO: remove dependency on coord (it's for sorting, maybe call it data?) // * TODO: rename to requestImage once it's not tile specific requestTile: function(id, coord, url) { if (!(id in this.requestsById)) { var request = { id: id, coord: coord.copy(), url: url }; // if there's no url just make sure we don't request this image again this.requestsById[id] = request; if (url) { this.requestQueue.push(request); /* console.log(this.requestQueue.length + ' pending requests'); */ } } }, getProcessQueue: function() { // let's only create this closure once... if (!this._processQueue) { var theManager = this; this._processQueue = function() { theManager.processQueue(); }; } return this._processQueue; }, // Select images from the `requestQueue` and create image elements for // them, attaching their load events to the function returned by // `this.getLoadComplete()` so that they can be added to the map. processQueue: function(sortFunc) { // When the request queue fills up beyond 8, start sorting the // requests so that spiral-loading or another pattern can be used. if (sortFunc && this.requestQueue.length > 8) { this.requestQueue.sort(sortFunc); } while (this.openRequestCount < this.maxOpenRequests && this.requestQueue.length > 0) { var request = this.requestQueue.pop(); if (request) { this.openRequestCount++; /* console.log(this.openRequestCount + ' open requests'); */ // JSLitmus benchmark shows createElement is a little faster than // new Image() in Firefox and roughly the same in Safari: // http://tinyurl.com/y9wz2jj http://tinyurl.com/yes6rrt var img = document.createElement('img'); // FIXME: id is technically not unique in document if there // are two Maps but toKey is supposed to be fast so we're trying // to avoid a prefix ... hence we can't use any calls to // `document.getElementById()` to retrieve images img.id = request.id; img.style.position = 'absolute'; // * FIXME: store this elsewhere to avoid scary memory leaks? // * FIXME: call this 'data' not 'coord' so that RequestManager is less Tile-centric? img.coord = request.coord; // add it to the DOM in a hidden layer, this is a bit of a hack, but it's // so that the event we get in image.onload has srcElement assigned in IE6 this.loadingBay.appendChild(img); // set these before img.src to avoid missing an img that's already cached img.onload = img.onerror = this.getLoadComplete(); img.src = request.url; // keep things tidy request = request.id = request.coord = request.url = null; } } }, _loadComplete: null, // Get the singleton `_loadComplete` function that is called on image // load events, either removing them from the queue and dispatching an // event to add them to the map, or deleting them if the image failed // to load. getLoadComplete: function() { // let's only create this closure once... if (!this._loadComplete) { var theManager = this; this._loadComplete = function(e) { // this is needed because we don't use MM.addEvent for images e = e || window.event; // srcElement for IE, target for FF, Safari etc. var img = e.srcElement || e.target; // unset these straight away so we don't call this twice img.onload = img.onerror = null; // pull it back out of the (hidden) DOM // so that draw will add it correctly later theManager.loadingBay.removeChild(img); theManager.openRequestCount--; delete theManager.requestsById[img.id]; /* console.log(theManager.openRequestCount + ' open requests'); */ // NB:- complete is also true onerror if we got a 404 if (e.type === 'load' && (img.complete || (img.readyState && img.readyState == 'complete'))) { theManager.dispatchCallback('requestcomplete', img); } else { // if it didn't finish clear its src to make sure it // really stops loading // FIXME: we'll never retry because this id is still // in requestsById - is that right? theManager.dispatchCallback('requesterror', img.src); img.src = null; } // keep going in the same order // use `setTimeout()` to avoid the IE recursion limit, see // http://cappuccino.org/discuss/2010/03/01/internet-explorer-global-variables-and-stack-overflows/ // and https://github.com/stamen/modestmaps-js/issues/12 setTimeout(theManager.getProcessQueue(), 0); }; } return this._loadComplete; } }; // Layer MM.Layer = function(provider, parent) { this.parent = parent || document.createElement('div'); this.parent.style.cssText = 'position: absolute; top: 0px; left: 0px; width: 100%; height: 100%; margin: 0; padding: 0; z-index: 0'; this.levels = {}; this.requestManager = new MM.RequestManager(); this.requestManager.addCallback('requestcomplete', this.getTileComplete()); if (provider) { this.setProvider(provider); } }; MM.Layer.prototype = { map: null, // TODO: remove parent: null, tiles: null, levels: null, requestManager: null, tileCacheSize: null, maxTileCacheSize: null, provider: null, recentTiles: null, recentTilesById: {}, enablePyramidLoading: false, _tileComplete: null, getTileComplete: function() { if (!this._tileComplete) { var theLayer = this; this._tileComplete = function(manager, tile) { // cache the tile itself: theLayer.tiles[tile.id] = tile; theLayer.tileCacheSize++; // also keep a record of when we last touched this tile: var record = { id: tile.id, lastTouchedTime: new Date().getTime() }; theLayer.recentTilesById[tile.id] = record; theLayer.recentTiles.push(record); // position this tile (avoids a full draw() call): theLayer.positionTile(tile); }; } return this._tileComplete; }, draw: function() { // if we're in between zoom levels, we need to choose the nearest: var baseZoom = Math.round(this.map.coordinate.zoom); // these are the top left and bottom right tile coordinates // we'll be loading everything in between: var startCoord = this.map.pointCoordinate(new MM.Point(0,0)) .zoomTo(baseZoom).container(); var endCoord = this.map.pointCoordinate(this.map.dimensions) .zoomTo(baseZoom).container().right().down(); // tiles with invalid keys will be removed from visible levels // requests for tiles with invalid keys will be canceled // (this object maps from a tile key to a boolean) var validTileKeys = { }; // make sure we have a container for tiles in the current level var levelElement = this.createOrGetLevel(startCoord.zoom); // use this coordinate for generating keys, parents and children: var tileCoord = startCoord.copy(); for (tileCoord.column = startCoord.column; tileCoord.column <= endCoord.column; tileCoord.column++) { for (tileCoord.row = startCoord.row; tileCoord.row <= endCoord.row; tileCoord.row++) { var validKeys = this.inventoryVisibleTile(levelElement, tileCoord); while (validKeys.length) { validTileKeys[validKeys.pop()] = true; } } } // i from i to zoom-5 are levels that would be scaled too big, // i from zoom + 2 to levels. length are levels that would be // scaled too small (and tiles would be too numerous) for (var name in this.levels) { if (this.levels.hasOwnProperty(name)) { var zoom = parseInt(name,10); if (zoom >= startCoord.zoom - 5 && zoom < startCoord.zoom + 2) { continue; } var level = this.levels[name]; level.style.display = 'none'; var visibleTiles = this.tileElementsInLevel(level); while (visibleTiles.length) { this.provider.releaseTile(visibleTiles[0].coord); this.requestManager.clearRequest(visibleTiles[0].coord.toKey()); level.removeChild(visibleTiles[0]); visibleTiles.shift(); } } } // levels we want to see, if they have tiles in validTileKeys var minLevel = startCoord.zoom - 5; var maxLevel = startCoord.zoom + 2; for (var z = minLevel; z < maxLevel; z++) { this.adjustVisibleLevel(this.levels[z], z, validTileKeys); } // cancel requests that aren't visible: this.requestManager.clearExcept(validTileKeys); // get newly requested tiles, sort according to current view: this.requestManager.processQueue(this.getCenterDistanceCompare()); // make sure we don't have too much stuff: this.checkCache(); }, // For a given tile coordinate in a given level element, ensure that it's // correctly represented in the DOM including potentially-overlapping // parent and child tiles for pyramid loading. // // Return a list of valid (i.e. loadable?) tile keys. inventoryVisibleTile: function(layer_element, tile_coord) { var tile_key = tile_coord.toKey(), valid_tile_keys = [tile_key]; // Check that the needed tile already exists someplace - add it to the DOM if it does. if (tile_key in this.tiles) { var tile = this.tiles[tile_key]; // ensure it's in the DOM: if (tile.parentNode != layer_element) { layer_element.appendChild(tile); // if the provider implements reAddTile(), call it if ("reAddTile" in this.provider) { this.provider.reAddTile(tile_key, tile_coord, tile); } } return valid_tile_keys; } // Check that the needed tile has even been requested at all. if (!this.requestManager.hasRequest(tile_key)) { var tileToRequest = this.provider.getTile(tile_coord); if (typeof tileToRequest == 'string') { this.addTileImage(tile_key, tile_coord, tileToRequest); // tile must be truish } else if (tileToRequest) { this.addTileElement(tile_key, tile_coord, tileToRequest); } } // look for a parent tile in our image cache var tileCovered = false; var maxStepsOut = tile_coord.zoom; for (var pz = 1; pz <= maxStepsOut; pz++) { var parent_coord = tile_coord.zoomBy(-pz).container(); var parent_key = parent_coord.toKey(); if (this.enablePyramidLoading) { // mark all parent tiles valid valid_tile_keys.push(parent_key); var parentLevel = this.createOrGetLevel(parent_coord.zoom); //parentLevel.coordinate = parent_coord.copy(); if (parent_key in this.tiles) { var parentTile = this.tiles[parent_key]; if (parentTile.parentNode != parentLevel) { parentLevel.appendChild(parentTile); } } else if (!this.requestManager.hasRequest(parent_key)) { // force load of parent tiles we don't already have var tileToAdd = this.provider.getTile(parent_coord); if (typeof tileToAdd == 'string') { this.addTileImage(parent_key, parent_coord, tileToAdd); } else { this.addTileElement(parent_key, parent_coord, tileToAdd); } } } else { // only mark it valid if we have it already if (parent_key in this.tiles) { valid_tile_keys.push(parent_key); tileCovered = true; break; } } } // if we didn't find a parent, look at the children: if (!tileCovered && !this.enablePyramidLoading) { var child_coord = tile_coord.zoomBy(1); // mark everything valid whether or not we have it: valid_tile_keys.push(child_coord.toKey()); child_coord.column += 1; valid_tile_keys.push(child_coord.toKey()); child_coord.row += 1; valid_tile_keys.push(child_coord.toKey()); child_coord.column -= 1; valid_tile_keys.push(child_coord.toKey()); } return valid_tile_keys; }, tileElementsInLevel: function(level) { // this is somewhat future proof, we're looking for DOM elements // not necessarily elements var tiles = []; for (var tile = level.firstChild; tile; tile = tile.nextSibling) { if (tile.nodeType == 1) { tiles.push(tile); } } return tiles; }, /** * For a given level, adjust visibility as a whole and discard individual * tiles based on values in valid_tile_keys from inventoryVisibleTile(). */ adjustVisibleLevel: function(level, zoom, valid_tile_keys) { // for tracking time of tile usage: var now = new Date().getTime(); if (!level) { // no tiles for this level yet return; } var scale = 1; var theCoord = this.map.coordinate.copy(); if (level.childNodes.length > 0) { level.style.display = 'block'; scale = Math.pow(2, this.map.coordinate.zoom - zoom); theCoord = theCoord.zoomTo(zoom); } else { level.style.display = 'none'; } var tileWidth = this.map.tileSize.x * scale; var tileHeight = this.map.tileSize.y * scale; var center = new MM.Point(this.map.dimensions.x/2, this.map.dimensions.y/2); var tiles = this.tileElementsInLevel(level); while (tiles.length) { var tile = tiles.pop(); if (!valid_tile_keys[tile.id]) { this.provider.releaseTile(tile.coord); this.requestManager.clearRequest(tile.coord.toKey()); level.removeChild(tile); } else { // log last-touched-time of currently cached tiles this.recentTilesById[tile.id].lastTouchedTime = now; } } // position tiles MM.moveElement(level, { x: -(theCoord.column * 256) + center.x, y: -(theCoord.row * 256) + center.y, scale: scale }); }, createOrGetLevel: function(zoom) { if (zoom in this.levels) { return this.levels[zoom]; } //console.log('creating level ' + zoom); var level = document.createElement('div'); level.id = this.parent.id+'-zoom-'+zoom; level.style.cssText = this.parent.style.cssText; level.style.zIndex = zoom; this.parent.appendChild(level); this.levels[zoom] = level; return level; }, addTileImage: function(key, coord, url) { this.requestManager.requestTile(key, coord, url); }, addTileElement: function(key, coordinate, element) { // Expected in draw() element.id = key; element.coord = coordinate.copy(); // cache the tile itself: this.tiles[key] = element; this.tileCacheSize++; // also keep a record of when we last touched this tile: var record = { id: key, lastTouchedTime: new Date().getTime() }; this.recentTilesById[key] = record; this.recentTiles.push(record); this.positionTile(element); }, positionTile: function(tile) { // position this tile (avoids a full draw() call): var theCoord = this.map.coordinate.zoomTo(tile.coord.zoom); // Start tile positioning and prevent drag for modern browsers tile.style.cssText = 'position:absolute;-webkit-user-select: none;-webkit-user-drag: none;-moz-user-drag: none;'; // Prevent drag for IE tile.ondragstart = function() { return false; }; var tx = tile.coord.column * this.map.tileSize.x; var ty = tile.coord.row * this.map.tileSize.y; // TODO: pass only scale or only w/h MM.moveElement(tile, { x: Math.round(tx), y: Math.round(ty), width: this.map.tileSize.x, height: this.map.tileSize.y }); // add tile to its level var theLevel = this.levels[tile.coord.zoom]; theLevel.appendChild(tile); // Support style transition if available. tile.className = 'map-tile-loaded'; // ensure the level is visible if it's still the current level if (Math.round(this.map.coordinate.zoom) == tile.coord.zoom) { theLevel.style.display = 'block'; } // request a lazy redraw of all levels // this will remove tiles that were only visible // to cover this tile while it loaded: this.requestRedraw(); }, _redrawTimer: undefined, requestRedraw: function() { // we'll always draw within 1 second of this request, // sometimes faster if there's already a pending redraw // this is used when a new tile arrives so that we clear // any parent/child tiles that were only being displayed // until the tile loads at the right zoom level if (!this._redrawTimer) { this._redrawTimer = setTimeout(this.getRedraw(), 1000); } }, _redraw: null, getRedraw: function() { // let's only create this closure once... if (!this._redraw) { var theLayer = this; this._redraw = function() { theLayer.draw(); theLayer._redrawTimer = 0; }; } return this._redraw; }, numTilesOnScreen: function() { var tileCount = 0; for (var name in this.levels) { if (this.levels.hasOwnProperty(name)) { var level = this.levels[name]; tileCount += this.tileElementsInLevel(level).length; } } return tileCount; }, // keeps cache below max size // (called every time we receive a new tile and add it to the cache) checkCache: function() { var maxTiles = Math.max(this.numTilesOnScreen(), this.maxTileCacheSize); if (this.tileCacheSize > maxTiles) { // sort from newest (highest) to oldest (lowest) this.recentTiles.sort(function(t1, t2) { return t2.lastTouchedTime < t1.lastTouchedTime ? -1 : t2.lastTouchedTime > t1.lastTouchedTime ? 1 : 0; }); } while (this.recentTiles.length && this.tileCacheSize > maxTiles) { // delete the oldest record var tileRecord = this.recentTiles.pop(); var now = new Date().getTime(); delete this.recentTilesById[tileRecord.id]; //window.console.log('removing ' + tileRecord.id + // ' last seen ' + (now-tileRecord.lastTouchedTime) + 'ms ago'); // now actually remove it from the cache... var tile = this.tiles[tileRecord.id]; if (tile.parentNode) { // I'm leaving this uncommented for now but you should never see it: alert("Gah: trying to removing cached tile even though it's still in the DOM"); } else { delete this.tiles[tileRecord.id]; this.tileCacheSize--; } } }, setProvider: function(newProvider) { var firstProvider = (this.provider === null); // if we already have a provider the we'll need to // clear the DOM, cancel requests and redraw if (!firstProvider) { this.requestManager.clear(); for (var name in this.levels) { if (this.levels.hasOwnProperty(name)) { var level = this.levels[name]; while (level.firstChild) { this.provider.releaseTile(level.firstChild.coord); level.removeChild(level.firstChild); } } } } // first provider or not we'll init/reset some values... this.tiles = {}; this.tileCacheSize = 0; this.maxTileCacheSize = 64; this.recentTilesById = {}; this.recentTiles = []; // for later: check geometry of old provider and set a new coordinate center // if needed (now? or when?) this.provider = newProvider; if (!firstProvider) { this.draw(); } }, // compares manhattan distance from center of // requested tiles to current map center // NB:- requested tiles are *popped* from queue, so we do a descending sort getCenterDistanceCompare: function() { var theCoord = this.map.coordinate.zoomTo(Math.round(this.map.coordinate.zoom)); return function(r1, r2) { if (r1 && r2) { var c1 = r1.coord; var c2 = r2.coord; if (c1.zoom == c2.zoom) { var ds1 = Math.abs(theCoord.row - c1.row - 0.5) + Math.abs(theCoord.column - c1.column - 0.5); var ds2 = Math.abs(theCoord.row - c2.row - 0.5) + Math.abs(theCoord.column - c2.column - 0.5); return ds1 < ds2 ? 1 : ds1 > ds2 ? -1 : 0; } else { return c1.zoom < c2.zoom ? 1 : c1.zoom > c2.zoom ? -1 : 0; } } return r1 ? 1 : r2 ? -1 : 0; }; }, // Remove this layer from the DOM, cancel all of its requests // and unbind any callbacks that are bound to it. destroy: function() { this.requestManager.clear(); this.requestManager.removeCallback('requestcomplete', this.getTileComplete()); // TODO: does requestManager need a destroy function too? this.provider = null; // If this layer was ever attached to the DOM, detach it. if (this.parent.parentNode) { this.parent.parentNode.removeChild(this.parent); } this.map = null; } }; // Map // Instance of a map intended for drawing to a div. // // * `parent` (required DOM element) // Can also be an ID of a DOM element // * `layerOrLayers` (required MM.Layer or Array of MM.Layers) // each one must implement draw(), destroy(), have a .parent DOM element and a .map property // (an array of URL templates or MM.MapProviders is also acceptable) // * `dimensions` (optional Point) // Size of map to create // * `eventHandlers` (optional Array) // If empty or null MouseHandler will be used // Otherwise, each handler will be called with init(map) MM.Map = function(parent, layerOrLayers, dimensions, eventHandlers) { if (typeof parent == 'string') { parent = document.getElementById(parent); if (!parent) { throw 'The ID provided to modest maps could not be found.'; } } this.parent = parent; // we're no longer adding width and height to parent.style but we still // need to enforce padding, overflow and position otherwise everything screws up // TODO: maybe console.warn if the current values are bad? this.parent.style.padding = '0'; this.parent.style.overflow = 'hidden'; var position = MM.getStyle(this.parent, 'position'); if (position != 'relative' && position != 'absolute') { this.parent.style.position = 'relative'; } this.layers = []; if(!(layerOrLayers instanceof Array)) { layerOrLayers = [ layerOrLayers ]; } for (var i = 0; i < layerOrLayers.length; i++) { this.addLayer(layerOrLayers[i]); } // default to Google-y Mercator style maps this.projection = new MM.MercatorProjection(0, MM.deriveTransformation(-Math.PI, Math.PI, 0, 0, Math.PI, Math.PI, 1, 0, -Math.PI, -Math.PI, 0, 1)); this.tileSize = new MM.Point(256, 256); // default 0-18 zoom level // with infinite horizontal pan and clamped vertical pan this.coordLimits = [ new MM.Coordinate(0,-Infinity,0), // top left outer new MM.Coordinate(1,Infinity,0).zoomTo(18) // bottom right inner ]; // eyes towards null island this.coordinate = new MM.Coordinate(0.5, 0.5, 0); // if you don't specify dimensions we assume you want to fill the parent // unless the parent has no w/h, in which case we'll still use a default if (!dimensions) { dimensions = new MM.Point(this.parent.offsetWidth, this.parent.offsetHeight); this.autoSize = true; // use destroy to get rid of this handler from the DOM MM.addEvent(window, 'resize', this.windowResize()); } else { this.autoSize = false; // don't call setSize here because it calls draw() this.parent.style.width = Math.round(dimensions.x) + 'px'; this.parent.style.height = Math.round(dimensions.y) + 'px'; } this.dimensions = dimensions; this.callbackManager = new MM.CallbackManager(this, [ 'zoomed', 'panned', 'centered', 'extentset', 'resized', 'drawn' ]); // set up handlers last so that all required attributes/functions are in place if needed if (eventHandlers === undefined) { this.eventHandlers = [ new MM.MouseHandler(this), new MM.TouchHandler(this) ]; } else { this.eventHandlers = eventHandlers; if (eventHandlers instanceof Array) { for (var j = 0; j < eventHandlers.length; j++) { eventHandlers[j].init(this); } } } }; MM.Map.prototype = { parent: null, // DOM Element dimensions: null, // MM.Point with x/y size of parent element projection: null, // MM.Projection of first known layer coordinate: null, // Center of map MM.Coordinate with row/column/zoom tileSize: null, // MM.Point with x/y size of tiles coordLimits: null, // Array of [ topLeftOuter, bottomLeftInner ] MM.Coordinates layers: null, // Array of MM.Layer (interface = .draw(), .destroy(), .parent and .map) callbackManager: null, // MM.CallbackManager, handles map events eventHandlers: null, // Array of interaction handlers, just a MM.MouseHandler by default autoSize: null, // Boolean, true if we have a window resize listener toString: function() { return 'Map(#' + this.parent.id + ')'; }, // callbacks... addCallback: function(event, callback) { this.callbackManager.addCallback(event, callback); return this; }, removeCallback: function(event, callback) { this.callbackManager.removeCallback(event, callback); return this; }, dispatchCallback: function(event, message) { this.callbackManager.dispatchCallback(event, message); return this; }, windowResize: function() { if (!this._windowResize) { var theMap = this; this._windowResize = function(event) { // don't call setSize here because it sets parent.style.width/height // and setting the height breaks percentages and default styles theMap.dimensions = new MM.Point(theMap.parent.offsetWidth, theMap.parent.offsetHeight); theMap.draw(); theMap.dispatchCallback('resized', [theMap.dimensions]); }; } return this._windowResize; }, // A convenience function to restrict interactive zoom ranges. // (you should also adjust map provider to restrict which tiles get loaded, // or modify map.coordLimits and provider.tileLimits for finer control) setZoomRange: function(minZoom, maxZoom) { this.coordLimits[0] = this.coordLimits[0].zoomTo(minZoom); this.coordLimits[1] = this.coordLimits[1].zoomTo(maxZoom); }, // zooming zoomBy: function(zoomOffset) { this.coordinate = this.enforceLimits(this.coordinate.zoomBy(zoomOffset)); MM.getFrame(this.getRedraw()); this.dispatchCallback('zoomed', zoomOffset); return this; }, zoomIn: function() { return this.zoomBy(1); }, zoomOut: function() { return this.zoomBy(-1); }, setZoom: function(z) { return this.zoomBy(z - this.coordinate.zoom); }, zoomByAbout: function(zoomOffset, point) { var location = this.pointLocation(point); this.coordinate = this.enforceLimits(this.coordinate.zoomBy(zoomOffset)); var newPoint = this.locationPoint(location); this.dispatchCallback('zoomed', zoomOffset); return this.panBy(point.x - newPoint.x, point.y - newPoint.y); }, // panning panBy: function(dx, dy) { this.coordinate.column -= dx / this.tileSize.x; this.coordinate.row -= dy / this.tileSize.y; this.coordinate = this.enforceLimits(this.coordinate); // Defer until the browser is ready to draw. MM.getFrame(this.getRedraw()); this.dispatchCallback('panned', [dx, dy]); return this; }, panLeft: function() { return this.panBy(100, 0); }, panRight: function() { return this.panBy(-100, 0); }, panDown: function() { return this.panBy(0, -100); }, panUp: function() { return this.panBy(0, 100); }, // positioning setCenter: function(location) { return this.setCenterZoom(location, this.coordinate.zoom); }, setCenterZoom: function(location, zoom) { this.coordinate = this.projection.locationCoordinate(location).zoomTo(parseFloat(zoom) || 0); MM.getFrame(this.getRedraw()); this.dispatchCallback('centered', [location, zoom]); return this; }, extentCoordinate: function(locations, precise) { // coerce locations to an array if it's a Extent instance if (locations instanceof MM.Extent) { locations = locations.toArray(); } var TL, BR; for (var i = 0; i < locations.length; i++) { var coordinate = this.projection.locationCoordinate(locations[i]); if (TL) { TL.row = Math.min(TL.row, coordinate.row); TL.column = Math.min(TL.column, coordinate.column); TL.zoom = Math.min(TL.zoom, coordinate.zoom); BR.row = Math.max(BR.row, coordinate.row); BR.column = Math.max(BR.column, coordinate.column); BR.zoom = Math.max(BR.zoom, coordinate.zoom); } else { TL = coordinate.copy(); BR = coordinate.copy(); } } var width = this.dimensions.x + 1; var height = this.dimensions.y + 1; // multiplication factor between horizontal span and map width var hFactor = (BR.column - TL.column) / (width / this.tileSize.x); // multiplication factor expressed as base-2 logarithm, for zoom difference var hZoomDiff = Math.log(hFactor) / Math.log(2); // possible horizontal zoom to fit geographical extent in map width var hPossibleZoom = TL.zoom - (precise ? hZoomDiff : Math.ceil(hZoomDiff)); // multiplication factor between vertical span and map height var vFactor = (BR.row - TL.row) / (height / this.tileSize.y); // multiplication factor expressed as base-2 logarithm, for zoom difference var vZoomDiff = Math.log(vFactor) / Math.log(2); // possible vertical zoom to fit geographical extent in map height var vPossibleZoom = TL.zoom - (precise ? vZoomDiff : Math.ceil(vZoomDiff)); // initial zoom to fit extent vertically and horizontally var initZoom = Math.min(hPossibleZoom, vPossibleZoom); // additionally, make sure it's not outside the boundaries set by map limits initZoom = Math.min(initZoom, this.coordLimits[1].zoom); initZoom = Math.max(initZoom, this.coordLimits[0].zoom); // coordinate of extent center var centerRow = (TL.row + BR.row) / 2; var centerColumn = (TL.column + BR.column) / 2; var centerZoom = TL.zoom; return new MM.Coordinate(centerRow, centerColumn, centerZoom).zoomTo(initZoom); }, setExtent: function(locations, precise) { this.coordinate = this.extentCoordinate(locations, precise); this.draw(); // draw calls enforceLimits // (if you switch to getFrame, call enforceLimits first) this.dispatchCallback('extentset', locations); return this; }, // Resize the map's container `
`, redrawing the map and triggering // `resized` to make sure that the map's presentation is still correct. setSize: function(dimensions) { // Ensure that, whether a raw object or a Point object is passed, // this.dimensions will be a Point. this.dimensions = new MM.Point(dimensions.x, dimensions.y); this.parent.style.width = Math.round(this.dimensions.x) + 'px'; this.parent.style.height = Math.round(this.dimensions.y) + 'px'; if (this.autoSize) { MM.removeEvent(window, 'resize', this.windowResize()); this.autoSize = false; } this.draw(); // draw calls enforceLimits // (if you switch to getFrame, call enforceLimits first) this.dispatchCallback('resized', this.dimensions); return this; }, // projecting points on and off screen coordinatePoint: function(coord) { // Return an x, y point on the map image for a given coordinate. if (coord.zoom != this.coordinate.zoom) { coord = coord.zoomTo(this.coordinate.zoom); } // distance from the center of the map var point = new MM.Point(this.dimensions.x / 2, this.dimensions.y / 2); point.x += this.tileSize.x * (coord.column - this.coordinate.column); point.y += this.tileSize.y * (coord.row - this.coordinate.row); return point; }, // Get a `MM.Coordinate` from an `MM.Point` - returns a new tile-like object // from a screen point. pointCoordinate: function(point) { // new point coordinate reflecting distance from map center, in tile widths var coord = this.coordinate.copy(); coord.column += (point.x - this.dimensions.x / 2) / this.tileSize.x; coord.row += (point.y - this.dimensions.y / 2) / this.tileSize.y; return coord; }, // Return an MM.Coordinate (row,col,zoom) for an MM.Location (lat,lon). locationCoordinate: function(location) { return this.projection.locationCoordinate(location); }, // Return an MM.Location (lat,lon) for an MM.Coordinate (row,col,zoom). coordinateLocation: function(coordinate) { return this.projection.coordinateLocation(coordinate); }, // Return an x, y point on the map image for a given geographical location. locationPoint: function(location) { return this.coordinatePoint(this.locationCoordinate(location)); }, // Return a geographical location on the map image for a given x, y point. pointLocation: function(point) { return this.coordinateLocation(this.pointCoordinate(point)); }, // inspecting getExtent: function() { return new MM.Extent( this.pointLocation(new MM.Point(0, 0)), this.pointLocation(this.dimensions) ); }, extent: function(locations, precise) { if (locations) { return this.setExtent(locations, precise); } else { return this.getExtent(); } }, // Get the current centerpoint of the map, returning a `Location` getCenter: function() { return this.projection.coordinateLocation(this.coordinate); }, center: function(location) { if (location) { return this.setCenter(location); } else { return this.getCenter(); } }, // Get the current zoom level of the map, returning a number getZoom: function() { return this.coordinate.zoom; }, zoom: function(zoom) { if (zoom !== undefined) { return this.setZoom(zoom); } else { return this.getZoom(); } }, // return a copy of the layers array getLayers: function() { return this.layers.slice(); }, // return the layer at the given index getLayerAt: function(index) { return this.layers[index]; }, // put the given layer on top of all the others addLayer: function(layer) { this.layers.push(layer); this.parent.appendChild(layer.parent); layer.map = this; // TODO: remove map property from MM.Layer? return this; }, // find the given layer and remove it removeLayer: function(layer) { for (var i = 0; i < this.layers.length; i++) { if (layer == this.layers[i]) { this.removeLayerAt(i); break; } } return this; }, // replace the current layer at the given index with the given layer setLayerAt: function(index, layer) { if (index < 0 || index >= this.layers.length) { throw new Error('invalid index in setLayerAt(): ' + index); } if (this.layers[index] != layer) { // clear existing layer at this index if (index < this.layers.length) { this.layers[index].destroy(); } // pass it on. this.layers[index] = layer; this.parent.appendChild(layer.parent); layer.map = this; // TODO: remove map property from MM.Layer MM.getFrame(this.getRedraw()); } return this; }, // put the given layer at the given index, moving others if necessary insertLayerAt: function(index, layer) { if (index < 0 || index > this.layers.length) { throw new Error('invalid index in insertLayerAt(): ' + index); } if (index == this.layers.length) { // it just gets tacked on to the end this.layers.push(layer); this.parent.appendChild(layer.parent); } else { // it needs to get slipped in amongst the others var other = this.layers[index]; this.parent.insertBefore(layer.parent, other.parent); this.layers.splice(index, 0, layer); } layer.map = this; // TODO: remove map property from MM.Layer MM.getFrame(this.getRedraw()); return this; }, // remove the layer at the given index, call .destroy() on the layer removeLayerAt: function(index) { if (index < 0 || index >= this.layers.length) { throw new Error('invalid index in removeLayer(): ' + index); } // gone baby gone. var old = this.layers[index]; this.layers.splice(index, 1); old.destroy(); return this; }, // switch the stacking order of two layers, by index swapLayersAt: function(i, j) { if (i < 0 || i >= this.layers.length || j < 0 || j >= this.layers.length) { throw new Error('invalid index in swapLayersAt(): ' + index); } var layer1 = this.layers[i], layer2 = this.layers[j], dummy = document.createElement('div'); // kick layer2 out, replace it with the dummy. this.parent.replaceChild(dummy, layer2.parent); // put layer2 back in and kick layer1 out this.parent.replaceChild(layer2.parent, layer1.parent); // put layer1 back in and ditch the dummy this.parent.replaceChild(layer1.parent, dummy); // now do it to the layers array this.layers[i] = layer2; this.layers[j] = layer1; return this; }, // limits enforceZoomLimits: function(coord) { var limits = this.coordLimits; if (limits) { // clamp zoom level: var minZoom = limits[0].zoom; var maxZoom = limits[1].zoom; if (coord.zoom < minZoom) { coord = coord.zoomTo(minZoom); } else if (coord.zoom > maxZoom) { coord = coord.zoomTo(maxZoom); } } return coord; }, enforcePanLimits: function(coord) { if (this.coordLimits) { coord = coord.copy(); // clamp pan: var topLeftLimit = this.coordLimits[0].zoomTo(coord.zoom); var bottomRightLimit = this.coordLimits[1].zoomTo(coord.zoom); var currentTopLeft = this.pointCoordinate(new MM.Point(0, 0)) .zoomTo(coord.zoom); var currentBottomRight = this.pointCoordinate(this.dimensions) .zoomTo(coord.zoom); // this handles infinite limits: // (Infinity - Infinity) is Nan // NaN is never less than anything if (bottomRightLimit.row - topLeftLimit.row < currentBottomRight.row - currentTopLeft.row) { // if the limit is smaller than the current view center it coord.row = (bottomRightLimit.row + topLeftLimit.row) / 2; } else { if (currentTopLeft.row < topLeftLimit.row) { coord.row += topLeftLimit.row - currentTopLeft.row; } else if (currentBottomRight.row > bottomRightLimit.row) { coord.row -= currentBottomRight.row - bottomRightLimit.row; } } if (bottomRightLimit.column - topLeftLimit.column < currentBottomRight.column - currentTopLeft.column) { // if the limit is smaller than the current view, center it coord.column = (bottomRightLimit.column + topLeftLimit.column) / 2; } else { if (currentTopLeft.column < topLeftLimit.column) { coord.column += topLeftLimit.column - currentTopLeft.column; } else if (currentBottomRight.column > bottomRightLimit.column) { coord.column -= currentBottomRight.column - bottomRightLimit.column; } } } return coord; }, // Prevent accidentally navigating outside the `coordLimits` of the map. enforceLimits: function(coord) { return this.enforcePanLimits(this.enforceZoomLimits(coord)); }, // rendering // Redraw the tiles on the map, reusing existing tiles. draw: function() { // make sure we're not too far in or out: this.coordinate = this.enforceLimits(this.coordinate); // if we don't have dimensions, check the parent size if (this.dimensions.x <= 0 || this.dimensions.y <= 0) { if (this.autoSize) { // maybe the parent size has changed? var w = this.parent.offsetWidth, h = this.parent.offsetHeight; this.dimensions = new MM.Point(w,h); if (w <= 0 || h <= 0) { return; } } else { // the issue can only be corrected with setSize return; } } // draw layers one by one for(var i = 0; i < this.layers.length; i++) { this.layers[i].draw(); } this.dispatchCallback('drawn'); }, _redrawTimer: undefined, requestRedraw: function() { // we'll always draw within 1 second of this request, // sometimes faster if there's already a pending redraw // this is used when a new tile arrives so that we clear // any parent/child tiles that were only being displayed // until the tile loads at the right zoom level if (!this._redrawTimer) { this._redrawTimer = setTimeout(this.getRedraw(), 1000); } }, _redraw: null, getRedraw: function() { // let's only create this closure once... if (!this._redraw) { var theMap = this; this._redraw = function() { theMap.draw(); theMap._redrawTimer = 0; }; } return this._redraw; }, // Attempts to destroy all attachment a map has to a page // and clear its memory usage. destroy: function() { for (var j = 0; j < this.layers.length; j++) { this.layers[j].destroy(); } this.layers = []; this.projection = null; for (var i = 0; i < this.eventHandlers.length; i++) { this.eventHandlers[i].remove(); } if (this.autoSize) { MM.removeEvent(window, 'resize', this.windowResize()); } } }; // Instance of a map intended for drawing to a div. // // * `parent` (required DOM element) // Can also be an ID of a DOM element // * `provider` (required MM.MapProvider or URL template) // * `location` (required MM.Location) // Location for map to show // * `zoom` (required number) MM.mapByCenterZoom = function(parent, layerish, location, zoom) { var layer = MM.coerceLayer(layerish), map = new MM.Map(parent, layer, false); map.setCenterZoom(location, zoom).draw(); return map; }; // Instance of a map intended for drawing to a div. // // * `parent` (required DOM element) // Can also be an ID of a DOM element // * `provider` (required MM.MapProvider or URL template) // * `locationA` (required MM.Location) // Location of one map corner // * `locationB` (required MM.Location) // Location of other map corner MM.mapByExtent = function(parent, layerish, locationA, locationB) { var layer = MM.coerceLayer(layerish), map = new MM.Map(parent, layer, false); map.setExtent([locationA, locationB]).draw(); return map; }; if (typeof module !== 'undefined' && module.exports) { module.exports = { Point: MM.Point, Projection: MM.Projection, MercatorProjection: MM.MercatorProjection, LinearProjection: MM.LinearProjection, Transformation: MM.Transformation, Location: MM.Location, MapProvider: MM.MapProvider, TemplatedMapProvider: MM.TemplatedMapProvider, Coordinate: MM.Coordinate, deriveTransformation: MM.deriveTransformation }; } })(MM); MAVProxy-1.8.74/MAVProxy/modules/mavproxy_mmap/mmap_server.py000066400000000000000000000036631504324515000242350ustar00rootroot00000000000000import BaseHTTPServer import json import os.path import thread import urlparse DOC_DIR = os.path.join(os.path.dirname(__file__), 'mmap_app') class Server(BaseHTTPServer.HTTPServer): def __init__(self, handler, address='', port=9999, module_state=None): BaseHTTPServer.HTTPServer.__init__(self, (address, port), handler) self.allow_reuse_address = True self.module_state = module_state class Handler(BaseHTTPServer.BaseHTTPRequestHandler): def do_GET(self): scheme, host, path, params, query, frag = urlparse.urlparse(self.path) if path == '/data': state = self.server.module_state data = {'lat': state.lat, 'lon': state.lon, 'heading': state.heading, 'alt': state.alt, 'airspeed': state.airspeed, 'groundspeed': state.groundspeed} self.send_response(200) self.end_headers() self.wfile.write(json.dumps(data)) else: # Remove leading '/'. path = path[1:] # Ignore all directories. E.g. for ../../bar/a.txt serve # DOC_DIR/a.txt. unused_head, path = os.path.split(path) # for / serve index.html. if path == '': path = 'index.html' content = None error = None try: import pkg_resources name = __name__ if name == "__main__": name = "MAVProxy.modules.mavproxy_mmap.????" content = pkg_resources.resource_stream(name, "mmap_app/%s" % path).read() except IOError as e: error = str(e) if content: self.send_response(200) self.end_headers() self.wfile.write(content) else: self.send_response(404) self.end_headers() self.wfile.write('Error: %s' % (error,)) def start_server(address, port, module_state): server = Server( Handler, address=address, port=port, module_state=module_state) thread.start_new_thread(server.serve_forever, ()) return server MAVProxy-1.8.74/MAVProxy/modules/mavproxy_mode.py000066400000000000000000000160131504324515000217000ustar00rootroot00000000000000#!/usr/bin/env python3 '''mode command handling''' from pymavlink import mavutil from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_util ''' AP_FLAKE8_CLEAN ''' class ModeModule(mp_module.MPModule): def __init__(self, mpstate): super(ModeModule, self).__init__(mpstate, "mode", public=True) self.add_command('mode', self.cmd_mode, "mode change", [ '(MODE)' ]) self.add_command('guided', self.cmd_guided, "fly to a clicked location on map") self.add_command('confirm', self.cmd_confirm, "confirm a command") self.add_completion_function('(MODE)', self.complete_available_modes) def cmd_mode(self, args): '''set arbitrary mode''' mode_mapping = self.master.mode_mapping() if mode_mapping is None: print('No mode mapping available') return if len(args) != 1: print('Available modes: ', ', '.join(self.available_modes())) return if args[0].isdigit(): modenum = int(args[0]) else: mode = args[0].upper() if mode not in mode_mapping: print('Unknown mode %s: ' % mode) return modenum = mode_mapping[mode] self.master.set_mode(modenum) def cmd_confirm(self, args): '''confirm a command''' if len(args) < 2: print('Usage: confirm "Question to display" command ') return question = args[0].strip('"') command = ' '.join(args[1:]) if not mp_util.has_wxpython: print("No UI available for confirm") return from MAVProxy.modules.lib import mp_menu mp_menu.MPMenuConfirmDialog(question, callback=self.mpstate.functions.process_stdin, args=command) def complete_available_modes(self, text): return self.available_modes() def available_modes(self): if self.master is None: print('No mode mapping available') return [] mode_mapping = self.master.mode_mapping() if mode_mapping is None: print('No mode mapping available') return [] return mode_mapping.keys() def unknown_command(self, args): '''handle mode switch by mode name as command''' mode_mapping = self.master.mode_mapping() mode = args[0].upper() if mode in mode_mapping: self.master.set_mode(mode_mapping[mode]) return True return False def cmd_guided(self, args): '''set GUIDED target''' if len(args) > 0: if args[0] == "forward": return self.cmd_guided_forward(args[1:]) if len(args) == 2: frames = ['AboveHome', 'AGL', 'AMSL'] if args[1] in frames: self.settings.flytoframe = args[1] else: print("Usage: guided ALTITUDE %s" % '|'.join(frames)) return elif len(args) != 1 and len(args) != 3: print("Usage: guided ALTITUDE | guided LAT LON ALTITUDE | guided forward METRES") return frame = self.flyto_frame() if len(args) == 3: latitude = float(args[0]) longitude = float(args[1]) altitude = float(args[2]) latlon = (latitude, longitude) else: latlon = self.mpstate.click_location if latlon is None: print("No map click position available") return altitude = float(args[0]) altitude = self.height_convert_from_units(altitude) print("Guided %s %s frame %u" % (str(latlon), str(altitude), frame)) if self.settings.guided_use_reposition: self.master.mav.command_int_send( self.settings.target_system, self.settings.target_component, frame, mavutil.mavlink.MAV_CMD_DO_REPOSITION, 0, # current 0, # autocontinue -1, # p1 - ground speed, -1 is use-default mavutil.mavlink.MAV_DO_REPOSITION_FLAGS_CHANGE_MODE, # p2 - flags 0, # p3 - loiter radius for Planes, 0 is ignored 0, # p4 - yaw - 0 is loiter clockwise int(latlon[0]*1.0e7), int(latlon[1]*1.0e7), altitude ) return self.master.mav.mission_item_int_send( self.settings.target_system, self.settings.target_component, 0, frame, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 2, 0, 0, 0, 0, 0, int(latlon[0]*1.0e7), int(latlon[1]*1.0e7), altitude ) def build_pt_ignoremask(self, bits, force_not_accel=False): '''creates an ignore bitmask which ignores all bits except the ones passed in''' ignore_bits = { "X": 1, # POSITION_TARGET_TYPEMASK_X_IGNORE "Y": 2, "Z": 4, "VX": 8, "VY": 16, "VZ": 32, "AX": 64, "AY": 128, "AZ": 256, "YAW": 1024, "YAWRATE": 2048, } value = 0 for (n, v) in ignore_bits.items(): if n not in bits: value |= v # as of ArduCopter 4.6.0-dev, you can't ignore any axis if you # want the others to be honoured. for prefix in "", "V", "A": for axis in "X", "Y", "Z": name = f"{prefix}{axis}" if (value & ignore_bits[name]) == 0: # not ignoring this axis, so unmark the other axes as ignored for resetaxis in "X", "Y", "Z": resetname = f"{prefix}{resetaxis}" value = value & ~ignore_bits[resetname] break if force_not_accel: value |= 512 # POSITION_TARGET_TYPEMASK_FORCE_SET return value def cmd_guided_forward(self, args): if len(args) != 1: print("Usage: guided forward METRES") return offset = args[0] # see also "cmd_position" in mavproxy_cmdlong.py self.master.mav.set_position_target_local_ned_send( 0, # system time in milliseconds self.settings.target_system, # target system 0, # target component mavutil.mavlink.MAV_FRAME_BODY_NED, self.build_pt_ignoremask(["X", "YAWRATE"]), # type mask (pos-x-only) float(offset), 0, 0, # position x,y,z 0, 0, 0, # velocity x,y,z 0, 0, 0, # accel x,y,z 0, 0 # yaw, yaw rate ) def mavlink_packet(self, m): mtype = m.get_type() if mtype == 'HIGH_LATENCY2': mode_map = mavutil.mode_mapping_bynumber(m.type) if mode_map and m.custom_mode in mode_map: self.master.flightmode = mode_map[m.custom_mode] def init(mpstate): '''initialise module''' return ModeModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_movinghome.py000066400000000000000000000162121504324515000231250ustar00rootroot00000000000000#!/usr/bin/env python3 ''' movinghome module André Kjellstrup, Norce This module can update the home position of the ArduPilot vehicle to the position of a moving GCS. requires package python-nmea2 ''' import os import os.path import sys from pymavlink import mavutil import errno import time import math import serial try: import pynmea2 except ImportError as e: print("\n!!! missing package !!! do: 'sudo apt install python-nmea2' -movinghome will not work without it") from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import mp_settings class movinghome(mp_module.MPModule): def __init__(self, mpstate): #Initialise module super(movinghome, self).__init__(mpstate, "movinghome", "") #latest GCS coordinates self.lat = 0 self.lon = 0 self.alt = 0 #last/set home coordinates self.lath = 0 self.lonh = 0 self.alth = 0 #misc settings self.device = "/dev/ttyUSB0" self.baud = 4800 self.updating=False self.radius = 15 #min travelled distance (m) before update self.check_interval = 3 # seconds self.last_check = time.time() self.fresh = True #fresh start/first movement self.dist = 0 self.last_decode_error_print = 0 print("\nDefault NMEA source is: %s at %s baud, change if needed before turning on." % (self.device , self.baud)) self.add_command('movinghome', self.cmd_movinghome, "movinghome module") def cmd_movinghome(self, args): '''control behaviour of the module''' if len(args) == 0: print("Usage: movinghome \n On/Off: enable position update.\n Radius defines the threshold in meters (2D) from last position, when exceeded, home position is updated.\n device and baud is the serial port setup for NMEA device.") elif args[0] == "status": self.status() elif args[0] == "on": self.movinghome_on() elif args[0] == "off": self.movinghome_off() elif args[0] == "radius": if len(args) < 2: print("Usage: moving base minimum travel radius ") return self.radius=float(args[1]) elif args[0] == "device": if len(args) < 2: print("Usage: device name; device /dev/ttyUSB2") return self.device=args[1] elif args[0] == "baud": if len(args) < 2: print("Usage: baud rate; baud 9600") return self.baud=args[1] else: print(self.usage) def status(self): #Returns information about module''' if self.updating == True: print("Last known GCS position lat %(lat)f lon=%(lon)f max radius=%(max).1fm" % {"lat": self.lath, "lon": self.lonh, "max": self.radius, }) else: print("Not updating home") print("Radius is %sm \nInterval is %ss \nDevice is %s at %s baud\n" % (self.radius, self.check_interval, self.device, self.baud )) def movinghome_on(self): #self.ser = serial.Serial('/dev/ttyUSB0',4800) self.ser = serial.Serial(self.device,self.baud) self.updating=True self.lath = 0 # ensure push of current home. print("Home position will be updated if GCS moves > %(max).1fm" % {"max": self.radius, }) def movinghome_off(self): self.updating = False print("Home position will not be updated.") def idle_task(self): #Called frequently by mavproxy if self.updating == True: data = self.ser.readline() try: data = data.decode("ascii") except UnicodeDecodeError as e: # this is probably a baudrate issue now = time.time() if now - self.last_decode_error_print > 10: print("movinghome: decode error; baudrate issue?") self.last_decode_error_print = now return if (data.startswith("$GPGGA")): msg = pynmea2.parse(data) if int(msg.num_sats) > 5: #convert LAT DD = int(float(msg.lat)/100) MM = float(msg.lat) - DD * 100 self.lat = DD + MM/60 if msg.lat_dir == "S": self.lat = -self.lat; #convert LON DD = int(float(msg.lon)/100) MM = float(msg.lon) - DD * 100 self.lon = DD + MM/60 if msg.lon_dir == "W": self.lon = -self.lon; now = time.time() if now-self.last_check > self.check_interval: self.last_check = now #check if we moved enough self.dist = self.haversine(self.lon, self.lat, self.alt, self.lonh, self.lath, self.alth) if self.dist > self.radius: if self.fresh == True: self.say("GCS position set as home") self.fresh = False else: message = "GCS moved " message2 = message + "%.0f" % self.dist + "meters" self.say("%s: %s" % (self.name,message2)) message2_enc = message2.encode(bytes) self.master.mav.statustext_send(mavutil.mavlink.MAV_SEVERITY_NOTICE, message2) self.console.writeln("home position updated") self.master.mav.command_int_send( self.settings.target_system, self.settings.target_component, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, mavutil.mavlink.MAV_CMD_DO_SET_HOME, 1, # (1, set current location as home) 0, # move on 0, # param1 0, # param2 0, # param3 0, # param4 int(self.lat*1e7), # param5 int(self.lon*1e7), # param6 0) # param7 self.lath = self.lat self.lonh = self.lon #print data self.console.writeln("%s: %s %s GNSS Quality %s Sats %s "% (self.name,self.lat,self.lon,msg.gps_qual,msg.num_sats)) def haversine(self, lon1, lat1, alt1, lon2, lat2, alt2): r_earth = 6371000 lon1, lat1, lon2, lat2 = map(math.radians, [lon1, lat1, lon2, lat2]) dlon = lon2 - lon1 dlat = lat2 - lat1 a = math.sin(dlat/2)**2 + math.cos(lat1) * math.cos(lat2) * math.sin(dlon/2)**2 c = 2 * math.asin(math.sqrt(a)) d = c*r_earth return math.sqrt(d**2+(alt1 - alt2)**2) def init(mpstate): return movinghome(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_mqtt.py000066400000000000000000000046661504324515000217540ustar00rootroot00000000000000from paho.mqtt import MQTTException from MAVProxy.modules.lib import mp_settings from MAVProxy.modules.lib import mp_module import paho.mqtt.client as mqtt import json import numbers class MqttModule(mp_module.MPModule): def __init__(self, mpstate): super(MqttModule, self).__init__(mpstate, "mqtt", "mqtt publisher") self.client = mqtt.Client() self.device_prefix = '' self.mqtt_settings = mp_settings.MPSettings( [('ip', str, '127.0.0.1'), ('port', int, '1883'), ('name', str, 'mavproxy'), ('prefix', str, '') ]) self.add_command('mqtt', self.mqtt_command, "mqtt module", ['connect', 'set (MQTTSETTING)']) self.add_completion_function('(MQTTSETTING)', self.mqtt_settings.completion) def mavlink_packet(self, m): """handle an incoming mavlink packet""" try: data = self.convert_to_dict(m) self.client.publish(f'{self.mqtt_settings.prefix}/{m.get_type()}', json.dumps(data)) except MQTTException as e: print(f'mqtt: Exception occurred: {e}') def connect(self): """connect to mqtt broker""" try: self.client.reinitialise(client_id=self.mqtt_settings.name) print(f'connecting to {self.mqtt_settings.ip}:{self.mqtt_settings.port}') self.client.connect(self.mqtt_settings.ip, int(self.mqtt_settings.port), 30) except MQTTException as e: print(f'mqtt: could not establish connection: {e}') return print('connected...') def mqtt_command(self, args): """control behaviour of the module""" if len(args) == 0: print(self.usage()) elif args[0] == 'set': self.mqtt_settings.command(args[1:]) elif args[0] == 'connect': self.connect() def usage(self): """show help on command line options""" return "Usage: mqtt " def convert_to_dict(self, message): """converts mavlink message to python dict""" if hasattr(message, '_fieldnames'): result = {} for field in message._fieldnames: result[field] = self.convert_to_dict(getattr(message, field)) return result if isinstance(message, numbers.Number): return message return str(message) def init(mpstate): """initialise module""" return MqttModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_msg.py000066400000000000000000000024371504324515000215470ustar00rootroot00000000000000#!/usr/bin/env python3 ''' Msg Module Peter barker, September 2016 Simple "msg" command sends statustext ''' from pymavlink import mavutil import time from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import mp_settings class msg(mp_module.MPModule): def __init__(self, mpstate): """Initialise module""" super(msg, self).__init__(mpstate, "msg", "") self.status_callcount = 0 self.boredom_interval = 10 # seconds self.last_bored = time.time() self.packets_mytarget = 0 self.packets_othertarget = 0 self.verbose = False self.msg_settings = mp_settings.MPSettings( [ ('verbose', bool, False), ]) self.add_command('msg', self.cmd_msg, "statustext sending", []) def usage(self): '''show help on command line options''' return "Usage: msg message" def cmd_msg(self, args): '''control behaviour of the module''' if len(args) == 0: print(self.usage()) txt = ' '.join(args) self.master.mav.statustext_send(mavutil.mavlink.MAV_SEVERITY_NOTICE, txt.encode('utf8')) def init(mpstate): '''initialise module''' return msg(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_nmeagps.py000066400000000000000000000067341504324515000224170ustar00rootroot00000000000000#!/usr/bin/env python3 ''' nmea GPS connector connect to a NMEA GPS on a serial port and provide this as location position ''' import sys, os, serial, time from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_settings from MAVProxy.modules.lib import mp_util try: import pynmea2 except ImportError as e: print('please install pynmea2 package with "sudo apt install python3-nmea2" or "python -m pip install pynmea2"') class NMEAGPSModule(mp_module.MPModule): def __init__(self, mpstate): super(NMEAGPSModule, self).__init__(mpstate, "NMEAGPS", "NMEA input") self.nmeagps_settings = mp_settings.MPSettings([ ("port", str, None), ("baudrate", int, 9600), ]) self.add_completion_function('(NMEAGPSSETTING)', self.nmeagps_settings.completion) self.add_command('nmeagps', self.cmd_nmeagps, "nmea GPS input control", ["", "set (NMEAGPSSETTING)"]) self.port = None self.position = mp_util.mp_position() def cmd_nmeagps(self, args): '''nmeagps commands''' usage = "nmeagps " if len(args) == 0: print(usage) return if args[0] == "set": self.nmeagps_settings.command(args[1:]) elif args[0] == "connect": self.cmd_connect() elif args[0] == "disconnect": self.cmd_disconnect() elif args[0] == "status": self.cmd_status() else: print(usage) def cmd_connect(self): '''connect to GPS''' try: self.port = serial.Serial(self.nmeagps_settings.port, self.nmeagps_settings.baudrate) except Exception as ex: print("Failed to open %s : %s" % (self.nmeagps_settings.port, ex)) def cmd_disconnect(self): '''disconnect from GPS''' if self.port is not None: self.port.close() self.port = None else: print("GPS not connected") def cmd_status(self): '''status''' if self.port is None: print("GPS not connected") return if self.position.timestamp is None: print("No position") return print(self.position) def idle_task(self): '''check for new data''' if self.port is None: return line = self.port.readline() try: line = line.decode("ascii") except UnicodeDecodeError as e: return if not line.startswith("$"): return if line[3:6] == "GGA": msg = pynmea2.parse(line) self.position.num_sats = int(msg.num_sats) self.position.latitude = msg.latitude self.position.longitude = msg.longitude self.position.altitude = msg.altitude self.position.timestamp = time.time() self.mpstate.position = self.position if line[3:6] == "RMC": msg = pynmea2.parse(line) if msg.true_course is not None: self.position.ground_course = msg.true_course else: self.position.ground_course = 0.0 self.position.ground_speed = msg.spd_over_grnd self.position.timestamp = time.time() self.mpstate.position = self.position def init(mpstate): '''initialise module''' return NMEAGPSModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_nmeaout.py000066400000000000000000000120511504324515000224220ustar00rootroot00000000000000#!/usr/bin/env python3 ''' nmea serial output module Matthew Ridley August 2012 UAV outback challenge search and rescue rules 5.15 Situational Awareness Requirement It is highly desirable that teams provide: - an NMEA 0183 serial output with GPRMC and GPGGA sentences for aircraft current location ''' import sys, os, serial from MAVProxy.modules.lib import mp_module class NMEAOutModule(mp_module.MPModule): def __init__(self, mpstate): super(NMEAOutModule, self).__init__(mpstate, "nmeaout", "NMEA output") self.port = None self.baudrate = 4800 self.data = 8 self.parity = 'N' self.stop = 1 self.serial = None self.output_time = 0.0 self.add_command('nmeaout', self.cmd_nmeaout, "nmea output control") def cmd_nmeaout(self, args): '''set nmea''' usage = "nmeaout port [baudrate data parity stop]" if len(args) == 0: if self.port is None: print("NMEA output port not set") print(usage) else: print("NMEA output port %s, %d, %d, %s, %d" % (str(self.port), self.baudrate, self.data, str(self.parity), self.stop)) return if len(args) > 0: self.port = str(args[0]) if len(args) > 1: self.baudrate = int(args[1]) if len(args) > 2: self.data = int(args[2]) if len(args) > 3: self.parity = str(args[3]) if len(args) > 4: self.stop = int(args[4]) if self.serial is not None: self.serial.close() self.serial = None if len(args) > 0: if self.port.startswith("/dev/"): try: self.serial = serial.Serial(self.port, self.baudrate, self.data, self.parity, self.stop) except serial.SerialException as se: print("Failed to open output port %s:%s" % (self.port, se)) else: self.serial = open(self.port, mode='w') def format_date(self, utc_sec): import time tm_t = time.gmtime(utc_sec) return "%02d%02d%02d" % (tm_t.tm_mday, tm_t.tm_mon, tm_t.tm_year % 100) def format_time(self, utc_sec): import time tm_t = time.gmtime(utc_sec) subsecs = utc_sec - int(utc_sec); return "%02d%02d%05.3f" % (tm_t.tm_hour, tm_t.tm_min, tm_t.tm_sec + subsecs) def format_lat(self, lat): deg = abs(lat) minutes = (deg - int(deg))*60 return "%02d%08.5f,%c" % (int(deg), minutes, 'S' if lat < 0 else 'N') def format_lon(self, lon): deg = abs(lon) minutes = (deg - int(deg))*60 return "%03d%08.5f,%c" % (int(deg), minutes, 'W' if lon < 0 else 'E') # tst = "$GPRMC,225446,A,4916.45,N,12311.12,W,000.5,054.7,191194,020.3,E*68" # print ("*%02X" % nmea_checksum(tst)) def nmea_checksum(self, msg): d = msg[1:] cs = 0 for i in d: cs ^= ord(i) return cs def format_gga(self, utc_sec, lat, lon, fix, nsat, hdop, alt): fmt = "$GPGGA,%s,%s,%s,%01d,%02d,%04.1f,%07.2f,M,0.0,M,," msg = fmt % (self.format_time(utc_sec), self.format_lat(lat), self.format_lon(lon), fix, nsat, hdop, alt) return msg + "*%02X" % self.nmea_checksum(msg) def format_rmc(self, utc_sec, fix, lat, lon, speed, course): fmt = "$GPRMC,%s,%s,%s,%s,%.2f,%.2f,%s,," msg = fmt % (self.format_time(utc_sec), fix, self.format_lat(lat), self.format_lon(lon), speed, course, self.format_date(utc_sec)) return msg + "*%02X" % self.nmea_checksum(msg) def mavlink_packet(self, m): '''handle an incoming mavlink packet''' import time now_time = time.time() if abs(self.output_time - now_time) < 1.0: return if m.get_type() == 'GPS_RAW_INT': # for GPRMC and GPGGA utc_sec = now_time fix_status = 'A' if (m.fix_type > 1) else 'V' lat = m.lat/1.0e7 lon = m.lon/1.0e7 # for GPRMC knots = ((m.vel/100.0)/1852.0)*3600 course = m.cog/100.0 # for GPGGA fix_quality = 1 if (m.fix_type > 1) else 0 # 0/1 for (in)valid or 2 DGPS num_sat = m.satellites_visible hdop = m.eph/100.0 altitude = m.alt/1000.0 # print format_gga(utc_sec, lat, lon, fix_quality, num_sat, hdop, altitude) # print format_rmc(utc_sec, fix_status, lat, lon, knots, course) gga = self.format_gga(utc_sec, lat, lon, fix_quality, num_sat, hdop, altitude) rmc = self.format_rmc(utc_sec, fix_status, lat, lon, knots, course) self.output_time = now_time #print(gga+'\r') #print(rmc+'\r') #print(self.serial) if self.serial is not None: self.serial.write(gga + '\r\n') self.serial.write(rmc + '\r\n') self.serial.flush() def init(mpstate): '''initialise module''' return NMEAOutModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_nokov/000077500000000000000000000000001504324515000215355ustar00rootroot00000000000000MAVProxy-1.8.74/MAVProxy/modules/mavproxy_nokov/__init__.py000077500000000000000000000103351504324515000236530ustar00rootroot00000000000000""" use nokov data to provide motion capture data it works with nokov software """ import time from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_settings #from MAVProxy.modules.mavproxy_nokov.nokov import nokovsdk Descriptor_MarkerSet = 0 Descriptor_RigidBody = 1 Descriptor_Skeleton = 2 Descriptor_ForcePlate = 3 nokov_module = None def py_data_func(pFrameOfMocapData, userdata): if pFrameOfMocapData == None: print("Not get the data frame.\n") return frameData = pFrameOfMocapData.contents names_rigid = nokov_module.names_rigid for i in range(frameData.nRigidBodies): if i >= len(names_rigid): break rigid = frameData.RigidBodies[i] name = names_rigid[i] if nokov_module.nokov_settings.tracker_name == name: print('%f,%f,%f' % (rigid.x, rigid.y, rigid.z)) now = time.time() time_us = int(now * 1.0e6) x = rigid.x / 1000 y = rigid.y / 1000 z = rigid.z / 1000 qx = rigid.qx qy = rigid.qy qz = rigid.qz qw = rigid.qw if nokov_module.nokov_settings.axis == 'z': nokov_module.master.mav.att_pos_mocap_send(time_us, (qw, qy, qx, -qz), y, x, -z) elif nokov_module.nokov_settings.axis == 'y': nokov_module.master.mav.att_pos_mocap_send(time_us, (qw, qx, qz, -qy), x, z, -y) return class NokovModule(mp_module.MPModule): def __init__(self, mpstate): super(NokovModule, self).__init__(mpstate, "nokov", "nokov") global nokov_module nokov_module = self self.client = None self.names_rigid = [] self.nokov_settings = mp_settings.MPSettings( [('host', str, '127.0.0.1'), ('axis', str, 'z'), ('tracker_name', str, None)] ) self.add_command('nokov', self.cmd_nokov, "nokov control", ['', '', 'set (NOKOVSETTING)']) def cmd_stop(self): del self.client self.client = None self.names_rigid = [] def cmd_start(self): if self.client != None: print('The connection already exists, please disconnect first(command stop).') return print('serverIp is %s' % self.nokov_settings.host) client = nokovsdk.PySDKClient() ver = client.PyNokovVersion() print('SeekerSDK ver. %d.%d.%d.%d' % (ver[0], ver[1], ver[2], ver[3])) client.PySetDataCallback(py_data_func, None) ret = client.Initialize(bytes(self.nokov_settings.host, encoding="utf8")) if ret == 0: print("Connect to the Seeker Succeed") dsc = nokovsdk.DataDescriptions() handle = nokovsdk.c_void_p() ret = client.PyGetDataDescriptionsEx(dsc, handle) if ret == 0: print("GetDataDescriptions Succeed") self.parseDescriptions(dsc) self.client = client client.PyFreeDataDescriptionsEx(handle) else: print("GetDataDescriptions Failed: [%d]" % ret) self.cmd_stop() else: print("Connect Failed: [%d]" % ret) self.cmd_stop() def parseDescriptions(self, dsc): for i in range(dsc.nDataDescriptions): dc = dsc.arrDataDescriptions[i] if dc.type == Descriptor_RigidBody: name = str(dc.Data.RigidBodyDescription.contents.szName, encoding="utf8") self.names_rigid.append(name) print('Descriptions rigid:', name) def usage(self): '''show help on command line options''' return "Usage: nokov " def cmd_nokov(self, args): '''control behaviour of the module''' if len(args) == 0: print(self.usage()) elif args[0] == "start": self.cmd_start() elif args[0] == "stop": self.cmd_stop() elif args[0] == "set": self.nokov_settings.command(args[1:]) else: print(self.usage()) def idle_task(self): '''called rapidly by mavproxy''' pass def init(mpstate): '''initialise module''' return NokovModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_nsh.py000066400000000000000000000075401504324515000215510ustar00rootroot00000000000000#!/usr/bin/env python3 '''remote nsh console handling''' import time, os, fnmatch, sys, time from pymavlink import mavutil, mavwp from MAVProxy.modules.lib import mp_settings from MAVProxy.modules.lib import mp_module class NSHModule(mp_module.MPModule): def __init__(self, mpstate): super(NSHModule, self).__init__(mpstate, "nsh", "remote nsh shell") self.add_command('nsh', self.cmd_nsh, 'nsh shell control', ['', 'set (SERIALSETTING)']) self.serial_settings = mp_settings.MPSettings( [ ('port', int, mavutil.mavlink.SERIAL_CONTROL_DEV_SHELL), ('baudrate', int, 57600) ] ) self.add_completion_function('(SERIALSETTING)', self.serial_settings.completion) self.last_packet = time.time() self.last_check = time.time() self.started = False def mavlink_packet(self, m): '''handle an incoming mavlink packet''' if m.get_type() == 'SERIAL_CONTROL': data = m.data[:m.count] if m.count > 0: s = ''.join(str(chr(x)) for x in data) if self.mpstate.system == 'Windows': # strip nsh ansi codes s = s.replace("\033[K","") sys.stdout.write(s) self.last_packet = time.time() def stop(self): '''stop nsh input''' self.set_prompt(self.status.flightmode + "> ") self.mpstate.functions.input_handler = None self.started = False # unlock the port mav = self.master.mav mav.serial_control_send(self.serial_settings.port, 0, 0, self.serial_settings.baudrate, 0, [0]*70) def send(self, line): '''send some bytes''' line = line.strip() if line == ".": self.stop() return mav = self.master.mav if line != '+++': line += "\r\n" buf = [ord(x) for x in line] buf.extend([0]*(70-len(buf))) flags = mavutil.mavlink.SERIAL_CONTROL_FLAG_RESPOND flags |= mavutil.mavlink.SERIAL_CONTROL_FLAG_MULTI flags |= mavutil.mavlink.SERIAL_CONTROL_FLAG_EXCLUSIVE mav.serial_control_send(self.serial_settings.port, flags, 0, self.serial_settings.baudrate, len(line), buf) def idle_task(self): '''handle mavlink packets''' if not self.started: return now = time.time() if now - self.last_packet < 1: timeout = 0.05 else: timeout = 0.2 if now - self.last_check > timeout: self.last_check = now mav = self.master.mav flags = mavutil.mavlink.SERIAL_CONTROL_FLAG_RESPOND flags |= mavutil.mavlink.SERIAL_CONTROL_FLAG_MULTI flags |= mavutil.mavlink.SERIAL_CONTROL_FLAG_EXCLUSIVE mav.serial_control_send(self.serial_settings.port, flags, 0, self.serial_settings.baudrate, 0, [0]*70) def cmd_nsh(self, args): '''nsh shell commands''' usage = "Usage: nsh " if len(args) < 1: print(usage) return if args[0] == "start": self.mpstate.functions.input_handler = self.send self.started = True self.mpstate.rl.set_prompt("") elif args[0] == "stop": self.stop() elif args[0] == "set": self.serial_settings.command(args[1:]) else: print(usage) def init(mpstate): '''initialise module''' return NSHModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_ntrip.py000066400000000000000000000151661504324515000221200ustar00rootroot00000000000000""" send NTRIP data to flight controller """ import random import time from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import ntrip from MAVProxy.modules.lib import mp_settings class NtripModule(mp_module.MPModule): def __init__(self, mpstate): super(NtripModule, self).__init__(mpstate, "ntrip", "ntrip", public=False) self.ntrip_settings = mp_settings.MPSettings( [('caster', str, None), ('port', int, 2101), ('username', str, 'IBS'), ('password', str, 'IBS'), ('mountpoint', str, None), ('logfile', str, None), ('sendalllinks', bool, False), ('frag_drop_pct', float, 0), ('sendmul', int, 1)]) self.add_command('ntrip', self.cmd_ntrip, 'NTRIP control', ["", "", "", "set (NTRIPSETTING)"]) self.add_completion_function('(NTRIPSETTING)', self.ntrip_settings.completion) self.pos = None self.pkt_count = 0 self.last_pkt = None self.last_restart = None self.last_rate = None self.rate_total = 0 self.ntrip = None self.start_pending = False self.rate = 0 self.logfile = None self.id_counts = {} self.last_by_id = {} def mavlink_packet(self, msg): '''handle an incoming mavlink packet''' if msg.get_type() in ['GPS_RAW_INT', 'GPS2_RAW']: if msg.fix_type >= 3: self.pos = (msg.lat*1.0e-7, msg.lon*1.0e-7, msg.alt*1.0e-3) def log_rtcm(self, data): '''optionally log rtcm data''' if self.ntrip_settings.logfile is None: return if self.logfile is None: self.logfile = open(self.ntrip_settings.logfile, 'wb') if self.logfile is not None: self.logfile.write(data) def idle_task(self): '''called on idle''' if self.start_pending and self.ntrip is None and self.pos is not None: self.cmd_start() if self.ntrip is None: return data = self.ntrip.read() if data is None: now = time.time() if (self.last_pkt is not None and now - self.last_pkt > 15 and (self.last_restart is None or now - self.last_restart > 30)): print("NTRIP restart") self.ntrip = None self.start_pending = True self.last_restart = now return if time.time() - self.ntrip.dt_last_gga_sent > 2: self.ntrip.setPosition(self.pos[0], self.pos[1]) self.ntrip.send_gga() self.log_rtcm(data) rtcm_id = self.ntrip.get_ID() if not rtcm_id in self.id_counts: self.id_counts[rtcm_id] = 0 self.last_by_id[rtcm_id] = data[:] self.id_counts[rtcm_id] += 1 blen = len(data) if blen > 4*180: # can't send this with GPS_RTCM_DATA return total_len = blen self.rate_total += blen * self.ntrip_settings.sendmul if blen > 180: flags = 1 # fragmented else: flags = 0 # add in the sequence number flags |= (self.pkt_count & 0x1F) << 3 fragment = 0 while blen > 0: send_data = bytearray(data[:180]) frag_len = len(send_data) data = data[frag_len:] if frag_len < 180: send_data.extend(bytearray([0]*(180-frag_len))) if self.ntrip_settings.sendalllinks: links = self.mpstate.mav_master else: links = [self.master] for link in links: for d in range(self.ntrip_settings.sendmul): if random.random() * 100 < self.ntrip_settings.frag_drop_pct: continue link.mav.gps_rtcm_data_send(flags | (fragment<<1), frag_len, send_data) fragment += 1 blen -= frag_len self.pkt_count += 1 now = time.time() if now - self.last_rate > 1: dt = now - self.last_rate rate_now = self.rate_total / float(dt) self.rate = 0.9 * self.rate + 0.1 * rate_now self.last_rate = now self.rate_total = 0 self.last_pkt = now def cmd_ntrip(self, args): '''ntrip command handling''' if len(args) <= 0: print("Usage: ntrip ") return if args[0] == "start": self.cmd_start() if args[0] == "stop": self.ntrip = None self.start_pending = False elif args[0] == "status": self.ntrip_status() elif args[0] == "set": self.ntrip_settings.command(args[1:]) def ntrip_status(self): '''show ntrip status''' now = time.time() if self.ntrip is None: print("ntrip: Not started") return elif self.last_pkt is None: print("ntrip: no data") return frame_size = 0 for id in sorted(self.id_counts.keys()): print(" %4u: %u (len %u)" % (id, self.id_counts[id], len(self.last_by_id[id]))) frame_size += len(self.last_by_id[id]) print("ntrip: %u packets, %.1f bytes/sec last %.1fs ago framesize %u" % (self.pkt_count, self.rate, now - self.last_pkt, frame_size)) def cmd_start(self): '''start ntrip link''' if self.ntrip_settings.caster is None: print("Require caster") return if self.ntrip_settings.mountpoint is None: print("Require mountpoint") return if self.pos is None: print("Start delayed pending position") self.start_pending = True return user = self.ntrip_settings.username + ":" + self.ntrip_settings.password self.ntrip = ntrip.NtripClient(user=user, port=self.ntrip_settings.port, caster=self.ntrip_settings.caster, mountpoint=self.ntrip_settings.mountpoint, lat=self.pos[0], lon=self.pos[1], height=self.pos[2]) print("NTRIP started") self.start_pending = False self.last_rate = time.time() self.rate_total = 0 def init(mpstate): '''initialise module''' return NtripModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_oldwp.py000066400000000000000000001521501504324515000221040ustar00rootroot00000000000000#!/usr/bin/env python3 '''waypoint command handling''' import copy import os import struct import time from pymavlink import mavutil, mavwp from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_util if mp_util.has_wxpython: from MAVProxy.modules.lib.mp_menu import MPMenuCallFileDialog from MAVProxy.modules.lib.mp_menu import MPMenuCallTextDialog from MAVProxy.modules.lib.mp_menu import MPMenuItem from MAVProxy.modules.lib.mp_menu import MPMenuSubMenu try: # py2 from StringIO import StringIO as SIO except ImportError: # py3 from io import BytesIO as SIO class WPModule(mp_module.MPModule): def __init__(self, mpstate): super(WPModule, self).__init__(mpstate, "wp", "waypoint handling", public=True) self.wp_op = None self.wp_requested = {} self.wp_received = {} self.wp_save_filename = None self.wploader_by_sysid = {} self.loading_waypoints = False self.loading_waypoint_lasttime = time.time() self.last_waypoint = 0 self.wp_period = mavutil.periodic_event(0.5) self.undo_wp = None self.undo_type = None self.undo_wp_idx = -1 self.upload_start = None self.last_get_home = time.time() self.add_command('wp', self.cmd_wp, 'waypoint management', ["", # noqa " (FILENAME)"]) self.mission_ftp_name = "@MISSION/mission.dat" self.ftp_count = None # support for setting mission waypoint via command self.accepts_DO_SET_MISSION_CURRENT = {} # keyed by (sysid/compid) if self.continue_mode and self.logdir is not None: waytxt = os.path.join(mpstate.status.logdir, 'way.txt') if os.path.exists(waytxt): self.wploader.load(waytxt) print("Loaded waypoints from %s" % waytxt) self.menu_added_console = False self.menu_added_map = False if mp_util.has_wxpython: self.menu = MPMenuSubMenu( 'Mission', items=[ MPMenuItem('Editor', 'Editor', '# wp editor'), MPMenuItem('Clear', 'Clear', '# wp clear'), MPMenuItem('List', 'List', '# wp list'), MPMenuItem('FTP', 'FTP', '# wp ftp'), MPMenuItem( 'Load', 'Load', '# wp load ', handler=MPMenuCallFileDialog( flags=('open',), title='Mission Load', wildcard='MissionFiles(*.txt.*.wp,*.waypoints)|*.txt;*.wp;*.waypoints')), MPMenuItem( 'Save', 'Save', '# wp save ', handler=MPMenuCallFileDialog( flags=('save', 'overwrite_prompt'), title='Mission Save', wildcard='MissionFiles(*.txt.*.wp,*.waypoints)|*.txt;*.wp;*.waypoints')), MPMenuItem( 'Draw', 'Draw', '# wp draw ', handler=MPMenuCallTextDialog( title='Mission Altitude (m)', default=100)), MPMenuItem('Undo', 'Undo', '# wp undo'), MPMenuItem('Loop', 'Loop', '# wp loop'), MPMenuItem( 'Add Takeoff', 'Add Takeoff', '# wp add_takeoff ', handler=MPMenuCallTextDialog( title='Takeoff Altitude (m)', default=20)), MPMenuItem('Add Landing', 'Add Landing', '# wp add_landing'), MPMenuItem('Add RTL', 'Add RTL', '# wp add_rtl'), MPMenuItem('Add DO_LAND_START', 'Add DO_LAND_START', '# wp add_dls'), MPMenuItem('Reset', 'Reset', '# wp set 0'), ] ) @property def wploader(self): '''per-sysid wploader''' if self.target_system not in self.wploader_by_sysid: self.wploader_by_sysid[self.target_system] = mavwp.MAVWPLoader() self.wploader_by_sysid[self.target_system].expected_count = 0 return self.wploader_by_sysid[self.target_system] def missing_wps_to_request(self): ret = [] tnow = time.time() next_seq = self.wploader.count() for i in range(5): seq = next_seq+i if seq+1 > self.wploader.expected_count: continue if seq in self.wp_requested and tnow - self.wp_requested[seq] < 2: continue ret.append(seq) return ret def is_quadplane(self): Q_ENABLE = int(self.get_mav_param("Q_ENABLE", 0)) return Q_ENABLE > 0 def send_wp_requests(self, wps=None): '''send some more WP requests''' if wps is None: wps = self.missing_wps_to_request() tnow = time.time() for seq in wps: self.wp_requested[seq] = tnow if self.settings.wp_use_mission_int: self.master.mav.mission_request_int_send(self.master.target_system, self.master.target_component, seq) else: self.master.mav.mission_request_send(self.master.target_system, self.master.target_component, seq) def wp_status(self): '''show status of wp download''' try: print("Have %u of %u waypoints" % (self.wploader.count()+len(self.wp_received), self.wploader.expected_count)) except Exception: print("Have %u waypoints" % (self.wploader.count()+len(self.wp_received))) def mavlink_packet(self, m): '''handle an incoming mavlink packet''' mtype = m.get_type() if mtype in ['MISSION_COUNT']: if getattr(m, 'mission_type', 0) != 0: # this is not a mission item, likely fence return if self.wp_op is None: if self.wploader.expected_count != m.count: self.console.writeln("Mission is stale") else: self.wploader.clear() self.console.writeln("Requesting %u waypoints t=%s now=%s" % ( m.count, time.asctime(time.localtime(m._timestamp)), time.asctime())) self.wploader.expected_count = m.count self.send_wp_requests() elif mtype in ['MISSION_ITEM', 'MISSION_ITEM_INT'] and self.wp_op is not None: if m.get_type() == 'MISSION_ITEM_INT': if getattr(m, 'mission_type', 0) != 0: # this is not a mission item, likely fence return # our internal structure assumes MISSION_ITEM''' m = self.wp_from_mission_item_int(m) if m.seq < self.wploader.count(): # print("DUPLICATE %u" % m.seq) return if m.seq+1 > self.wploader.expected_count: self.console.writeln("Unexpected waypoint number %u - expected %u" % (m.seq, self.wploader.count())) self.wp_received[m.seq] = m next_seq = self.wploader.count() while next_seq in self.wp_received: m = self.wp_received.pop(next_seq) self.wploader.add(m) next_seq += 1 if self.wploader.count() != self.wploader.expected_count: # print("m.seq=%u expected_count=%u" % (m.seq, self.wploader.expected_count)) self.send_wp_requests() return if self.wp_op == 'list': self.show_and_save(m.get_srcSystem()) self.loading_waypoints = False elif self.wp_op == "save": self.save_waypoints(self.wp_save_filename) self.wp_op = None self.wp_requested = {} self.wp_received = {} elif mtype in ["MISSION_REQUEST"]: self.process_waypoint_request(m, self.master) elif mtype in ["MISSION_CURRENT"]: if m.seq != self.last_waypoint: self.last_waypoint = m.seq if self.settings.wpupdates: self.say("waypoint %u" % m.seq, priority='message') elif mtype == "MISSION_ITEM_REACHED": wp = self.wploader.wp(m.seq) if wp is None: # should we spit out a warning?! # self.say("No waypoints") pass else: if wp.command == mavutil.mavlink.MAV_CMD_DO_LAND_START: alt_offset = self.get_mav_param('ALT_OFFSET', 0) if alt_offset > 0.005: self.say("ALT OFFSET IS NOT ZERO passing DO_LAND_START") elif mtype == "COMMAND_ACK": # check to see if the vehicle has bounced our attempts to # set the current mission item via mavlink command (as # opposed to the old message): if m.command == mavutil.mavlink.MAV_CMD_DO_SET_MISSION_CURRENT: key = (m.get_srcSystem(), m.get_srcComponent()) if m.result == mavutil.mavlink.MAV_RESULT_UNSUPPORTED: # stop sending the commands: self.accepts_DO_SET_MISSION_CURRENT[key] = False elif m.result in [mavutil.mavlink.MAV_RESULT_ACCEPTED]: self.accepts_DO_SET_MISSION_CURRENT[key] = True def idle_task(self): '''handle missing waypoints''' if self.wp_period.trigger(): # cope with packet loss fetching mission if (self.master is not None and self.master.time_since('MISSION_ITEM') >= 2 and self.wploader.count() < getattr(self.wploader, 'expected_count', 0)): wps = self.missing_wps_to_request() print("re-requesting WPs %s" % str(wps)) self.send_wp_requests(wps) if self.module('console') is not None: if not self.menu_added_console: self.menu_added_console = True self.module('console').add_menu(self.menu) else: self.menu_added_console = False if self.module('map') is not None: if not self.menu_added_map: self.menu_added_map = True self.module('map').add_menu(self.menu) else: self.menu_added_map = False if (self.master is not None and 'HOME_POSITION' not in self.master.messages and time.time() - self.last_get_home > 2): self.master.mav.command_long_send( self.settings.target_system, 0, mavutil.mavlink.MAV_CMD_GET_HOME_POSITION, 0, 0, 0, 0, 0, 0, 0, 0) self.last_get_home = time.time() def has_location(self, cmd_id): '''return True if a WP command has a location''' if cmd_id in mavutil.mavlink.enums['MAV_CMD'].keys(): cmd_enum = mavutil.mavlink.enums['MAV_CMD'][cmd_id] # default to having location for older installs of pymavlink # which don't have the attribute return getattr(cmd_enum, 'has_location', True) return False def wp_to_mission_item_int(self, wp): '''convert a MISSION_ITEM to a MISSION_ITEM_INT. We always send as MISSION_ITEM_INT to give cm level accuracy ''' if wp.get_type() == 'MISSION_ITEM_INT': return wp if self.has_location(wp.command): p5 = int(wp.x*1.0e7) p6 = int(wp.y*1.0e7) else: p5 = int(wp.x) p6 = int(wp.y) wp_int = mavutil.mavlink.MAVLink_mission_item_int_message( wp.target_system, wp.target_component, wp.seq, wp.frame, wp.command, wp.current, wp.autocontinue, wp.param1, wp.param2, wp.param3, wp.param4, p5, p6, wp.z ) return wp_int def wp_from_mission_item_int(self, wp): '''convert a MISSION_ITEM_INT to a MISSION_ITEM''' if self.has_location(wp.command): p5 = wp.x*1.0e-7 p6 = wp.y*1.0e-7 else: p5 = wp.x p6 = wp.y wp2 = mavutil.mavlink.MAVLink_mission_item_message(wp.target_system, wp.target_component, wp.seq, wp.frame, wp.command, wp.current, wp.autocontinue, wp.param1, wp.param2, wp.param3, wp.param4, p5, p6, wp.z) # preserve srcSystem as that is used for naming waypoint file wp2._header.srcSystem = wp.get_srcSystem() wp2._header.srcComponent = wp.get_srcComponent() return wp2 def process_waypoint_request(self, m, master): '''process a waypoint request from the master''' if (m.target_system != self.settings.source_system or m.target_component != self.settings.source_component): # self.console.error("Mission request is not for me") return if (not self.loading_waypoints or time.time() > self.loading_waypoint_lasttime + 10.0): self.loading_waypoints = False # self.console.error("not loading waypoints") return if m.seq >= self.wploader.count(): self.console.error("Request for bad waypoint %u (max %u)" % (m.seq, self.wploader.count())) return wp = self.wploader.wp(m.seq) wp.target_system = self.target_system wp.target_component = self.target_component if self.settings.wp_use_mission_int: wp_send = self.wp_to_mission_item_int(wp) else: wp_send = wp self.master.mav.send(wp_send) self.loading_waypoint_lasttime = time.time() self.mpstate.console.set_status('Mission', 'Mission %u/%u' % (m.seq, self.wploader.count()-1)) if m.seq == self.wploader.count() - 1: self.loading_waypoints = False print("Loaded %u waypoint in %.2fs" % (self.wploader.count(), time.time() - self.upload_start)) self.console.writeln("Sent all %u waypoints" % self.wploader.count()) def send_all_waypoints(self): '''send all waypoints to vehicle''' self.upload_start = time.time() self.master.waypoint_clear_all_send() if self.wploader.count() == 0: return self.loading_waypoints = True self.loading_waypoint_lasttime = time.time() self.master.waypoint_count_send(self.wploader.count()) def load_waypoints(self, filename): '''load waypoints from a file''' self.wploader.target_system = self.target_system self.wploader.target_component = self.target_component try: # need to remove the leading and trailing quotes in filename self.wploader.load(filename.strip('"')) except Exception as msg: print("Unable to load %s - %s" % (filename, msg)) return print("Loaded %u waypoints from %s" % (self.wploader.count(), filename)) self.send_all_waypoints() def update_waypoints(self, filename, wpnum): '''update waypoints from a file''' self.wploader.target_system = self.target_system self.wploader.target_component = self.target_component try: self.wploader.load(filename) except Exception as msg: print("Unable to load %s - %s" % (filename, msg)) return if self.wploader.count() == 0: print("No waypoints found in %s" % filename) return if wpnum == -1: print("Loaded %u updated waypoints from %s" % (self.wploader.count(), filename)) elif wpnum >= self.wploader.count(): print("Invalid waypoint number %u" % wpnum) return else: print("Loaded updated waypoint %u from %s" % (wpnum, filename)) self.loading_waypoints = True self.loading_waypoint_lasttime = time.time() if wpnum == -1: start = 0 end = self.wploader.count()-1 else: start = wpnum end = wpnum self.master.mav.mission_write_partial_list_send( self.target_system, self.target_component, start, end) def save_waypoints(self, filename): '''save waypoints to a file''' try: # need to remove the leading and trailing quotes in filename self.wploader.save(filename.strip('"')) except Exception as msg: print("Failed to save %s - %s" % (filename, msg)) return print("Saved %u waypoints to %s" % (self.wploader.count(), filename)) def save_waypoints_csv(self, filename): '''save waypoints to a file in a human readable CSV file''' try: # need to remove the leading and trailing quotes in filename self.wploader.savecsv(filename.strip('"')) except Exception as msg: print("Failed to save %s - %s" % (filename, msg)) return print("Saved %u waypoints to CSV %s" % (self.wploader.count(), filename)) def cmd_wp_move(self, args): '''handle wp move''' if len(args) != 1: print("usage: wp move WPNUM") return idx = int(args[0]) if idx < 1 or idx > self.wploader.count(): print("Invalid wp number %u" % idx) return latlon = self.mpstate.click_location if latlon is None: print("No map click position available") return wp = self.wploader.wp(idx) # setup for undo self.undo_wp = copy.copy(wp) self.undo_wp_idx = idx self.undo_type = "move" (lat, lon) = latlon if (len(self.module_matching('terrain')) > 0 and wp.frame == mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT and self.settings.wpterrainadjust): alt1 = self.module('terrain').ElevationModel.GetElevation(lat, lon) alt2 = self.module('terrain').ElevationModel.GetElevation(wp.x, wp.y) if alt1 is not None and alt2 is not None: wp.z += alt1 - alt2 wp.x = lat wp.y = lon wp.target_system = self.target_system wp.target_component = self.target_component self.loading_waypoints = True self.loading_waypoint_lasttime = time.time() self.master.mav.mission_write_partial_list_send(self.target_system, self.target_component, idx, idx) self.wploader.set(wp, idx) print("Moved WP %u to %f, %f at %.1fm" % (idx, lat, lon, wp.z)) def is_location_command(self, cmd): '''see if cmd is a MAV_CMD with a latitude/longitude''' mav_cmd = mavutil.mavlink.enums['MAV_CMD'] if cmd not in mav_cmd: return False return getattr(mav_cmd[cmd], 'has_location', True) def is_location_wp(self, w): '''see if w.command is a MAV_CMD with a latitude/longitude''' if w.x == 0 and w.y == 0: return False return self.is_location_command(w.command) def cmd_wp_movemulti(self, args, latlon=None): '''handle wp move of multiple waypoints''' if len(args) < 3: print("usage: wp movemulti WPNUM WPSTART WPEND ") return idx = int(args[0]) if idx < 1 or idx > self.wploader.count(): print("Invalid wp number %u" % idx) return wpstart = int(args[1]) if wpstart < 1 or wpstart > self.wploader.count(): print("Invalid wp number %u" % wpstart) return wpend = int(args[2]) if wpend < 1 or wpend > self.wploader.count(): print("Invalid wp number %u" % wpend) return if idx < wpstart or idx > wpend: print("WPNUM must be between WPSTART and WPEND") return # optional rotation about center point if len(args) > 3: rotation = float(args[3]) else: rotation = 0 if latlon is None: latlon = self.mpstate.click_location if latlon is None: print("No map click position available") return wp = self.wploader.wp(idx) if not self.is_location_wp(wp): print("WP must be a location command") return (lat, lon) = latlon distance = mp_util.gps_distance(wp.x, wp.y, lat, lon) bearing = mp_util.gps_bearing(wp.x, wp.y, lat, lon) for wpnum in range(wpstart, wpend+1): wp = self.wploader.wp(wpnum) if wp is None or not self.is_location_wp(wp): continue (newlat, newlon) = mp_util.gps_newpos(wp.x, wp.y, bearing, distance) if wpnum != idx and rotation != 0: # add in rotation d2 = mp_util.gps_distance(lat, lon, newlat, newlon) b2 = mp_util.gps_bearing(lat, lon, newlat, newlon) (newlat, newlon) = mp_util.gps_newpos(lat, lon, b2+rotation, d2) if (len(self.module_matching('terrain')) > 0 and wp.frame != mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT and self.settings.wpterrainadjust): alt1 = self.module('terrain').ElevationModel.GetElevation(newlat, newlon) alt2 = self.module('terrain').ElevationModel.GetElevation(wp.x, wp.y) if alt1 is not None and alt2 is not None: wp.z += alt1 - alt2 wp.x = newlat wp.y = newlon wp.target_system = self.target_system wp.target_component = self.target_component self.wploader.set(wp, wpnum) self.loading_waypoints = True self.loading_waypoint_lasttime = time.time() self.master.mav.mission_write_partial_list_send(self.target_system, self.target_component, wpstart, wpend+1) print("Moved WPs %u:%u to %f, %f rotation=%.1f" % (wpstart, wpend, lat, lon, rotation)) def cmd_wp_move_rel_home(self, args, latlon=None): '''handle wp move to a point relative to home by dist/bearing''' if len(args) < 3: print("usage: wp moverelhome WPNUM dist bearing") return idx = int(args[0]) if idx < 1 or idx > self.wploader.count(): print("Invalid wp number %u" % idx) return dist = float(args[1]) bearing = float(args[2]) home = self.get_home() if home is None: print("Need home") return wp = self.wploader.wp(idx) if not self.is_location_wp(wp): print("Not a nav command") return (newlat, newlon) = mp_util.gps_newpos(home.x, home.y, bearing, dist) wp.x = newlat wp.y = newlon wp.target_system = self.target_system wp.target_component = self.target_component self.wploader.set(wp, idx) self.loading_waypoints = True self.loading_waypoint_lasttime = time.time() self.master.mav.mission_write_partial_list_send(self.target_system, self.target_component, idx, idx+1) print("Moved WP %u %.1fm bearing %.1f from home" % (idx, dist, bearing)) def cmd_wp_changealt(self, args): '''handle wp change target alt of multiple waypoints''' if len(args) < 2: print("usage: wp changealt WPNUM NEWALT ") return idx = int(args[0]) if idx < 1 or idx > self.wploader.count(): print("Invalid wp number %u" % idx) return newalt = float(args[1]) if len(args) >= 3: count = int(args[2]) else: count = 1 for wpnum in range(idx, idx+count): wp = self.wploader.wp(wpnum) if not self.is_location_wp(wp): continue wp.z = newalt wp.target_system = self.target_system wp.target_component = self.target_component self.wploader.set(wp, wpnum) self.loading_waypoints = True self.loading_waypoint_lasttime = time.time() self.master.mav.mission_write_partial_list_send(self.target_system, self.target_component, idx, idx+count) print("Changed alt for WPs %u:%u to %f" % (idx, idx+(count-1), newalt)) def cmd_wp_remove(self, args): '''handle wp remove''' if len(args) != 1: print("usage: wp remove WPNUM") return idx = int(args[0]) if idx < 0 or idx >= self.wploader.count(): print("Invalid wp number %u" % idx) return wp = self.wploader.wp(idx) # setup for undo self.undo_wp = copy.copy(wp) self.undo_wp_idx = idx self.undo_type = "remove" self.wploader.remove(wp) self.fix_jumps(idx, -1) self.send_all_waypoints() print("Removed WP %u" % idx) def cmd_wp_undo(self): '''handle wp undo''' if self.undo_wp_idx == -1 or self.undo_wp is None: print("No undo information") return wp = self.undo_wp if self.undo_type == 'move': wp.target_system = self.target_system wp.target_component = self.target_component self.loading_waypoints = True self.loading_waypoint_lasttime = time.time() self.master.mav.mission_write_partial_list_send(self.target_system, self.target_component, self.undo_wp_idx, self.undo_wp_idx) self.wploader.set(wp, self.undo_wp_idx) print("Undid WP move") elif self.undo_type == 'remove': self.wploader.insert(self.undo_wp_idx, wp) self.fix_jumps(self.undo_wp_idx, 1) self.send_all_waypoints() print("Undid WP remove") else: print("bad undo type") self.undo_wp = None self.undo_wp_idx = -1 def cmd_wp_param(self, args): '''handle wp parameter change''' if len(args) < 2: print("usage: wp param WPNUM PNUM ") return idx = int(args[0]) if idx < 1 or idx > self.wploader.count(): print("Invalid wp number %u" % idx) return wp = self.wploader.wp(idx) param = [wp.param1, wp.param2, wp.param3, wp.param4] pnum = int(args[1]) if pnum < 1 or pnum > 4: print("Invalid param number %u" % pnum) return if len(args) == 2: print("Param %u: %f" % (pnum, param[pnum-1])) return param[pnum-1] = float(args[2]) wp.param1 = param[0] wp.param2 = param[1] wp.param3 = param[2] wp.param4 = param[3] wp.target_system = self.target_system wp.target_component = self.target_component self.loading_waypoints = True self.loading_waypoint_lasttime = time.time() self.master.mav.mission_write_partial_list_send(self.target_system, self.target_component, idx, idx) self.wploader.set(wp, idx) print("Set param %u for %u to %f" % (pnum, idx, param[pnum-1])) def cmd_clear(self, args): '''clear waypoints''' clear_type = mavutil.mavlink.MAV_MISSION_TYPE_MISSION if len(args) > 0 and args[0] == "all": clear_type = mavutil.mavlink.MAV_MISSION_TYPE_ALL self.master.mav.mission_clear_all_send(self.target_system, self.target_component, clear_type) self.wploader.clear() self.loading_waypoint_lasttime = time.time() def cmd_wp(self, args): '''waypoint commands''' usage = "usage: wp " # noqa if len(args) < 1: print(usage) return if args[0] == "load": if len(args) != 2: print("usage: wp load ") return self.load_waypoints(args[1]) elif args[0] == "update": if len(args) < 2: print("usage: wp update ") return if len(args) == 3: wpnum = int(args[2]) else: wpnum = -1 self.update_waypoints(args[1], wpnum) elif args[0] == "list": self.wp_op = "list" self.master.waypoint_request_list_send() elif args[0] == "save": if len(args) != 2: print("usage: wp save ") return self.wp_save_filename = args[1] self.wp_op = "save" self.master.waypoint_request_list_send() elif args[0] == "savecsv": if len(args) != 2: print("usage: wp savecsv ") return self.savecsv(args[1]) elif args[0] == "savelocal": if len(args) != 2: print("usage: wp savelocal ") return self.wploader.save(args[1]) elif args[0] == "show": if len(args) != 2: print("usage: wp show ") return self.wploader.load(args[1]) elif args[0] == "move": self.cmd_wp_move(args[1:]) elif args[0] == "movemulti": self.cmd_wp_movemulti(args[1:], None) elif args[0] == "moverelhome": self.cmd_wp_move_rel_home(args[1:], None) elif args[0] == "changealt": self.cmd_wp_changealt(args[1:]) elif args[0] == "param": self.cmd_wp_param(args[1:]) elif args[0] == "remove": self.cmd_wp_remove(args[1:]) elif args[0] == "undo": self.cmd_wp_undo() elif args[0] == "set": if len(args) != 2: print("usage: wp set ") return # At time of writing MAVProxy sends to (1, 0) by default, # but ArduPilot will respond from (1,1) by default -and # that means COMMAND_ACK handling will fill # self.accepts_DO_SET_MISSION_CURRENT for (1, 1) and we # will not get that value here: key = (self.target_system, self.target_component) supports = self.accepts_DO_SET_MISSION_CURRENT.get(key, None) # if we don't know, send both. If we do know, send only one. # we "know" because we hook receipt of COMMAND_ACK. if self.settings.wp_use_waypoint_set_current or supports is False: self.master.waypoint_set_current_send(int(args[1])) else: self.master.mav.command_long_send( self.target_system, self.target_component, mavutil.mavlink.MAV_CMD_DO_SET_MISSION_CURRENT, 0, int(args[1]), 0, 0, 0, 0, 0, 0 ) elif args[0] == "split": self.cmd_split(args[1:]) elif args[0] == "clear": self.cmd_clear(args[1:]) elif args[0] == "editor": if self.module('misseditor'): self.mpstate.functions.process_stdin("module reload misseditor", immediate=True) else: self.mpstate.functions.process_stdin("module load misseditor", immediate=True) elif args[0] == "draw": if 'draw_lines' not in self.mpstate.map_functions: print("No map drawing available") return if self.get_home() is None: print("Need home location - please run gethome") return if len(args) > 1: self.settings.wpalt = int(args[1]) self.mpstate.map_functions['draw_lines'](self.wp_draw_callback) print("Drawing waypoints on map at altitude %d" % self.settings.wpalt) elif args[0] == "sethome": self.set_home_location() elif args[0] == "loop": self.wp_loop() elif args[0] == "status": self.wp_status() elif args[0] == "slope": self.wp_slope(args[1:]) elif args[0] == "ftp": self.wp_ftp_download() elif args[0] == "ftpload": if len(args) != 2: print("usage: wp ftpload ") return self.wp_ftp_upload(args[1]) elif args[0] == "add_takeoff": self.wp_add_takeoff(args[1:]) elif args[0] == "add_landing": self.wp_add_landing() elif args[0] == "add_rtl": self.wp_add_RTL() elif args[0] == "add_dls": self.wp_add_dls() else: print(usage) def pretty_enum_value(self, enum_name, enum_value): if enum_name == "MAV_FRAME": if enum_value == 0: return "Abs" elif enum_value == 1: return "Local" elif enum_value == 2: return "Mission" elif enum_value == 3: return "Rel" elif enum_value == 4: return "Local ENU" elif enum_value == 5: return "Global (INT)" elif enum_value == 10: return "AGL" ret = mavutil.mavlink.enums[enum_name][enum_value].name ret = ret[len(enum_name)+1:] return ret def csv_line(self, line): '''turn a list of values into a CSV line''' self.csv_sep = "," return self.csv_sep.join(['"' + str(x) + '"' for x in line]) def pretty_parameter_value(self, value): '''pretty parameter value''' return value def savecsv(self, filename): '''save waypoints to a file in human-readable CSV file''' f = open(filename, mode='w') headers = ["Seq", "Frame", "Cmd", "P1", "P2", "P3", "P4", "X", "Y", "Z"] print(self.csv_line(headers)) f.write(self.csv_line(headers) + "\n") for w in self.wploader.wpoints: if getattr(w, 'comment', None): # f.write("# %s\n" % w.comment) pass out_list = [ w.seq, self.pretty_enum_value('MAV_FRAME', w.frame), self.pretty_enum_value('MAV_CMD', w.command), self.pretty_parameter_value(w.param1), self.pretty_parameter_value(w.param2), self.pretty_parameter_value(w.param3), self.pretty_parameter_value(w.param4), self.pretty_parameter_value(w.x), self.pretty_parameter_value(w.y), self.pretty_parameter_value(w.z), ] print(self.csv_line(out_list)) f.write(self.csv_line(out_list) + "\n") f.close() def fetch(self): """Download wpts from vehicle (this operation is public to support other modules)""" if self.wp_op is None: # If we were already doing a list or save, just restart the fetch without changing the operation # noqa self.wp_op = "fetch" self.master.waypoint_request_list_send() def wp_ftp_download(self): '''Download wpts from vehicle with ftp''' ftp = self.mpstate.module('ftp') if ftp is None: print("Need ftp module") return print("Fetching mission with ftp") self.ftp_count = None ftp.cmd_get([self.mission_ftp_name], callback=self.ftp_callback, callback_progress=self.ftp_callback_progress) def ftp_callback_progress(self, fh, total_size): '''progress callback from ftp fetch of mission''' if self.ftp_count is None and total_size >= 10: ofs = fh.tell() fh.seek(0) buf = fh.read(10) fh.seek(ofs) magic2, dtype, options, start, num_items = struct.unpack("= item_size: mdata = data[:item_size] data = data[item_size:] msg = mavmsg.unpacker.unpack(mdata) tlist = list(msg) t = tlist[:] for i in range(0, len(tlist)): tlist[i] = t[mavmsg.orders[i]] t = tuple(tlist) w = mavmsg(*t) w = self.wp_from_mission_item_int(w) self.wploader.add(w) self.show_and_save(self.target_system) def show_and_save(self, source_system): '''display waypoints and save''' for i in range(self.wploader.count()): w = self.wploader.wp(i) print("%u %u %.10f %.10f %f p1=%.1f p2=%.1f p3=%.1f p4=%.1f cur=%u auto=%u" % ( w.command, w.frame, w.x, w.y, w.z, w.param1, w.param2, w.param3, w.param4, w.current, w.autocontinue)) if self.logdir is not None: fname = 'way.txt' if source_system != 1: fname = 'way_%u.txt' % source_system waytxt = os.path.join(self.logdir, fname) self.save_waypoints(waytxt) print("Saved waypoints to %s" % waytxt) def wp_ftp_upload(self, filename): '''upload waypoints to vehicle with ftp''' ftp = self.mpstate.module('ftp') if ftp is None: print("Need ftp module") return self.wploader.target_system = self.target_system self.wploader.target_component = self.target_component try: # need to remove the leading and trailing quotes in filename self.wploader.load(filename.strip('"')) except Exception as msg: print("Unable to load %s - %s" % (filename, msg)) return print("Loaded %u waypoints from %s" % (self.wploader.count(), filename)) print("Sending mission with ftp") fh = SIO() fh.write(struct.pack(" wp%u %s" % (wp1, wp2, slope)) return if len(args) != 0: print("Usage: wp slope WP1 WP2") return last_w = None for i in range(1, self.wploader.count()): w = self.wploader.wp(i) if w.command not in [mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, mavutil.mavlink.MAV_CMD_NAV_LAND]: continue if last_w is not None: if last_w.frame != w.frame: print("WARNING: frame change %u -> %u at %u" % (last_w.frame, w.frame, i)) delta_alt = last_w.z - w.z if delta_alt == 0: slope = "Level" else: delta_xy = mp_util.gps_distance(w.x, w.y, last_w.x, last_w.y) slope = "%.1f" % (delta_xy / delta_alt) print("WP%u: slope %s" % (i, slope)) last_w = w def get_default_frame(self): '''default frame for waypoints''' if self.settings.terrainalt == 'Auto': if self.get_mav_param('TERRAIN_FOLLOW', 0) == 1: return mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT return mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT if self.settings.terrainalt == 'True': return mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT return mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT def get_home(self): '''get home location''' if 'HOME_POSITION' in self.master.messages: h = self.master.messages['HOME_POSITION'] return mavutil.mavlink.MAVLink_mission_item_message(self.target_system, self.target_component, 0, 0, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 0, 0, 0, 0, 0, h.latitude*1.0e-7, h.longitude*1.0e-7, h.altitude*1.0e-3) if self.wploader.count() > 0: return self.wploader.wp(0) return None def wp_draw_callback(self, points): '''callback from drawing waypoints''' if len(points) < 3: return self.wploader.target_system = self.target_system self.wploader.target_component = self.target_component if self.wploader.count() < 2: home = self.get_home() if home is None: print("Need home location for draw - please run gethome") return self.wploader.clear() self.wploader.add(home) if self.get_default_frame() == mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT: use_terrain = True else: use_terrain = False for p in points: self.wploader.add_latlonalt(p[0], p[1], self.settings.wpalt, terrain_alt=use_terrain) self.send_all_waypoints() def wp_loop(self): '''close the loop on a mission''' loader = self.wploader if loader.count() < 2: print("Not enough waypoints (%u)" % loader.count()) return wp = loader.wp(loader.count()-2) if wp.command == mavutil.mavlink.MAV_CMD_DO_JUMP: print("Mission is already looped") return if (loader.count() > 1 and loader.wp(1).command in [mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, mavutil.mavlink.MAV_CMD_NAV_VTOL_TAKEOFF]): target = 2 else: target = 1 wp = mavutil.mavlink.MAVLink_mission_item_message(0, 0, 0, 0, mavutil.mavlink.MAV_CMD_DO_JUMP, 0, 1, target, -1, 0, 0, 0, 0, 0) loader.add(wp) self.loading_waypoints = True self.loading_waypoint_lasttime = time.time() self.master.waypoint_count_send(self.wploader.count()) print("Closed loop on mission") def wp_add_takeoff(self, args): '''add a takeoff as first mission item''' latlon = self.mpstate.click_location if latlon is None: print("No position chosen") return takeoff_alt = 20 if len(args) > 0: takeoff_alt = float(args[0]) if self.is_quadplane(): wptype = mavutil.mavlink.MAV_CMD_NAV_VTOL_TAKEOFF else: wptype = mavutil.mavlink.MAV_CMD_NAV_TAKEOFF wp = mavutil.mavlink.MAVLink_mission_item_message(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, wptype, 0, 1, 0, 0, 0, 0, latlon[0], latlon[1], takeoff_alt) if self.wploader.count() < 2: home = self.get_home() if home is None: print("Need home location - please run gethome") return self.wploader.clear() self.wploader.add(home) # assume first waypoint self.wploader.insert(1, wp) self.send_all_waypoints() def wp_add_landing(self): '''add a landing as last mission item''' latlon = self.mpstate.click_location if latlon is None: print("No position chosen") return if self.is_quadplane(): wptype = mavutil.mavlink.MAV_CMD_NAV_VTOL_LAND else: wptype = mavutil.mavlink.MAV_CMD_NAV_LAND wp = mavutil.mavlink.MAVLink_mission_item_message(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, wptype, 0, 1, 0, 0, 0, 0, latlon[0], latlon[1], 0) # assume last waypoint self.wploader.add(wp) self.send_all_waypoints() def wp_add_RTL(self): '''add a RTL as last mission item''' wp = mavutil.mavlink.MAVLink_mission_item_message(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 1, 0, 0, 0, 0, 0, 0, 0) # assume last waypoint self.wploader.add(wp) self.send_all_waypoints() def wp_add_dls(self): '''add a DO_LAND_START as last mission item''' latlon = self.mpstate.click_location if latlon is None: print("No position chosen") return wp = mavutil.mavlink.MAVLink_mission_item_message(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_DO_LAND_START, 0, 1, 0, 0, 0, 0, latlon[0], latlon[1], 0) # assume last waypoint self.wploader.add(wp) self.send_all_waypoints() def set_home_location(self): '''set home location from last map click''' latlon = self.mpstate.click_location if latlon is None: print("No position available") return lat = float(latlon[0]) lon = float(latlon[1]) if self.wploader.count() == 0: self.wploader.add_latlonalt(lat, lon, 0) w = self.wploader.wp(0) w.x = lat w.y = lon self.wploader.set(w, 0) self.loading_waypoints = True self.loading_waypoint_lasttime = time.time() self.master.mav.mission_write_partial_list_send( self.target_system, self.target_component, 0, 0 ) def fix_jumps(self, idx, delta): '''fix up jumps when we add/remove rows''' numrows = self.wploader.count() for row in range(numrows): wp = self.wploader.wp(row) jump_cmds = [mavutil.mavlink.MAV_CMD_DO_JUMP] if hasattr(mavutil.mavlink, "MAV_CMD_DO_CONDITION_JUMP"): jump_cmds.append(mavutil.mavlink.MAV_CMD_DO_CONDITION_JUMP) if wp.command in jump_cmds: p1 = int(wp.param1) if p1 > idx and p1 + delta > 0: wp.param1 = float(p1+delta) self.wploader.set(wp, row) def get_loc(self, m): '''return a mavutil.location for item m''' t = m.get_type() if t == "MISSION_ITEM": lat = m.x * 1e7 lng = m.y * 1e7 alt = m.z * 1e2 elif t == "MISSION_ITEM_INT": lat = m.x lng = m.y alt = m.z else: return None return mavutil.location(lat, lng, alt) def cmd_split(self, args): '''splits the segment ended by the supplied waypoint into two''' try: num = int(args[0]) except IOError: return "Bad wp num (%s)" % args[0] if num < 1 or num > self.wploader.count(): print("Bad item %s" % str(num)) return wp = self.wploader.wp(num) if wp is None: print("Could not get wp %u" % num) return loc = self.get_loc(wp) if loc is None: print("wp is not a location command") return prev = num - 1 if prev < 1 or prev > self.wploader.count(): print("Bad item %u" % num) return prev_wp = self.wploader.wp(prev) if prev_wp is None: print("Could not get previous wp %u" % prev) return prev_loc = self.get_loc(prev_wp) if prev_loc is None: print("previous wp is not a location command") return if wp.frame != prev_wp.frame: print("waypoints differ in frame (%u vs %u)" % (wp.frame, prev_wp.frame)) return if wp.frame != prev_wp.frame: print("waypoints differ in frame") return lat_avg = (loc.lat + prev_loc.lat)/2 lng_avg = (loc.lng + prev_loc.lng)/2 alt_avg = (loc.alt + prev_loc.alt)/2 new_wp = mavutil.mavlink.MAVLink_mission_item_message( self.target_system, self.target_component, wp.seq, # seq wp.frame, # frame mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, # command 0, # current 0, # autocontinue 0.0, # param1, 0.0, # param2, 0.0, # param3 0.0, # param4 lat_avg * 1e-7, # x (latitude) lng_avg * 1e-7, # y (longitude) alt_avg * 1e-2, # z (altitude) ) self.wploader.insert(wp.seq, new_wp) self.fix_jumps(wp.seq, 1) self.send_all_waypoints() def init(mpstate): '''initialise module''' return WPModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_optitrack/000077500000000000000000000000001504324515000224015ustar00rootroot00000000000000MAVProxy-1.8.74/MAVProxy/modules/mavproxy_optitrack/DataDescriptions.py000066400000000000000000000757611504324515000262330ustar00rootroot00000000000000#Copyright © 2021 Naturalpoint # #Licensed under the Apache License, Version 2.0 (the "License") #you may not use this file except in compliance with the License. #You may obtain a copy of the License at # #http://www.apache.org/licenses/LICENSE-2.0 # #Unless required by applicable law or agreed to in writing, software #distributed under the License is distributed on an "AS IS" BASIS, #WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. #See the License for the specific language governing permissions and #limitations under the License. # OptiTrack NatNet direct depacketization sample for Python 3.x # # Uses the Python NatNetClient.py library to establish a connection (by creating a NatNetClient), # and receive data via a NatNet connection and decode it using the NatNetClient library. import copy import hashlib import random K_SKIP = [0,0,1] K_FAIL = [0,1,0] K_PASS = [1,0,0] def get_tab_str(tab_str, level): out_tab_str="" loop_range = range(0,level) for _ in loop_range: out_tab_str+=tab_str return out_tab_str def add_lists(totals, totals_tmp): totals[0]+=totals_tmp[0] totals[1]+=totals_tmp[1] totals[2]+=totals_tmp[2] return totals def test_hash(test_name, test_hash_str, test_object): out_str = test_object.get_as_string() out_hash_str=hashlib.sha1(out_str.encode()).hexdigest() ret_value=True if test_hash_str == out_hash_str : print("[PASS]:%s"%test_name) else: print("[FAIL]:%s test_hash_str != out_hash_str"%test_name) print("test_hash_str=%s"%test_hash_str) print("out_hash_str=%s"%out_hash_str) print("out_str =\n%s"%out_str) ret_value=False return ret_value def test_hash2(test_name, test_hash_str, test_object, generator_string, run_test=True): ret_value = K_FAIL out_str = "FAIL" out_str2="" indent_string=" " if not run_test: ret_value = K_SKIP out_str = "SKIP" elif test_object == None: out_str = "FAIL" ret_value = K_FAIL out_str2 = "%sERROR: test_object was None"%indent_string else: obj_out_hash_str = "" if str(type(test_object)) != 'NoneType': obj_out_str = test_object.get_as_string() obj_out_hash_str=hashlib.sha1(obj_out_str.encode()).hexdigest() if test_hash_str == obj_out_hash_str: out_str = "PASS" ret_value = K_PASS else: out_str2+="%s%s test_hash_str != out_hash_str\n"%(indent_string,test_name) out_str2+="%stest_hash_str=%s\n"%(indent_string,test_hash_str) out_str2+="%sobj_out_hash_str=%s\n"%(indent_string,obj_out_hash_str) out_str2+="%sUpdated Test Entry:\n"%(indent_string) out_str2 += "%s[\"%s\", \"%s\", \"%s\", True],\n"%(indent_string,test_name,obj_out_hash_str,generator_string) out_str2+="%sobj_out_str =\n%s"%(indent_string,obj_out_str) ret_value = K_FAIL print("[%s]:%s"%(out_str,test_name)) if len(out_str2): print("%s"%out_str2) return ret_value def get_as_string(input_str): if type(input_str) == str: return input_str else: return input_str.decode('utf-8') def get_data_sub_packet_type(new_data): out_string="" data_type = type(new_data) if data_type == MarkerSetDescription: out_string="Type: 0 Markerset\n" elif data_type == RigidBodyDescription: out_string="Type: 1 Rigid Body\n" elif data_type == SkeletonDescription: out_string="Type: 2 Skeleton\n" elif data_type == ForcePlateDescription: out_string="Type: 3 Force Plate\n" elif data_type == DeviceDescription: out_string="Type: 4 Device\n" elif data_type == CameraDescription: out_string="Type: 5 Camera\n" elif data_type == AssetDescription: out_string="Type: 6 Asset\n" elif data_type == None: out_string="Type: None\n" else: out_string="Type: Unknown %s\n"%str(data_type) return out_string # cMarkerSetDescription class MarkerSetDescription: def __init__(self): self.marker_set_name="Not Set" self.marker_names_list=[] def set_name(self,new_name): self.marker_set_name=new_name def get_num_markers(self): return len(self.marker_names_list) def add_marker_name(self,marker_name): self.marker_names_list.append(copy.copy(marker_name)) return self.get_num_markers() def get_as_string(self, tab_str=" ", level=0): out_tab_str = get_tab_str(tab_str, level) out_tab_str2 = get_tab_str(tab_str, level+1) out_tab_str3 = get_tab_str(tab_str, level+2) out_string="" out_string+="%sMarkerset Name: %s\n"%(out_tab_str,get_as_string(self.marker_set_name)) num_markers = len(self.marker_names_list) out_string+="%sMarker Count : %d\n"%(out_tab_str2, num_markers) for i in range(num_markers): out_string+="%s%3.1d Marker Name: %s\n"%(out_tab_str3,i, get_as_string(self.marker_names_list[i])) return out_string class RBMarker: def __init__(self, marker_name="", active_label=0, pos=[0.0,0.0,0.0]): self.marker_name = marker_name self.active_label = active_label self.pos=pos def get_as_string(self, tab_str=" ", level=0): out_tab_str = get_tab_str(tab_str, level) out_string="" out_string += "%sMarker Label: %s Position: [%3.2f %3.2f %3.2f] %s\n" % \ (out_tab_str, self.active_label, self.pos[0],self.pos[1],self.pos[2],self.marker_name ) return out_string class RigidBodyDescription: def __init__(self,sz_name="", new_id=0, parent_id=0,pos=[0.0,0.0,0.0]): self.sz_name=sz_name self.id_num = new_id self.parent_id = parent_id self.pos=pos self.rb_marker_list=[] self.rb_num = -1 def set_name(self,new_name): self.sz_name=new_name def set_id(self, new_id): self.id_num = new_id def set_parent_id(self, parent_id): self.parent_id = parent_id def set_pos(self,p_x,p_y,p_z): self.pos=[p_x,p_y,p_z] def get_num_markers(self): return len(self.rb_marker_list) def add_rb_marker(self,new_rb_maker): self.rb_marker_list.append(copy.deepcopy(new_rb_maker)) return self.get_num_markers() def get_as_string(self, tab_str=" ", level=0): out_tab_str = get_tab_str(tab_str, level) out_tab_str2 = get_tab_str(tab_str, level+1) out_string="" out_string += "%sRigid Body :"%(out_tab_str) if(self.rb_num > -1): out_string += " %d\n"%(self.rb_num) out_string += "\n" out_string += "%sRigid Body Name : %s\n"%(out_tab_str, get_as_string(self.sz_name)) out_string += "%sRigid Body ID : %d\n"%(out_tab_str, self.id_num) out_string += "%sParent ID : %d\n"%(out_tab_str, self.parent_id) out_string += "%sPosition : [%3.2f, %3.2f, %3.2f]\n"%(out_tab_str, self.pos[0],self.pos[1],self.pos[2]) num_markers= len(self.rb_marker_list) out_string += "%sNumber of Markers : %d\n"%(out_tab_str, num_markers ) # loop over markers for i in range(num_markers): out_string += "%s%i %s"%(out_tab_str2,i,self.rb_marker_list[i].get_as_string(tab_str,0)) return out_string class SkeletonDescription: def __init__(self, name="", new_id=0): self.name = name self.id_num = new_id self.rigid_body_description_list=[] def set_name(self,new_name): self.name=new_name def set_id(self, new_id): self.id_num = new_id def add_rigid_body_description(self,rigid_body_description): self.rigid_body_description_list.append(copy.deepcopy(rigid_body_description)) return len(self.rigid_body_description_list) def get_as_string(self, tab_str=" ", level=0): out_tab_str = get_tab_str(tab_str, level) out_tab_str2 = get_tab_str(tab_str, level+1) out_string = "" out_string += "%sName : %s\n"%(out_tab_str,get_as_string(self.name)) out_string += "%sID : %d\n"% (out_tab_str, self.id_num) num_bones = len(self.rigid_body_description_list) out_string += "%sRigid Body (Bone) Count : %d\n" % (out_tab_str, num_bones) for i in range(num_bones): out_string += "%sRigid Body (Bone) %d\n"%(out_tab_str2, i) out_string += self.rigid_body_description_list[i].get_as_string(tab_str,level+2) return out_string class ForcePlateDescription: def __init__(self, new_id=0, serial_number=""): self.id_num = new_id self.serial_number = serial_number self.width = 0 self.length = 0 self.position=[0.0,0.0,0.0] self.cal_matrix= [[0.0 for col in range(12)] for row in range(12)] self.corners = [[0.0 for col in range(3)] for row in range(4)] self.plate_type = 0 self.channel_data_type = 0 self.channel_list=[] def set_id(self, new_id): self.id_num = new_id def set_serial_number(self,serial_number): self.serial_number=serial_number def set_dimensions(self, width, length): self.width = width self.length = length def set_origin(self, p_x, p_y, p_z): self.position=[p_x,p_y,p_z] def set_cal_matrix(self, cal_matrix): self.cal_matrix = cal_matrix def set_corners(self, corners): self.corners = corners def set_plate_type(self, plate_type): self.plate_type=plate_type def set_channel_data_type(self, channel_data_type): self.channel_data_type = channel_data_type def add_channel_name(self,channel_name): self.channel_list.append(copy.deepcopy(channel_name)) return len(self.channel_list) def get_cal_matrix_as_string(self, tab_str="", level=0): """Get force plate calibration matrix as string""" out_tab_str=get_tab_str(tab_str,level) out_tab_str2=get_tab_str(tab_str,level+1) out_string="" out_string+="%sCal Matrix:\n"%out_tab_str for i in range(0,12): out_string+="%s%2.1d %3.3e %3.3e %3.3e %3.3e %3.3e %3.3e %3.3e %3.3e %3.3e %3.3e %3.3e %3.3e\n" % \ (out_tab_str2,i, self.cal_matrix[i][0], self.cal_matrix[i][1], self.cal_matrix[i][2], self.cal_matrix[i][3], self.cal_matrix[i][4], self.cal_matrix[i][5], self.cal_matrix[i][6], self.cal_matrix[i][7], self.cal_matrix[i][8], self.cal_matrix[i][9], self.cal_matrix[i][10], self.cal_matrix[i][11]) return out_string def get_corners_as_string(self, tab_str="", level=0): """Get force plate corner positions as a string""" # Corners 4x3 floats out_tab_str=get_tab_str(tab_str,level) out_tab_str2=get_tab_str(tab_str,level+1) out_string="" out_string+="%sCorners:\n"%out_tab_str for i in range(0,4): out_string+="%s%2.1d %3.3e %3.3e %3.3e\n" % \ (out_tab_str2,i, self.corners[i][0], self.corners[i][1], self.corners[i][2]) return out_string def get_as_string(self, tab_str=" ", level=0): """Get force plate description as a class""" out_tab_str = get_tab_str(tab_str, level) out_string = "" out_string += "%sID : %d\n"% (out_tab_str, self.id_num) out_string += "%sSerial Number : %s\n"% (out_tab_str,\ get_as_string(self.serial_number)) out_string += "%sWidth : %3.2f\n"%(out_tab_str, self.width) out_string += "%sLength : %3.2f\n"%(out_tab_str, self.length) out_string += "%sOrigin : [%3.2f, %3.2f, %3.2f]\n"%(out_tab_str, self.position[0], self.position[1], self.position[2]) out_string += self.get_cal_matrix_as_string(tab_str, level) out_string += self.get_corners_as_string(tab_str, level) out_string+="%sPlate Type : %d\n"%(out_tab_str, self.plate_type) out_string+="%sChannel Data Type : %d\n"%(out_tab_str, self.channel_data_type) num_channels = len(self.channel_list) out_string+="%sNumber of Channels : %d\n"%(out_tab_str, num_channels) # Channel Names list of NoC strings out_tab_str2=get_tab_str(tab_str, level+1) for channel_num in range(num_channels): out_string += "%sChannel Name %d: %s\n"%(out_tab_str2, channel_num,\ get_as_string(self.channel_list[channel_num]) ) return out_string class DeviceDescription: """Device Description class""" def __init__(self,new_id,name, serial_number,device_type,channel_data_type): self.id_num=new_id self.name=name self.serial_number=serial_number self.device_type=device_type self.channel_data_type=channel_data_type self.channel_list=[] def set_id(self, new_id): """Set the device id""" self.id_num=new_id def set_name(self, name): """Set the Device name""" self.name=name def add_channel_name(self, channel_name): """Add channel name to channel_list""" self.channel_list.append(channel_name) return len(self.channel_list) def get_as_string(self, tab_str=" ", level=0): """Get Device Description as string""" out_tab_str = get_tab_str(tab_str, level) out_tab_str2 = get_tab_str(tab_str, level+1) out_string = "" out_string +="%sID : %5.1d\n"%(out_tab_str, self.id_num) out_string +="%sName : %s\n"%(out_tab_str,get_as_string(self.name)) out_string +="%sSerial Number : %s\n"%(out_tab_str,get_as_string(self.serial_number)) out_string +="%sDevice Type : %d\n"%(out_tab_str,self.device_type) out_string +="%sChannel Data Type : %d\n"%(out_tab_str, self.channel_data_type) num_channels = len(self.channel_list) out_string +="%sNumber of Channels : %d\n"%(out_tab_str, num_channels) for i in range(num_channels): out_string+="%sChannel %2.1d Name : %s\n"%(out_tab_str2, i,\ get_as_string(self.channel_list[i])) return out_string class CameraDescription: """Camera Description class""" def __init__(self, name, position_vec3, orientation_quat): self.name=name self.position=position_vec3 self.orientation=orientation_quat def get_as_string(self, tab_str="..", level=0): """Get Camera Description as a string""" out_tab_str = get_tab_str(tab_str, level) out_string = "" out_string += "%sName : %s\n"%(out_tab_str,get_as_string(self.name)) out_string += "%sPosition : [%3.2f, %3.2f, %3.2f]\n"% \ (out_tab_str,self.position[0], self.position[1], self.position[2] ) out_string += "%sOrientation : [%3.2f, %3.2f, %3.2f, %3.2f]\n"% \ (out_tab_str,\ self.orientation[0], self.orientation[1],\ self.orientation[2], self.orientation[3] ) return out_string class MarkerDescription: """Marker Description class""" def __init__(self, name, marker_id, position, marker_size, marker_params): self.name=name self.marker_id=marker_id self.position=position self.marker_size=marker_size self.marker_params=marker_params def get_as_string(self, tab_str="..", level=0): """Get Marker Description as a string""" out_tab_str = get_tab_str(tab_str, level) out_string = "" out_string += "%sName : %s\n"%(out_tab_str,get_as_string(self.name)) out_string += "%sID : %d\n"%(out_tab_str,self.marker_id) out_string += "%sPosition : [%3.2f, %3.2f, %3.2f]\n"% \ (out_tab_str,self.position[0], self.position[1], self.position[2] ) out_string += "%sSize : %3.2f\n"%(out_tab_str,self.marker_size[0]) out_string += "%sParams : %d\n"%(out_tab_str,self.marker_params) return out_string class AssetDescription: """Asset Description class""" def __init__(self, name, assetType, assetID, rigidbodyArray, markerArray): self.name=name self.assetType=assetType self.assetID=assetID self.rigidbodyArray=rigidbodyArray self.markerArray=markerArray def get_as_string(self, tab_str="..", level=0): """Get Asset Description as a string""" out_tab_str = get_tab_str(tab_str, level) out_string = "" #out_string += "Asset Description\n" out_string += "%sName : %s\n"%(out_tab_str,get_as_string(self.name)) out_string += "%sType : %d\n"%(out_tab_str,self.assetType) out_string += "%sID : %d\n"%(out_tab_str,self.assetID) rbCount=0 out_string += "%sRigidBody (Bone) Count : %d\n"%(out_tab_str,len(self.rigidbodyArray)) for rigidbody in self.rigidbodyArray: out_string += "%sRigidBody (Bone) %d:\n"%(out_tab_str,rbCount) out_string += rigidbody.get_as_string(tab_str,level+1) rbCount+=1 markerCount=0 out_string += "%sMarker Count : %d\n"%(out_tab_str,len(self.markerArray)) for marker in self.markerArray: out_string += "%sMarker %d:\n"%(out_tab_str,markerCount) out_string += marker.get_as_string(tab_str,level+1) markerCount+=1 return out_string # cDataDescriptions # Full data descriptions class DataDescriptions(): """Data Descriptions class""" order_num = 0 def __init__(self): self.data_order_dict={} self.marker_set_list=[] self.rigid_body_list=[] self.skeleton_list=[] self.asset_list=[] self.force_plate_list=[] self.device_list=[] self.camera_list=[] def generate_order_name(self): """Generate the name for the order list based on the current length of the list""" # should be a one up counter instead of based on length of data_order_dict order_name="data_%3.3d"%self.order_num self.order_num += 1 return order_name # Add Markerset def add_marker_set(self, new_marker_set): """Add a Markerset""" order_name = self.generate_order_name() # generate order entry pos = len(self.marker_set_list) self.data_order_dict[order_name]=("marker_set_list", pos) self.marker_set_list.append(copy.deepcopy(new_marker_set)) # Add Rigid Body def add_rigid_body(self, new_rigid_body): """Add a rigid body""" order_name = self.generate_order_name() # generate order entry pos = len(self.rigid_body_list) self.data_order_dict[order_name]=("rigid_body_list", pos) self.rigid_body_list.append(copy.deepcopy(new_rigid_body)) # Add a skeleton def add_skeleton(self, new_skeleton): """Add a skeleton""" order_name = self.generate_order_name() # generate order entry pos = len(self.skeleton_list) self.data_order_dict[order_name]=("skeleton_list", pos) self.skeleton_list.append(copy.deepcopy(new_skeleton)) # Add an asset def add_asset(self, new_asset): """Add an asset""" order_name = self.generate_order_name() # generate order entry pos = len(self.asset_list) self.data_order_dict[order_name]=("asset_list", pos) self.asset_list.append(copy.deepcopy(new_asset)) # Add a force plate def add_force_plate(self, new_force_plate): """Add a force plate""" order_name = self.generate_order_name() # generate order entry pos = len(self.force_plate_list) self.data_order_dict[order_name]=("force_plate_list", pos) self.force_plate_list.append(copy.deepcopy(new_force_plate)) def add_device(self, newdevice): """ add_device - Add a device""" order_name = self.generate_order_name() # generate order entry pos = len(self.device_list) self.data_order_dict[order_name]=("device_list", pos) self.device_list.append(copy.deepcopy(newdevice)) def add_camera(self, newcamera): """ Add a new camera """ order_name = self.generate_order_name() # generate order entry pos = len(self.camera_list) self.data_order_dict[order_name]=("camera_list", pos) self.camera_list.append(copy.deepcopy(newcamera)) def add_data(self, new_data): """Add data based on data type""" data_type = type(new_data) if data_type == MarkerSetDescription: self.add_marker_set(new_data) elif data_type == RigidBodyDescription: self.add_rigid_body(new_data) elif data_type == SkeletonDescription: self.add_skeleton(new_data) elif data_type == ForcePlateDescription: self.add_force_plate(new_data) elif data_type == DeviceDescription: self.add_device(new_data) elif data_type == CameraDescription: self.add_camera(new_data) elif data_type == AssetDescription: self.add_asset(new_data) elif data_type is None: data_type = None else: print("ERROR: Type %s unknown"%str(data_type)) def get_object_from_list(self, list_name, pos_num): """Determine list name and position of the object""" ret_value = None if (list_name =="marker_set_list") and \ (pos_num < len(self.marker_set_list)): ret_value = self.marker_set_list[pos_num] elif (list_name =="rigid_body_list") and \ (pos_num < len(self.rigid_body_list)): ret_value = self.rigid_body_list[pos_num] elif (list_name =="skeleton_list") and \ (pos_num < len(self.skeleton_list)): ret_value = self.skeleton_list[pos_num] elif (list_name =="asset_list") and \ (pos_num < len(self.asset_list)): ret_value = self.asset_list[pos_num] elif (list_name =="force_plate_list") and \ (pos_num < len(self.force_plate_list)): ret_value = self.force_plate_list[pos_num] elif (list_name =="device_list") and \ (pos_num < len(self.device_list)): ret_value = self.device_list[pos_num] elif (list_name =="camera_list") and \ (pos_num < len(self.camera_list)): ret_value = self.camera_list[pos_num] else: ret_value = None return ret_value def get_as_string(self, tab_str=" ", level = 0): """Ensure data comes back as a string""" out_tab_str = get_tab_str(tab_str,level) out_tab_str2 = get_tab_str(tab_str,level+1) out_tab_str3 = get_tab_str(tab_str,level+2) out_string="" num_data_sets=len(self.data_order_dict) out_string+="%sDataset Count: %d\n"%(out_tab_str, num_data_sets) i=0 for tmp_key,tmp_value in self.data_order_dict.items(): #tmp_name,tmp_num=self.data_order_dict[data_set] tmp_name=tmp_value[0] tmp_num =tmp_value[1] tmp_object = self.get_object_from_list(tmp_name, tmp_num) out_string += "%sDataset %3.1d\n"%(out_tab_str2, i) tmp_string = get_data_sub_packet_type(tmp_object) if tmp_string != "": out_string += "%s%s"%(out_tab_str2, tmp_string) #outputs keys for looking up objects #out_string += "%s%s %s %d\n"%(out_tab_str2, data_set, tmp_name,tmp_num) if tmp_object is not None: out_string += tmp_object.get_as_string(tab_str,level+2) else: out_string += "%s%s %s %s not found\n"%(out_tab_str3,tmp_key, tmp_name,tmp_num) out_string += "\n" i+=1 return out_string # cDataDescriptions END def generate_marker_set_description(set_num=0): """generate_marker_set_description - Testing functions""" marker_set_description = MarkerSetDescription() marker_set_description.set_name("MarkerSetName%3.3d"%set_num) marker_set_description.add_marker_name("MarkerName%3.3d_0"% set_num) marker_set_description.add_marker_name("MarkerName%3.3d_1"% set_num) marker_set_description.add_marker_name("MarkerName%3.3d_2"% set_num) marker_set_description.add_marker_name("MarkerName%3.3d_3"% set_num) return marker_set_description def generate_rb_marker(marker_num=0): """generate_rb_marker - Generate rigid body marker based on marker number""" marker_num_mod = marker_num % 4 marker_name="RBMarker_%3.3d"%marker_num marker_active_label = marker_num+10000 marker_pos=[1.0,4.0,9.0] if marker_num_mod == 1: marker_pos=[1.0, 8.0, 27.0] elif marker_num_mod == 2: marker_pos=[3.1, 4.1, 5.9] elif marker_num_mod == 3: marker_pos=[1.0, 3.0, 6.0] return RBMarker(marker_name, marker_active_label, marker_pos) def generate_rigid_body_description(rbd_num=0): """generate_rigid_body_description - Generate Rigid Body Description Data""" rbd=RigidBodyDescription() rbd.set_name("rigidBodyDescription_%3.3d"%rbd_num) rbd.set_id(3141) rbd.set_parent_id(314) rbd.set_pos(1,4,9) rbd.add_rb_marker(generate_rb_marker(0)) rbd.add_rb_marker(generate_rb_marker(1)) rbd.add_rb_marker(generate_rb_marker(2)) return rbd def generate_skeleton_description(skeleton_num=0): """generate_skeleton_description -Generate Test SkeletonDescription Data""" skel_desc=SkeletonDescription("SkeletonDescription_%3.3d"%skeleton_num,skeleton_num) #generate some rigid bodies to add skel_desc.add_rigid_body_description(generate_rigid_body_description(0)) skel_desc.add_rigid_body_description(generate_rigid_body_description(1)) skel_desc.add_rigid_body_description(generate_rigid_body_description(2)) skel_desc.add_rigid_body_description(generate_rigid_body_description(3)) skel_desc.add_rigid_body_description(generate_rigid_body_description(5)) skel_desc.add_rigid_body_description(generate_rigid_body_description(7)) return skel_desc def generate_force_plate_description(force_plate_num=0): """generate_force_plate_description - Generate Test ForcePlateDescription Data""" fp_id=force_plate_num random.seed(force_plate_num) serial_number="S/N_%5.5d"%random.randint(0,99999) width=random.random()*10 length=random.random()*10 origin=[(random.random()*100),(random.random()*100),(random.random()*100)] corners = [[0.0, 0.0, 0.0], [0.0, 1.0, 0.0], [1.0, 1.0, 0.0], [1.0, 0.0, 0.0]] fp_desc=ForcePlateDescription(fp_id, serial_number) fp_desc.set_dimensions(width, length) fp_desc.set_origin(origin[0],origin[1],origin[2]) #fp_desc.set_cal_matrix(cal_matrix) fp_desc.set_corners(corners) for i in range(3): fp_desc.add_channel_name("channel_%3.3d"%i) return fp_desc def generate_device_description(dev_num=0): """generate_device_description- Generate Test DeviceDescription Data""" new_id=0 name="Device%3.3d"%dev_num serial_number="SerialNumber%3.3d"%dev_num device_type=dev_num%4 channel_data_type=dev_num%5 dev_desc = DeviceDescription(new_id,name, serial_number,device_type,channel_data_type) for i in range(channel_data_type+3): dev_desc.add_channel_name("channel_name_%2.2d"%i) return dev_desc def generate_camera_description(cam_num=0): """generate_camera_description - Generate Test CameraDescription data""" pos_vec3=[1,2,3] orientation_quat=[1,2,3,4] return CameraDescription("Camera_%3.3d"%cam_num, pos_vec3, orientation_quat) #generate_data_descriptions - Generate Test DataDescriptions def generate_data_descriptions(data_desc_num=0): """Generate data descriptions""" data_descs = DataDescriptions() data_descs.add_data(generate_marker_set_description(data_desc_num+0)) data_descs.add_data(generate_marker_set_description(data_desc_num+1)) data_descs.add_data(generate_rigid_body_description(data_desc_num+0)) data_descs.add_data(generate_rigid_body_description(data_desc_num+1)) data_descs.add_skeleton(generate_skeleton_description(data_desc_num+3)) data_descs.add_skeleton(generate_skeleton_description(data_desc_num+9)) data_descs.add_skeleton(generate_skeleton_description(data_desc_num+27)) data_descs.add_force_plate(generate_force_plate_description(data_desc_num+123)) data_descs.add_force_plate(generate_force_plate_description(data_desc_num+87)) data_descs.add_force_plate(generate_force_plate_description(data_desc_num+21)) data_descs.add_device(generate_device_description(data_desc_num+0)) data_descs.add_device(generate_device_description(data_desc_num+2)) data_descs.add_device(generate_device_description(data_desc_num+4)) data_descs.add_camera(generate_camera_description(data_desc_num+0)) data_descs.add_camera(generate_camera_description(data_desc_num+10)) data_descs.add_camera(generate_camera_description(data_desc_num+3)) data_descs.add_camera(generate_camera_description(data_desc_num+7)) return data_descs # test_all - Test all the major classes def test_all(run_test=True): """Test all the Data Description classes""" totals=[0,0,0] if run_test is True: test_cases=[ ["Test Markerset Description 0", "d918228cc347bd0dac69dd02b1a5375a4421364f", "generate_marker_set_description(0)", True], ["Test RB Marker 0", "df582ca7b764d889041b59ceb6a43251b68ca3be", "generate_rb_marker(0)", True], ["Test Rigid Body Description 0", "0ea7085657c391efe2fd349cc03f242247efbbe4", "generate_rigid_body_description(0)", True], ["Test Skeleton Description 0", "fa2a59e76f31c1d884f6554fe13e5cfcf31e703c", "generate_skeleton_description(0)", True], ["Test Force Plate Description 0", "798793a2fed302bc472b2636beff959901214be2", "generate_force_plate_description(0)", True], ["Test Device Description 0", "39b4fdda402bc73c0b1cd5c7f61599476aa9a926", "generate_device_description(0)",True], ["Test Camera Description 0", "614602c5d290bda3b288138d5e25516dd1e1e85a", "generate_camera_description(0)",True], ["Test Data Description 0", "b2fcffb251ae526e91ec9f65f5f2137f0d74db49", "generate_data_descriptions(0)", True], ] num_tests = len(test_cases) for i in range(num_tests): data = eval(test_cases[i][2]) totals_tmp = test_hash2(test_cases[i][0],test_cases[i][1],data,test_cases[i][2],test_cases[i][3]) totals=add_lists(totals, totals_tmp) print("--------------------") print("[PASS] Count = %3.1d"%totals[0]) print("[FAIL] Count = %3.1d"%totals[1]) print("[SKIP] Count = %3.1d"%totals[2]) return totals # if __name__ == "__main__": test_all(True) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_optitrack/MoCapData.py000066400000000000000000001135321504324515000245510ustar00rootroot00000000000000#Copyright © 2021 Naturalpoint # #Licensed under the Apache License, Version 2.0 (the "License") #you may not use this file except in compliance with the License. #You may obtain a copy of the License at # #http://www.apache.org/licenses/LICENSE-2.0 # #Unless required by applicable law or agreed to in writing, software #distributed under the License is distributed on an "AS IS" BASIS, #WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. #See the License for the specific language governing permissions and #limitations under the License. # OptiTrack NatNet direct depacketization sample for Python 3.x # # Uses the Python NatNetClient.py library to establish a connection (by creating a NatNetClient), # and receive data via a NatNet connection and decode it using the NatNetClient library. #Utility functions import copy import hashlib import random K_SKIP = [0,0,1] K_FAIL = [0,1,0] K_PASS = [1,0,0] # get_tab_str # generate a string that takes the nesting level into account def get_tab_str(tab_str, level): out_tab_str="" loop_range = range(0,level) for _ in loop_range: out_tab_str+=tab_str return out_tab_str def add_lists(totals, totals_tmp): totals[0]+=totals_tmp[0] totals[1]+=totals_tmp[1] totals[2]+=totals_tmp[2] return totals def test_hash(test_name, test_hash_str, test_object): out_str = test_object.get_as_string() out_hash_str=hashlib.sha1(out_str.encode()).hexdigest() ret_value=True if test_hash_str == out_hash_str: print("[PASS]:%s"%test_name) else: print("[FAIL]:%s test_hash_str != out_hash_str"%test_name) print("test_hash_str=%s"%test_hash_str) print("out_hash_str=%s"%out_hash_str) print("out_str =\n%s"%out_str) ret_value=False return ret_value def test_hash2(test_name, test_hash_str, test_object, generator_string, run_test): ret_value = K_FAIL out_str = "FAIL" out_str2="" indent_string=" " if not run_test: ret_value = K_SKIP out_str = "SKIP" elif test_object == None: out_str = "FAIL" ret_value = K_FAIL out_str2 = "%sERROR: test_object was None"%indent_string else: if str(type(test_object)) != 'NoneType': obj_out_str = test_object.get_as_string() obj_out_hash_str=hashlib.sha1(obj_out_str.encode()).hexdigest() if test_hash_str == obj_out_hash_str: out_str = "PASS" ret_value = K_PASS else: out_str2+="%s%s test_hash_str != out_hash_str\n"%(indent_string,test_name) out_str2+="%stest_hash_str=%s\n"%(indent_string,test_hash_str) out_str2+="%sobj_out_hash_str=%s\n"%(indent_string,obj_out_hash_str) out_str2+="%sUpdated Test Entry:\n"%(indent_string) out_str2 += "%s[\"%s\", \"%s\", \"%s\", True],\n"%(indent_string,test_name,obj_out_hash_str,generator_string) out_str2+="%sobj_out_str =\n%s"%(indent_string,obj_out_str) ret_value = K_FAIL print("[%s]:%s"%(out_str,test_name)) if len(out_str2): print("%s"%out_str2) return ret_value def get_as_string(input_str): type_input_str=str(type(input_str)) if type_input_str == "": return input_str elif type_input_str == "": return "" elif type_input_str == "": return input_str.decode('utf-8') elif type_input_str == "": return str(input_str) else: print("type_input_str = %s NOT HANDLED"%type_input_str) return input_str #MoCap Frame Classes class FramePrefixData: def __init__(self, frame_number): self.frame_number=frame_number def get_as_string(self,tab_str=" ", level = 0): out_tab_str = get_tab_str(tab_str, level) out_str = "%sFrame #: %3.1d\n"%(out_tab_str,self.frame_number) return out_str class MarkerData: def __init__(self): self.model_name="" self.marker_pos_list=[] def set_model_name(self, model_name): self.model_name = model_name def add_pos(self, pos): self.marker_pos_list.append(copy.deepcopy(pos)) return len(self.marker_pos_list) def get_num_points(self): return len(self.marker_pos_list) def get_as_string(self, tab_str=" ", level=0): out_tab_str = get_tab_str(tab_str, level) out_tab_str2 = get_tab_str(tab_str, level+1) out_str="" out_str+="%sMarkerData:\n"%out_tab_str if self.model_name != "": out_str+="%sModel Name : %s\n"%(out_tab_str, get_as_string(self.model_name)) marker_count = len(self.marker_pos_list) out_str+="%sMarker Count :%3.1d\n"%(out_tab_str, marker_count) for i in range(marker_count): pos = self.marker_pos_list[i] out_str+="%sMarker %3.1d pos : [x=%3.2f,y=%3.2f,z=%3.2f]\n"%(out_tab_str2,i,pos[0], pos[1], pos[2]) return out_str class MarkerSetData: def __init__(self): self.marker_data_list=[] self.unlabeled_markers=MarkerData() self.unlabeled_markers.set_model_name("") def add_marker_data(self, marker_data): self.marker_data_list.append(copy.deepcopy(marker_data)) return len(self.marker_data_list) def add_unlabeled_marker(self, pos): self.unlabeled_markers.add_pos(pos) def get_marker_set_count(self): return len(self.marker_data_list) def get_unlabeled_marker_count(self): return self.unlabeled_markers.get_num_points() def get_as_string(self, tab_str=" ", level=0): out_tab_str = get_tab_str(tab_str, level) out_str="" # Labeled markers count marker_data_count = len(self.marker_data_list) out_str+= "%sMarkerset Count:%3.1d\n"% (out_tab_str,marker_data_count) for marker_data in self.marker_data_list: out_str += marker_data.get_as_string(tab_str,level+1) # Unlabeled markers count (4 bytes) unlabeled_markers_count = self.unlabeled_markers.get_num_points() out_str += "%sUnlabeled Marker Count:%3.1d\n"%(out_tab_str, unlabeled_markers_count ) out_str += self.unlabeled_markers.get_as_string(tab_str,level+1) return out_str class LegacyMarkerData: def __init__(self): self.marker_pos_list=[] def add_pos(self, pos): self.marker_pos_list.append(copy.deepcopy(pos)) return len(self.marker_pos_list) def get_marker_count(self): return len(self.marker_pos_list) def get_as_string(self, tab_str=" ", level=0): out_tab_str = get_tab_str(tab_str, level) out_tab_str2 = get_tab_str(tab_str, level+1) out_str="" marker_count = len(self.marker_pos_list) out_str+="%sLegacy Marker Count :%3.1d\n"%(out_tab_str, marker_count) for i in range(marker_count): pos = self.marker_pos_list[i] out_str+="%sMarker %3.1d pos : [x=%3.2f,y=%3.2f,z=%3.2f]\n"%(out_tab_str2,i,pos[0], pos[1], pos[2]) return out_str class RigidBodyMarker: def __init__(self): self.pos = [0.0,0.0,0.0] self.id_num = 0 self.size = 0 self.error = 0 self.marker_num = -1; def get_as_string(self, tab_str=" ", level=0): out_tab_str = get_tab_str(tab_str, level) out_str = "" out_str += "%sRBMarker:"%( out_tab_str) if ( self.marker_num > -1 ): out_str += " %3.1d"%( self.marker_num ) out_str += "\n" out_str += "%sPosition: [%3.2f %3.2f %3.2f]\n"%( out_tab_str, self.pos[0], self.pos[1], self.pos[2] ) out_str += "%sID : %3.1d\n"%(out_tab_str, self.id_num) out_str += "%sSize : %3.1d\n"%(out_tab_str, self.size) return out_str class RigidBody: def __init__(self, new_id, pos, rot): self.id_num = new_id self.pos=pos self.rot=rot self.rb_marker_list=[] self.tracking_valid = False self.error = 0.0 self.marker_num = -1 def add_rigid_body_marker(self, rigid_body_marker): self.rb_marker_list.append(copy.deepcopy(rigid_body_marker)) return len(self.rb_marker_list) def get_as_string(self, tab_str=0, level=0): out_tab_str = get_tab_str(tab_str, level) out_tab_str2 = get_tab_str(tab_str, level+1) out_str="" # header out_str += "%sRigid Body :"% (out_tab_str) if ( self.marker_num > -1 ): out_str += " %3.1d"% (self.marker_num) out_str += "\n" out_str += "%s ID : %3.1d\n"% (out_tab_str, self.id_num) # Position and orientation out_str += "%s Position : [%3.2f, %3.2f, %3.2f]\n"% (out_tab_str, self.pos[0], self.pos[1], self.pos[2] ) out_str += "%s Orientation : [%3.2f, %3.2f, %3.2f, %3.2f]\n"% (out_tab_str, self.rot[0], self.rot[1], self.rot[2], self.rot[3] ) marker_count = len(self.rb_marker_list) marker_count_range = range( 0, marker_count ) # Marker Data if marker_count > 0: out_str += "%s Marker Count : %3.1d\n"%(out_tab_str, marker_count ) for i in marker_count_range: rbmarker = self.rb_marker_list[i] rbmarker.marker_num=i out_str += rbmarker.get_as_string(tab_str, level+2) out_str += "%s Marker Error : %3.2f\n"% (out_tab_str, self.error) # Valid Tracking tf_string = 'False' if self.tracking_valid: tf_string = 'True' out_str += "%sTracking Valid: %s\n"%(out_tab_str, tf_string) return out_str class RigidBodyData: def __init__(self): self.rigid_body_list=[] def add_rigid_body(self, rigid_body): self.rigid_body_list.append(copy.deepcopy(rigid_body)) return len(self.rigid_body_list) def get_rigid_body_count(self): return len(self.rigid_body_list) def get_as_string(self, tab_str=" ", level=0): out_tab_str = get_tab_str(tab_str, level) out_str="" rigid_body_count=len(self.rigid_body_list) out_str += "%sRigid Body Count: %3.1d\n"%(out_tab_str, rigid_body_count) rb_num=0 for rigid_body in self.rigid_body_list: rigid_body.marker_num=rb_num out_str += rigid_body.get_as_string(tab_str, level+1) rb_num+=1 return out_str class Skeleton: def __init__(self, new_id=0): self.id_num=new_id self.rigid_body_list=[] def add_rigid_body(self, rigid_body): self.rigid_body_list.append(copy.deepcopy(rigid_body)) return len(self.rigid_body_list) def get_as_string(self, tab_str=" ", level=0): out_tab_str = get_tab_str(tab_str, level) out_tab_str2 = get_tab_str(tab_str, level+1) out_str="" out_str+="%sID: %3.1d\n"%(out_tab_str, self.id_num) rigid_body_count=len(self.rigid_body_list) out_str += "%sRigid Body Count: %3.1d\n"%(out_tab_str, rigid_body_count) for rb_num in range(rigid_body_count): self.rigid_body_list[rb_num].marker_num = rb_num out_str += self.rigid_body_list[rb_num].get_as_string(tab_str, level+2) return out_str class SkeletonData: def __init__(self): self.skeleton_list=[] def add_skeleton(self, new_skeleton): self.skeleton_list.append(copy.deepcopy(new_skeleton)) def get_skeleton_count(self): return len(self.skeleton_list) def get_as_string(self, tab_str = " ", level=0): out_tab_str = get_tab_str(tab_str, level) out_tab_str2 = get_tab_str(tab_str, level+1) out_str = "" skeleton_count = len(self.skeleton_list) out_str += "%sSkeleton Count: %3.1d\n"%(out_tab_str, skeleton_count) for skeleton_num in range(skeleton_count): out_str += "%sSkeleton %3.1d\n"%(out_tab_str2, skeleton_num) out_str += self.skeleton_list[skeleton_num].get_as_string(tab_str, level+2) return out_str class AssetMarkerData: def __init__(self, marker_id, pos, marker_size=0.0, marker_params=0, residual=0.0, marker_num=-1): self.marker_id=marker_id self.pos=pos self.marker_size=marker_size self.marker_params=marker_params self.residual=residual self.marker_num=marker_num def get_as_string(self, tab_str=" ", level=0): out_tab_str = get_tab_str(tab_str, level) out_tab_str2 = get_tab_str(tab_str, level+1) out_str="" if( False ): out_str+="%sID : %s\n"%(out_tab_str, get_as_string(self.marker_id)) out_str+="%sPos : %3.2f %3.2f %3.2f\n"%(out_tab_str, self.pos[0], self.pos[1], self.pos[2]) out_str+="%sSize : %3.2f\n"%(out_tab_str, self.marker_size) out_str+="%sParams : %s\n"%(out_tab_str, self.marker_params) out_str+="%sResidual : %3.2f\n"%(out_tab_str, self.residual) else: out_str+="%s"%(out_tab_str) if(self.marker_num > -1): out_str+="%3.1d "%(self.marker_num) else: out_str+=" " out_str+="Marker %7.1d"%(self.marker_id) out_str+=" pos : [%3.2f, %3.2f, %3.2f] "%(self.pos[0], self.pos[1], self.pos[2]) out_str+=" size=%3.2f"%(self.marker_size) out_str+=" err=%3.2f"%(self.residual) out_str+=" params=%d"%(self.marker_params) out_str+="\n" return out_str class AssetRigidBodyData: def __init__(self, new_id, pos, rot, mean_error=0.0, param=0): self.id_num=new_id self.pos = pos self.rot = rot self.mean_error = mean_error self.param = param self.rb_num = -1 def get_as_string(self, tab_str=" ", level=0): out_tab_str = get_tab_str(tab_str, level) out_str="" out_str += "%sRigid Body :"%(out_tab_str) if(self.rb_num > -1): out_str += "%3.1d"%(self.rb_num) out_str += "\n" out_str += "%sID : %s\n"%(out_tab_str, get_as_string(self.id_num)) out_str += "%sPosition : [%3.2f, %3.2f, %3.2f]\n"%(out_tab_str, self.pos[0], self.pos[1], self.pos[2]) out_str += "%sOrientation : [%3.2f, %3.2f, %3.2f, %3.2f]\n"%(out_tab_str, self.rot[0], self.rot[1], self.rot[2], self.rot[3]) out_str += "%sMean Error : %3.2f\n"%(out_tab_str, self.mean_error) out_str += "%sParams : %3.1d\n"%(out_tab_str, self.param) return out_str class Asset: def __init__(self): self.asset_id=0 self.rigid_body_list=[] self.marker_list=[] def set_id(self, new_id): self.asset_id=new_id def add_rigid_body(self, rigid_body): self.rigid_body_list.append(copy.deepcopy(rigid_body)) return len(self.rigid_body_list) def add_marker(self, marker): self.marker_list.append(copy.deepcopy(marker)) return len(self.marker_list) def get_rigid_body_count(self): return len(self.rigid_body_list) def get_marker_count(self): return len(self.marker_list) def get_as_string(self, tab_str = " ", level = 0): out_tab_str = get_tab_str(tab_str, level) out_str = "" out_str += "%sAsset ID : %d\n"%(out_tab_str,self.asset_id) rigid_body_count = len(self.rigid_body_list) out_str += "%sRigid Body Count: %3.1d\n"%(out_tab_str, rigid_body_count) rb_num=0 for rigid_body in self.rigid_body_list: rigid_body.rb_num=rb_num out_str += rigid_body.get_as_string(tab_str, level+1) rb_num+=1 marker_count = len(self.marker_list) out_str += "%sMarker Count: %3.1d\n"%(out_tab_str, marker_count) marker_num = 0 for marker in self.marker_list: marker.marker_num = marker_num out_str += marker.get_as_string(tab_str, level+1) marker_num+=1 return out_str class AssetData: def __init__(self): self.asset_list=[] def add_asset(self, new_asset): self.asset_list.append(copy.deepcopy(new_asset)) def get_asset_count(self): return len(self.asset_list) def get_as_string(self, tab_str = " ", level=0): out_tab_str = get_tab_str(tab_str, level) out_tab_str2 = get_tab_str(tab_str, level+1) out_str = "" asset_count = self.get_asset_count() out_str += "%sAsset Count: %3.1d\n"%(out_tab_str, asset_count) for asset_num in range(asset_count): out_str += "%sAsset %3.1d\n"%(out_tab_str2, asset_num) out_str += self.asset_list[asset_num].get_as_string(tab_str, level+2) return out_str class LabeledMarker: def __init__(self, new_id, pos, size=0.0, param = 0, residual=0.0): self.id_num=new_id self.pos = pos self.size = size self.param = param self.residual = residual self.marker_num=-1 if str(type(size)) == "": self.size=size[0] def __decode_marker_id(self): model_id = self.id_num >> 16 marker_id = self.id_num & 0x0000ffff return model_id, marker_id def __decode_param(self): occluded = ( self.param & 0x01 ) != 0 point_cloud_solved = ( self.param & 0x02 ) != 0 model_solved = ( self.param & 0x04 ) != 0 return occluded,point_cloud_solved, model_solved def get_as_string(self, tab_str, level): out_tab_str = get_tab_str(tab_str, level) model_id, marker_id = self.__decode_marker_id() out_str = "" out_str+="%sLabeled Marker"%out_tab_str if(self.marker_num > -1): out_str+=" %d"%self.marker_num out_str+=":\n" out_str += "%sID : [MarkerID: %3.1d] [ModelID: %3.1d]\n"%(out_tab_str, marker_id,model_id) out_str += "%spos : [%3.2f, %3.2f, %3.2f]\n"%(out_tab_str, self.pos[0],self.pos[1],self.pos[2]) out_str += "%ssize : [%3.2f]\n"%(out_tab_str, self.size) out_str += "%serr : [%3.2f]\n"%(out_tab_str, self.residual) occluded, point_cloud_solved, model_solved = self.__decode_param() out_str += "%soccluded : [%3.1d]\n"%(out_tab_str, occluded) out_str += "%spoint_cloud_solved : [%3.1d]\n"%(out_tab_str, point_cloud_solved) out_str += "%smodel_solved : [%3.1d]\n"%(out_tab_str, model_solved) return out_str class LabeledMarkerData: def __init__(self): self.labeled_marker_list=[] def add_labeled_marker(self, labeled_marker): self.labeled_marker_list.append(copy.deepcopy(labeled_marker)) return len(self.labeled_marker_list) def get_labeled_marker_count(self): return len(self.labeled_marker_list) def get_as_string(self, tab_str = " ", level = 0): out_tab_str = get_tab_str(tab_str, level) out_tab_str2 = get_tab_str(tab_str, level+1) out_str = "" labeled_marker_count = len(self.labeled_marker_list) out_str += "%sLabeled Marker Count:%3.1d\n"%(out_tab_str, labeled_marker_count ) for i in range( 0, labeled_marker_count ): labeled_marker = self.labeled_marker_list[i] labeled_marker.marker_num=i out_str += labeled_marker.get_as_string(tab_str, level+2) return out_str class ForcePlateChannelData: def __init__(self): # list of floats self.frame_list=[] def add_frame_entry(self, frame_entry): self.frame_list.append(copy.deepcopy(frame_entry)) return len(self.frame_list) def get_as_string(self, tab_str, level, channel_num = -1): fc_max = 4 out_tab_str = get_tab_str(tab_str, level) out_str = "" frame_count = len(self.frame_list) fc_show = min(frame_count, fc_max) out_str += "%s"%(out_tab_str) if channel_num >= 0 : out_str += "Channel %3.1d: "%channel_num out_str += "%3.1d Frames - Frame Data: "%(frame_count) for i in range(fc_show): out_str += "%3.2f "%(self.frame_list[i]) if fc_show < frame_count : out_str += " - Showing %3.1d of %3.1d frames"%(fc_show, frame_count) out_str += "\n" return out_str class ForcePlate: def __init__(self, new_id=0): self.id_num = new_id self.channel_data_list=[] def add_channel_data(self, channel_data): self.channel_data_list.append(copy.deepcopy(channel_data)) return len(self.channel_data_list) def get_as_string(self, tab_str, level): out_tab_str = get_tab_str(tab_str, level) out_str = "" out_str += "%sID : %3.1d"%(out_tab_str, self.id_num) num_channels = len(self.channel_data_list) out_str += " Channel Count: %3.1d\n"%( num_channels) for i in range(num_channels): out_str += self.channel_data_list[i].get_as_string(tab_str, level+1,i) return out_str class ForcePlateData: def __init__(self): self.force_plate_list=[] def add_force_plate(self, force_plate): self.force_plate_list.append(copy.deepcopy(force_plate)) return len(self.force_plate_list) def get_force_plate_count(self): return len(self.force_plate_list) def get_as_string(self, tab_str=" ", level=0): out_tab_str = get_tab_str(tab_str, level) out_tab_str2 = get_tab_str(tab_str, level+1) out_str="" force_plate_count = len(self.force_plate_list) out_str += "%sForce Plate Count: %3.1d\n"%(out_tab_str, force_plate_count) for i in range(force_plate_count): out_str += "%sForce Plate %3.1d\n"%(out_tab_str2, i) out_str += self.force_plate_list[i].get_as_string(tab_str, level+2) return out_str class DeviceChannelData: def __init__(self): # list of floats self.frame_list=[] def add_frame_entry(self, frame_entry): self.frame_list.append(copy.deepcopy(frame_entry)) return len(self.frame_list) def get_as_string(self, tab_str, level, channel_num = -1): fc_max = 4 out_tab_str = get_tab_str(tab_str, level) out_str = "" frame_count = len(self.frame_list) fc_show = min(frame_count, fc_max) out_str += "%s"%(out_tab_str) if channel_num >= 0: out_str += "Channel %3.1d: "%channel_num out_str += "%3.1d Frames - Frame Data: "%(frame_count) for i in range(fc_show): out_str += "%3.2f "%(self.frame_list[i]) if fc_show < frame_count: out_str += " - Showing %3.1d of %3.1d frames"%(fc_show, frame_count) out_str += "\n" return out_str class Device: def __init__(self, new_id): self.id_num=new_id self.channel_data_list = [] def add_channel_data(self, channel_data): self.channel_data_list.append(copy.deepcopy(channel_data)) return len(self.channel_data_list) def get_as_string(self, tab_str, level, device_num): out_tab_str = get_tab_str(tab_str, level) out_str = "" num_channels = len(self.channel_data_list) out_str+= "%sDevice %3.1d ID: %3.1d Num Channels: %3.1d\n"% (out_tab_str, device_num, self.id_num, num_channels ) for i in range(num_channels): out_str += self.channel_data_list[i].get_as_string(tab_str, level+1, i) return out_str class DeviceData: def __init__(self): self.device_list=[] def add_device(self, device): self.device_list.append(copy.deepcopy(device)) return len(self.device_list) def get_device_count(self): return len(self.device_list) def get_as_string(self, tab_str = " ", level = 0): out_tab_str = get_tab_str(tab_str, level) out_str = "" device_count = len(self.device_list) out_str += "%sDevice Count: %3.1d\n"%(out_tab_str, device_count) for i in range(device_count): out_str += self.device_list[i].get_as_string(tab_str, level+1, i) return out_str class FrameSuffixData: def __init__(self): self.timecode=-1 self.timecode_sub=-1 self.timestamp = -1 self.stamp_camera_mid_exposure = -1 self.stamp_data_received = -1 self.stamp_transmit = -1 self.prec_timestamp_secs = -1 self.prec_timestamp_frac_secs = -1 self.param = 0 self.is_recording = False self.tracked_models_changed = True def get_as_string(self, tab_str=" ", level=0): out_tab_str = get_tab_str(tab_str, level) out_str = "" if not self.timestamp == -1: out_str += "%sTimestamp : %3.3f\n"%(out_tab_str, self.timestamp) if not self.stamp_camera_mid_exposure == -1: out_str += "%sMid-exposure timestamp : %3.1d\n"%(out_tab_str, self.stamp_camera_mid_exposure) if not self.stamp_data_received == -1: out_str += "%sCamera data received timestamp : %3.1d\n"%(out_tab_str, self.stamp_data_received) if not self.stamp_transmit == -1: out_str += "%sTransmit timestamp : %3.1d\n"%(out_tab_str, self.stamp_transmit) if not self.prec_timestamp_secs == -1: #hours = int(self.prec_timestamp_secs/3600) #minutes=int(self.prec_timestamp_secs/60)%60 #seconds=self.prec_timestamp_secs%60 #hms_string="%sPrecision timestamp (hh:mm:ss) : %2.1d:%2.2d:%2.2d\n"%(out_tab_str,hours, minutes, seconds) #out_str += hms_string out_str += "%sPrecision timestamp (seconds) : %3.1d\n"%(out_tab_str, self.prec_timestamp_secs) if not self.prec_timestamp_frac_secs == -1: out_str += "%sPrecision timestamp (fractional seconds) : %3.1d\n"%(out_tab_str, self.prec_timestamp_frac_secs) return out_str class MoCapData: def __init__(self): #Packet Parts self.prefix_data = None self.marker_set_data = None self.legacy_other_markers = None self.rigid_body_data = None self.asset_data = None self.skeleton_data = None self.labeled_marker_data = None self.force_plate_data = None self.device_data = None self.suffix_data = None def set_prefix_data(self, new_prefix_data): self.prefix_data = new_prefix_data def set_marker_set_data(self, new_marker_set_data): self.marker_set_data = new_marker_set_data def set_legacy_other_markers(self, new_marker_set_data): self.legacy_other_markers = new_marker_set_data def set_rigid_body_data(self, new_rigid_body_data): self.rigid_body_data = new_rigid_body_data def set_skeleton_data(self, new_skeleton_data): self.skeleton_data = new_skeleton_data def set_asset_data(self, new_asset_data): self.asset_data=new_asset_data def set_labeled_marker_data(self, new_labeled_marker_data): self.labeled_marker_data = new_labeled_marker_data def set_force_plate_data(self, new_force_plate_data): self.force_plate_data = new_force_plate_data def set_device_data(self, new_device_data): self.device_data = new_device_data def set_suffix_data(self, new_suffix_data): self.suffix_data = new_suffix_data def get_as_string(self, tab_str = " ", level = 0): out_tab_str = get_tab_str(tab_str, level) out_str="" out_str+= "%sMoCap Frame Begin\n%s-----------------\n"%(out_tab_str,out_tab_str) if not self.prefix_data == None: out_str+=self.prefix_data.get_as_string() else: out_str+="%sNo Prefix Data Set\n"%(out_tab_str) if not self.marker_set_data == None: out_str+=self.marker_set_data.get_as_string(tab_str, level+1) else: out_str+="%sNo Markerset Data Set\n"%(out_tab_str) if not self.rigid_body_data == None: out_str+=self.rigid_body_data.get_as_string(tab_str, level+1) else: out_str+="%sNo Rigid Body Data Set\n"%(out_tab_str) if not self.skeleton_data == None: out_str+=self.skeleton_data.get_as_string(tab_str, level+1) else: out_str+="%sNo Skeleton Data Set\n"%(out_tab_str) if not self.asset_data == None: out_str+=self.asset_data.get_as_string(tab_str, level+1) else: out_str+="%sNo Asset Data Set\n"%(out_tab_str) if not self.labeled_marker_data == None: out_str+=self.labeled_marker_data.get_as_string(tab_str, level+1) else: out_str+="%sNo Labeled Marker Data Set\n"%(out_tab_str) if not self.force_plate_data == None: out_str+=self.force_plate_data.get_as_string(tab_str, level+1) else: out_str+="%sNo Force Plate Data Set\n"%(out_tab_str) if not self.device_data == None: out_str+=self.device_data.get_as_string(tab_str, level+1) else: out_str+="%sNo Device Data Set\n"%(out_tab_str) if not self.suffix_data == None: out_str+=self.suffix_data.get_as_string(tab_str, level+1) else: out_str+="%sNo Suffix Data Set\n"%(out_tab_str) out_str+= "%sMoCap Frame End\n%s-----------------\n"%(out_tab_str,out_tab_str) return out_str # test program def generate_prefix_data(frame_num = 0): frame_prefix_data = FramePrefixData(frame_num) return frame_prefix_data def generate_label(label_base="label", label_num=0): out_label= "%s_%3.3d"%(label_base, label_num) return out_label def generate_position_srand(pos_num=0, frame_num=0): random.seed(pos_num + (frame_num*1000)) position=[(random.random()*100),(random.random()*100),(random.random()*100)] return position def generate_marker_data(label_base, label_num, num_points=1): label=generate_label(label_base, label_num) if((label_base == None) or (label_base == "")): label="" marker_data=MarkerData() marker_data.set_model_name(label) start_num=label_num * 10000 end_num = start_num+num_points for point_num in range(start_num, end_num): position=generate_position_srand(point_num) marker_data.add_pos(position) return marker_data def generate_marker_set_data(frame_num = 0, marker_set_num=0): marker_set_data=MarkerSetData() #add labeled markers marker_set_data.add_marker_data(generate_marker_data("marker",0,3)) marker_set_data.add_marker_data(generate_marker_data("marker",1,6)) marker_set_data.add_marker_data(generate_marker_data("marker",2,5)) #add unlabeled markers num_points=5 start_num=(frame_num * 100000) + (10000 + marker_set_num) end_num = start_num+num_points for point_num in range(start_num, end_num): position=generate_position_srand(point_num) marker_set_data.add_unlabeled_marker(position) return marker_set_data def generate_rigid_body_marker_srand(marker_num=0, frame_num = 0): rigid_body_marker=RigidBodyMarker() rbm_num=11000+marker_num random.seed(rbm_num) rigid_body_marker.pos=generate_position_srand(rbm_num, frame_num) rigid_body_marker.id_num=marker_num rigid_body_marker.size=1 rigid_body_marker.error=random.random() return rigid_body_marker def generate_rigid_body(body_num=0, frame_num = 0): pos=generate_position_srand(10000+body_num, frame_num) rot = [1,0,0,0] rigid_body = RigidBody(body_num,pos,rot) rigid_body.add_rigid_body_marker(generate_rigid_body_marker_srand(0, frame_num)) rigid_body.add_rigid_body_marker(generate_rigid_body_marker_srand(1, frame_num)) rigid_body.add_rigid_body_marker(generate_rigid_body_marker_srand(2)) return rigid_body def generate_rigid_body_data(frame_num = 0): rigid_body_data=RigidBodyData() # add rigid bodies rigid_body_data.add_rigid_body(generate_rigid_body(0, frame_num)) rigid_body_data.add_rigid_body(generate_rigid_body(1, frame_num)) rigid_body_data.add_rigid_body(generate_rigid_body(2, frame_num)) return rigid_body_data def generate_skeleton(frame_num=0, skeleton_num=0,num_rbs=1): skeleton = Skeleton(skeleton_num) # add rigid bodies rb_seed_start=skeleton_num *165 rb_seed_end=rb_seed_start + num_rbs for rb_num in range(rb_seed_start, rb_seed_end): skeleton.add_rigid_body(generate_rigid_body(rb_num, frame_num)) return skeleton def generate_skeleton_data(frame_num = 0): skeleton_data = SkeletonData() skeleton_data.add_skeleton(generate_skeleton(frame_num, 0, 2)) skeleton_data.add_skeleton(generate_skeleton(frame_num, 1, 6)) skeleton_data.add_skeleton(generate_skeleton(frame_num, 2, 3)) return skeleton_data def generate_labeled_marker(frame_num=0, marker_num=0): point_num = (frame_num *2000) + marker_num pos = generate_position_srand(point_num) size = 1 param = 0 #occluded 0x01 param += 0x01 * 0 #point_cloud_solved 0x02 param += 0x02 * 0 #model_solved 0x04 param += 0x04 * 1 residual = 0.01 return LabeledMarker(marker_num, pos, size, param,residual) def generate_labeled_marker_data(frame_num = 0): labeled_marker_data = LabeledMarkerData() #add labeled marker labeled_marker_data.add_labeled_marker(generate_labeled_marker(frame_num,0)) labeled_marker_data.add_labeled_marker(generate_labeled_marker(frame_num,1)) labeled_marker_data.add_labeled_marker(generate_labeled_marker(frame_num,2)) return labeled_marker_data def generate_fp_channel_data(frame_num=0,fp_num=0, channel_num=0, num_frames =1): rseed=(frame_num*100000)+(fp_num*10000)+(channel_num *1000) random.seed(rseed) fp_channel_data = ForcePlateChannelData() for _ in range(num_frames): fp_channel_data.add_frame_entry(100.0*random.random()) return fp_channel_data def generate_force_plate(frame_num=0, fp_num = 0, num_channels=1): force_plate = ForcePlate(fp_num) #add channel_data for i in range(num_channels): force_plate.add_channel_data(generate_fp_channel_data(frame_num,fp_num, i, 10)) return force_plate def generate_force_plate_data(frame_num = 0): force_plate_data = ForcePlateData() # add force plates force_plate_data.add_force_plate(generate_force_plate(frame_num, 0,3)) force_plate_data.add_force_plate(generate_force_plate(frame_num, 1,4)) force_plate_data.add_force_plate(generate_force_plate(frame_num, 2,2)) return force_plate_data def generate_device_channel_data(frame_num=0,device_num=0, channel_num=0, num_frames =1): rseed=(frame_num*100000)+(device_num*10000)+(channel_num *1000) random.seed(rseed) device_channel_data = DeviceChannelData() for _ in range(num_frames): device_channel_data.add_frame_entry(100.0*random.random()) return device_channel_data def generate_device(frame_num=0, device_num=0): device = Device(device_num) device.add_channel_data(generate_device_channel_data(frame_num, device_num,1,4)) device.add_channel_data(generate_device_channel_data(frame_num, device_num,3,2)) device.add_channel_data(generate_device_channel_data(frame_num, device_num,7,6)) return device def generate_device_data(frame_num = 0): device_data=DeviceData() device_data.add_device(generate_device(frame_num, 0)) device_data.add_device(generate_device(frame_num, 2)) return device_data def generate_suffix_data(frame_num = 0): frame_suffix_data = FrameSuffixData() frame_suffix_data.stamp_camera_mid_exposure = 5844402979291+frame_num frame_suffix_data.stamp_data_received = 0 frame_suffix_data.stamp_transmit = 5844403268753+ frame_num frame_suffix_data.prec_timestamp_secs = 0 frame_suffix_data.prec_timestamp_frac_secs = 0 frame_suffix_data.timecode = 0 frame_suffix_data.timecode_sub = 0 frame_suffix_data.timestamp = 762.63 return frame_suffix_data def generate_mocap_data(frame_num=0): mocap_data=MoCapData() mocap_data.set_prefix_data(generate_prefix_data(frame_num)) mocap_data.set_marker_set_data(generate_marker_set_data(frame_num)) mocap_data.set_rigid_body_data(generate_rigid_body_data(frame_num)) mocap_data.set_skeleton_data(generate_skeleton_data(frame_num)) mocap_data.set_labeled_marker_data(generate_labeled_marker_data(frame_num)) mocap_data.set_force_plate_data(generate_force_plate_data(frame_num)) mocap_data.set_device_data(generate_device_data(frame_num)) mocap_data.set_suffix_data(generate_suffix_data(frame_num)) return mocap_data def test_all(run_test=True): totals=[0,0,0] if run_test is True: test_cases=[["Test Prefix Data 0", "bffba016d02cf2167780df31aee697e1ec746b4c", "generate_prefix_data(0)",True], ["Test Markerset Data 0", "e56eb605b7b583252f644ca67118aafb7642f49f", "generate_marker_set_data(0)", True], ["Test Rigid Body Data 0", "5357b7146719aca7df226dab585b15d1d6096e35", "generate_rigid_body_data(0)", True], ["Test Skeleton Data 0", "19b6b8e2f4b4c68d5c67f353bea0b09d10343074", "generate_skeleton_data(0)", True], ["Test Labeled Marker Data 0", "e0dd01035424e8e927a4956c21819a1f0ed18355", "generate_labeled_marker_data(0)", True], ["Test Force Plate Data 0", "2bb1000049a98b3c4ff8c48c7560af94dcdd32b3", "generate_force_plate_data(0)", True], ["Test Device Data 0", "be10f0b93a7ba3858dce976b7868c1f79fd719c3", "generate_device_data(0)",True], ["Test Suffix Data 0", "005a1b3e1f9e7530255ca75f34e4786cef29fcdb", "generate_suffix_data(0)", True], ["Test MoCap Data 0", "1f85afac1eb790d431a4f5936b44a8555a316122", "generate_mocap_data(0)", True], ] num_tests = len(test_cases) for i in range(num_tests): data = eval(test_cases[i][2]) totals_tmp = test_hash2(test_cases[i][0],test_cases[i][1],data,test_cases[i][2],test_cases[i][3]) totals=add_lists(totals, totals_tmp) print("--------------------") print("[PASS] Count = %3.1d"%totals[0]) print("[FAIL] Count = %3.1d"%totals[1]) print("[SKIP] Count = %3.1d"%totals[2]) return totals if __name__ == "__main__": test_all(True) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_optitrack/NatNetClient.py000066400000000000000000002321251504324515000253100ustar00rootroot00000000000000#Copyright © 2018 Naturalpoint # #Licensed under the Apache License, Version 2.0 (the "License") #you may not use this file except in compliance with the License. #You may obtain a copy of the License at # #http://www.apache.org/licenses/LICENSE-2.0 # #Unless required by applicable law or agreed to in writing, software #distributed under the License is distributed on an "AS IS" BASIS, #WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. #See the License for the specific language governing permissions and #limitations under the License. # OptiTrack NatNet direct depacketization library for Python 3.x import sys import socket import struct from threading import Thread import copy import time from MAVProxy.modules.mavproxy_optitrack import DataDescriptions from MAVProxy.modules.mavproxy_optitrack import MoCapData def trace( *args ): # uncomment the one you want to use #print( "".join(map(str,args)) ) pass #Used for Data Description functions def trace_dd( *args ): # uncomment the one you want to use #print( "".join(map(str,args)) ) pass #Used for MoCap Frame Data functions def trace_mf( *args ): # uncomment the one you want to use #print( "".join(map(str,args)) ) pass def get_message_id(data): message_id = int.from_bytes( data[0:2], byteorder='little', signed=True ) return message_id # Create structs for reading various object types to speed up parsing. Vector2 = struct.Struct( '1 on / print every nth mocap frame print_level = 0 def __init__( self ): # Change this value to the IP address of the NatNet server. self.server_ip_address = "127.0.0.1" # Change this value to the IP address of your local network interface self.local_ip_address = "127.0.0.1" # This should match the multicast address listed in Motive's streaming settings. self.multicast_address = "239.255.42.99" # NatNet Command channel self.command_port = 1510 # NatNet Data channel self.data_port = 1511 self.use_multicast = True # Set this to a callback method of your choice to receive per-rigid-body data at each frame. self.rigid_body_listener = None self.new_frame_listener = None # Set Application Name self.__application_name = "Not Set" # NatNet stream version server is capable of. This will be updated during initialization only. self.__nat_net_stream_version_server = [0,0,0,0] # NatNet stream version. This will be updated to the actual version the server is using during runtime. self.__nat_net_requested_version = [0,0,0,0] # server stream version. This will be updated to the actual version the server is using during initialization. self.__server_version = [0,0,0,0] # Lock values once run is called self.__is_locked = False # Server has the ability to change bitstream version self.__can_change_bitstream_version = False self.command_thread = None self.data_thread = None self.command_socket = None self.data_socket = None self.stop_threads=False # Client/server message ids NAT_CONNECT = 0 NAT_SERVERINFO = 1 NAT_REQUEST = 2 NAT_RESPONSE = 3 NAT_REQUEST_MODELDEF = 4 NAT_MODELDEF = 5 NAT_REQUEST_FRAMEOFDATA = 6 NAT_FRAMEOFDATA = 7 NAT_MESSAGESTRING = 8 NAT_DISCONNECT = 9 NAT_KEEPALIVE = 10 NAT_UNRECOGNIZED_REQUEST = 100 NAT_UNDEFINED = 999999.9999 def set_client_address(self, local_ip_address): if not self.__is_locked: self.local_ip_address = local_ip_address def get_client_address(self): return self.local_ip_address def set_server_address(self,server_ip_address): if not self.__is_locked: self.server_ip_address = server_ip_address def get_server_address(self): return self.server_ip_address def set_use_multicast(self, use_multicast): if not self.__is_locked: self.use_multicast = use_multicast def can_change_bitstream_version(self): return self.__can_change_bitstream_version def set_nat_net_version(self, major, minor): """checks to see if stream version can change, then changes it with position reset""" return_code = -1 if self.__can_change_bitstream_version and \ ((major != self.__nat_net_requested_version[0]) or\ (minor != self.__nat_net_requested_version[1])): sz_command = "Bitstream,%1.1d.%1.1d"%(major, minor) return_code = self.send_command(sz_command) if return_code >=0: self.__nat_net_requested_version[0] = major self.__nat_net_requested_version[1] = minor self.__nat_net_requested_version[2] = 0 self.__nat_net_requested_version[3] = 0 print("changing bitstream MAIN") # get original output state #print_results = self.get_print_results() #turn off output #self.set_print_results(False) # force frame send and play reset self.send_command("TimelinePlay") time.sleep(0.1) tmpCommands=["TimelinePlay", "TimelineStop", "SetPlaybackCurrentFrame,0", "TimelineStop"] self.send_commands(tmpCommands,False) time.sleep(2) #reset to original output state #self.set_print_results(print_results) else: print("Bitstream change request failed") return return_code def get_major(self): return self.__nat_net_requested_version[0] def get_minor(self): return self.__nat_net_requested_version[1] def set_print_level(self, print_level=0): if(print_level >=0): self.print_level = print_level return self.print_level def get_print_level(self): return self.print_level def connected(self): ret_value = True # check sockets if self.command_socket == None: ret_value = False elif self.data_socket ==None: ret_value = False # check versions elif self.get_application_name() == "Not Set": ret_value = False elif (self.__server_version[0] == 0) and\ (self.__server_version[1] == 0) and\ (self.__server_version[2] == 0) and\ (self.__server_version[3] == 0): ret_value = False return ret_value # Create a command socket to attach to the NatNet stream def __create_command_socket( self ): result = None if self.use_multicast : # Multicast case result = socket.socket( socket.AF_INET, socket.SOCK_DGRAM, 0 ) # allow multiple clients on same machine to use multicast group address/port result.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) try: result.bind( ('', 0) ) except socket.error as msg: print("ERROR: command socket error occurred:\n%s" %msg) print("Check Motive/Server mode requested mode agreement. You requested Multicast ") result = None except socket.herror: print("ERROR: command socket herror occurred") result = None except socket.gaierror: print("ERROR: command socket gaierror occurred") result = None except socket.timeout: print("ERROR: command socket timeout occurred. Server not responding") result = None # set to broadcast mode result.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1) # set timeout to allow for keep alive messages result.settimeout(2.0) else: # Unicast case result = socket.socket( socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP) try: result.bind( (self.local_ip_address, 0) ) except socket.error as msg: print("ERROR: command socket error occurred:\n%s" %msg) print("Check Motive/Server mode requested mode agreement. You requested Unicast ") result = None except socket.herror: print("ERROR: command socket herror occurred") result = None except socket.gaierror: print("ERROR: command socket gaierror occurred") result = None except socket.timeout: print("ERROR: command socket timeout occurred. Server not responding") result = None # set timeout to allow for keep alive messages result.settimeout(2.0) result.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) return result # Create a data socket to attach to the NatNet stream def __create_data_socket( self, port ): result = None if self.use_multicast: # Multicast case result = socket.socket( socket.AF_INET, # Internet socket.SOCK_DGRAM, 0) # UDP result.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) result.setsockopt(socket.IPPROTO_IP, socket.IP_ADD_MEMBERSHIP, socket.inet_aton(self.multicast_address) + socket.inet_aton(self.local_ip_address)) try: result.bind( (self.local_ip_address, port) ) except socket.error as msg: print("ERROR: data socket error occurred:\n%s" %msg) print(" Check Motive/Server mode requested mode agreement. You requested Multicast ") result = None except socket.herror: print("ERROR: data socket herror occurred") result = None except socket.gaierror: print("ERROR: data socket gaierror occurred") result = None except socket.timeout: print("ERROR: data socket timeout occurred. Server not responding") result = None else: # Unicast case result = socket.socket( socket.AF_INET, # Internet socket.SOCK_DGRAM, socket.IPPROTO_UDP) result.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) #result.bind( (self.local_ip_address, port) ) try: result.bind( ('', 0) ) except socket.error as msg: print("ERROR: data socket error occurred:\n%s" %msg) print("Check Motive/Server mode requested mode agreement. You requested Unicast ") result = None except socket.herror: print("ERROR: data socket herror occurred") result = None except socket.gaierror: print("ERROR: data socket gaierror occurred") result = None except socket.timeout: print("ERROR: data socket timeout occurred. Server not responding") result = None if(self.multicast_address != "255.255.255.255"): result.setsockopt(socket.IPPROTO_IP, socket.IP_ADD_MEMBERSHIP, socket.inet_aton(self.multicast_address) + socket.inet_aton(self.local_ip_address)) return result # Unpack a rigid body object from a data packet def __unpack_rigid_body( self, data, major, minor, rb_num): offset = 0 # ID (4 bytes) new_id = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 trace_mf( "RB: %3.1d ID: %3.1d"% (rb_num, new_id)) # Position and orientation pos = Vector3.unpack( data[offset:offset+12] ) offset += 12 trace_mf( "\tPosition : [%3.2f, %3.2f, %3.2f]"% (pos[0], pos[1], pos[2] )) rot = Quaternion.unpack( data[offset:offset+16] ) offset += 16 trace_mf( "\tOrientation : [%3.2f, %3.2f, %3.2f, %3.2f]"% (rot[0], rot[1], rot[2], rot[3] )) rigid_body = MoCapData.RigidBody(new_id, pos, rot) # Send information to any listener. if self.rigid_body_listener is not None: self.rigid_body_listener( new_id, pos, rot ) # RB Marker Data ( Before version 3.0. After Version 3.0 Marker data is in description ) if( major < 3 and major != 0) : # Marker count (4 bytes) marker_count = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 marker_count_range = range( 0, marker_count ) trace_mf( "\tMarker Count:", marker_count ) rb_marker_list=[] for i in marker_count_range: rb_marker_list.append(MoCapData.RigidBodyMarker()) # Marker positions for i in marker_count_range: pos = Vector3.unpack( data[offset:offset+12] ) offset += 12 trace_mf( "\tMarker", i, ":", pos[0],",", pos[1],",", pos[2] ) rb_marker_list[i].pos=pos if major >= 2: # Marker ID's for i in marker_count_range: new_id = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 trace_mf( "\tMarker ID", i, ":", new_id ) rb_marker_list[i].id=new_id # Marker sizes for i in marker_count_range: size = FloatValue.unpack( data[offset:offset+4] ) offset += 4 trace_mf( "\tMarker Size", i, ":", size[0] ) rb_marker_list[i].size=size for i in marker_count_range: rigid_body.add_rigid_body_marker(rb_marker_list[i]) if major >= 2 : marker_error, = FloatValue.unpack( data[offset:offset+4] ) offset += 4 trace_mf( "\tMean Marker Error: %3.2f"% marker_error ) rigid_body.error = marker_error # Version 2.6 and later if ( ( major == 2 ) and ( minor >= 6 ) ) or major > 2 : param, = struct.unpack( 'h', data[offset:offset+2] ) tracking_valid = ( param & 0x01 ) != 0 offset += 2 is_valid_str='False' if tracking_valid: is_valid_str = 'True' trace_mf( "\tTracking Valid: %s"%is_valid_str) if tracking_valid: rigid_body.tracking_valid = True else: rigid_body.tracking_valid = False return offset, rigid_body # Unpack a skeleton object from a data packet def __unpack_skeleton( self, data, major, minor, skeleton_num=0): offset = 0 new_id = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 trace_mf( "Skeleton %3.1d ID: %3.1d"% (skeleton_num, new_id )) skeleton = MoCapData.Skeleton(new_id) rigid_body_count = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 trace_mf( "Rigid Body Count : %3.1d"% rigid_body_count ) if(rigid_body_count > 0): for rb_num in range( 0, rigid_body_count ): offset_tmp, rigid_body = self.__unpack_rigid_body( data[offset:], major, minor, rb_num ) skeleton.add_rigid_body(rigid_body) offset+=offset_tmp return offset, skeleton def __unpack_asset( self, data, major, minor, asset_num=0): offset = 0 trace_dd( "\tAsset : %d"% (asset_num )) # Asset ID 4 bytes new_id = int.from_bytes(data[offset:offset+4],'little', signed=True) offset += 4 asset = MoCapData.Asset() trace_dd( "\tAsset ID : %d"% (new_id )) asset.set_id(new_id) # # of RigidBodies numRBs = int.from_bytes(data[offset:offset+4],'little', signed=True) offset += 4 trace_dd( "\tRigid Bodies : %d" % (numRBs)) offset1=0 for rb_num in range(numRBs): # # of RigidBodies offset1,rigid_body = self.__unpack_asset_rigid_body_data(data[offset:], major, minor) offset += offset1 rigid_body.rb_num=rb_num asset.add_rigid_body(rigid_body) # # of Markers numMarkers = int.from_bytes(data[offset:offset+4],'little', signed=True) offset += 4 trace_dd( "\tMarkers : %d" % (numMarkers)) for marker_num in range(numMarkers): # # of Markers offset1,marker = self.__unpack_asset_marker_data( data[offset:], major, minor) offset += offset1 marker.marker_num=marker_num asset.add_marker(marker) return offset, asset #Unpack Mocap Data Functions def __unpack_frame_prefix_data( self, data): offset = 0 # Frame number (4 bytes) frame_number = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 trace_mf( "Frame #: %3.1d"% frame_number ) frame_prefix_data=MoCapData.FramePrefixData(frame_number) return offset, frame_prefix_data def __unpack_data_size(self, data, major, minor): sizeInBytes=0 offset=0 if( ( (major == 4) and (minor>0) ) or (major > 4)): sizeInBytes = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 trace_mf( "Byte Count: %3.1d"% sizeInBytes ) return offset, sizeInBytes def __unpack_legacy_other_markers( self, data, packet_size, major, minor): offset = 0 # Markerset count (4 bytes) other_marker_count = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 trace_mf( "Other Marker Count:", other_marker_count ) # get data size (4 bytes) offset_tmp, unpackedDataSize = self.__unpack_data_size(data[offset:],major, minor) offset += offset_tmp other_marker_data = MoCapData.LegacyMarkerData() if(other_marker_count > 0): # get legacy_marker positions ### legacy_marker_data for j in range( 0, other_marker_count ): pos = Vector3.unpack( data[offset:offset+12] ) offset += 12 trace_mf( "\tMarker %3.1d : [x=%3.2f,y=%3.2f,z=%3.2f]"%( j, pos[0], pos[1], pos[2] )) other_marker_data.add_pos(pos) return offset, other_marker_data def __unpack_marker_set_data( self, data, packet_size, major, minor): marker_set_data=MoCapData.MarkerSetData() offset = 0 # Markerset count (4 bytes) marker_set_count = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 trace_mf( "Markerset Count:", marker_set_count ) # get data size (4 bytes) offset_tmp, unpackedDataSize = self.__unpack_data_size(data[offset:],major, minor) offset += offset_tmp for i in range( 0, marker_set_count ): marker_data = MoCapData.MarkerData() # Model name model_name, separator, remainder = bytes(data[offset:]).partition( b'\0' ) offset += len( model_name ) + 1 trace_mf( "Model Name : ", model_name.decode( 'utf-8' ) ) marker_data.set_model_name(model_name) # Marker count (4 bytes) marker_count = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 if(marker_count < 0): print("WARNING: Early return. Invalid marker count") offset = len(data) return offset, marker_set_data elif(marker_count > 10000): print("WARNING: Early return. Marker count too high") offset = len(data) return offset, marker_set_data trace_mf( "Marker Count : ", marker_count ) for j in range( 0, marker_count ): if(len(data)<(offset+12)): print("WARNING: Early return. Out of data at marker ",j," of ", marker_count) offset = len(data) return offset, marker_set_data break pos = Vector3.unpack( data[offset:offset+12] ) offset += 12 trace_mf( "\tMarker %3.1d : [x=%3.2f,y=%3.2f,z=%3.2f]"%( j, pos[0], pos[1], pos[2] )) marker_data.add_pos(pos) marker_set_data.add_marker_data(marker_data) # Unlabeled markers count (4 bytes) #unlabeled_markers_count = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) #offset += 4 #trace_mf( "Unlabeled Marker Count:", unlabeled_markers_count ) #for i in range( 0, unlabeled_markers_count ): # pos = Vector3.unpack( data[offset:offset+12] ) # offset += 12 # trace_mf( "\tMarker %3.1d : [%3.2f,%3.2f,%3.2f]"%( i, pos[0], pos[1], pos[2] )) # marker_set_data.add_unlabeled_marker(pos) return offset, marker_set_data def __unpack_rigid_body_data( self, data, packet_size, major, minor): rigid_body_data = MoCapData.RigidBodyData() offset = 0 # Rigid body count (4 bytes) rigid_body_count = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 trace_mf( "Rigid Body Count:", rigid_body_count ) # get data size (4 bytes) offset_tmp, unpackedDataSize = self.__unpack_data_size(data[offset:],major, minor) offset += offset_tmp for i in range( 0, rigid_body_count ): offset_tmp, rigid_body = self.__unpack_rigid_body( data[offset:], major, minor, i ) offset += offset_tmp rigid_body_data.add_rigid_body(rigid_body) return offset, rigid_body_data def __unpack_skeleton_data( self, data, packet_size, major, minor): skeleton_data = MoCapData.SkeletonData() offset = 0 # Version 2.1 and later skeleton_count = 0 if( ( major == 2 and minor > 0 ) or major > 2 ): skeleton_count = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 trace_mf( "Skeleton Count:", skeleton_count ) # Get data size (4 bytes) offset_tmp, unpackedDataSize = self.__unpack_data_size(data[offset:],major, minor) offset += offset_tmp if(skeleton_count >0): for skeleton_num in range( 0, skeleton_count ): rel_offset, skeleton = self.__unpack_skeleton( data[offset:], major, minor, skeleton_num ) offset += rel_offset skeleton_data.add_skeleton(skeleton) return offset, skeleton_data def __decode_marker_id(self, new_id): model_id = 0 marker_id = 0 model_id = new_id >> 16 marker_id = new_id & 0x0000ffff return model_id, marker_id def __unpack_labeled_marker_data( self, data, packet_size, major, minor): labeled_marker_data = MoCapData.LabeledMarkerData() offset = 0 # Labeled markers (Version 2.3 and later) labeled_marker_count = 0 if( ( major == 2 and minor > 3 ) or major > 2 ): labeled_marker_count = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 trace_mf( "Labeled Marker Count:", labeled_marker_count ) # get data size (4 bytes) offset_tmp, unpackedDataSize = self.__unpack_data_size(data[offset:],major, minor) offset += offset_tmp for lm_num in range( 0, labeled_marker_count ): model_id = 0 marker_id = 0 tmp_id = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 model_id, marker_id = self.__decode_marker_id(tmp_id) pos = Vector3.unpack( data[offset:offset+12] ) offset += 12 size = FloatValue.unpack( data[offset:offset+4] ) offset += 4 trace_mf("%3.1d ID : [MarkerID: %3.1d] [ModelID: %3.1d]"%(lm_num, marker_id,model_id)) trace_mf(" pos : [%3.2f, %3.2f, %3.2f]"%(pos[0],pos[1],pos[2])) trace_mf(" size : [%3.2f]"%size) # Version 2.6 and later param = 0 if( ( major == 2 and minor >= 6 ) or major > 2): param, = struct.unpack( 'h', data[offset:offset+2] ) offset += 2 #occluded = ( param & 0x01 ) != 0 #point_cloud_solved = ( param & 0x02 ) != 0 #model_solved = ( param & 0x04 ) != 0 # Version 3.0 and later residual = 0.0 if major >= 3 : residual, = FloatValue.unpack( data[offset:offset+4] ) offset += 4 residual = residual * 1000.0 trace_mf( " err : [%3.2f]"% residual ) labeled_marker = MoCapData.LabeledMarker(tmp_id,pos,size,param, residual) labeled_marker_data.add_labeled_marker(labeled_marker) return offset, labeled_marker_data def __unpack_force_plate_data( self, data, packet_size, major, minor): force_plate_data = MoCapData.ForcePlateData() n_frames_show_max = 4 offset = 0 # Force Plate data (version 2.9 and later) force_plate_count = 0 if( ( major == 2 and minor >= 9 ) or major > 2 ): force_plate_count = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 trace_mf( "Force Plate Count:", force_plate_count ) # get data size (4 bytes) offset_tmp, unpackedDataSize = self.__unpack_data_size(data[offset:],major, minor) offset += offset_tmp for i in range( 0, force_plate_count ): # ID force_plate_id = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 force_plate = MoCapData.ForcePlate(force_plate_id) # Channel Count force_plate_channel_count = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 trace_mf( "\tForce Plate %3.1d ID: %3.1d Num Channels: %3.1d"% (i, force_plate_id, force_plate_channel_count )) # Channel Data for j in range( force_plate_channel_count ): fp_channel_data = MoCapData.ForcePlateChannelData() force_plate_channel_frame_count = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 out_string="\tChannel %3.1d: "%( j ) out_string+=" %3.1d Frames - Frame Data: "%(force_plate_channel_frame_count) # Force plate frames n_frames_show = min(force_plate_channel_frame_count, n_frames_show_max) for k in range( force_plate_channel_frame_count ): force_plate_channel_val = FloatValue.unpack( data[offset:offset+4] ) offset += 4 fp_channel_data.add_frame_entry(force_plate_channel_val) if k < n_frames_show: out_string += "%3.2f "%(force_plate_channel_val) if n_frames_show < force_plate_channel_frame_count: out_string += " showing %3.1d of %3.1d frames"%(n_frames_show, force_plate_channel_frame_count) trace_mf( "%s"% out_string ) force_plate.add_channel_data(fp_channel_data) force_plate_data.add_force_plate(force_plate) return offset, force_plate_data def __unpack_device_data( self, data, packet_size, major, minor): device_data = MoCapData.DeviceData() n_frames_show_max = 4 offset = 0 # Device data (version 2.11 and later) device_count = 0 if ( major == 2 and minor >= 11 ) or (major > 2) : device_count = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 trace_mf( "Device Count:", device_count ) # get data size (4 bytes) offset_tmp, unpackedDataSize = self.__unpack_data_size(data[offset:],major, minor) offset += offset_tmp for i in range( 0, device_count ): # ID device_id = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 device = MoCapData.Device(device_id) # Channel Count device_channel_count = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 trace_mf( "\tDevice %3.1d ID: %3.1d Num Channels: %3.1d"% (i, device_id, device_channel_count )) # Channel Data for j in range( 0, device_channel_count ): device_channel_data = MoCapData.DeviceChannelData() device_channel_frame_count = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 out_string="\tChannel %3.1d "% (j) out_string+=" %3.1d Frames - Frame Data: "%(device_channel_frame_count) # Device Frame Data n_frames_show = min(device_channel_frame_count, n_frames_show_max) for k in range( 0, device_channel_frame_count ): device_channel_val = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) device_channel_val = FloatValue.unpack( data[offset:offset+4] ) offset += 4 if k < n_frames_show: out_string += "%3.2f "%(device_channel_val) device_channel_data.add_frame_entry(device_channel_val) if n_frames_show < device_channel_frame_count: out_string += " showing %3.1d of %3.1d frames"%(n_frames_show, device_channel_frame_count) trace_mf( "%s"% out_string ) device.add_channel_data(device_channel_data) device_data.add_device(device) return offset, device_data def __unpack_frame_suffix_data( self, data, packet_size, major, minor): frame_suffix_data = MoCapData.FrameSuffixData() offset = 0 # Timecode timecode = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 frame_suffix_data.timecode = timecode timecode_sub = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 frame_suffix_data.timecode_sub = timecode_sub param=0 #check to see if there is enough data if((packet_size-offset) <= 0): print("ERROR: Early End of Data Frame Suffix Data") print("\tNo time stamp info available") else: # Timestamp (increased to double precision in 2.7 and later) if ( major == 2 and minor >= 7 ) or (major > 2 ): timestamp, = DoubleValue.unpack( data[offset:offset+8] ) offset += 8 else: timestamp, = FloatValue.unpack( data[offset:offset+4] ) offset += 4 trace_mf("Timestamp : %3.2f"%timestamp) frame_suffix_data.timestamp = timestamp # Hires Timestamp (Version 3.0 and later) if major >= 3 : stamp_camera_mid_exposure = int.from_bytes( data[offset:offset+8], byteorder='little', signed=True ) trace_mf("Mid-exposure timestamp : %3.1d"%stamp_camera_mid_exposure) offset += 8 frame_suffix_data.stamp_camera_mid_exposure = stamp_camera_mid_exposure stamp_data_received = int.from_bytes( data[offset:offset+8], byteorder='little', signed=True ) offset += 8 frame_suffix_data.stamp_data_received = stamp_data_received trace_mf("Camera data received timestamp : %3.1d"%stamp_data_received) stamp_transmit = int.from_bytes( data[offset:offset+8], byteorder='little', signed=True ) offset += 8 trace_mf("Transmit timestamp : %3.1d"%stamp_transmit) frame_suffix_data.stamp_transmit = stamp_transmit # Precision Timestamp (Version 4.1 and later) (defaults as 0 if N/A) if major >= 4: prec_timestamp_secs = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) #hours = int(prec_timestamp_secs/3600) #minutes=int(prec_timestamp_secs/60)%60 #seconds=prec_timestamp_secs%60 #out_string="Precision timestamp (h:m:s) - %4.1d:%2.2d:%2.2d"%(hours, minutes, seconds) #trace_mf("%s"%out_string) trace_mf("Precision timestamp (sec) : %3.1d"%prec_timestamp_secs) offset += 4 frame_suffix_data.prec_timestamp_secs = prec_timestamp_secs prec_timestamp_frac_secs = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) trace_mf("Precision timestamp (frac sec) : %3.1d"%prec_timestamp_frac_secs) offset += 4 frame_suffix_data.prec_timestamp_frac_secs = prec_timestamp_frac_secs # Frame parameters param, = struct.unpack( 'h', data[offset:offset+2] ) offset += 2 is_recording = ( param & 0x01 ) != 0 tracked_models_changed = ( param & 0x02 ) != 0 frame_suffix_data.param = param frame_suffix_data.is_recording = is_recording frame_suffix_data.tracked_models_changed = tracked_models_changed return offset, frame_suffix_data # Unpack data from a motion capture frame message def __unpack_mocap_data( self, data : bytes, packet_size, major, minor): mocap_data = MoCapData.MoCapData() data = memoryview( data ) offset = 0 rel_offset = 0 #Frame Prefix Data rel_offset, frame_prefix_data = self.__unpack_frame_prefix_data(data[offset:]) offset += rel_offset mocap_data.set_prefix_data(frame_prefix_data) frame_number = frame_prefix_data.frame_number #Markerset Data rel_offset, marker_set_data =self.__unpack_marker_set_data(data[offset:], (packet_size - offset),major, minor) offset += rel_offset mocap_data.set_marker_set_data(marker_set_data) marker_set_count = marker_set_data.get_marker_set_count() unlabeled_markers_count = marker_set_data.get_unlabeled_marker_count() # Legacy Other Markers rel_offset, legacy_other_markers =self.__unpack_legacy_other_markers(data[offset:], (packet_size - offset),major, minor) offset += rel_offset mocap_data.set_legacy_other_markers(legacy_other_markers) marker_set_count = legacy_other_markers.get_marker_count() legacy_other_markers_count = marker_set_data.get_unlabeled_marker_count() # Rigid Body Data rel_offset, rigid_body_data = self.__unpack_rigid_body_data(data[offset:], (packet_size - offset),major, minor) offset += rel_offset mocap_data.set_rigid_body_data(rigid_body_data) rigid_body_count = rigid_body_data.get_rigid_body_count() # Skeleton Data rel_offset, skeleton_data = self.__unpack_skeleton_data(data[offset:], (packet_size - offset),major, minor) offset += rel_offset mocap_data.set_skeleton_data(skeleton_data) skeleton_count = skeleton_data.get_skeleton_count() # Assets ( Motive 3.1/NatNet 4.1 and greater) asset_count=0 if (((major == 4) and (minor > 0)) or (major > 4)): rel_offset, asset_data = self.__unpack_asset_data(data[offset:], (packet_size - offset),major, minor) offset += rel_offset mocap_data.set_asset_data(asset_data) asset_count = asset_data.get_asset_count() # Labeled Marker Data rel_offset, labeled_marker_data = self.__unpack_labeled_marker_data(data[offset:], (packet_size - offset),major, minor) offset += rel_offset mocap_data.set_labeled_marker_data(labeled_marker_data) labeled_marker_count = labeled_marker_data.get_labeled_marker_count() # Force Plate Data rel_offset, force_plate_data = self.__unpack_force_plate_data(data[offset:], (packet_size - offset),major, minor) offset += rel_offset mocap_data.set_force_plate_data(force_plate_data) # Device Data rel_offset,device_data = self.__unpack_device_data(data[offset:], (packet_size - offset),major, minor) offset += rel_offset mocap_data.set_device_data(device_data) # Frame Suffix Data #rel_offset, timecode, timecode_sub, timestamp, is_recording, tracked_models_changed = \ rel_offset, frame_suffix_data = self.__unpack_frame_suffix_data(data[offset:], (packet_size - offset),major, minor) offset += rel_offset mocap_data.set_suffix_data(frame_suffix_data) timecode = frame_suffix_data.timecode timecode_sub= frame_suffix_data.timecode_sub timestamp = frame_suffix_data.timestamp is_recording = frame_suffix_data.is_recording tracked_models_changed = frame_suffix_data.tracked_models_changed # Send information to any listener. if self.new_frame_listener is not None: data_dict={} data_dict["frame_number"]=frame_number data_dict[ "marker_set_count"] = marker_set_count data_dict[ "unlabeled_markers_count"] = unlabeled_markers_count data_dict[ "rigid_body_count"] = rigid_body_count data_dict[ "skeleton_count"] =skeleton_count data_dict[ "asset_count"] =asset_count data_dict[ "labeled_marker_count"] = labeled_marker_count data_dict[ "timecode"] = timecode data_dict[ "timecode_sub"] = timecode_sub data_dict[ "timestamp"] = timestamp data_dict[ "is_recording"] = is_recording data_dict[ "tracked_models_changed"] = tracked_models_changed self.new_frame_listener( data_dict ) return offset, mocap_data # Unpack a Markerset description packet def __unpack_marker_set_description( self, data, major, minor): ms_desc = DataDescriptions.MarkerSetDescription() offset = 0 name, separator, remainder = bytes(data[offset:]).partition( b'\0' ) offset += len( name ) + 1 trace_dd( "Markerset Name: %s" % (name.decode( 'utf-8' )) ) ms_desc.set_name(name) marker_count = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 trace_dd( "Marker Count : %3.1d" % marker_count) if(marker_count > 0): for i in range( 0, marker_count ): name, separator, remainder = bytes(data[offset:]).partition( b'\0' ) offset += len( name ) + 1 trace_dd( "\t%2.1d Marker Name: %s"%(i, name.decode( 'utf-8' ) )) ms_desc.add_marker_name(name) return offset, ms_desc # Unpack a rigid body description packet def __unpack_rigid_body_description( self, data, major, minor): rb_desc=DataDescriptions.RigidBodyDescription() offset = 0 # Version 2.0 or higher if (major >= 2) or (major == 0): name, separator, remainder = bytes(data[offset:]).partition( b'\0' ) offset += len( name ) + 1 rb_desc.set_name(name) trace_dd( "\tRigid Body Name : ", name.decode( 'utf-8' ) ) # ID new_id = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 rb_desc.set_id(new_id) trace_dd( "\tRigid Body ID : ", str(new_id)) #Parent ID parent_id = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 rb_desc.set_parent_id(parent_id) trace_dd( "\tParent ID : ", parent_id) # Position Offsets pos = Vector3.unpack( data[offset:offset+12] ) offset += 12 rb_desc.set_pos(pos[0],pos[1],pos[2]) trace_dd( "\tPosition : [%3.2f, %3.2f, %3.2f]"% (pos[0], pos[1], pos[2] )) # Version 3.0 and higher, rigid body marker information contained in description if (major >= 3) or (major == 0) : # Marker Count marker_count = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 trace_dd( "\tNumber of Markers : ", marker_count ) if marker_count > 0: trace_dd( "\tMarker Positions : " ) marker_count_range = range( 0, marker_count ) offset1 = offset offset2 = offset1 + (12*marker_count) offset3 = offset2 + (4*marker_count) # Marker Offsets X,Y,Z marker_name="" for marker in marker_count_range: # Offset marker_offset = Vector3.unpack(data[offset1:offset1+12]) offset1 +=12 # Active Label active_label = int.from_bytes(data[offset2:offset2+4],byteorder = 'little', signed=True) offset2 += 4 #Marker Name if (major >= 4) or (major == 0): # markername marker_name, separator, remainder = bytes(data[offset3:]).partition( b'\0' ) marker_name = marker_name.decode( 'utf-8' ) offset3 += len( marker_name ) + 1 rb_marker=DataDescriptions.RBMarker(marker_name,active_label,marker_offset) rb_desc.add_rb_marker(rb_marker) trace_dd( "\t%3.1d Marker Label: %s Position: [ %3.2f %3.2f %3.2f] %s" % (marker,active_label,\ marker_offset[0], marker_offset[1], marker_offset[2],marker_name )) offset = offset3 trace_dd("\tunpack_rigid_body_description processed bytes: ", offset) return offset, rb_desc # Unpack a skeleton description packet def __unpack_skeleton_description( self, data, major, minor): skeleton_desc = DataDescriptions.SkeletonDescription() offset = 0 #Name name, separator, remainder = bytes(data[offset:]).partition( b'\0' ) offset += len( name ) + 1 skeleton_desc.set_name(name) trace_dd( "Name : %s"% name.decode( 'utf-8' ) ) #ID new_id = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 skeleton_desc.set_id(new_id) trace_dd( "ID : %3.1d"% new_id ) # # of RigidBodies rigid_body_count = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 trace_dd( "Rigid Body (Bone) Count : %3.1d" % rigid_body_count) # Loop over all Rigid Bodies for i in range( 0, rigid_body_count ): trace_dd("Rigid Body (Bone) %d:" % (i)) offset_tmp, rb_desc_tmp = self.__unpack_rigid_body_description( data[offset:], major, minor ) offset+= offset_tmp skeleton_desc.add_rigid_body_description(rb_desc_tmp) return offset, skeleton_desc def __unpack_force_plate_description(self, data, major, minor): fp_desc = None offset = 0 if major >= 3: fp_desc = DataDescriptions.ForcePlateDescription() # ID new_id = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 fp_desc.set_id(new_id) trace_dd("\tID : ", str(new_id)) # Serial Number serial_number, separator, remainder = bytes(data[offset:]).partition( b'\0' ) offset += len( serial_number ) + 1 fp_desc.set_serial_number(serial_number) trace_dd( "\tSerial Number : ", serial_number.decode( 'utf-8' ) ) # Dimensions f_width = FloatValue.unpack( data[offset:offset+4]) offset += 4 trace_dd( "\tWidth : %3.2f"% f_width) f_length = FloatValue.unpack( data[offset:offset+4]) offset += 4 fp_desc.set_dimensions(f_width[0], f_length[0]) trace_dd( "\tLength : %3.2f"% f_length) # Origin origin = Vector3.unpack( data[offset:offset+12] ) offset += 12 fp_desc.set_origin(origin[0],origin[1],origin[2]) trace_dd( "\tOrigin : [%3.2f, %3.2f, %3.2f]"%( origin[0], origin[1], origin[2] )) # Calibration Matrix 12x12 floats trace_dd("Cal Matrix:") cal_matrix_tmp= [[0.0 for col in range(12)] for row in range(12)] for i in range(0,12): cal_matrix_row=FPCalMatrixRow.unpack(data[offset:offset+(12*4)]) trace_dd("\t%3.1d %3.3e %3.3e %3.3e %3.3e %3.3e %3.3e %3.3e %3.3e %3.3e %3.3e %3.3e %3.3e" % (i , cal_matrix_row[0], cal_matrix_row[1], cal_matrix_row[2], cal_matrix_row[3] , cal_matrix_row[4], cal_matrix_row[5], cal_matrix_row[6], cal_matrix_row[7] , cal_matrix_row[8], cal_matrix_row[9], cal_matrix_row[10], cal_matrix_row[11])) cal_matrix_tmp[i] = copy.deepcopy(cal_matrix_row) offset += (12*4) fp_desc.set_cal_matrix(cal_matrix_tmp) # Corners 4x3 floats corners = FPCorners.unpack(data[offset:offset + (12*4)]) offset += (12*4) o_2=0 trace_dd("Corners:") corners_tmp = [[0.0 for col in range(3)] for row in range(4)] for i in range(0,4): trace_dd("\t%3.1d %3.3e %3.3e %3.3e"%(i, corners[o_2], corners[o_2+1], corners[o_2+2])) corners_tmp[i][0]=corners[o_2] corners_tmp[i][1]=corners[o_2+1] corners_tmp[i][2]=corners[o_2+2] o_2+=3 fp_desc.set_corners(corners_tmp) # Plate Type int plate_type = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset+=4 fp_desc.set_plate_type(plate_type) trace_dd ("Plate Type : ", plate_type) # Channel Data Type int channel_data_type = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset+=4 fp_desc.set_channel_data_type(channel_data_type) trace_dd("Channel Data Type : ", channel_data_type) # Number of Channels int num_channels = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset+=4 trace_dd("Number of Channels : ", num_channels) # Channel Names list of NoC strings for i in range(0, num_channels): channel_name, separator, remainder = bytes(data[offset:]).partition( b'\0' ) offset += len( channel_name ) + 1 trace_dd( "\tChannel Name %3.1d: %s"%(i, channel_name.decode( 'utf-8' ) )) fp_desc.add_channel_name(channel_name) trace_dd("unpackForcePlate processed ", offset, " bytes") return offset, fp_desc def __unpack_device_description(self, data, major, minor): device_desc=None offset = 0 if major >= 3: # new_id new_id = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 trace_dd("\tID : ", str(new_id)) # Name name, separator, remainder = bytes(data[offset:]).partition( b'\0' ) offset += len( name ) + 1 trace_dd( "\tName : ", name.decode( 'utf-8' ) ) # Serial Number serial_number, separator, remainder = bytes(data[offset:]).partition( b'\0' ) offset += len( serial_number ) + 1 trace_dd( "\tSerial Number : ", serial_number.decode( 'utf-8' ) ) # Device Type int device_type = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset+=4 trace_dd ("Device Type : ", device_type) # Channel Data Type int channel_data_type = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset+=4 trace_dd("Channel Data Type : ", channel_data_type) device_desc = DataDescriptions.DeviceDescription(new_id,name,serial_number,device_type,channel_data_type) # Number of Channels int num_channels = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset+=4 trace_dd("Number of Channels ", num_channels) # Channel Names list of NoC strings for i in range(0, num_channels): channel_name, separator, remainder = bytes(data[offset:]).partition( b'\0' ) offset += len( channel_name ) + 1 device_desc.add_channel_name(channel_name) trace_dd( "\tChannel ",i," Name : ", channel_name.decode( 'utf-8' ) ) trace_dd("unpack_device_description processed ", offset, " bytes") return offset, device_desc def __unpack_camera_description(self, data, major, minor): offset = 0 # Name name, separator, remainder = bytes(data[offset:]).partition( b'\0' ) offset += len( name ) + 1 trace_dd( "\tName : %s"% name.decode( 'utf-8' ) ) # Position position = Vector3.unpack( data[offset:offset+12] ) offset += 12 trace_dd( "\tPosition : [%3.2f, %3.2f, %3.2f]"% (position[0], position[1], position[2] )) # Orientation orientation = Quaternion.unpack( data[offset:offset+16] ) offset += 16 trace_dd( "\tOrientation: [%3.2f, %3.2f, %3.2f, %3.2f]"% (orientation[0], orientation[1], orientation[2], orientation[3] )) trace_dd("unpack_camera_description processed %3.1d bytes"% offset) camera_desc=DataDescriptions.CameraDescription(name, position, orientation) return offset, camera_desc def __unpack_marker_description( self, data, major, minor ): offset = 0 # Name name, separator, remainder = bytes(data[offset:]).partition( b'\0' ) offset += len( name ) + 1 trace_dd( "\tName : %s"% name.decode( 'utf-8' ) ) # ID marker_id = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 trace_dd( "\tID : %d"% (marker_id )) # Initial Position initialPosition = Vector3.unpack( data[offset:offset+12] ) offset += 12 trace_dd( "\tPosition : [%3.2f, %3.2f, %3.2f]"% (initialPosition[0], initialPosition[1], initialPosition[2] )) # Size marker_size = FloatValue.unpack( data[offset:offset+4] ) offset += 4 trace_mf( "\tMarker Size:", marker_size ) # Params marker_params, = struct.unpack( 'h', data[offset:offset+2] ) offset += 2 trace_mf( "\tParams :", marker_params ) trace_dd("\tunpack_marker_description processed %3.1d bytes"% offset) # Package for return object marker_desc=DataDescriptions.MarkerDescription(name, marker_id, initialPosition, marker_size, marker_params) return offset, marker_desc def __unpack_asset_rigid_body_data( self, data, major, minor ): offset = 0 # ID rbID = int.from_bytes(data[offset:offset+4],'little', signed=True) offset += 4 trace_dd( "\tID : %d"% (rbID )) # Position: x,y,z pos = Vector3.unpack( data[offset:offset+12] ) offset += 12 trace_mf( "\tPosition : [%3.2f, %3.2f, %3.2f]"% (pos[0], pos[1], pos[2] )) # Orientation: qx, qy, qz, qw rot = Quaternion.unpack( data[offset:offset+16] ) offset += 16 trace_mf( "\tOrientation : [%3.2f, %3.2f, %3.2f, %3.2f]"% (rot[0], rot[1], rot[2], rot[3] )) # Mean error mean_error, = FloatValue.unpack( data[offset:offset+4] ) offset += 4 trace_mf( "\tMean Error : %3.2f"% mean_error ) # Params marker_params, = struct.unpack( 'h', data[offset:offset+2] ) offset += 2 trace_mf( "\tParams :", marker_params ) trace_dd("unpack_marker_description processed %3.1d bytes"% offset) # Package for return object rigid_body_data=MoCapData.AssetRigidBodyData(rbID, pos, rot, mean_error, marker_params) return offset, rigid_body_data def __unpack_asset_marker_data( self, data, major, minor ): offset = 0 # ID marker_id = int.from_bytes(data[offset:offset+4],'little', signed=True) offset += 4 trace_dd( "\tID : %d"% (marker_id )) # Position: x,y,z pos = Vector3.unpack( data[offset:offset+12] ) offset += 12 trace_mf( "\tPosition : [%3.2f, %3.2f, %3.2f]"% (pos[0], pos[1], pos[2] )) # Size marker_size, = FloatValue.unpack( data[offset:offset+4] ) offset += 4 trace_mf( "\tMarker Size : %3.2f"% marker_size ) # Params marker_params, = struct.unpack( 'h', data[offset:offset+2] ) offset += 2 trace_mf( "\tParams :", marker_params ) # Residual residual, = FloatValue.unpack( data[offset:offset+4] ) offset += 4 trace_mf( "\tResidual : %3.2f"% residual ) marker_data = MoCapData.AssetMarkerData(marker_id, pos, marker_size, marker_params, residual) return offset, marker_data def __unpack_asset_data( self, data, packet_size, major, minor): asset_data = MoCapData.AssetData() offset = 0 # Asset Count asset_count = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 trace_mf( "Asset Count:", asset_count ) # Get data size (4 bytes) offset_tmp, unpackedDataSize = self.__unpack_data_size(data[offset:],major, minor) offset += offset_tmp # Unpack assets for asset_num in range( 0, asset_count ): rel_offset, asset = self.__unpack_asset( data[offset:], major, minor, asset_num ) offset += rel_offset asset_data.add_asset(asset) return offset, asset_data def __unpack_asset_description(self, data, major, minor): offset = 0 # Name name, separator, remainder = bytes(data[offset:]).partition( b'\0' ) offset += len( name ) + 1 trace_dd( "\tName : %s"% name.decode( 'utf-8' ) ) # Asset Type 4 bytes assetType = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 trace_dd( "\tType : %d"% (assetType )) # ID 4 bytes assetID = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 trace_dd( "\tID : %d"% (assetID )) # # of RigidBodies numRBs = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 trace_dd( "\tRigid Body (Bone) Count : %d" % (numRBs)) rigidbodyArray=[] offset1=0 for rbNum in range(numRBs): # # of RigidBodies trace_dd( "\tRigid Body (Bone) %d:" % (rbNum)) offset1,rigidbody = self.__unpack_rigid_body_description(data[offset:], major, minor) offset += offset1 rigidbodyArray.append(rigidbody) # # of Markers numMarkers = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 trace_dd( "\tMarker Count: %d" % (numMarkers)) markerArray=[] for markerNum in range(numMarkers): # # of Markers trace_dd( "\tMarker %d:" % (markerNum)) offset1,marker = self.__unpack_marker_description( data[offset:], major, minor) offset += offset1 markerArray.append(marker) trace_dd("\tunpack_asset_description processed %3.1d bytes"% offset) # package for output asset_desc = DataDescriptions.AssetDescription(name, assetType, assetID, rigidbodyArray, markerArray) return offset, asset_desc # Unpack a data description packet def __unpack_data_descriptions( self, data : bytes, packet_size, major, minor): data_descs = DataDescriptions.DataDescriptions() offset = 0 # # of data sets to process dataset_count = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 trace_dd("Dataset Count : ", str(dataset_count)) for i in range( 0, dataset_count ): trace_dd("Dataset ", str(i)) data_type = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 if ( (major == 4) and (minor>=1) ) or (major > 4) : size_in_bytes = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) offset += 4 data_tmp=None if data_type == 0 : trace_dd("Type: 0 Markerset") offset_tmp, data_tmp = self.__unpack_marker_set_description( data[offset:], major, minor ) elif data_type == 1 : trace_dd("Type: 1 Rigid Body") offset_tmp, data_tmp = self.__unpack_rigid_body_description( data[offset:], major, minor ) elif data_type == 2 : trace_dd("Type: 2 Skeleton") offset_tmp, data_tmp = self.__unpack_skeleton_description( data[offset:], major, minor ) elif data_type == 3 : trace_dd("Type: 3 Force Plate") offset_tmp, data_tmp = self.__unpack_force_plate_description(data[offset:], major, minor) elif data_type == 4 : trace_dd("Type: 4 Device") offset_tmp, data_tmp = self.__unpack_device_description(data[offset:], major, minor) elif data_type == 5 : trace_dd("Type: 5 Camera") offset_tmp, data_tmp = self.__unpack_camera_description(data[offset:], major, minor) elif data_type == 6 : trace_dd("Type: 6 Asset") offset_tmp, data_tmp = self.__unpack_asset_description(data[offset:], major, minor) else: print("Type: Unknown " + str(data_type)) print("ERROR: Type decode failure" ) print("\t"+ str(i+1) +" datasets processed of " + str(dataset_count)) print("\t "+ str(offset) +" bytes processed of " + str(packet_size) ) print("\tPACKET DECODE STOPPED") return offset offset += offset_tmp data_descs.add_data(data_tmp) trace_dd("\t"+ str(i+1) +" datasets processed of " + str(dataset_count)) trace_dd("\t "+ str(offset) +" bytes processed of " + str(packet_size) ) return offset, data_descs # __unpack_server_info is for local use of the client # and will update the values for the versions/ NatNet capabilities # of the server. def __unpack_server_info(self, data, packet_size, major, minor): offset = 0 # Server name #szName = data[offset: offset+256] self.__application_name, separator, remainder = bytes(data[offset: offset+256]).partition( b'\0' ) self.__application_name=str(self.__application_name, "utf-8") offset += 256 # Server Version info server_version = struct.unpack( 'BBBB', data[offset:offset+4] ) offset += 4 self.__server_version[0] = server_version[0] self.__server_version[1] = server_version[1] self.__server_version[2] = server_version[2] self.__server_version[3] = server_version[3] # NatNet Version info nnsvs = struct.unpack( 'BBBB', data[offset:offset+4] ) offset += 4 self.__nat_net_stream_version_server[0]=nnsvs[0] self.__nat_net_stream_version_server[1]=nnsvs[1] self.__nat_net_stream_version_server[2]=nnsvs[2] self.__nat_net_stream_version_server[3]=nnsvs[3] if (self.__nat_net_requested_version[0] == 0) and\ (self.__nat_net_requested_version[1] == 0): print("resetting requested version to %d %d %d %d from %d %d %d %d"%( self.__nat_net_stream_version_server[0], self.__nat_net_stream_version_server[1], self.__nat_net_stream_version_server[2], self.__nat_net_stream_version_server[3], self.__nat_net_requested_version[0], self.__nat_net_requested_version[1], self.__nat_net_requested_version[2], self.__nat_net_requested_version[3])) self.__nat_net_requested_version[0] = self.__nat_net_stream_version_server[0] self.__nat_net_requested_version[1] = self.__nat_net_stream_version_server[1] self.__nat_net_requested_version[2] = self.__nat_net_stream_version_server[2] self.__nat_net_requested_version[3] = self.__nat_net_stream_version_server[3] # Determine if the bitstream version can be changed if (self.__nat_net_stream_version_server[0] >= 4) and (self.use_multicast == False): self.__can_change_bitstream_version = True trace_mf("Sending Application Name: ", self.__application_name) trace_mf("NatNetVersion " , str(self.__nat_net_stream_version_server[0]), " " , str(self.__nat_net_stream_version_server[1]), " " , str(self.__nat_net_stream_version_server[2]), " " , str(self.__nat_net_stream_version_server[3])) trace_mf("ServerVersion " , str(self.__server_version[0]), " " , str(self.__server_version[1]), " " , str(self.__server_version[2]), " " , str(self.__server_version[3]) ) return offset # __unpack_bitstream_info is for local use of the client # and will update the values for the current bitstream # of the server. def __unpack_bitstream_info(self, data, packet_size, major, minor): nn_version=[] inString = data.decode('utf-8') messageList = inString.split(',') if( len(messageList) > 1 ): if( messageList[0] == 'Bitstream'): nn_version=messageList[1].split('.') return nn_version def __command_thread_function( self, in_socket, stop, gprint_level): message_id_dict={} if not self.use_multicast: in_socket.settimeout(2.0) data=bytearray(0) # 64k buffer size recv_buffer_size=64*1024 while not stop(): # Block for input try: data, addr = in_socket.recvfrom( recv_buffer_size ) except socket.error as msg: if stop(): #print("ERROR: command socket access error occurred:\n %s" %msg) #return 1 print("shutting down") except socket.herror: print("ERROR: command socket access herror occurred") return 2 except socket.gaierror: print("ERROR: command socket access gaierror occurred") return 3 except socket.timeout: if(self.use_multicast): print("ERROR: command socket access timeout occurred. Server not responding") #return 4 if len( data ) > 0 : #peek ahead at message_id message_id = get_message_id(data) tmp_str="mi_%1.1d"%message_id if tmp_str not in message_id_dict: message_id_dict[tmp_str]=0 message_id_dict[tmp_str] += 1 print_level = gprint_level() if message_id == self.NAT_FRAMEOFDATA: if print_level > 0: if (message_id_dict[tmp_str] % print_level) == 0: print_level = 1 else: print_level = 0 message_id = self.__process_message( data , print_level) data=bytearray(0) if not self.use_multicast: if not stop(): self.send_keep_alive(in_socket, self.server_ip_address, self.command_port) return 0 def __data_thread_function( self, in_socket, stop, gprint_level): message_id_dict={} data=bytearray(0) # 64k buffer size recv_buffer_size=64*1024 while not stop(): # Block for input try: data, addr = in_socket.recvfrom( recv_buffer_size ) except socket.error as msg: if not stop(): print("ERROR: data socket access error occurred:\n %s" %msg) return 1 except socket.herror: print("ERROR: data socket access herror occurred") #return 2 except socket.gaierror: print("ERROR: data socket access gaierror occurred") #return 3 except socket.timeout: #if self.use_multicast: print("ERROR: data socket access timeout occurred. Server not responding") #return 4 if len( data ) > 0 : #peek ahead at message_id message_id = get_message_id(data) tmp_str="mi_%1.1d"%message_id if tmp_str not in message_id_dict: message_id_dict[tmp_str]=0 message_id_dict[tmp_str] += 1 print_level = gprint_level() if message_id == self.NAT_FRAMEOFDATA: if print_level > 0: if (message_id_dict[tmp_str] % print_level) == 0: print_level = 1 else: print_level = 0 message_id = self.__process_message( data , print_level) data=bytearray(0) return 0 def __process_message( self, data : bytes, print_level=0): #return message ID major = self.get_major() minor = self.get_minor() trace( "Begin Packet\n-----------------" ) show_nat_net_version = False if show_nat_net_version: trace("NatNetVersion " , str(self.__nat_net_requested_version[0]), " "\ , str(self.__nat_net_requested_version[1]), " "\ , str(self.__nat_net_requested_version[2]), " "\ , str(self.__nat_net_requested_version[3])) message_id = get_message_id(data) packet_size = int.from_bytes( data[2:4], byteorder='little', signed=True ) #skip the 4 bytes for message ID and packet_size offset = 4 if message_id == self.NAT_FRAMEOFDATA : trace( "Message ID : %3.1d NAT_FRAMEOFDATA"% message_id ) trace( "Packet Size : ", packet_size ) offset_tmp, mocap_data = self.__unpack_mocap_data( data[offset:], packet_size, major, minor ) offset += offset_tmp #print("MoCap Frame: %d\n"%(mocap_data.prefix_data.frame_number)) # get a string version of the data for output mocap_data_str=mocap_data.get_as_string() if print_level >= 1: print("%s\n"%mocap_data_str) elif message_id == self.NAT_MODELDEF : trace( "Message ID : %3.1d NAT_MODELDEF"% message_id ) trace( "Packet Size : %d"% packet_size ) offset_tmp, data_descs = self.__unpack_data_descriptions( data[offset:], packet_size, major, minor) offset += offset_tmp print("Data Descriptions:\n") # get a string version of the data for output data_descs_str=data_descs.get_as_string() if print_level>0: print("%s\n"%(data_descs_str)) elif message_id == self.NAT_SERVERINFO : trace( "Message ID : %3.1d NAT_SERVERINFO"% message_id ) trace( "Packet Size : ", packet_size ) offset += self.__unpack_server_info( data[offset:], packet_size, major, minor) elif message_id == self.NAT_RESPONSE : trace( "Message ID : %3.1d NAT_RESPONSE"% message_id ) trace( "Packet Size : ", packet_size ) if packet_size == 4 : command_response = int.from_bytes( data[offset:offset+4], byteorder='little', signed=True ) trace( "Command response: %d - %d %d %d %d"% (command_response, data[offset], data[offset+1], data[offset+2], data[offset+3])) offset += 4 else: show_remainder = False message, separator, remainder = bytes(data[offset:]).partition( b'\0' ) if(len(message) < 30): tmpString = message.decode('utf-8') # Decode bitstream version if( tmpString.startswith('Bitstream') ): nn_version = self.__unpack_bitstream_info(data[offset:],packet_size, major, minor) # This is the current server version if(len(nn_version)>1): for i in range( len(nn_version) ): self.__nat_net_stream_version_server[i] = int(nn_version[i]) for i in range( len(nn_version),4 ): self.__nat_net_stream_version_server[i] = 0 offset += len( message ) + 1 if(show_remainder): trace( "Command response:", message.decode( 'utf-8' ),\ " separator:", separator, " remainder:",remainder ) else: trace( "Command response:", message.decode( 'utf-8' )) elif message_id == self.NAT_UNRECOGNIZED_REQUEST : trace( "Message ID : %3.1d NAT_UNRECOGNIZED_REQUEST: "% message_id ) trace( "Packet Size : ", packet_size ) trace( "Received 'Unrecognized request' from server" ) elif message_id == self.NAT_MESSAGESTRING : trace( "Message ID : %3.1d NAT_MESSAGESTRING"% message_id) trace( "Packet Size : ", packet_size ) message, separator, remainder = bytes(data[offset:]).partition( b'\0' ) offset += len( message ) + 1 trace( "Received message from server:", message.decode( 'utf-8' ) ) else: trace( "Message ID : %3.1d UNKNOWN"% message_id ) trace( "Packet Size : ", packet_size ) trace( "ERROR: Unrecognized packet type" ) trace( "End Packet\n-----------------" ) return message_id def send_request( self, in_socket, command, command_str, address ): # Compose the message in our known message format packet_size = 0 if command == self.NAT_REQUEST_MODELDEF or command == self.NAT_REQUEST_FRAMEOFDATA : packet_size = 0 command_str = "" elif command == self.NAT_REQUEST : packet_size = len( command_str ) + 1 elif command == self.NAT_CONNECT : tmp_version=[4,1,0,0] print("NAT_CONNECT to Motive with %d %d %d %d\n"%( tmp_version[0], tmp_version[1], tmp_version[2], tmp_version[3] )) #allocate a byte array for 270 bytes # to connect with a specific version # The first 4 bytes spell out "Ping" command_str = [] command_str = [0 for i in range(270)] command_str[0] =80 command_str[1] =105 command_str[2] =110 command_str[3] =103 command_str[264] =0 command_str[265] =tmp_version[0] command_str[266] =tmp_version[1] command_str[267] =tmp_version[2] command_str[268] =tmp_version[3] packet_size = len( command_str ) + 1 elif command == self.NAT_KEEPALIVE: packet_size = 0 command_str = "" data = command.to_bytes( 2, byteorder='little', signed=True ) data += packet_size.to_bytes( 2, byteorder='little', signed=True ) if command == self.NAT_CONNECT : data+=bytearray(command_str) else: data += command_str.encode( 'utf-8' ) data += b'\0' return in_socket.sendto( data, address ) def send_command( self, command_str): #print("Send command %s"%command_str) nTries = 3 ret_val = -1 while nTries: nTries -= 1 ret_val = self.send_request( self.command_socket, self.NAT_REQUEST, command_str, (self.server_ip_address, self.command_port) ) if (ret_val != -1): break; return ret_val #return self.send_request(self.data_socket, self.NAT_REQUEST, command_str, (self.server_ip_address, self.command_port) ) def send_commands(self,tmpCommands, print_results: bool =True): for sz_command in tmpCommands: return_code = self.send_command(sz_command) if(print_results): print("Command: %s - return_code: %d"% (sz_command, return_code) ) def send_keep_alive(self,in_socket, server_ip_address, server_port): return self.send_request(in_socket, self.NAT_KEEPALIVE, "", (server_ip_address, server_port)) def get_command_port(self): return self.command_port def refresh_configuration(self): #query for application configuration #print("Request current configuration") sz_command = "Bitstream" return_code = self.send_command(sz_command) time.sleep(0.5) def get_application_name(self): return self.__application_name def get_nat_net_requested_version(self): return self.__nat_net_requested_version def get_nat_net_version_server(self): return self.__nat_net_stream_version_server def get_server_version(self): return self.__server_version def run( self ): # Create the data socket self.data_socket = self.__create_data_socket( self.data_port ) if self.data_socket is None : print( "Could not open data channel" ) return False # Create the command socket self.command_socket = self.__create_command_socket() if self.command_socket is None : print( "Could not open command channel" ) return False self.__is_locked = True self.stop_threads = False # Create a separate thread for receiving data packets self.data_thread = Thread( target = self.__data_thread_function, args = (self.data_socket, lambda : self.stop_threads, lambda : self.print_level, )) self.data_thread.start() # Create a separate thread for receiving command packets self.command_thread = Thread( target = self.__command_thread_function, args = (self.command_socket, lambda : self.stop_threads, lambda : self.print_level,)) self.command_thread.start() # Required for setup # Get NatNet and server versions self.send_request(self.command_socket, self.NAT_CONNECT, "", (self.server_ip_address, self.command_port) ) ##Example Commands ## Get NatNet and server versions #self.send_request(self.command_socket, self.NAT_CONNECT, "", (self.server_ip_address, self.command_port) ) ## Request the model definitions #self.send_request(self.command_socket, self.NAT_REQUEST_MODELDEF, "", (self.server_ip_address, self.command_port) ) return True def shutdown(self): print("shutdown called") self.stop_threads = True # closing sockets causes blocking recvfrom to throw # an exception and break the loop self.command_socket.close() self.data_socket.close() # attempt to join the threads back. self.command_thread.join() self.data_thread.join() MAVProxy-1.8.74/MAVProxy/modules/mavproxy_optitrack/__init__.py000066400000000000000000000057351504324515000245240ustar00rootroot00000000000000# use optitrack data to provide ATT_POS_MOCAP data # it works with optitrack motion capture cameras and optitrack motive tracker software (https://optitrack.com/software/motive/) # yuan-chu tai import time from pymavlink import mavutil from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import mp_settings from MAVProxy.modules.mavproxy_optitrack import NatNetClient class optitrack(mp_module.MPModule): def __init__(self, mpstate): """Initialise module""" super(optitrack, self).__init__(mpstate, "optitrack", "optitrack") self.optitrack_settings = mp_settings.MPSettings( [('server', str, '127.0.0.1'), ('client', str, '127.0.0.1'), ('msg_intvl_ms', int, 75), ('obj_id', int, 1), ('print_lv', int, 0), ('multicast', bool, True)] ) self.add_command('optitrack', self.cmd_optitrack, "optitrack control", ['', '', 'set (OPTITRACKSETTING)']) self.streaming_client = NatNetClient.NatNetClient() # Configure the streaming client to call our rigid body handler on the emulator to send data out. self.streaming_client.rigid_body_listener = self.receive_rigid_body_frame self.last_msg_time = 0 self.started = False # This is a callback function that gets connected to the NatNet client. It is called once per rigid body per frame def receive_rigid_body_frame(self, new_id, position, rotation): if (new_id == self.optitrack_settings.obj_id): now = time.time() if (now - self.last_msg_time) > (self.optitrack_settings.msg_intvl_ms * 0.001): time_us = int(now * 1.0e6) self.master.mav.att_pos_mocap_send(time_us, (rotation[3], rotation[0], rotation[2], -rotation[1]), position[0], position[2], -position[1]) self.last_msg_time = now def usage(self): '''show help on command line options''' return "Usage: optitrack " def cmd_start(self): self.streaming_client.set_client_address(self.optitrack_settings.client) self.streaming_client.set_server_address(self.optitrack_settings.server) self.streaming_client.set_print_level(self.optitrack_settings.print_lv) self.streaming_client.set_use_multicast(self.optitrack_settings.multicast) self.streaming_client.run() self.started = True def cmd_optitrack(self, args): '''control behaviour of the module''' if len(args) == 0: print(self.usage()) elif args[0] == "start": self.cmd_start() elif args[0] == "stop": if self.started: self.started = False self.streaming_client.shutdown() elif args[0] == "set": self.optitrack_settings.command(args[1:]) else: print(self.usage()) def init(mpstate): '''initialise module''' return optitrack(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_osd.py000066400000000000000000000146611504324515000215500ustar00rootroot00000000000000#!/usr/bin/env python3 ''' OSD Module Andy Piper, August 2020, Vendee, France ''' import os import os.path import sys from pymavlink import mavutil import errno import time from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import mp_settings class osd(mp_module.MPModule): def __init__(self, mpstate): """Initialise OSD module""" super(osd, self).__init__(mpstate, "osd", "") self.request_id = 1 self.add_command('osd', self.cmd_osd, "OSD module", ['param-set <5|6> <1|2|3|4|5|6|7|8|9> (PARAMETER) (TYPES)', 'param-show <5|6> <1|2|3|4|5|6|7|8|9>' ]) self.add_completion_function('(TYPES)', self.param_type_completion) self.type_map = { mavutil.mavlink.OSD_PARAM_NONE : "NONE", mavutil.mavlink.OSD_PARAM_SERIAL_PROTOCOL : "SERIAL_PROTOCOL", mavutil.mavlink.OSD_PARAM_SERVO_FUNCTION : "SERVO_FUNCTION", mavutil.mavlink.OSD_PARAM_AUX_FUNCTION : "AUX_FUNCTION", mavutil.mavlink.OSD_PARAM_FLIGHT_MODE : "FLIGHT_MODE", mavutil.mavlink.OSD_PARAM_FAILSAFE_ACTION : "FAILSAFE_ACTION", mavutil.mavlink.OSD_PARAM_FAILSAFE_ACTION_1 : "FAILSAFE_ACTION_1", mavutil.mavlink.OSD_PARAM_FAILSAFE_ACTION_2 : "FAILSAFE_ACTION_2" } self.invtype_map = { v : k for k, v in self.type_map.items()} self.param_list = {} def usage(self): '''show help on command line options''' return "Usage: osd " def cmd_osd(self, args): '''control behaviour of the OSD module''' if len(args) == 0: print(self.usage()) elif args[0] == "param-set": self.param_set(args[1:]) elif args[0] == "param-show": self.param_show(args[1:]) else: print(self.usage()) def param_set(self, args): '''sets an OSD parameter''' if len(args) < 3 or len(args) > 6: print("param-set ( | )") return screen = int(args[0], 0) index = int(args[1], 0) name = args[2] type = mavutil.mavlink.OSD_PARAM_NONE min_value = 0. max_value = 0. increment = 0. # config type implies the ranges are pre-defined if len(args) > 3: type = self.string_to_config_type(args[3]) # can't have config type and ranges if type is not None and len(args) > 4: print("param-set ( | )") return if len(args) > 3 and type is None: type = mavutil.mavlink.OSD_PARAM_NONE min_value = float(args[3]) if len(args) > 4: max_value = float(args[4]) if len(args) > 5: increment = float(args[5]) if sys.version_info.major >= 3: name = bytearray(name, 'ascii') self.master.mav.osd_param_config_send(self.target_system, self.target_component, self.request_id, screen, index, name, type, min_value, max_value, increment) self.request_id += 1 def param_show(self, args): '''show an OSD parameter or list of parameters''' if len(args) == 0: for screen in range(5, 7): for index in range(1, 10): self.master.mav.osd_param_show_config_send(self.target_system, self.target_component, self.request_id, screen, index) self.request_id += 1 return elif len(args) == 1: screen = int(args[0], 0) for index in range(1, 10): self.master.mav.osd_param_show_config_send(self.target_system, self.target_component, self.request_id, screen, index) self.request_id += 1 return elif len(args) != 2: print("param-show ") return screen = int(args[0], 0) index = int(args[1], 0) self.master.mav.osd_param_show_config_send(self.target_system, self.target_component, self.request_id, screen, index) self.request_id += 1 def mavlink_packet(self, m): '''handle mavlink packets''' mtype = m.get_type() if mtype == "OSD_PARAM_CONFIG_REPLY" or mtype == "OSD_PARAM_SHOW_CONFIG_REPLY": if m.result == mavutil.mavlink.OSD_PARAM_INVALID_PARAMETER: print("OSD request %u failed: invalid parameter" % (m.request_id)) elif m.result != 0: print("OSD request %u failed: %u" % (m.request_id, m.result)) else: if mtype == "OSD_PARAM_CONFIG_REPLY": print("OSD parameter set") else: print("%s %f %f %f %s" % (m.param_id, m.min_value, m.max_value, m.increment, self.config_type_to_string(m.config_type))) def config_type_to_string(self, config_type): '''convert config type to a string''' if config_type in self.type_map: return self.type_map[config_type] return None def string_to_config_type(self, config_str): '''convert a string to a config type''' if config_str in self.invtype_map: return self.invtype_map[config_str] return None def param_type_completion(self, text): '''return list of param-set type completions''' return self.invtype_map.keys() def init(mpstate): '''initialise OSD module''' return osd(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_output.py000066400000000000000000000102561504324515000223170ustar00rootroot00000000000000#!/usr/bin/env python3 '''enable run-time addition and removal of UDP clients , just like --out on the cnd line''' ''' TO USE: output add 10.11.12.13:14550 output list output remove 3 # to remove 3rd output ''' from pymavlink import mavutil from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_util class OutputModule(mp_module.MPModule): def __init__(self, mpstate): super(OutputModule, self).__init__(mpstate, "output", "output control", public=True) self.add_command('output', self.cmd_output, "output control", [""]) def cmd_output(self, args): '''handle output commands''' if len(args) < 1 or args[0] == "list": self.cmd_output_list() elif args[0] == "add": if len(args) != 2: print("Usage: output add OUTPUT") return self.cmd_output_add(args[1:]) elif args[0] == "remove": if len(args) != 2: print("Usage: output remove OUTPUT") return self.cmd_output_remove(args[1:]) elif args[0] == "sysid": if len(args) != 3: print("Usage: output sysid SYSID OUTPUT") return self.cmd_output_sysid(args[1:]) else: print("usage: output ") def cmd_output_list(self): '''list outputs''' print("%u outputs" % len(self.mpstate.mav_outputs)) for i in range(len(self.mpstate.mav_outputs)): conn = self.mpstate.mav_outputs[i] print("%u: %s" % (i, conn.address)) if len(self.mpstate.sysid_outputs) > 0: print("%u sysid outputs" % len(self.mpstate.sysid_outputs)) for sysid in self.mpstate.sysid_outputs: conn = self.mpstate.sysid_outputs[sysid] print("%u: %s" % (sysid, conn.address)) def cmd_output_add(self, args): '''add new output''' device = args[0] print("Adding output %s" % device) try: conn = mavutil.mavlink_connection(device, input=False, source_system=self.settings.source_system, autoreconnect=True) conn.mav.srcComponent = self.settings.source_component except Exception: print("Failed to connect to %s" % device) return self.mpstate.mav_outputs.append(conn) try: mp_util.child_fd_list_add(conn.port.fileno()) except Exception: pass def cmd_output_sysid(self, args): '''add new output for a specific MAVLink sysID''' sysid = int(args[0]) device = args[1] print("Adding output %s for sysid %u" % (device, sysid)) try: conn = mavutil.mavlink_connection(device, input=False, source_system=self.settings.source_system, autoreconnect=True) conn.mav.srcComponent = self.settings.source_component except Exception: print("Failed to connect to %s" % device) return try: mp_util.child_fd_list_add(conn.port.fileno()) except Exception: pass if sysid in self.mpstate.sysid_outputs: self.mpstate.sysid_outputs[sysid].close() self.mpstate.sysid_outputs[sysid] = conn def cmd_output_remove(self, args): '''remove an output''' device = args[0] for i in range(len(self.mpstate.mav_outputs)): conn = self.mpstate.mav_outputs[i] if str(i) == device or conn.address == device: print("Removing output %s" % conn.address) try: mp_util.child_fd_list_add(conn.port.fileno()) except Exception: pass conn.close() self.mpstate.mav_outputs.pop(i) return def idle_task(self): '''called on idle''' for m in self.mpstate.mav_outputs: m.source_system = self.settings.source_system m.mav.srcSystem = m.source_system m.mav.srcComponent = self.settings.source_component def init(mpstate): '''initialise module''' return OutputModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_param.py000066400000000000000000001232151504324515000220570ustar00rootroot00000000000000#!/usr/bin/env python3 ''' param command handling AP_FLAKE8_CLEAN ''' import time import os import fnmatch import struct from pymavlink import mavutil, mavparm from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import param_help from MAVProxy.modules.lib import param_ftp if mp_util.has_wxpython: from MAVProxy.modules.lib.mp_menu import MPMenuItem from MAVProxy.modules.lib.mp_menu import MPMenuSubMenu from MAVProxy.modules.lib.mp_menu import MPMenuCallFileDialog try: # py2 from StringIO import StringIO as SIO except ImportError: # py3 from io import BytesIO as SIO try: import queue as Queue from queue import Empty except ImportError: import Queue from Queue import Empty class ParamState: '''this class is separated to make it possible to use the parameter functions on a secondary connection''' def __init__(self, mav_param, logdir, vehicle_name, parm_file, mpstate, sysid): self.mav_param_set = set() self.mav_param_count = 0 self.param_period = mavutil.periodic_event(1) self.fetch_one = dict() self.mav_param = mav_param self.logdir = logdir self.vehicle_name = vehicle_name self.parm_file = parm_file self.fetch_set = None self.new_sysid_timestamp = time.time() self.autopilot_type_by_sysid = {} self.param_types = {} self.ftp_failed = False self.ftp_started = False self.ftp_count = None self.ftp_send_param = None self.mpstate = mpstate self.sysid = sysid self.param_help = param_help.ParamHelp() self.param_help.vehicle_name = vehicle_name self.default_params = None self.watch_patterns = set() # dictionary of ParamSet objects we are processing: self.parameters_to_set = {} # a Queue which onto which ParamSet objects can be pushed in a # thread-safe manner: self.parameters_to_set_input_queue = Queue.Queue() class ParamSet(): '''class to hold information about a parameter set being attempted''' def __init__(self, master, name, value, param_type=None, attempts=None): self.master = master self.name = name self.value = value self.param_type = param_type self.attempts_remaining = attempts self.retry_interval = 1 # seconds self.last_value_received = None if self.attempts_remaining is None: self.attempts_remaining = 3 self.request_sent = 0 # this is a timestamp def normalize_parameter_for_param_set_send(self, name, value, param_type): '''uses param_type to convert value into a value suitable for passing into the mavlink param_set_send binding. Note that this is a copy of a method in pymavlink, in case the user has an older version of that library. ''' if param_type is not None and param_type != mavutil.mavlink.MAV_PARAM_TYPE_REAL32: # need to encode as a float for sending if param_type == mavutil.mavlink.MAV_PARAM_TYPE_UINT8: vstr = struct.pack(">xxxB", int(value)) elif param_type == mavutil.mavlink.MAV_PARAM_TYPE_INT8: vstr = struct.pack(">xxxb", int(value)) elif param_type == mavutil.mavlink.MAV_PARAM_TYPE_UINT16: vstr = struct.pack(">xxH", int(value)) elif param_type == mavutil.mavlink.MAV_PARAM_TYPE_INT16: vstr = struct.pack(">xxh", int(value)) elif param_type == mavutil.mavlink.MAV_PARAM_TYPE_UINT32: vstr = struct.pack(">I", int(value)) elif param_type == mavutil.mavlink.MAV_PARAM_TYPE_INT32: vstr = struct.pack(">i", int(value)) else: print("can't send %s of type %u" % (name, param_type)) return None numeric_value, = struct.unpack(">f", vstr) else: if isinstance(value, str) and value.lower().startswith('0x'): numeric_value = int(value[2:], 16) else: try: numeric_value = float(value) except ValueError: print(f"can't convert {name} ({value}, {type(value)}) to float") return None return numeric_value def send_set(self): numeric_value = self.normalize_parameter_for_param_set_send(self.name, self.value, self.param_type) if numeric_value is None: print(f"can't send {self.name} of type {self.param_type}") self.attempts_remaining = 0 return # print(f"Sending set attempts-remaining={self.attempts_remaining}") self.master.param_set_send( self.name.upper(), numeric_value, parm_type=self.param_type, ) self.request_sent = time.time() self.attempts_remaining -= 1 def expired(self): if self.attempts_remaining > 0: return False return time.time() - self.request_sent > self.retry_interval def due_for_retry(self): if self.attempts_remaining <= 0: return False return time.time() - self.request_sent > self.retry_interval def handle_PARAM_VALUE(self, m, value): '''handle PARAM_VALUE packet m which has already been checked for a match against self.name. Returns true if this Set is now satisfied. value is the value extracted and potentially manipulated from the packet ''' self.last_value_received = value if abs(value - float(self.value)) > 0.00001: return False return True def print_expired_message(self): reason = "" if self.last_value_received is None: reason = " (no PARAM_VALUE received)" else: reason = f" (invalid returned value {self.last_value_received})" print(f"Failed to set {self.name} to {self.value}{reason}") def run_parameter_set_queue(self): # firstly move anything from the input queue into our # collection of things to send: try: while True: new_parameter_to_set = self.parameters_to_set_input_queue.get(block=False) self.parameters_to_set[new_parameter_to_set.name] = new_parameter_to_set except Empty: pass # now send any parameter-sets which are due to be sent out, # either because they are new or because we need to retry: count = 0 keys_to_remove = [] # remove entries after iterating the dict for (key, parameter_to_set) in self.parameters_to_set.items(): if parameter_to_set.expired(): parameter_to_set.print_expired_message() keys_to_remove.append(key) continue if not parameter_to_set.due_for_retry(): continue # send parameter set: parameter_to_set.send_set() # rate-limit to 10 items per call: count += 1 if count > 10: break # complete purging of expired parameter-sets: for key in keys_to_remove: del self.parameters_to_set[key] def use_ftp(self): '''return true if we should try ftp for download''' if self.ftp_failed: return False return self.mpstate.settings.param_ftp def handle_px4_param_value(self, m): '''special handling for the px4 style of PARAM_VALUE''' if m.param_type == mavutil.mavlink.MAV_PARAM_TYPE_REAL32: # already right type return m.param_value is_px4_params = False if m.get_srcComponent() in [mavutil.mavlink.MAV_COMP_ID_UDP_BRIDGE]: # ESP8266 uses PX4 style parameters is_px4_params = True sysid = m.get_srcSystem() if self.autopilot_type_by_sysid.get(sysid, -1) in [mavutil.mavlink.MAV_AUTOPILOT_PX4]: is_px4_params = True if not is_px4_params: return m.param_value # try to extract px4 param value value = m.param_value try: v = struct.pack(">f", value) except Exception: return value if m.param_type == mavutil.mavlink.MAV_PARAM_TYPE_UINT8: value, = struct.unpack(">B", v[3:]) elif m.param_type == mavutil.mavlink.MAV_PARAM_TYPE_INT8: value, = struct.unpack(">b", v[3:]) elif m.param_type == mavutil.mavlink.MAV_PARAM_TYPE_UINT16: value, = struct.unpack(">H", v[2:]) elif m.param_type == mavutil.mavlink.MAV_PARAM_TYPE_INT16: value, = struct.unpack(">h", v[2:]) elif m.param_type == mavutil.mavlink.MAV_PARAM_TYPE_UINT32: value, = struct.unpack(">I", v[0:]) elif m.param_type == mavutil.mavlink.MAV_PARAM_TYPE_INT32: value, = struct.unpack(">i", v[0:]) # can't pack other types # remember type for param set self.param_types[m.param_id.upper()] = m.param_type return value def handle_mavlink_packet(self, master, m): '''handle an incoming mavlink packet''' if m.get_type() == 'PARAM_VALUE': self.handle_mavlink_watch_param_value(master, m) value = self.handle_px4_param_value(m) param_id = "%.16s" % m.param_id # Note: the xml specifies param_index is a uint16, so -1 in that field will show as 65535 # We accept both -1 and 65535 as 'unknown index' to future proof us against someday having that # xml fixed. if self.fetch_set is not None: self.fetch_set.discard(m.param_index) if m.param_index != -1 and m.param_index != 65535 and m.param_index not in self.mav_param_set: added_new_parameter = True self.mav_param_set.add(m.param_index) else: added_new_parameter = False if m.param_count != -1: self.mav_param_count = m.param_count self.mav_param[str(param_id)] = value if param_id in self.fetch_one and self.fetch_one[param_id] > 0: self.fetch_one[param_id] -= 1 if isinstance(value, float): print("%s = %.7f" % (param_id, value)) else: print("%s = %s" % (param_id, str(value))) if added_new_parameter and len(self.mav_param_set) == m.param_count: print("Received %u parameters" % m.param_count) if self.logdir is not None: self.mav_param.save(os.path.join(self.logdir, self.parm_file), '*', verbose=True) self.fetch_set = None if self.fetch_set is not None and len(self.fetch_set) == 0: self.fetch_check(master, force=True) # if we were setting this parameter then check it's the # value we want and, if so, stop setting the parameter try: if self.parameters_to_set[param_id].handle_PARAM_VALUE(m, value): # print(f"removing set of param_id ({self.parameters_to_set[param_id].value} vs {value})") del self.parameters_to_set[param_id] except KeyError: pass elif m.get_type() == 'HEARTBEAT': if m.get_srcComponent() == 1: # remember autopilot types so we can handle PX4 parameters self.autopilot_type_by_sysid[m.get_srcSystem()] = m.autopilot def fetch_check(self, master, force=False): '''check for missing parameters periodically''' if self.param_period.trigger() or force: if master is None: return if len(self.mav_param_set) == 0 and not self.ftp_started: if not self.use_ftp(): master.param_fetch_all() else: self.ftp_start() elif not self.ftp_started and self.mav_param_count != 0 and len(self.mav_param_set) != self.mav_param_count: if master.time_since('PARAM_VALUE') >= 1 or force: diff = set(range(self.mav_param_count)).difference(self.mav_param_set) count = 0 while len(diff) > 0 and count < 10: idx = diff.pop() master.param_fetch_one(idx) if self.fetch_set is None: self.fetch_set = set() self.fetch_set.add(idx) count += 1 def param_use_xml_filepath(self, filepath): self.param_help.xml_filepath = filepath def param_set_xml_filepath(self, args): self.param_use_xml_filepath(args[0]) def status(self, master, mpstate): return (len(self.mav_param_set), self.mav_param_count) def ftp_start(self): '''start a ftp download of parameters''' ftp = self.mpstate.module('ftp') if ftp is None: self.ftp_failed = True self.ftp_started = False return self.ftp_started = True self.ftp_count = None ftp.cmd_get([ "@PARAM/param.pck?withdefaults=1", ], callback=self.ftp_callback, callback_progress=self.ftp_callback_progress, ) def log_params(self, params): '''log PARAM_VALUE messages so that we can extract parameters from a tlog when using ftp download''' if not self.mpstate.logqueue: return usec = int(time.time() * 1.0e6) idx = 0 mav = self.mpstate.master().mav editor = self.mpstate.module('paramedit') for (name, v, ptype) in params: p = mavutil.mavlink.MAVLink_param_value_message(name, float(v), mavutil.mavlink.MAV_PARAM_TYPE_REAL32, len(params), idx) idx += 1 # log PARAM_VALUE using the source vehicles sysid but MAV_COMP_ID_MISSIONPLANNER, to allow # us to tell that it came from the GCS, but to not corrupt the sequence numbers id_saved = (mav.srcSystem, mav.srcComponent) mav.srcSystem = self.sysid[0] mav.srcComponent = mavutil.mavlink.MAV_COMP_ID_MISSIONPLANNER try: buf = p.pack(mav) self.mpstate.logqueue.put(bytearray(struct.pack('>Q', usec) + buf)) # also give to param editor so it can update for changes if editor: editor.mavlink_packet(p) except Exception: pass (mav.srcSystem, mav.srcComponent) = id_saved def ftp_callback_progress(self, fh, total_size): '''callback as read progresses''' if self.ftp_count is None and total_size >= 6: ofs = fh.tell() fh.seek(0) buf = fh.read(6) fh.seek(ofs) magic2, num_params, total_params = struct.unpack("= 1: wildcard = args[0] else: filename = args[0] if not os.path.exists(filename): print("Can't find defaults file %s" % filename) return defaults = mavparm.MAVParmDict() defaults.load(filename) if len(args) == 2: wildcard = args[1] print("\nParameter Current Default") for p in self.mav_param: p = str(p).upper() if p not in defaults: continue if self.mav_param[p] == defaults[p]: continue if fnmatch.fnmatch(p, wildcard.upper()): s1 = "%f" % self.mav_param[p] s2 = "%f" % defaults[p] if s1 == s2: continue s = "%-16.16s %s %s" % (str(p), s1, s2) if self.mpstate.settings.param_docs and self.vehicle_name is not None: info = self.param_help.param_info(p, self.mav_param[p]) if info is not None: s += " # %s" % info info_default = self.param_help.param_info(p, defaults[p]) if info_default is not None: s += " (DEFAULT: %s)" % info_default print(s) def param_savechanged(self, args): '''handle param savechanged''' if len(args) < 1: filename = "changed.parm" else: filename = args[0] defaults = self.default_params if defaults is None: print("No defaults available") return f = open(filename, "w") count = 0 for p in self.mav_param: p = str(p).upper() if p not in defaults: continue if self.mav_param[p] == defaults[p]: continue s1 = "%f" % self.mav_param[p] s2 = "%f" % defaults[p] if s1 == s2: continue s = "%-16.16s %s" % (str(p), s1) f.write("%s\n" % s) count += 1 f.close() print("Saved %u parameters to %s" % (count, filename)) def handle_mavlink_watch_param_value(self, master, m): param_id = "%.16s" % m.param_id for pattern in self.watch_patterns: if fnmatch.fnmatch(param_id, pattern): self.mpstate.console.writeln("> %s=%f" % (param_id, m.param_value)) def param_watch(self, master, args): '''command to allow addition of watches for parameter changes''' for pattern in args: self.watch_patterns.add(pattern) def param_unwatch(self, master, args): '''command to allow removal of watches for parameter changes''' for pattern in args: self.watch_patterns.discard(pattern) def param_watchlist(self, master, args): '''command to show watch patterns for parameter changes''' for pattern in self.watch_patterns: self.mpstate.console.writeln("> %s" % (pattern)) def param_bitmask_modify(self, master, args): '''command for performing bitmask actions on a parameter''' BITMASK_ACTIONS = ['toggle', 'set', 'clear'] NUM_BITS_MAX = 32 # Ensure we have at least an action and a parameter if len(args) < 2: print("Not enough arguments") print(f"param bitmask <{'/'.join(BITMASK_ACTIONS)}> [bit-index-1 ... bit-index-n]") return action = args[0] if action not in BITMASK_ACTIONS: print(f"action must be one of: {', '.join(BITMASK_ACTIONS)}") return # Grab the parameter argument, and check it exists param = args[1] if not param.upper() in self.mav_param: print(f"Unable to find parameter {param.upper()}") return uname = param.upper() htree = self.param_help.param_help_tree() if htree is None: # No help tree is available print("Download parameters first") return # Take the help tree and check if parameter is a bitmask phelp = htree[uname] bitmask_values = self.param_help.get_bitmask_from_help(phelp) if bitmask_values is None: print(f"Parameter {uname} is not a bitmask") return # Find the type of the parameter ptype = None if uname in self.param_types: # Get the type of the parameter ptype = self.param_types[uname] # Now grab the value for the parameter value = int(self.mav_param.get(uname)) if value is None: print(f"Could not get a value for parameter {uname}") return # The next argument is the bit_index - if it exists, handle it bit_indices = [] while len(args) >= 3: try: # If the bit index is available lets grab it arg_bit_index = args[2] # Remove the bit index from the args list args.pop(2) # Try to convert it to int bit_indices.append(int(arg_bit_index)) except ValueError: print(f"Invalid bit index: {arg_bit_index}") if bit_indices == []: # No bit index was specified, but the parameter and action was. # Print the available bitmask information. print("%s: %s" % (uname, phelp.get('humanName'))) s = "%-16.16s %s" % (uname, value) print(s) # Generate the bitmask enabled list remaining_bits = value out_v = [] if bitmask_values is not None and len(bitmask_values): for (n, v) in bitmask_values.items(): out_v.append(f"\t{int(n):3d} [{'x' if value & (1 << int(n)) else ' '}] : {v}") remaining_bits &= ~(1 << int(n)) # Loop bits 0 to 31, checking if they are remaining, and append for i in range(32): if (remaining_bits & (1 << i)): out_v.append(f"\t{i:3d} [{'x' if value & (1 << i) else ' '}] : Unknownbit{i}") if out_v is not None and len(out_v) > 0: print("\nBitmask: ") print("\n".join(out_v)) # Finally, inform user of the error we experienced print("bit index is not specified") # We don't have enough information to modify the bitmask, so bail return # Sanity check the bit indices invalid_bits = [bit_index for bit_index in bit_indices if bit_index >= NUM_BITS_MAX] if invalid_bits: print(f"Cannot perform bitmask action '{action}' on bit(s) {', '.join(str(bit) for bit in invalid_bits)}.") return # Cycle through the bit indices for bit_index in bit_indices: # We have enough information to perform an action if action == BITMASK_ACTIONS[0]: # "toggle" value = value ^ (1 << bit_index) elif action == BITMASK_ACTIONS[1]: # "set" value = value | (1 << bit_index) elif action == BITMASK_ACTIONS[2]: # "clear" value = value & ~(1 << bit_index) else: # We cannot toggle, set or clear print("Invalid bitmask action") return # Update the parameter self.set_parameter(master, uname, value, attempts=3, param_type=ptype) def set_parameter(self, master, name, value, attempts=None, param_type=None): '''convenient intermediate method which determines parameter type for lazy callers''' if param_type is None: param_type = self.param_types.get(name, None) self.parameters_to_set_input_queue.put(ParamState.ParamSet( master, name, value, attempts=attempts, param_type=param_type, )) def param_revert(self, master, args): '''handle param revert''' defaults = self.default_params if defaults is None: print("No defaults available") return if len(args) == 0: print("Usage: param revert PATTERN") return wildcard = args[0].upper() count = 0 for p in self.mav_param: p = str(p).upper() if not fnmatch.fnmatch(p, wildcard): continue if p not in defaults: continue if self.mav_param[p] == defaults[p]: continue s1 = "%f" % self.mav_param[p] s2 = "%f" % defaults[p] if s1 == s2: continue print("Reverting %-16.16s %s -> %s" % (p, s1, s2)) self.set_parameter(master, p, defaults[p], attempts=3) count += 1 print("Reverted %u parameters" % count) def handle_command(self, master, mpstate, args): '''handle parameter commands''' param_wildcard = "*" usage="Usage: param " # noqa if len(args) < 1: print(usage) return if args[0] == "fetch": if len(args) == 1: self.fetch_all(master) if self.ftp_started: print("Requested parameter list (ftp)") else: print("Requested parameter list") else: found = False pname = args[1].upper() for p in self.mav_param.keys(): if fnmatch.fnmatch(p, pname): master.param_fetch_one(p) if p not in self.fetch_one: self.fetch_one[p] = 0 self.fetch_one[p] += 1 found = True print("Requested parameter %s" % p) if not found and args[1].find('*') == -1: master.param_fetch_one(pname) if pname not in self.fetch_one: self.fetch_one[pname] = 0 self.fetch_one[pname] += 1 print("Requested parameter %s" % pname) elif args[0] == "ftp": self.ftp_start() elif args[0] == "save": if len(args) < 2: print("usage: param save [wildcard]") return if len(args) > 2: param_wildcard = args[2] else: param_wildcard = "*" self.mav_param.save(args[1].strip('"'), param_wildcard, verbose=True) elif args[0] == "diff": self.param_diff(args[1:]) elif args[0] == "savechanged": self.param_savechanged(args[1:]) elif args[0] == "revert": self.param_revert(master, args[1:]) elif args[0] == "watch": self.param_watch(master, args[1:]) elif args[0] == "unwatch": self.param_unwatch(master, args[1:]) elif args[0] == "watchlist": self.param_watchlist(master, args[1:]) elif args[0] == "set": if len(args) < 2: print("Usage: param set PARMNAME VALUE") return if len(args) == 2: self.param_show(args[1], self.mpstate.settings.param_docs) return param = args[1] value = args[2] if value.startswith('0x'): value = int(value, base=16) if not param.upper() in self.mav_param: print("Unable to find parameter '%s'" % param) return uname = param.upper() self.set_parameter(master, uname, value, attempts=3) if (param.upper() == "WP_LOITER_RAD" or param.upper() == "LAND_BREAK_PATH"): # need to redraw rally points # mpstate.module('rally').set_last_change(time.time()) # need to redraw loiter points mpstate.module('wp').wploader.last_change = time.time() elif args[0] == "bitmask": self.param_bitmask_modify(master, args[1:]) elif args[0] == "load": if len(args) < 2: print("Usage: param load [wildcard]") return if len(args) > 2: param_wildcard = args[2] else: param_wildcard = "*" self.mav_param.load(args[1].strip('"'), param_wildcard, master) elif args[0] == "preload": if len(args) < 2: print("Usage: param preload ") return self.mav_param.load(args[1].strip('"')) elif args[0] == "forceload": if len(args) < 2: print("Usage: param forceload [wildcard]") return if len(args) > 2: param_wildcard = args[2] else: param_wildcard = "*" self.mav_param.load(args[1].strip('"'), param_wildcard, master, check=False) elif args[0] == "ftpload": if len(args) < 2: print("Usage: param ftpload [wildcard]") return if len(args) > 2: param_wildcard = args[2] else: param_wildcard = "*" self.ftp_load(args[1].strip('"'), param_wildcard, master) elif args[0] == "download": self.param_help.param_help_download() elif args[0] == "apropos": self.param_help.param_apropos(args[1:]) elif args[0] == "check": self.param_help.param_check(self.mav_param, args[1:]) elif args[0] == "help": if len(args) < 2: print(usage) return self.param_help.param_help(args[1:]) elif args[0] == "set_xml_filepath": self.param_set_xml_filepath(args[1:]) elif args[0] == "show": verbose = self.mpstate.settings.param_docs if len(args) > 1: pattern = args[1] if len(args) > 2 and args[2] == '-v': verbose = True else: pattern = "*" self.param_show(pattern, verbose) elif args[0] == "status": print("Have %u/%u params" % (len(self.mav_param_set), self.mav_param_count)) else: print(usage) def param_show(self, pattern, verbose): '''show parameters''' k = mp_util.sorted_natural(self.mav_param.keys()) for p in k: name = str(p).upper() if fnmatch.fnmatch(name, pattern.upper()): value = self.mav_param.get(name) s = "%-16.16s %s" % (name, value) if verbose: info = self.param_help.param_info(name, value) if info is not None: s = "%-28.28s # %s" % (s, info) print(s) def ftp_upload_callback(self, dlen): '''callback on ftp put completion''' if dlen is None: print("Failed to send parameters") else: if self.ftp_send_param is not None: for k in mp_util.sorted_natural(self.ftp_send_param.keys()): v = self.ftp_send_param.get(k) self.mav_param[k] = v self.ftp_send_param = None print("Parameter upload done") def ftp_upload_progress(self, proportion): '''callback from ftp put of parameters''' if proportion is None: self.mpstate.console.set_status('Params', 'Params ERR') else: self.mpstate.console.set_status('Params', 'Param %.1f%%' % (100.0*proportion)) def best_type(self, v): '''work out best type for a variable''' if not v.is_integer(): # treat as float return 4 if v >= -128 and v <= 127: return 1 if v >= -32768 and v <= 32767: return 2 return 3 def str_common_len(self, s1, s2): '''return common length between two strings''' c = min(len(s1), len(s2)) for i in range(c): if s1[i] != s2[i]: return i return c def ftp_load(self, filename, param_wildcard, master): '''load parameters with ftp''' ftp = self.mpstate.module('ftp') if ftp is None: print("Need ftp module") return newparm = mavparm.MAVParmDict() newparm.load(filename, param_wildcard, check=False) fh = SIO() for k in mp_util.sorted_natural(newparm.keys()): v = newparm.get(k) oldv = self.mav_param.get(k, None) if oldv is not None and abs(oldv - v) <= newparm.mindelta: # not changed newparm.pop(k) count = len(newparm.keys()) if count == 0: print("No parameter changes") return fh.write(struct.pack("", " (PARAMETER)", " (FILENAME)", " (FILEPATH)", f" (PARAMETER) <{bitmask_indexes}>" ], ) if mp_util.has_wxpython: self.menu = MPMenuSubMenu( 'Parameter', items=[ MPMenuItem('Editor', 'Editor', '# module load paramedit'), MPMenuItem('Fetch', 'Fetch', '# param fetch'), MPMenuItem('Load', 'Load', '# param load ', handler=MPMenuCallFileDialog( flags=('open',), title='Param Load', wildcard='ParmFiles(*.parm,*.param)|*.parm;*.param')), MPMenuItem('Save', 'Save', '# param save ', handler=MPMenuCallFileDialog( flags=('save', 'overwrite_prompt'), title='Param Save', wildcard='ParmFiles(*.parm,*.param)|*.parm;*.param')), MPMenuItem('FTP', 'FTP', '# param ftp'), MPMenuItem('Update Metadata', 'Update Metadata', '# param download'), ], ) def get_component_id_list(self, system_id): '''get list of component IDs with parameters for a given system ID''' ret = [] for (s, c) in self.mpstate.mav_param_by_sysid.keys(): if s == system_id: ret.append(c) return ret def add_new_target_system(self, sysid): '''handle a new target_system''' if sysid in self.pstate: return if sysid not in self.mpstate.mav_param_by_sysid: self.mpstate.mav_param_by_sysid[sysid] = mavparm.MAVParmDict() self.new_sysid_timestamp = time.time() fname = 'mav.parm' if sysid not in [(0, 0), (1, 1), (1, 0)]: fname = 'mav_%u_%u.parm' % (sysid[0], sysid[1]) self.pstate[sysid] = ParamState( self.mpstate.mav_param_by_sysid[sysid], self.logdir, self.vehicle_name, fname, self.mpstate, sysid, ) if self.continue_mode and self.logdir is not None: parmfile = os.path.join(self.logdir, fname) if os.path.exists(parmfile): self.mpstate.mav_param.load(parmfile) self.pstate[sysid].mav_param_set = set(self.mav_param.keys()) self.pstate[sysid].param_help.xml_filepath = self.xml_filepath def get_sysid(self): '''get sysid tuple to use for parameters''' component = self.target_component if component == 0: component = 1 return (self.target_system, component) def check_new_target_system(self): '''handle a new target_system''' sysid = self.get_sysid() if sysid in self.pstate: return self.add_new_target_system(sysid) def param_status(self): sysid = self.get_sysid() pset, pcount = self.pstate[sysid].status(self.master, self.mpstate) return (pset, pcount) def mavlink_packet(self, m): '''handle an incoming mavlink packet''' sysid = (m.get_srcSystem(), m.get_srcComponent()) self.add_new_target_system(sysid) self.pstate[sysid].handle_mavlink_packet(self.master, m) def idle_task(self): '''handle missing parameters''' self.check_new_target_system() sysid = self.get_sysid() self.pstate[sysid].vehicle_name = self.vehicle_name self.pstate[sysid].param_help.vehicle_name = self.vehicle_name self.pstate[sysid].fetch_check(self.master) if self.module('console') is not None: if not self.menu_added_console: self.menu_added_console = True self.module('console').add_menu(self.menu) else: self.menu_added_console = False self.run_parameter_set_queues() def run_parameter_set_queues(self): for pstate in self.pstate.values(): pstate.run_parameter_set_queue() def cmd_param(self, args): '''control parameters''' self.check_new_target_system() sysid = self.get_sysid() self.pstate[sysid].handle_command(self.master, self.mpstate, args) def fetch_all(self): '''force fetch of all parameters''' self.check_new_target_system() sysid = self.get_sysid() self.pstate[sysid].fetch_all(self.master) def init(mpstate, **kwargs): '''initialise module''' return ParamModule(mpstate, **kwargs) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_paramedit/000077500000000000000000000000001504324515000223475ustar00rootroot00000000000000MAVProxy-1.8.74/MAVProxy/modules/mavproxy_paramedit/__init__.py000066400000000000000000000026011504324515000244570ustar00rootroot00000000000000#!/usr/bin/env python3 ''' param editor module Akshath Singhal June 2019 ''' from MAVProxy.modules.lib import mp_module class ParamEditorModule(mp_module.MPModule): ''' A Graphical parameter editor for use with MAVProxy ''' def __init__(self, mpstate): super(ParamEditorModule, self).__init__(mpstate, "paramedit", "param edit", public=True) # to work around an issue on MacOS this module is a thin wrapper # around a separate ParamEditorMain object self.pe_main = None self.mpstate = mpstate def unload(self): '''unload module''' if self.pe_main: self.pe_main.unload() def idle_task(self): if not self.pe_main: # wait for parameter module to load if self.module('param') is None: return from MAVProxy.modules.mavproxy_paramedit import param_editor self.pe_main = param_editor.ParamEditorMain(self.mpstate) if self.pe_main: if self.pe_main.needs_unloading: self.needs_unloading = True self.pe_main.idle_task() def mavlink_packet(self, m): if self.pe_main: self.pe_main.mavlink_packet(m) def init(mpstate): '''initialise module''' return ParamEditorModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_paramedit/checklisteditor.py000066400000000000000000000151011504324515000260770ustar00rootroot00000000000000#!/usr/bin/env python3 import wx import wx.grid as gridlib import math class GridCheckListEditor(gridlib.PyGridCellEditor): """ This is a custom CheckListBox editor for setting of Bitmasks """ def __init__(self, choice, pvalcol, start): # ensure the choices list has no gaps bvalue = 0 self.choices = [] for c in choice: bopt = c.split(":") if len(bopt) != 2: continue bval = int(bopt[0]) while bvalue < bval: self.choices.append("%u:INVALID" % bvalue) bvalue += 1 self.choices.append(c) bvalue += 1 binary = bin(int(start))[2:] self.startValue = [(len(binary)-ones-1) for ones in range(len(binary)) if binary[ones] == '1'] self.pvalcol = pvalcol gridlib.PyGridCellEditor.__init__(self) def set_checked(self, selected): if int(selected) < int(math.pow(2, len(self.choices))): binary = bin(int(selected))[2:] self.startValue = [(len(binary)-ones-1) for ones in range(len(binary)) if binary[ones] == '1'] try: self._tc.SetChecked(self.startValue) except Exception as e: print (e) def get_checked(self): return self._tc.GetChecked() def Create(self, parent, id, evtHandler): self._tc = wx.CheckListBox(parent, id, choices=self.choices) self._tc.SetChecked(self.startValue) self.SetControl(self._tc) if evtHandler: self._tc.PushEventHandler(evtHandler) def SetSize(self, rect): self._tc.SetDimensions(rect.x, rect.y, rect.width+2, 30*len(self.choices), wx.SIZE_ALLOW_MINUS_ONE) def Show(self, show, attr): super(GridCheckListEditor, self).Show(show, attr) def BeginEdit(self, row, col, grid): self._tc.SetChecked(self.startValue) def EndEdit(self, row, col, grid, oldVal): val = self._tc.GetChecked() self.startValue = val if val != oldVal: return self._tc.GetChecked() else: return None def get_pvalue(self): s = 0 for i in self._tc.GetChecked(): s = s + int(math.pow(2, i)) return str(s) def ApplyEdit(self, row, col, grid): val = "" for i in self._tc.GetChecked(): val = val + str(self.choices[i]) + "\n" grid.GetTable().SetValue(row, col, str(val)) grid.GetTable().SetValue(row, self.pvalcol, self.get_pvalue()) def Reset(self): self._tc.SetChecked(None) def StartingKey(self, evt): evt.Skip() def Destroy(self): super(GridCheckListEditor, self).Destroy() def Clone(self): return GridCheckListEditor(self.choices, self.pvalcol, self.startValue) class GridDropListEditor(gridlib.PyGridCellEditor): """ This is a custom DropBox editor for setting of Parameter Values """ def __init__(self, choice, pvalcol, start=0): self.choices = choice self.startValue = int(start) self.pvalcol = pvalcol gridlib.PyGridCellEditor.__init__(self) def set_checked(self, selected): self.startValue = int(selected) try: self._tc.SetSelection(self.startValue) except Exception as e: print (e) def get_checked(self): return self._tc.GetSelection() def Create(self, parent, id, evtHandler): self._tc = wx.ComboBox(parent, id, choices=self.choices) self.set_checked(self.startValue) self.SetControl(self._tc) if evtHandler: self._tc.PushEventHandler(evtHandler) def Show(self, show, attr): super(GridDropListEditor, self).Show(show, attr) def SetSize(self, rect): self._tc.SetDimensions(rect.x, rect.y, rect.width+2, 30, wx.SIZE_ALLOW_MINUS_ONE) def BeginEdit(self, row, col, grid): self._tc.SetSelection(self.startValue) def EndEdit(self, row, col, grid, oldVal): val = self._tc.GetSelection() if val != oldVal and val != -1: self.startValue = val return self._tc.GetSelection() else: return None def ApplyEdit(self, row, col, grid): grid.GetTable().SetValue(row, col, self._tc.GetStringSelection()) grid.GetTable().SetValue(row, self.pvalcol, str(self._tc.GetStringSelection()).split(':')[0]) def Reset(self): self._tc.SetSelection(None) def StartingKey(self, evt): evt.Skip() def Destroy(self): super(GridDropListEditor, self).Destroy() def Clone(self): return GridDropListEditor(self.choices, self.pvalcol, self.startValue) class GridScrollEditor(gridlib.PyGridCellEditor): """ This is a custom SpinControlDouble editor for setting of float values with given range and increments """ def __init__(self, Range, pvalcol, start): self.Range = Range self.startValue = float(start) self.pvalcol = pvalcol gridlib.PyGridCellEditor.__init__(self) def set_checked(self, selected): self.startValue = selected try: self._tc.SetValue(selected) except Exception as e: print (e) def SetSize(self, rect): self._tc.SetDimensions(rect.x, rect.y, rect.width+2, 30, wx.SIZE_ALLOW_MINUS_ONE) def get_checked(self): return self._tc.GetValue() def Create(self, parent, id, evtHandler): self._tc = wx.SpinCtrlDouble(parent, id, min=self.Range['Min'], max=self.Range['Max'], inc=self.Range['Increment']) self.SetControl(self._tc) self.set_checked(self.startValue) if evtHandler: self._tc.PushEventHandler(evtHandler) def Show(self, show, attr): super(GridScrollEditor, self).Show(show, attr) def BeginEdit(self, row, col, grid): self._tc.SetValue(self.startValue) def EndEdit(self, row, col, grid, oldVal): val = self._tc.GetValue() self.startValue = val if val != oldVal: return val else: return None def ApplyEdit(self, row, col, grid): grid.GetTable().SetValue(row, col, str(self._tc.GetValue())) grid.GetTable().SetValue(row, self.pvalcol, str(self._tc.GetValue())) def Reset(self): self._tc.SetValue(None) def StartingKey(self, evt): evt.Skip() def Destroy(self): super(GridScrollEditor, self).Destroy() def Clone(self): return GridScrollEditor(self.Range, self.pvalcol, self.startValue) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_paramedit/param_editor.py000066400000000000000000000223121504324515000253670ustar00rootroot00000000000000#!/usr/bin/env python3 ''' param editor module Akshath Singhal June 2019 ''' import platform from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import multiproc from MAVProxy.modules.mavproxy_paramedit import ph_event import threading from ..lib.wx_loader import wx from MAVProxy.modules.mavproxy_paramedit import param_editor_frame from pymavlink import mavutil import time ParamEditorEvent = ph_event.ParamEditorEvent class ParamEditorEventThread(threading.Thread): def __init__(self, mp_paramedit, queue, lock): threading.Thread.__init__(self) self.mp_paramedit = mp_paramedit self.event_queue = queue self.event_queue_lock = lock self.time_to_quit = False self.queue_access_timeout = 0.5 def module(self, name): '''access another module''' return self.mp_paramedit.mpstate.module(name) def master(self): '''access master mavlink connection''' return self.mp_paramedit.mpstate.master() def run(self): while not self.time_to_quit: while not self.event_queue.empty(): try: event = self.event_queue.get(block=False) event_type = event.get_type() if event_type == ph_event.PEE_READ_PARAM: self.param_received = self.module('param').mav_param self.mp_paramedit.gui_event_queue.put(ParamEditorEvent( ph_event.PEGE_READ_PARAM, param=self.param_received, vehicle=self.mp_paramedit.mpstate.vehicle_name)) elif event_type == ph_event.PEE_TIME_TO_QUIT: self.mp_paramedit.needs_unloading = True elif event_type == ph_event.PEE_LOAD_FILE: self.module('param').mav_param.load( event.get_arg("path")) self.param_received = self.module('param').mav_param self.mp_paramedit.gui_event_queue.put(ParamEditorEvent( ph_event.PEGE_READ_PARAM, param=self.param_received)) elif event_type == ph_event.PEE_SAVE_FILE: self.module('param').mav_param.save( event.get_arg("path"), verbose=True) elif event_type == ph_event.PEE_WRITE_PARAM: self.mp_paramedit.paramchanged = event.get_arg("modparam") self.mp_paramedit.set_params() elif event_type == ph_event.PEE_RESET: master = self.mp_paramedit.mpstate.mav_master[0] master.mav.command_long_send(master.target_system, master.target_component, mavutil.mavlink.MAV_CMD_PREFLIGHT_STORAGE, 0, 2.0, 0, 0, 0, 0, 0, 0) elif event_type == ph_event.PEE_FETCH: self.module('param').fetch_all() except Exception: time.sleep(0.2) time.sleep(0.01) class ParamEditorMain(object): def __init__(self, mpstate): self.param_received = {} self.paramchanged = {} self.fltmode_rc = None self.event_queue = multiproc.Queue() self.event_queue_lock = multiproc.Lock() self.gui_event_queue = multiproc.Queue() self.gui_event_queue_lock = multiproc.Lock() self.close_window = multiproc.Semaphore() self.close_window.acquire() self.mpstate = mpstate self.mpstate.param_editor = self self.needs_unloading = False if platform.system() == 'Windows': self.child = threading.Thread( target=self.child_task, args=(self.event_queue, self.event_queue_lock, self.gui_event_queue, self.gui_event_queue_lock, self.close_window)) else: self.child = multiproc.Process( target=self.child_task, args=(self.event_queue, self.event_queue_lock, self.gui_event_queue, self.gui_event_queue_lock, self.close_window)) self.child.start() self.event_thread = ParamEditorEventThread( self, self.event_queue, self.event_queue_lock) self.event_thread.start() self.last_unload_check_time = time.time() self.unload_check_interval = 0.1 # seconds self.time_to_quit = False self.mavlink_message_queue = multiproc.Queue() self.mavlink_message_queue_handler = threading.Thread( target=self.mavlink_message_queue_handler) self.mavlink_message_queue_handler.start() def mavlink_message_queue_handler(self): while not self.time_to_quit: while True: if self.time_to_quit: return if not self.mavlink_message_queue.empty(): break time.sleep(0.1) m = self.mavlink_message_queue.get() try: self.process_mavlink_packet(m) except Exception as ex: print(ex) import traceback traceback.print_stack() def unload(self): '''unload module''' self.mpstate.param_editor.close() def idle_task(self): now = time.time() if now - self.last_unload_check_time > self.unload_check_interval: self.last_unload_check_time = now if not self.child.is_alive(): self.needs_unloading = True def mavlink_packet(self, m): if m.get_type() in ['PARAM_VALUE', 'RC_CHANNELS', 'RC_CHANNELS_RAW']: self.mavlink_message_queue.put(m) def process_mavlink_packet(self, m): '''handle an incoming mavlink packet''' mtype = m.get_type() if mtype == 'PARAM_VALUE': if m.param_id in self.paramchanged: del self.paramchanged[m.param_id.upper()] self.gui_event_queue.put(ParamEditorEvent( ph_event.PEGE_WRITE_SUCC, paramid=m.param_id.upper(), paramvalue=m.param_value, pstatus = self.mpstate.module('param').param_status())) if mtype in ['RC_CHANNELS_RAW', 'RC_CHANNELS']: if self.mpstate.vehicle_name == 'APMrover2': fltmode_ch = int(self.mpstate.module('param').mav_param['MODE_CH']) else: if self.mpstate.vehicle_name.lower().find('copter') != -1: default_channel = 5 else: default_channel = 8 fltmode_ch = int(self.mpstate.module('param').mav_param.get('FLTMODE_CH', default_channel)) if self.mpstate.vehicle_name is not None and fltmode_ch > 0: rc_received = float(getattr(m, 'chan%u_raw' % fltmode_ch)) if rc_received != self.fltmode_rc and ((fltmode_ch > 0 and fltmode_ch < 9 and mtype == 'RC_CHANNELS_RAW') or (fltmode_ch > 0 and fltmode_ch < 19 and mtype == 'RC_CHANNELS')): self.fltmode_rc = rc_received self.gui_event_queue.put(ParamEditorEvent( ph_event.PEGE_RCIN, rcin=rc_received)) def child_task(self, queue, lock, gui_queue, gui_lock, close_window_sem): '''child process - this holds GUI elements''' mp_util.child_close_fds() self.app = wx.App(False) self.app.frame = param_editor_frame.ParamEditorFrame( parent=None, id=wx.ID_ANY) self.app.frame.set_event_queue(queue) self.app.frame.set_event_queue_lock(lock) self.app.frame.set_gui_event_queue(gui_queue) self.app.frame.set_gui_event_queue_lock(gui_lock) self.app.frame.get_vehicle_type(self.mpstate.vehicle_name) self.app.frame.set_close_window_semaphore(close_window_sem) self.app.frame.redirect_err(self.mpstate.settings.moddebug) self.app.frame.set_param_init(self.mpstate.module('param').mav_param, self.mpstate.vehicle_name) self.app.SetExitOnFrameDelete(True) self.app.frame.Show() # start a thread to monitor the "close window" semaphore: class CloseWindowSemaphoreWatcher(threading.Thread): def __init__(self, task, sem): threading.Thread.__init__(self) self.task = task self.sem = sem def run(self): self.sem.acquire(True) self.task.app.ExitMainLoop() watcher_thread = CloseWindowSemaphoreWatcher(self, close_window_sem) watcher_thread.start() self.app.MainLoop() # tell the watcher it is OK to quit: close_window_sem.release() watcher_thread.join() def close(self): '''close the Parameter Editor window''' self.time_to_quit = True self.close_window.release() if platform.system() == 'Windows': self.child.join() else: self.child.terminate() def set_params(self): for param, value in self.paramchanged.items(): self.mpstate.mav_master[0].param_set_send(param, float(value)) def init(mpstate): '''initialise module''' return ParamEditorMain(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_paramedit/param_editor.wxg000066400000000000000000000227251504324515000255540ustar00rootroot00000000000000 frame_1 708, 519 wxVERTICAL wxALIGN_CENTER|wxFIXED_MINSIZE 0 wxVERTICAL wxALIGN_CENTER|wxFIXED_MINSIZE 0 wxVERTICAL wxALIGN_CENTER|wxFIXED_MINSIZE 0 wxHORIZONTAL wxALIGN_CENTER 0 Read_File wxALIGN_CENTER 0 Write_File wxALIGN_CENTER 0 reset 0 wxHORIZONTAL wxALIGN_CENTER 0 read_param wxALIGN_CENTER 0 write_param wxALIGN_CENTER 0 refresh_param 0 wxHORIZONTAL wxALIGN_CENTER 0 key_change wxALIGN_CENTER 0 1 wxEXPAND 0 1 1 1 10 1 1 1 wxGrid.wxGridSelectCells Param Value Units Options Description ParamChanged MAVProxy-1.8.74/MAVProxy/modules/mavproxy_paramedit/param_editor_frame.py000077500000000000000000000605771504324515000265630ustar00rootroot00000000000000#!/usr/bin/env python3 # -*- coding: UTF-8 -*- # # generated by wxGlade 0.7.1 on Wed May 8 16:56:24 2019 # import wx import wx.grid import os import sys import time import math from MAVProxy.modules.lib import multiproc from MAVProxy.modules.mavproxy_paramedit import checklisteditor as cle from MAVProxy.modules.lib import mp_util from MAVProxy.modules.mavproxy_paramedit import ph_event ParamEditorEvent = ph_event.ParamEditorEvent # begin wxGlade: extracode # end wxGlade # define column names via "enums": PE_PARAM = 0 PE_VALUE = 1 PE_UNITS = 3 PE_OPTION = 2 PE_DESC = 4 class ParamEditorFrame(wx.Frame): def __init__(self, *args, **kwds): # begin wxGlade: ParamEditor.__init__ wx.Frame.__init__(self, *args, **kwds) self.read_file = wx.Button(self, wx.ID_ANY, ("Read From File")) self.write_file = wx.Button(self, wx.ID_ANY, ("Write To File")) self.reset_params = wx.Button(self, wx.ID_ANY, ("Reset To Default")) self.read_params = wx.Button(self, wx.ID_ANY, ("Discard Changes")) self.fetch_params = wx.Button(self, wx.ID_ANY, ("Fetch all")) self.write_params = wx.Button(self, wx.ID_ANY, ("Write")) self.search_key = wx.TextCtrl(self, wx.ID_ANY, "") self.param_status = (0,0) self.param_label = wx.StaticText(self, wx.ID_ANY, "Status: " + str(self.param_status[0]) + "/ " + str(self.param_status[1]), style=wx.ALIGN_CENTRE) self.search_choices = ['All:', 'Actions:TMODE_', 'Tuning:PILOT_,ATC_,MOT_,ANGLE_,RC_', 'PosControl:VEL_,POS_,WPNAV_,RTL_', 'Radio:BRD_RADIO_', 'Compass:COMPASS_', 'IMU:INS_', 'Failsafe:FS_', 'EKF2:EK2_,AHRS_EKF_', 'EKF3:EK3_,AHRS_EKF_', 'Fence:FENCE_', 'Logging:LOG_', 'GPS:GPS_', 'Arming:ARMING_', 'Battery:BATT_', 'Flight Modes:MODE', 'Serial:SERIAL_'] categories = [x.split(':')[0] for x in self.search_choices] self.search_list = wx.Choice(self, wx.ID_ANY, choices=categories) self.categorical_list = {} self.search_list.SetSelection(0) self.display_list = wx.grid.Grid(self, wx.ID_ANY, size=(1, 1)) self.search_key.SetHint("Search") self.__set_properties() self.__do_layout() self.param_received = {} self.modified_param = {} self.requires_redraw = False self.last_grid_update = time.time() self.htree = {} self.selected_fltmode = None self.Bind(wx.EVT_BUTTON, self.Read_File, self.read_file) self.Bind(wx.EVT_BUTTON, self.Write_File, self.write_file) self.Bind(wx.EVT_BUTTON, self.reset_param, self.reset_params) self.Bind(wx.EVT_BUTTON, self.read_param, self.read_params) self.Bind(wx.EVT_BUTTON, self.fetch_param, self.fetch_params) self.Bind(wx.EVT_BUTTON, self.write_param, self.write_params) self.Bind(wx.EVT_TEXT, self.key_change, self.search_key) self.Bind(wx.EVT_CHOICE, self.category_change, self.search_list) if float(str(wx.__version__).split('.')[0]) < 4.0: self.Bind(wx.grid.EVT_GRID_CMD_CELL_CHANGE, self.ParamChanged, self.display_list) else: self.Bind(wx.grid.EVT_GRID_CMD_CELL_CHANGED, self.ParamChanged, self.display_list) self.Bind(wx.grid.EVT_GRID_SELECT_CELL, self.onSelect, self.display_list) self.Bind(wx.grid.EVT_GRID_COL_SIZE, self.ColChanged, self.display_list) self.Bind(wx.EVT_CLOSE, self.OnCloseWindow) self.Bind(wx.grid.EVT_GRID_EDITOR_CREATED, self.EditorCreated, self.display_list) self.timer = wx.Timer(self) self.Bind(wx.EVT_TIMER, self.time_to_process_gui_events, self.timer) self.timer.Start(200) renderer = wx.grid.GridCellAutoWrapStringRenderer() self.ro_attr = wx.grid.GridCellAttr() self.ro_attr.SetReadOnly(True) self.ce_attr = wx.grid.GridCellAttr() self.ce_attr.SetAlignment(hAlign=wx.ALIGN_CENTER, vAlign=wx.ALIGN_TOP) self.display_list.SetColAttr(PE_PARAM, self.ro_attr) self.display_list.SetColAttr(PE_UNITS, self.ro_attr) self.display_list.SetColAttr(PE_DESC, self.ro_attr) self.display_list.SetColAttr(PE_VALUE, self.ce_attr) self.display_list.SetRowLabelSize(0) self.display_list.SetDefaultRenderer(renderer) self.display_list.SetDefaultEditor(wx.grid.GridCellFloatEditor(width=-1, precision=4)) self.xml_filepath = None self.last_param_file_path = "" font = wx.Font(pointSize=10, family=wx.DEFAULT, style=wx.NORMAL, weight=wx.NORMAL, faceName='Consolas') self.dc = wx.ScreenDC() self.dc.SetFont(font) # end wxGlade def __set_properties(self): # begin wxGlade: ParamEditor.__set_properties self.SetTitle(("Parameter Editor")) self.SetSize((800, 550)) self.display_list.CreateGrid(10, 5) self.display_list.SetColLabelValue(PE_PARAM, ("Param")) self.display_list.SetColLabelValue(PE_VALUE, ("Value")) self.display_list.SetColLabelValue(PE_UNITS, ("Units")) self.display_list.SetColLabelValue(PE_OPTION, ("Selections")) self.display_list.SetColLabelValue(PE_DESC, ("Description")) self.display_list.SetColSize(PE_PARAM, 200) self.display_list.SetColSize(PE_UNITS, 100) self.display_list.SetColSize(PE_VALUE, 100) self.display_list.SetColSize(PE_DESC, 250) self.display_list.SetColSize(PE_OPTION, 150) self.display_list.SetColFormatFloat(PE_VALUE, precision=4) # end wxGlade def __do_layout(self): # begin wxGlade: ParamEditor.__do_layout sizer_1 = wx.BoxSizer(wx.VERTICAL) sizer_2 = wx.BoxSizer(wx.VERTICAL) sizer_3 = wx.BoxSizer(wx.VERTICAL) sizer_5 = wx.BoxSizer(wx.HORIZONTAL) sizer_6 = wx.BoxSizer(wx.HORIZONTAL) sizer_2.Add((10, 10), 0, 0, 0) sizer_6.Add((10, 10), 0, 0, 0) sizer_6.Add(self.read_file, 0, wx.ALIGN_CENTER, 0) sizer_6.Add((10, 10), 0, 0, 0) sizer_6.Add(self.write_file, 0, wx.ALIGN_CENTER, 0) sizer_6.Add((10, 10), 0, 0, 0) sizer_6.Add(self.fetch_params, 0, wx.ALIGN_CENTER, 0) sizer_6.Add((10, 10), 0, 0, 0) sizer_6.Add(self.reset_params, 0, wx.ALIGN_CENTER, 0) sizer_6.Add((10, 10), 0, 0, 0) sizer_6.Add(self.param_label, 0, wx.ALIGN_CENTER, 0) sizer_6.Add((10, 10), 0, 0, 0) sizer_3.Add(sizer_6, 0, 0, 0) sizer_3.Add((10, 10), 0, 0, 0) sizer_5.Add((10, 10), 0, 0, 0) sizer_5.Add(self.read_params, 0, 0, 0) sizer_5.Add((10, 10), 0, 0, 0) sizer_5.Add(self.write_params, 0, 0, 0) sizer_5.Add((10, 10), 0, 0, 0) sizer_5.Add(self.search_key, 0, 0, 0) sizer_5.Add((10, 10), 0, 0, 0) sizer_5.Add(self.search_list, 0, 0, 0) sizer_5.Add((10, 10), 0, 0, 0) sizer_3.Add(sizer_5, 0, 0, 0) sizer_2.Add(sizer_3, 0, 0, 0) sizer_2.Add((10, 10), 0, 0, 0) sizer_2.Add(self.display_list, 1, wx.EXPAND, 0) sizer_1.Add(sizer_2, 1, wx.EXPAND, 0) self.SetSizer(sizer_1) self.Layout() # end wxGlade def redirect_err(self, moddebug): if moddebug < 3: sys.stderr.flush() err = open(os.devnull, 'a+') os.dup2(err.fileno(), sys.stderr.fileno()) def OnCloseWindow(self, event): self.event_queue.put(ParamEditorEvent(ph_event.PEE_TIME_TO_QUIT)) event.Skip() def onSelect(self, event): if self.display_list.GetNumberRows() == 0: return self.oldval = self.display_list.GetCellValue(event.Row, PE_VALUE) if event.Col == PE_OPTION: wx.CallAfter(self.display_list.EnableCellEditControl) event.Skip() def set_param_init(self, params, vehicle): self.vehicle_name = vehicle self.param_received = params self.get_vehicle_type(vehicle) self.redraw_grid(params) def EditorCreated(self, evt): if evt.Col == PE_OPTION: self.combo = evt.GetControl() self.row = evt.Row self.combo.Bind(wx.EVT_CHECKLISTBOX, self.checklist) self.combo.Bind(wx.EVT_COMBOBOX, self.combobox) self.combo.Bind(wx.EVT_SPINCTRLDOUBLE, self.spinctrl) evt.Skip() def spinctrl(self, event): try: self.display_list.SetCellValue(self.row, PE_VALUE, str(self.combo.GetValue())) except Exception: pass event.Skip() def combobox(self, event): try: self.display_list.SetCellValue(self.row, PE_VALUE, str(self.combo.GetStringSelection()).split(':')[0]) except Exception as e: pass event.Skip() def checklist(self, event): try: s = 0 for i in self.combo.GetChecked(): s = s + int(math.pow(2, i)) self.display_list.SetCellValue(self.row, PE_VALUE, str(s)) except Exception as e: pass event.Skip() def set_event_queue(self, q): self.event_queue = q def set_event_queue_lock(self, l): self.event_queue_lock = l def set_gui_event_queue(self, q): self.gui_event_queue = q def set_gui_event_queue_lock(self, l): self.gui_event_queue_lock = l def set_close_window_semaphore(self, sem): self.close_window_semaphore = sem def time_to_process_gui_events(self, evt): event_processed = False while not self.gui_event_queue.empty(): event_processed = True try: event = self.gui_event_queue.get(block=False) self.process_gui_event(event) except Exception as e: pass if self.requires_redraw and ((time.time() - self.last_grid_update) > 0.1): self.key_redraw() self.requires_redraw = False if (event_processed): # redraw window to apply changes self.Refresh() self.Update() def ColChanged(self, event): for row in range(self.display_list.GetNumberRows()): self.set_row_size(row) def process_gui_event(self, event): if event.get_type() == ph_event.PEGE_READ_PARAM: self.param_received.clear() self.param_received = event.get_arg("param") if self.vehicle_name is None or len(self.htree) == 0: self.get_vehicle_type(event.get_arg("vehicle")) self.requires_redraw = True elif event.get_type() == ph_event.PEGE_WRITE_SUCC: self.param_status = event.get_arg("pstatus") self.param_label.SetLabel("Status: " + str(self.param_status[0]) + "/ " + str(self.param_status[1])) if event.get_arg("paramid") in self.param_received.keys(): if event.get_arg("paramid") in self.modified_param.keys(): del self.modified_param[event.get_arg("paramid")] for row in range(self.display_list.GetNumberRows()): if self.display_list.GetCellValue(row, PE_PARAM) == event.get_arg("paramid"): self.display_list.SetCellValue(row, PE_VALUE, str(round(event.get_arg("paramvalue"), 4))) self.display_list.SetCellBackgroundColour(row, PE_VALUE, wx.Colour(255, 255, 255)) else: self.param_received[event.get_arg("paramid")] = event.get_arg("paramvalue") self.requires_redraw = True elif event.get_type() == ph_event.PEGE_RCIN: if float(event.get_arg('rcin')) <= 1230: self.selected_fltmode = 1 elif float(event.get_arg('rcin')) <= 1360: self.selected_fltmode = 2 elif float(event.get_arg('rcin')) <= 1490: self.selected_fltmode = 3 elif float(event.get_arg('rcin')) <= 1620: self.selected_fltmode = 4 elif float(event.get_arg('rcin')) <= 1749: self.selected_fltmode = 5 else: self.selected_fltmode = 6 self.requires_redraw = True def natural_key(self, item): '''sort key for natural order''' paramname, paramvalue = item return mp_util.natural_sort_key(paramname) def redraw_grid(self, datalist): self.display_list.ClearGrid() if (self.display_list.GetNumberRows() > 0): self.display_list.DeleteRows(0, self.display_list.GetNumberRows()) self.display_list.AppendRows(len(datalist)) row = 0 for paramname, paramvalue in sorted(datalist.items(), key=self.natural_key): self.add_new_row(row, paramname, paramvalue) row = row + 1 self.display_list.ForceRefresh() self.last_grid_update = time.time() def add_new_row(self, row, name, pvalue): self.display_list.SetCellValue(row, PE_PARAM, str(name)) if self.vehicle_name == 'APMrover2': fltmode = "MODE" else: fltmode = "FLTMODE" if name == (fltmode + str(self.selected_fltmode)): self.display_list.SetCellBackgroundColour(row, PE_PARAM, wx.Colour(152, 251, 152)) self.display_list.SetCellValue(row, PE_VALUE, str(round(pvalue, 4))) unit, option, desc = self.getinfo(name) self.display_list.SetCellValue(row, PE_UNITS, unit) self.display_list.SetCellValue(row, PE_DESC, desc) if (name in [keys for keys, va in self.modified_param.items()]): self.display_list.SetCellBackgroundColour(row, PE_VALUE, wx.Colour(152, 251, 152)) self.set_row_size(row) try: for f in self.htree[name].field: if f.get('name') == "Bitmask": bits = str(f).split(',') self.display_list.SetCellEditor(row, PE_OPTION, cle.GridCheckListEditor(bits, PE_VALUE, pvalue)) val = "" binary = bin(int(pvalue))[2:] for b in bits: bopt = b.split(":") if len(bopt) != 2: continue bvalue = int(bopt[0]) bstr = bopt[1].strip() if (int(pvalue) & (1 << bvalue)) != 0: val = val + "%u: %s\n" % (bvalue, bstr) val = val.strip() self.display_list.SetCellValue(row, PE_OPTION, str(val)) self.set_row_size(row, 25*len(bits)) return except Exception as e: pass try: if self.htree[name].values is not None: v = self.htree[name].findall('values')[0].getchildren() for i in range(len(v)): if float(v[i].get('code')) == pvalue: selected = str(v[i].get('code'))+":"+str(v[i]) sel_ind = i v[i] = str(v[i].get('code'))+":"+str(v[i]) self.display_list.SetCellEditor(row, PE_OPTION, cle.GridDropListEditor(v, PE_VALUE, sel_ind)) self.display_list.SetCellValue(row, PE_OPTION, str(selected)) return except Exception as e: pass Range = {} try: for f in self.htree[name].field: if f.get('name') == "Increment": Range['Increment'] = float(f) if f.get('name') == "Range": Range['Min'] = float(str(f).split(' ')[0]) Range['Max'] = float(str(f).split(' ')[1]) except Exception as e: pass if len(Range) > 1: if len(Range) == 2: Range['Increment'] = (float(Range['Max'])-float(Range['Min']))/10 self.display_list.SetCellEditor(row, PE_OPTION, cle.GridScrollEditor(Range, PE_VALUE, pvalue)) self.display_list.SetCellValue(row, PE_OPTION, str(round(pvalue, 4))) return self.display_list.SetCellValue(row, PE_OPTION, option) def set_row_size(self, row, size=0): w, h = self.dc.GetTextExtent(self.display_list.GetCellValue(row, PE_DESC)) self.display_list.SetRowSize(row, max(25*int(w/self.display_list.GetColSize(PE_DESC)+3), size)) def getinfo(self, name): # Provide data derived from XML unit = "" option = "" try: desc = str(self.htree[name].get('humanName')) + "\n\n" + str(self.htree[name].get('documentation')) except Exception as e: desc = str(e) try: for f in self.htree[name].field: if f.get('name') == "Units": unit = str(f) except Exception as e: unit = "" try: for f in self.htree[name].field: if f.get('name') == "Range": option = "Range:"+str(f) except Exception as e: option = "" return(unit, option, desc) def Read_File(self, event): # wxGlade: ParamEditor. fd = wx.FileDialog(self, "Open Parameter File", os.getcwd(), "", "ParmFiles(*.parm,*.param)|*.parm;*.param", wx.FD_OPEN | wx.FD_FILE_MUST_EXIST) if (fd.ShowModal() == wx.ID_CANCEL): return # user changed their mind... self.event_queue.put(ParamEditorEvent(ph_event.PEE_LOAD_FILE, path=fd.GetPath())) self.last_param_file_path = fd.GetPath() event.Skip() def Write_File(self, event): # wxGlade: ParamEditor. fd = wx.FileDialog(self, "Save Parameter File", os.getcwd(), os.path.basename(self.last_param_file_path), "ParmFiles(*.parm,*.param)|*.parm;*.param", wx.FD_SAVE | wx.FD_OVERWRITE_PROMPT) if (fd.ShowModal() == wx.ID_CANCEL): return # user change their mind... self.event_queue.put(ParamEditorEvent(ph_event.PEE_SAVE_FILE, path=fd.GetPath())) self.last_param_file_path = fd.GetPath() event.Skip() def format_params(self): self.event_queue.put(ParamEditorEvent(ph_event.PEE_RESET)) def fetch_param(self, event): self.event_queue.put(ParamEditorEvent(ph_event.PEE_FETCH)) def reset_param(self, event): # wxGlade: ParamEditor. dlg = wx.MessageDialog(self, "Are you sure you want to reset all parameters to default values?", "Reset to default", wx.YES_NO | wx.ICON_QUESTION) result = dlg.ShowModal() if result == wx.ID_YES: self.format_params() event.Skip() def select_xml(self): # Expose this function to set XML file path fd = wx.FileDialog(self, "Select XML File", os.getcwd(), os.path.basename(self.last_param_file_path), "*.xml|*", wx.FD_OPEN | wx.FD_FILE_MUST_EXIST) if (fd.ShowModal() == wx.ID_CANCEL): return # user change their mind... self.xml_filepath = fd.GetPath() self.param_help_tree() def read_param(self, event): # wxGlade: ParamEditor. self.event_queue.put(ParamEditorEvent(ph_event.PEE_READ_PARAM)) event.Skip() def write_param(self, event): # wxGlade: ParamEditor. param = [param for param, value in self.modified_param.items()] self.event_queue.put(ParamEditorEvent(ph_event.PEE_WRITE_PARAM, modparam=self.modified_param)) for row in range(self.display_list.GetNumberRows()): if self.display_list.GetCellValue(row, PE_PARAM) in param: self.display_list.SetCellBackgroundColour(row, PE_VALUE, wx.Colour(255, 160, 90)) event.Skip() def get_vehicle_type(self, name): self.vehicle_name = name self.param_help_tree() def key_change(self, event): # wxGlade: ParamEditor. self.key_redraw() event.Skip() def category_change(self, event): key = self.search_choices[self.search_list.GetSelection()] key = key.split(':')[1] self.categorical_list = {} for x in key.split(','): if x == 'MODE': if self.vehicle_name == 'APMrover2': x = 'MODE' else: x = 'FLTMODE' for param, value in self.param_received.items(): try: if x.lower() == param.lower()[:len(x)]: self.categorical_list[param] = value except Exception: pass self.key_redraw() event.Skip() def key_redraw(self): key = self.search_key.GetValue() if self.search_list.GetString(self.search_list.GetSelection()) == 'All': self.categorical_list = self.param_received temp = {} for param, value in self.categorical_list.items(): if isinstance(param,str) and key.lower() in param.lower(): temp[param] = value else: try: if key.lower() in (self.htree[param].get('documentation').lower() + self.htree[param].get('humanName').lower()): temp[param] = value except Exception as e: continue for param, value in self.param_received.items(): if param in temp: temp[param] = value self.redraw_grid(temp) def ParamChanged(self, event): # wxGlade: ParamEditor. row_changed = event.GetRow() if event.Col == PE_OPTION: newval = float(self.display_list.GetCellValue(row_changed, PE_VALUE)) self.display_list.SetCellValue(row_changed, PE_VALUE, str(round(newval, 4))) elif event.Col == PE_VALUE: newval = float(self.display_list.GetCellValue(row_changed, PE_VALUE)) celleditor = self.display_list.GetCellEditor(row_changed, PE_OPTION) try: celleditor.set_checked(newval) except Exception: pass if float(self.oldval) != newval: self.display_list.SetCellBackgroundColour(row_changed, PE_VALUE, wx.Colour(152, 251, 152)) self.modified_param[self.display_list.GetCellValue( row_changed, PE_PARAM)] = newval self.param_received[self.display_list.GetCellValue( row_changed, PE_PARAM)] = newval event.Skip() def param_help_download(self): '''download XML files for parameters''' files = [] for vehicle in ['APMrover2', 'ArduCopter', 'ArduPlane', 'ArduSub', 'AntennaTracker', 'Heli']: url = 'http://autotest.ardupilot.org/Parameters/%s/apm.pdef.xml' % vehicle path = mp_util.dot_mavproxy("%s.xml" % vehicle) files.append((url, path)) try: child = multiproc.Process(target=mp_util.download_files, args=(files,)) child.start() except Exception as e: print(e) def param_help_tree(self): '''return a "help tree", a map between a parameter and its metadata. May return None if help is not available''' if self.xml_filepath is not None: path = self.xml_filepath elif self.vehicle_name is not None: path = mp_util.dot_mavproxy("%s.xml" % self.vehicle_name) if not os.path.exists(path): self.param_help_download() else: return try: xml = open(path, 'rb').read() from lxml import objectify objectify.enable_recursive_str() tree = objectify.fromstring(xml) for p in tree.vehicles.parameters.param: n = p.get('name').split(':')[1] self.htree[n] = p for lib in tree.libraries.parameters: for p in lib.param: n = p.get('name') self.htree[n] = p except Exception as e: print (e) # end of class ParamEditor if __name__ == "__main__": app = wx.App(False) wx.InitAllImageHandlers() paramEditor = (None, wx.ID_ANY, "") app.SetTopWindow(paramEditor) paramEditor.Show() app.MainLoop() MAVProxy-1.8.74/MAVProxy/modules/mavproxy_paramedit/ph_event.py000066400000000000000000000024241504324515000245330ustar00rootroot00000000000000#!/usr/bin/env python3 ''' Event class and enums for Parameter Editor ''' # ParamEditorEvents come FROM the GUI (with a few exceptions where the # Parameter Editor Module sends a message to itself). # ParamEditorEditorGUIEvents go to the GUI # enum for ParamEditorEvent types PEE_READ_KEY = 0 PEE_LOAD_FILE = 1 PEE_SAVE_FILE = 2 PEE_READ_PARAM = 3 PEE_WRITE_PARAM = 4 PEE_TIME_TO_QUIT = 5 PEE_RESET = 6 PEE_FETCH = 7 # enum of ParamEditorGUIEvent types PEGE_READ_PARAM = 0 PEGE_REFRESH_PARAM = 1 PEGE_WRITE_SUCC = 2 PEGE_RCIN = 3 class ParamEditorEvent: def __init__(self, type, **kwargs): self.type = type self.arg_dict = kwargs if self.type not in [PEE_SAVE_FILE, PEE_LOAD_FILE, PEE_READ_KEY, PEGE_REFRESH_PARAM, PEGE_READ_PARAM, PEGE_RCIN, PEE_READ_PARAM, PEE_WRITE_PARAM, PEE_RESET, PEE_TIME_TO_QUIT, PEGE_WRITE_SUCC, PEE_FETCH]: raise TypeError("Unrecongized ParamEditorEvent type:" + str(self.type)) def get_type(self): return self.type def get_arg(self, key): if key not in self.arg_dict: print("No key %s in %s" % (key, str(self.type))) return None return self.arg_dict[key] MAVProxy-1.8.74/MAVProxy/modules/mavproxy_park.py000066400000000000000000000071521504324515000217150ustar00rootroot00000000000000#!/usr/bin/env python3 """ park Module André Kjellstrup, 2019 This module notifies the user if the vehicle moves more than a preset distance(default is 2m) in lateral or vertical direction from the "parked" point. """ from pymavlink import mavutil import time from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_util class park(mp_module.MPModule): def __init__(self, mpstate): """Initialise module""" super(park, self).__init__(mpstate, "park", "") # latest coordinates self.lat = 0 self.lon = 0 self.alt = 0 # parked coordinates self.latp = 0 self.lonp = 0 self.altp = 0 # misc settings self.parked = False self.radius = 2 # max distance self.check_interval = 1 # 1=check every second self.last_check = time.time() self.notify_interval = 4 # minimum seconds between notifications self.last_notification = time.time() self.dist = 0 self.usage = "Usage: park \n On: enable departure warning.\n Radius defines the" \ " distance in meters (3D) from parked position, when exceeded an alarm is raised." # self.park_settings = mp_settings.MPSettings( # [('verbose', bool, False),('versee', bool, True),]) self.add_command('park', self.cmd_park, "park module") def cmd_park(self, args): """control behaviour of the module""" if len(args) == 0: print(self.usage) elif args[0] == "status": self.status() elif args[0] == "on": self.park_on() elif args[0] == "off": self.park_off() elif args[0] == "radius": if len(args) < 2: print("Usage: park radius ") return self.radius = float(args[1]) else: print(self.usage) def status(self): """returns information about module""" if self.parked: print("Parked at lat:", self.lat, "lon:", self.lon, "alt:", self.alt, "max radius", self.radius, "m") else: print("Not parked") def park_on(self): """set park""" self.latp = self.lat self.lonp = self.lon self.altp = self.alt self.parked = True print("Parked at lat:", self.lat, "lon:", self.lon, "alt:", self.alt, "you will be notified if it moves >", self.radius, "m") def park_off(self): self.parked = False print("Park warning is off") def idle_task(self): """called frequently by mavproxy""" now = time.time() if self.parked and now-self.last_check > self.check_interval: self.last_check = now self.dist = mp_util.gps_distance(self.lat, self.lon, self.latp, self.lonp) if (self.dist > self.radius or abs(self.alt - self.altp) > self.radius) and \ now-self.last_notification > self.notify_interval: self.last_notification = now message = "Vehicle moved " message2 = message + "%.1f" % self.dist + "meters" self.say("%s: %s" % (self.name, message2)) self.master.mav.statustext_send(mavutil.mavlink.MAV_SEVERITY_NOTICE, message2) def mavlink_packet(self, m): """handle mavlink packets""" if m.get_type() == 'GLOBAL_POSITION_INT': self.lat = m.lat * 1.0e-7 self.lon = m.lon * 1.0e-7 self.alt = m.relative_alt * 1.0e-3 def init(mpstate): """initialise module""" return park(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_ppp.py000066400000000000000000000057771504324515000215720ustar00rootroot00000000000000#!/usr/bin/env python3 ''' A PPP over MAVLink module Andrew Tridgell May 2012 ''' import time, os, fcntl, pty from MAVProxy.modules.lib import mp_module class PPPModule(mp_module.MPModule): def __init__(self, mpstate): super(PPPModule, self).__init__(mpstate, "ppp", "PPP link") self.command = "noauth nodefaultroute nodetach nodeflate nobsdcomp mtu 128".split() self.packet_count = 0 self.byte_count = 0 self.ppp_fd = -1 self.pid = -1 self.add_command('ppp', self.cmd_ppp, "ppp link control") def ppp_read(self, ppp_fd): '''called from main select loop in mavproxy when the pppd child sends us some data''' buf = os.read(ppp_fd, 100) if len(buf) == 0: # EOF on the child fd self.stop_ppp_link() return print("ppp packet len=%u" % len(buf)) master = self.master master.mav.ppp_send(len(buf), buf) def start_ppp_link(self): '''startup the link''' cmd = ['pppd'] cmd.extend(self.command) (self.pid, self.ppp_fd) = pty.fork() if self.pid == 0: os.execvp("pppd", cmd) raise RuntimeError("pppd exited") if self.ppp_fd == -1: print("Failed to create link fd") return # ensure fd is non-blocking fcntl.fcntl(self.ppp_fd, fcntl.F_SETFL, fcntl.fcntl(self.ppp_fd, fcntl.F_GETFL) | os.O_NONBLOCK) self.byte_count = 0 self.packet_count = 0 # ask mavproxy to add us to the select loop self.mpself.select_extra[self.ppp_fd] = (self.ppp_read, self.ppp_fd) def stop_ppp_link(self): '''stop the link''' if self.ppp_fd == -1: return try: self.mpself.select_extra.pop(self.ppp_fd) os.close(self.ppp_fd) os.waitpid(self.pid, 0) except Exception: pass self.pid = -1 self.ppp_fd = -1 print("stopped ppp link") def cmd_ppp(self, args): '''set ppp parameters and start link''' usage = "ppp " if len(args) == 0: print(usage) return if args[0] == "command": if len(args) == 1: print("ppp.command=%s" % " ".join(self.command)) else: self.command = args[1:] elif args[0] == "start": self.start_ppp_link() elif args[0] == "stop": self.stop_ppp_link() elif args[0] == "status": self.console.writeln("%u packets %u bytes" % (self.packet_count, self.byte_count)) def unload(self): '''unload module''' self.stop_ppp_link() def mavlink_packet(self, m): '''handle an incoming mavlink packet''' if m.get_type() == 'PPP' and self.ppp_fd != -1: print("got ppp mavlink pkt len=%u" % m.length) os.write(self.ppp_fd, m.data[:m.length]) def init(mpstate): '''initialise module''' return PPPModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_proximity.py000066400000000000000000000170631504324515000230260ustar00rootroot00000000000000#!/usr/bin/env python3 ''' Proximity sensor module Peter Barker, August 2020 Deals with proximity sensor data like 360-degree lidars from the vehicle. Plots them on the map, for example. ''' import os import os.path import sys from pymavlink import mavutil import errno import time import math from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import mp_settings from MAVProxy.modules.mavproxy_map import mp_slipmap class proximity(mp_module.MPModule): def __init__(self, mpstate, multi_vehicle=True): """Initialise module""" super(proximity, self).__init__(mpstate, "proximity", "") self.proximity_settings = mp_settings.MPSettings( [ ('verbose', bool, False), ]) self.add_command('proximity', self.cmd_proximity, "proximity module", ['set (PROXIMITYSETTING)', ] ) self.heading_for_vehicle = {} self.have_global_position = False # lat/lon per system ID self.lat_lon_for_vehicle = {} def usage(self): '''show help on command line options''' return "Usage: proximity " def cmd_proximity(self, args): '''control behaviour of the module''' if len(args) == 0: print(self.usage()) elif args[0] == "set": self.proximity_settings.command(args[1:]) else: print(self.usage()) def idle_task(self): '''called rapidly by mavproxy''' def foreach_map(self, closure): for mp in self.module_matching('map*'): closure(mp.map) def mavlink_packet_distance_sensor(self, vehicle, m): heading = self.heading_for_vehicle.get(vehicle, 0) tlayer = "Distance sensor for %u.%u id=%u" % ( m.get_srcSystem(), m.get_srcComponent(), m.id) slipkey = '%s-POS%u' % (tlayer, m.orientation) if not m.get_srcSystem() in self.lat_lon_for_vehicle: return if m.current_distance == m.max_distance: self.foreach_map(lambda a_map : a_map.remove_object(slipkey)) return (lat,lon) = self.lat_lon_for_vehicle[m.get_srcSystem()] mav_sensor_rotation_to_degrees = { mavutil.mavlink.MAV_SENSOR_ROTATION_NONE: 0, mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_45: 45, mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_90: 90, mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_135 : 135, mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_180: 180, mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_225 : 225, mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_270 : 270, mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_315 : 315, } if m.orientation in mav_sensor_rotation_to_degrees: degrees = mav_sensor_rotation_to_degrees[m.orientation] else: # print("bad orientation (%u)" % m.orientation) return if m.current_distance >= m.max_distance: return p = mp_util.gps_newpos(lat, lon, heading+degrees, 0) # start angle/end angle are either side of the primary axis, # which is rotated to be North start_angle = -22.5 end_angle = 22.5 self.foreach_map(lambda a_map : a_map.add_object(mp_slipmap.SlipCircle( slipkey, 3, p, m.current_distance/100.0, (255, 127, 0), linewidth=3, start_angle=start_angle, end_angle=end_angle, rotation=(-90+(heading+degrees))%360, )) ) def mavlink_packet_obstacle_distance(self, vehicle, m): heading = self.heading_for_vehicle.get(vehicle, 0) tlayer = "Obstacle Distance for %u.%u type=%u" % ( m.get_srcSystem(), m.get_srcComponent(), m.sensor_type) if m.get_srcSystem() in self.lat_lon_for_vehicle: color = (255, 0, 255) (lat,lon) = self.lat_lon_for_vehicle[m.get_srcSystem()] self.foreach_map(lambda a_map : a_map.add_object(mp_slipmap.SlipClearLayer(tlayer))) increment = m.increment_f if increment == 0: increment = float(m.increment) measurement_count = 0 for i in range(0, 72): if m.distances[i] != 65535: measurement_count += 1 fov = measurement_count*increment start_angle = -increment/2.0 end_angle = increment/2.0 rotation_start = -90 + heading for i in range(0, 72): slipkey = '%s-POS%u' % (tlayer, i) if m.distances[i] == m.max_distance+1: # no measurement self.foreach_map(lambda a_map : a_map.remove_object(slipkey)) measurement_count += 1 continue distance = m.distances[i] / 100.0 # cm -> m circle = mp_slipmap.SlipCircle( slipkey, 3, (lat, lon), distance, color, linewidth=3, start_angle=start_angle, end_angle=end_angle, rotation=(m.angle_offset+rotation_start+i*increment)%360, ) if m.distances[i] < m.min_distance: measurement_count += 1 self.foreach_map(lambda a_map : a_map.add_object(circle)) slipkey = "%s-range" % tlayer if fov == 360: # perfect circle # add a circle for max-range self.foreach_map(lambda a_map : a_map.add_object(mp_slipmap.SlipCircle( slipkey, 3, (lat, lon), m.max_distance/100.0, color, linewidth=1, ))) else: # add an arc for max-range self.foreach_map(lambda a_map : a_map.add_object(mp_slipmap.SlipCircle( slipkey, 3, (lat, lon), m.max_distance/100.0, color, linewidth=1, start_angle=-fov/2, end_angle=fov/2, rotation=(m.angle_offset+-90+(heading))%360, add_radii = True, ))) def mavlink_packet(self, m): '''handle mavlink packets''' mtype = m.get_type() vehicle = 'Vehicle%u' % m.get_srcSystem() if mtype == 'GLOBAL_POSITION_INT': (lat, lon, heading) = (m.lat*1.0e-7, m.lon*1.0e-7, m.hdg*0.01) self.heading_for_vehicle[vehicle] = heading self.lat_lon_for_vehicle[m.get_srcSystem()] = (lat,lon) if abs(lat) > 1.0e-3 or abs(lon) > 1.0e-3: self.have_global_position = True elif mtype == 'LOCAL_POSITION_NED' and not self.have_global_position: self.heading_for_vehicle[vehicle] = math.degrees(math.atan2(m.vy, m.vx)) elif mtype == 'DISTANCE_SENSOR': self.mavlink_packet_distance_sensor(vehicle, m) elif mtype == 'OBSTACLE_DISTANCE': self.mavlink_packet_obstacle_distance(vehicle, m) def init(mpstate): '''initialise module''' return proximity(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_rally.py000066400000000000000000000104551504324515000221030ustar00rootroot00000000000000''' rally point handling via MissionItemProtocol AP_FLAKE8_CLEAN ''' from MAVProxy.modules.lib import mission_item_protocol from pymavlink import mavutil from pymavlink import mavwp from MAVProxy.modules.lib import mp_util if mp_util.has_wxpython: from MAVProxy.modules.lib.mp_menu import MPMenuCallTextDialog from MAVProxy.modules.lib.mp_menu import MPMenuItem class RallyModule(mission_item_protocol.MissionItemProtocolModule): def __init__(self, mpstate): '''initialise module''' super(RallyModule, self).__init__( mpstate, "rally", "rally point management", public=True) def command_name(self): '''command-line command name''' return "rally" def cmd_rally_add(self, args): '''add a rally point at the last map click position''' if not self.check_have_list(): return latlon = self.mpstate.click_location if latlon is None: print("No click position available") return if len(args) < 1: alt = self.settings.rallyalt else: alt = float(args[0]) m = mavutil.mavlink.MAVLink_mission_item_int_message( self.target_system, self.target_component, 0, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, # frame mavutil.mavlink.MAV_CMD_NAV_RALLY_POINT, # command 0, # current 0, # autocontinue 0.0, # param1, 0.0, # param2, 0.0, # param3 0.0, # param4 int(latlon[0] * 1e7), # x (latitude) int(latlon[1] * 1e7), # y (longitude) alt, # z (altitude) self.mav_mission_type(), ) self.append(m) self.send_all_items() def rally_point(self, i): '''return an instance of the old mavlink rally_point message for the item at offset i''' i = self.wploader.item(i) if i is None: return None lat = i.x lng = i.y alt = i.z if i.get_type() == "MISSION_ITEM": lat *= 1e7 lng *= 1e7 alt *= 100 return mavutil.mavlink.MAVLink_rally_point_message( i.target_system, i.target_component, i.seq, self.wploader.count(), lat, lng, alt, 0, 0, 0) def rally_count(self): '''return number of waypoints''' return self.wploader.count() def commands(self): '''returns map from command name to handling function''' ret = super(RallyModule, self).commands() ret.update({ 'add': self.cmd_rally_add, "move": self.cmd_move, # handled in parent class "changealt": self.cmd_changealt, "undo": self.cmd_undo, }) return ret def mission_ftp_name(self): return "@MISSION/rally.dat" @staticmethod def loader_class(): return mavwp.MissionItemProtocol_Rally def mav_mission_type(self): return mavutil.mavlink.MAV_MISSION_TYPE_RALLY def itemstype(self): '''returns description of items in the plural''' return 'rally items' def itemtype(self): '''returns description of item''' return 'rally item' def mavlink_packet(self, p): super(RallyModule, self).mavlink_packet(p) def gui_menu_items(self): ret = super(RallyModule, self).gui_menu_items() ret.extend([ MPMenuItem( 'Add', 'Add', '# rally add ', handler=MPMenuCallTextDialog( title='Rally Altitude (m)', default=100 ) ), ]) return ret def init(mpstate): '''initialise module''' # see if pymavlink is new enough to support new protocols: oldmodule = "rallypoint_protocol" try: mavwp.MissionItemProtocol_Rally except AttributeError: print("pymavlink too old; using old %s module" % oldmodule) mpstate.load_module(oldmodule) for (m, pm) in mpstate.modules: if m.name == "rally": return m return None return RallyModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_rallypoint_protocol.py000066400000000000000000000326341504324515000251010ustar00rootroot00000000000000""" MAVProxy rally module """ from pymavlink import mavwp from pymavlink import mavutil import time, os, platform from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_util if mp_util.has_wxpython: from MAVProxy.modules.lib.mp_menu import * class RallyModule(mp_module.MPModule): def __init__(self, mpstate): super(RallyModule, self).__init__(mpstate, "rally", "rally point control", public = True) self.rallyloader_by_sysid = {} self.add_command('rally', self.cmd_rally, "old rally point control", ["", " (FILENAME)"]) self.have_list = False self.abort_alt = 50 self.abort_first_send_time = 0 self.abort_previous_send_time = 0 self.abort_ack_received = True self.menu_added_console = False self.menu_added_map = False if mp_util.has_wxpython: self.menu = MPMenuSubMenu('Rally', items=[MPMenuItem('Clear', 'Clear', '# rally clear'), MPMenuItem('List', 'List', '# rally list'), MPMenuItem('Load', 'Load', '# rally load ', handler=MPMenuCallFileDialog(flags=('open',), title='Rally Load', wildcard='RallyPoints(*.txt,*.rally,*.ral)|*.txt;*.rally;*.ral')), MPMenuItem('Save', 'Save', '# rally save ', handler=MPMenuCallFileDialog(flags=('save', 'overwrite_prompt'), title='Rally Save', wildcard='RallyPoints(*.txt,*.rally,*.ral)|*.txt;*.rally;*.ral')), MPMenuItem('Add', 'Add', '# rally add ', handler=MPMenuCallTextDialog(title='Rally Altitude (m)', default=100))]) @property def rallyloader(self): '''rally loader by system ID''' if not self.target_system in self.rallyloader_by_sysid: self.rallyloader_by_sysid[self.target_system] = mavwp.MAVRallyLoader(self.settings.target_system, self.settings.target_component) return self.rallyloader_by_sysid[self.target_system] def last_change(self): '''return time of last changes made to rally points''' return self.rallyloader.last_change def rally_count(self): '''return number of waypoints''' return self.rallyloader.rally_count() def rally_point(self, i): '''return instance of mavutil.mavlink.MAVLink_rally_point_message''' return self.rallyloader.rally_point(i) def set_last_change(self, time): '''can be used to cause map redraws''' self.rallyloader.last_change = time def idle_task(self): '''called on idle''' if self.module('console') is not None: if not self.menu_added_console: self.menu_added_console = True self.module('console').add_menu(self.menu) else: self.menu_added_console = False if self.module('map') is not None: if not self.menu_added_map: self.menu_added_map = True self.module('map').add_menu(self.menu) else: self.menu_added_map = False '''handle abort command; it is critical that the AP to receive it''' if self.abort_ack_received is False: #only send abort every second (be insistent, but don't spam) if (time.time() - self.abort_previous_send_time > 1): self.master.mav.command_long_send(self.settings.target_system, self.settings.target_component, mavutil.mavlink.MAV_CMD_DO_GO_AROUND, 0, int(self.abort_alt), 0, 0, 0, 0, 0, 0,) self.abort_previous_send_time = time.time() #try to get an ACK from the plane: if self.abort_first_send_time == 0: self.abort_first_send_time = time.time() elif time.time() - self.abort_first_send_time > 10: #give up after 10 seconds print("Unable to send abort command!\n") self.abort_ack_received = True def cmd_rally_add(self, args): '''handle rally add''' if len(args) < 1: alt = self.settings.rallyalt else: alt = float(args[0]) if len(args) < 2: break_alt = self.settings.rally_breakalt else: break_alt = float(args[1]) if len(args) < 3: flag = self.settings.rally_flags else: flag = int(args[2]) #currently only supporting autoland values: #True (nonzero) and False (zero) if (flag != 0): flag = 2 if not self.have_list: print("Please list rally points first") return if (self.rallyloader.rally_count() > 4): print("Only 5 rally points possible per flight plan.") return latlon = self.mpstate.click_location if latlon is None: print("No map click position available") return land_hdg = 0.0 self.rallyloader.create_and_append_rally_point(latlon[0] * 1e7, latlon[1] * 1e7, alt, break_alt, land_hdg, flag) self.send_rally_points() print("Added Rally point at %s %f %f, autoland: %s" % (str(latlon), alt, break_alt, bool(flag & 2))) def cmd_rally_alt(self, args): '''handle rally alt change''' if (len(args) < 2): print("Usage: rally alt RALLYNUM newAlt ") return if not self.have_list: print("Please list rally points first") return idx = int(args[0]) if idx <= 0 or idx > self.rallyloader.rally_count(): print("Invalid rally point number %u" % idx) return new_alt = int(args[1]) new_break_alt = None if (len(args) > 2): new_break_alt = int(args[2]) self.rallyloader.set_alt(idx, new_alt, new_break_alt) self.send_rally_point(idx-1) self.fetch_rally_point(idx-1) self.rallyloader.reindex() def cmd_rally_move(self, args): '''handle rally move''' if len(args) < 1: print("Usage: rally move RALLYNUM") return if not self.have_list: print("Please list rally points first") return idx = int(args[0]) if idx <= 0 or idx > self.rallyloader.rally_count(): print("Invalid rally point number %u" % idx) return rpoint = self.rallyloader.rally_point(idx-1) latlon = self.mpstate.click_location if latlon is None: print("No map click position available") return oldpos = (rpoint.lat*1e-7, rpoint.lng*1e-7) self.rallyloader.move(idx, latlon[0], latlon[1]) self.send_rally_point(idx-1) p = self.fetch_rally_point(idx-1) if p.lat != int(latlon[0]*1e7) or p.lng != int(latlon[1]*1e7): print("Rally move failed") return self.rallyloader.reindex() print("Moved rally point from %s to %s at %fm" % (str(oldpos), str(latlon), rpoint.alt)) def cmd_rally(self, args): '''rally point commands''' #TODO: add_land arg if len(args) < 1: self.print_usage() return elif args[0] == "add": self.cmd_rally_add(args[1:]) elif args[0] == "move": self.cmd_rally_move(args[1:]) elif args[0] == "clear": self.rallyloader.clear() self.mav_param.mavset(self.master,'RALLY_TOTAL',0,3) elif args[0] == "remove": if not self.have_list: print("Please list rally points first") return if (len(args) < 2): print("Usage: rally remove RALLYNUM") return self.rallyloader.remove(int(args[1])) self.send_rally_points() elif args[0] == "list": self.list_rally_points() self.have_list = True elif args[0] == "load": if (len(args) < 2): print("Usage: rally load filename") return try: self.rallyloader.load(args[1].strip('"')) except Exception as msg: print("Unable to load %s - %s" % (args[1], msg)) return self.send_rally_points() self.have_list = True print("Loaded %u rally points from %s" % (self.rallyloader.rally_count(), args[1])) elif args[0] == "save": if (len(args) < 2): print("Usage: rally save filename") return self.rallyloader.save(args[1].strip('"')) print("Saved rally file %s" % args[1]) elif args[0] == "alt": self.cmd_rally_alt(args[1:]) elif args[0] == "land": if (len(args) >= 2 and args[1] == "abort"): self.abort_ack_received = False self.abort_first_send_time = 0 self.abort_alt = self.settings.rally_breakalt if (len(args) >= 3): self.abort_alt = int(args[2]) else: self.master.mav.command_long_send(self.settings.target_system, self.settings.target_component, mavutil.mavlink.MAV_CMD_DO_RALLY_LAND, 0, 0, 0, 0, 0, 0, 0, 0) else: self.print_usage() def mavlink_packet(self, m): '''handle incoming mavlink packet''' type = m.get_type() if type in ['COMMAND_ACK']: if m.command == mavutil.mavlink.MAV_CMD_DO_GO_AROUND: if (m.result == 0 and self.abort_ack_received == False): self.say("Landing Abort Command Successfully Sent.") self.abort_ack_received = True elif (m.result != 0 and self.abort_ack_received == False): self.say("Landing Abort Command Unsuccessful.") elif m.command == mavutil.mavlink.MAV_CMD_DO_RALLY_LAND: if (m.result == 0): self.say("Landing.") def unload(self): self.remove_command("rally") if self.module('console') is not None and self.menu_added_console: self.menu_added_console = False self.module('console').remove_menu(self.menu) if self.module('map') is not None and self.menu_added_map: self.menu_added_map = False self.module('map').remove_menu(self.menu) super(RallyModule, self).unload() def send_rally_point(self, i): '''send rally points from fenceloader''' p = self.rallyloader.rally_point(i) p.target_system = self.target_system p.target_component = self.target_component self.master.mav.send(p) def send_rally_points(self): '''send rally points from rallyloader''' self.mav_param.mavset(self.master,'RALLY_TOTAL',self.rallyloader.rally_count(),3) for i in range(self.rallyloader.rally_count()): self.send_rally_point(i) def fetch_rally_point(self, i): '''fetch one rally point''' self.master.mav.rally_fetch_point_send(self.target_system, self.target_component, i) tstart = time.time() p = None while time.time() - tstart < 1: p = self.master.recv_match(type='RALLY_POINT', blocking=False) if p is not None: break time.sleep(0.1) continue if p is None: self.console.error("Failed to fetch rally point %u" % i) return None return p def list_rally_points(self): self.rallyloader.clear() rally_count = self.mav_param.get('RALLY_TOTAL',0) if rally_count == 0: print("No rally points") return for i in range(int(rally_count)): p = self.fetch_rally_point(i) if p is None: return self.rallyloader.append_rally_point(p) for i in range(self.rallyloader.rally_count()): p = self.rallyloader.rally_point(i) self.console.writeln("lat=%f lng=%f alt=%f break_alt=%f land_dir=%f autoland=%f" % (p.lat * 1e-7, p.lng * 1e-7, p.alt, p.break_alt, p.land_dir, int(p.flags & 2!=0) )) if self.logdir is not None: fname = 'ral.txt' if self.target_system > 1: fname = 'ral_%u.txt' % self.target_system ral_file_path = os.path.join(self.logdir, fname) self.rallyloader.save(ral_file_path) print("Saved rally points to %s" % ral_file_path) def print_usage(self): print("Usage: rally ") def init(mpstate): '''initialise module''' return RallyModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_rc.py000066400000000000000000000214151504324515000213620ustar00rootroot00000000000000#!/usr/bin/env python3 ''' rc command handling AP_FLAKE8_CLEAN ''' import struct import sys from pymavlink import mavutil from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_settings from MAVProxy.modules.lib import mp_util if mp_util.has_wxpython: from MAVProxy.modules.lib.mp_menu import MPMenuItem from MAVProxy.modules.lib.mp_menu import MPMenuSubMenu class RCModule(mp_module.MPModule): def __init__(self, mpstate): super(RCModule, self).__init__(mpstate, "rc", "rc command handling", public=True) self.count = 18 self.override = [0] * self.count self.last_override = [0] * self.count self.override_counter = 0 x = "|".join(str(x) for x in range(1, (self.count+1))) self.add_command('rc', self.cmd_rc, "RC input control", ['<%s|all>' % x]) self.add_command('switch', self.cmd_switch, "flight mode switch control", ['<0|1|2|3|4|5|6>']) self.rc_settings = mp_settings.MPSettings( [('override_hz', float, 10.0)]) if self.sitl_output: self.rc_settings.override_hz = 20.0 self.add_completion_function('(RCSETTING)', self.rc_settings.completion) self.override_period = mavutil.periodic_event(self.rc_settings.override_hz) self.servoout_gui = None self.rcin_gui = None self.init_gui_menus() def init_gui_menus(self): '''initialise menus for console''' self.menu_added_console = False self.menu = None if not mp_util.has_wxpython: return self.menu = MPMenuSubMenu( "Tools", items=self.gui_menu_items() ) def idle_task_add_menu_items(self): '''check for load of other modules, add our items as required''' if self.menu is None: '''can get here if wxpython is not present''' return if self.module('console') is not None: if not self.menu_added_console: self.menu_added_console = True self.module('console').add_menu(self.menu) else: self.menu_added_console = False def unload(self): if self.servoout_gui: self.servoout_gui.close() if self.rcin_gui: self.rcin_gui.close() self.unload_remove_menu_items() def unload_remove_menu_items(self): '''remove out menu items from other modules''' if self.menu is None: '''can get here if wxpython is not present''' return if self.module('console') is not None and self.menu_added_console: self.menu_added_console = False self.module('console').remove_menu(self.menu) super(RCModule, self).unload() def idle_task(self): self.override_period.frequency = self.rc_settings.override_hz if self.override_period.trigger(): if (self.override != [0] * self.count or self.override != self.last_override or self.override_counter > 0): self.last_override = self.override[:] self.send_rc() if self.override_counter > 0: self.override_counter -= 1 self.idle_task_add_menu_items() # Check if the user has closed any GUI windows if self.servoout_gui and self.servoout_gui.close_event.wait(0.001): self.servoout_gui = None if self.rcin_gui and self.rcin_gui.close_event.wait(0.001): self.rcin_gui = None def mavlink_packet(self, m): '''handle mavlink packets''' if m.get_type() == 'RC_CHANNELS' and self.rcin_gui: self.rcin_gui.processPacket(m) elif m.get_type() == 'SERVO_OUTPUT_RAW' and self.servoout_gui: self.servoout_gui.processPacket(m) def send_rc(self): '''send RC override packet''' if self.sitl_output: chan16 = self.override[:16] buf = struct.pack('") return value = int(args[0]) if value < 0 or value > 6: print("Invalid switch value. Use 1-6 for flight modes, '0' to disable") return if self.vehicle_type == 'copter': default_channel = 5 else: default_channel = 8 if self.vehicle_type == 'rover': flite_mode_ch_parm = int(self.get_mav_param("MODE_CH", default_channel)) else: flite_mode_ch_parm = int(self.get_mav_param("FLTMODE_CH", default_channel)) self.override[flite_mode_ch_parm - 1] = mapping[value] self.override_counter = 10 self.send_rc() if value == 0: print("Disabled RC switch override") else: print("Set RC switch override to %u (PWM=%u channel=%u)" % ( value, mapping[value], flite_mode_ch_parm)) def set_override(self, newchannels): '''this is a public method for use by drone API or other scripting''' self.override = newchannels self.override_counter = 10 self.send_rc() def set_override_chan(self, channel, value): '''this is a public method for use by drone API or other scripting''' self.override[channel] = value self.override_counter = 10 self.send_rc() def get_override_chan(self, channel): '''this is a public method for use by drone API or other scripting''' return self.override[channel] def cmd_rc_status(self): print("") for i in range(self.count): value = "%u" % self.override[i] if value == "65535": value += " (ignored)" elif value == "0": value += " (no override)" print("%2d: %s" % (i+1, value)) def cmd_rc(self, args): '''handle RC value override''' if len(args) > 0 and args[0] == 'set': self.rc_settings.command(args[1:]) return if len(args) == 1 and args[0] == 'clear': channels = self.override for i in range(self.count): channels[i] = 0 self.set_override(channels) return if len(args) == 1 and args[0] == "status": self.cmd_rc_status() return if len(args) == 1 and args[0] == "guiin": if not mp_util.has_wxpython: print("No wxpython detected. Cannot show GUI") elif sys.version_info >= (3, 10) and sys.modules['wx'].__version__ < '4.2.1': print("wxpython needs to be >=4.2.1 on Python >=3.10. Cannot show GUI") elif not self.rcin_gui: from MAVProxy.modules.lib import wxrc self.rcin_gui = wxrc.RCStatus(panelType=wxrc.PanelType.RC_IN) return if len(args) == 1 and args[0] == "guiout": if not mp_util.has_wxpython: print("No wxpython detected. Cannot show GUI") elif sys.version_info >= (3, 10) and sys.modules['wx'].__version__ < '4.2.1': print("wxpython needs to be >=4.2.1 on Python >=3.10. Cannot show GUI") elif not self.servoout_gui: from MAVProxy.modules.lib import wxrc self.servoout_gui = wxrc.RCStatus(panelType=wxrc.PanelType.SERVO_OUT) return if len(args) != 2: print("Usage: rc ") return value = int(args[1]) if value > 65535 or value < -1: raise ValueError("PWM value must be a positive integer between 0 and 65535") if value == -1: value = 65535 channels = self.override if args[0] == 'all': for i in range(self.count): channels[i] = value else: channel = int(args[0]) if channel < 1 or channel > self.count: print("Channel must be between 1 and %u or 'all'" % self.count) return channels[channel - 1] = value self.set_override(channels) def gui_menu_items(self): return [ MPMenuItem('RC Inputs', 'RC Inputs', '# rc guiin'), MPMenuItem('Servo Outputs', 'Servo Outputs', '# rc guiout'), ] def init(mpstate): '''initialise module''' return RCModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_rcsetup.py000066400000000000000000000100011504324515000224300ustar00rootroot00000000000000''' RC min/max setup AP_FLAKE8_CLEAN ''' from MAVProxy.modules.lib import mp_module class RCSetupModule(mp_module.MPModule): def __init__(self, mpstate): super(RCSetupModule, self).__init__(mpstate, "rcsetup") self.calibrating = False self.num_channels = 4 self.clear_rc_cal() self.add_command('rccal', self.cmd_rccal, "RC calibration start/stop") self.add_command('rctrim', self.cmd_rctrim, "RC min/max trim") self.empty_input_count = None print("rcsetup initialised") def clear_rc_cal(self): self.rc_cal = [] self.rc_cal.append("") # 0 will be empty for i in range(1, self.num_channels+1): # min, max, modified self.rc_cal.append([1500, 1500, False]) def apply_rc_cal(self): for i in range(1, len(self.rc_cal)): # only apply calibration changes to channels that # were modified during calibration if self.rc_cal[i][2] is False: continue self.param_set('RC%u_MIN' % i, self.rc_cal[i][0], 5) self.console.writeln("Set: RC%u_MIN=%u" % (i, self.rc_cal[i][0])) self.param_set('RC%u_MAX' % i, self.rc_cal[i][1], 5) self.console.writeln("Set: RC%u_MAX=%u" % (i, self.rc_cal[i][1])) def get_cal_min(self, channel): return self.rc_cal[channel][0] def get_cal_max(self, channel): return self.rc_cal[channel][1] def set_cal_min(self, channel, val): self.rc_cal[channel][0] = val self.rc_cal[channel][2] = True def set_cal_max(self, channel, val): self.rc_cal[channel][1] = val self.rc_cal[channel][2] = True def cmd_rccal(self, args): '''start/stop RC calibration''' if len(args) < 1: self.print_cal_usage() return if (args[0] == "start"): if len(args) > 1: self.num_channels = int(args[1]) print("Calibrating %u channels" % self.num_channels) print("WARNING: remove propellers from electric planes!!") print("Push return when ready to calibrate.") self.empty_input_count = self.mpstate.empty_input_count elif (args[0] == "done"): self.calibrating = False self.apply_rc_cal() else: self.print_cal_usage() def idle_task(self): if self.empty_input_count is None: # not waiting for input return if self.empty_input_count == self.mpstate.empty_input_count: # haven't received input return self.clear_rc_cal() self.calibrating = True self.empty_input_count = None def cmd_rctrim(self, args): '''set RCx_TRIM''' if 'RC_CHANNELS' not in self.status.msgs: print("No RC_CHANNELS to trim with") return m = self.status.msgs['RC_CHANNELS'] for ch in range(1, 5): self.param_set('RC%u_TRIM' % ch, getattr(m, 'chan%u_raw' % ch)) def unload(self): if 'rcreset' in self.mpstate.command_map: self.mpstate.command_map.pop('rcreset') if 'rctrim' in self.mpstate.command_map: self.mpstate.command_map.pop('rctrim') def mavlink_packet(self, m): '''handle an incoming mavlink packet''' # do nothing if not caibrating if self.calibrating is False: return if m.get_type() == 'RC_CHANNELS': for i in range(1, self.num_channels+1): v = getattr(m, 'chan%u_raw' % i) if self.get_cal_min(i) > v: self.set_cal_min(i, v) self.console.writeln("Calibrating: RC%u_MIN=%u" % (i, v)) if self.get_cal_max(i) < v: self.set_cal_max(i, v) self.console.writeln("Calibrating: RC%u_MAX=%u" % (i, v)) def print_cal_usage(self): print("Usage rccal ") def init(mpstate): '''initialise module''' return RCSetupModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_relay.py000066400000000000000000000072731504324515000221000ustar00rootroot00000000000000#!/usr/bin/env python3 '''relay handling module''' import time from pymavlink import mavutil from MAVProxy.modules.lib import mp_module class RelayModule(mp_module.MPModule): def __init__(self, mpstate): super(RelayModule, self).__init__(mpstate, "relay") self.add_command('relay', self.cmd_relay, "relay commands") self.add_command('servo', self.cmd_servo, "servo commands") self.add_command('motortest', self.cmd_motortest, "motortest commands") def cmd_relay(self, args): '''set relays''' if len(args) == 0 or args[0] not in ['set', 'repeat']: print("Usage: relay ") return if args[0] == "set": if len(args) < 3: print("Usage: relay set <0|1>") return self.master.mav.command_long_send(self.target_system, self.target_component, mavutil.mavlink.MAV_CMD_DO_SET_RELAY, 0, int(args[1]), int(args[2]), 0, 0, 0, 0, 0) if args[0] == "repeat": if len(args) < 4: print("Usage: relay repeat ") return self.master.mav.command_long_send(self.target_system, self.target_component, mavutil.mavlink.MAV_CMD_DO_REPEAT_RELAY, 0, int(args[1]), int(args[2]), float(args[3]), 0, 0, 0, 0) def cmd_servo(self, args): '''set servos''' if len(args) == 0 or args[0] not in ['set', 'repeat']: print("Usage: servo ") return if args[0] == "set": if len(args) < 3: print("Usage: servo set ") return self.master.mav.command_long_send(self.target_system, self.target_component, mavutil.mavlink.MAV_CMD_DO_SET_SERVO, 0, int(args[1]), int(args[2]), 0, 0, 0, 0, 0) if args[0] == "repeat": if len(args) < 5: print("Usage: servo repeat ") return self.master.mav.command_long_send(self.target_system, self.target_component, mavutil.mavlink.MAV_CMD_DO_REPEAT_SERVO, 0, int(args[1]), int(args[2]), int(args[3]), float(args[4]), 0, 0, 0) def cmd_motortest(self, args): '''run motortests on copter''' if len(args) < 4: print("Usage: motortest motornum type(0=percent, 1=PWM, 2=RC-passthru) value timeout(s) ") return if len(args) == 5: count = int(args[4]) else: count = 0 self.master.mav.command_long_send(self.target_system, 0, mavutil.mavlink.MAV_CMD_DO_MOTOR_TEST, 0, int(args[0]), int(args[1]), float(args[2]), int(args[3]), count, 0, 0) def init(mpstate): '''initialise module''' return RelayModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_restserver.py000066400000000000000000000123031504324515000231560ustar00rootroot00000000000000#!/usr/bin/env python3 # -*- coding: utf-8 -*- ''' Server Module Patrick Jose Pereira April 2018 ''' import time import json import socket from threading import Thread from flask import Flask from werkzeug.serving import make_server from MAVProxy.modules.lib import mp_module def mavlink_to_json(msg): '''Translate mavlink python messages in json string''' ret = '\"%s\": {' % msg._type for fieldname in msg._fieldnames: data = getattr(msg, fieldname) ret += '\"%s\" : \"%s\", ' % (fieldname, data) ret = ret[0:-2] + '}' return ret def mpstatus_to_json(status): '''Translate MPStatus in json string''' msg_keys = list(status.msgs.keys()) data = '{' for key in msg_keys[:-1]: data += mavlink_to_json(status.msgs[key]) + ',' data += mavlink_to_json(status.msgs[msg_keys[-1]]) data += '}' return data class RestServer(): '''Rest Server''' def __init__(self): # Set log level and remove flask output import logging self.log = logging.getLogger('werkzeug') self.log.setLevel(logging.ERROR) # Server variables self.app = None self.run_thread = None self.address = 'localhost' self.port = 5000 # Save status self.status = None self.server = None def update_dict(self, mpstate): '''We don't have time to waste''' self.status = mpstate.status def set_ip_port(self, ip, port): '''set ip and port''' self.address = ip self.port = port self.stop() self.start() def start(self): '''Stop server''' # Set flask self.app = Flask('RestServer') self.add_endpoint() # Create a thread to deal with flask self.run_thread = Thread(target=self.run) self.run_thread.start() def running(self): '''If app is valid, thread and server are running''' return self.app != None def stop(self): '''Stop server''' self.app = None if self.run_thread: self.run_thread = None if self.server: self.server.shutdown() self.server = None def run(self): '''Start app''' self.server = make_server(self.address, self.port, self.app, threaded=True) self.server.serve_forever() def request(self, arg=None): '''Deal with requests''' if not self.status: return '{"result": "No message"}' try: status_dict = json.loads(mpstatus_to_json(self.status)) except Exception as e: print(e) return # If no key, send the entire json if not arg: return json.dumps(status_dict) # Get item from path new_dict = status_dict args = arg.split('/') for key in args: if key in new_dict: new_dict = new_dict[key] else: return '{"key": "%s", "last_dict": %s}' % (key, json.dumps(new_dict)) return json.dumps(new_dict) def add_endpoint(self): '''Set endpoits''' self.app.add_url_rule('/rest/mavlink/', 'rest', self.request) self.app.add_url_rule('/rest/mavlink/', 'rest', self.request) class ServerModule(mp_module.MPModule): ''' Server Module ''' def __init__(self, mpstate): super(ServerModule, self).__init__(mpstate, "restserver", "restserver module") # Configure server self.rest_server = RestServer() self.add_command('restserver', self.cmds, \ "restserver module", ['start', 'stop', 'address 127.0.0.1:4777']) def usage(self): '''show help on command line options''' return "Usage: restserver " def cmds(self, args): '''control behaviour of the module''' if not args or len(args) < 1: print(self.usage()) return if args[0] == "start": if self.rest_server.running(): print("Rest server already running.") return self.rest_server.start() print("Rest server running: %s:%s" % \ (self.rest_server.address, self.rest_server.port)) elif args[0] == "stop": if not self.rest_server.running(): print("Rest server is not running.") return self.rest_server.stop() elif args[0] == "address": # Check if have necessary amount of arguments if len(args) != 2: print("usage: restserver address ") return address = args[1].split(':') # Check if argument is correct if len(address) == 2: self.rest_server.set_ip_port(address[0], int(address[1])) return else: print(self.usage()) def idle_task(self): '''called rapidly by mavproxy''' # Update server with last mpstate self.rest_server.update_dict(self.mpstate) def unload(self): '''Stop and kill everything before finishing''' self.rest_server.stop() pass def init(mpstate): '''initialise module''' return ServerModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_sail.py000066400000000000000000000145671504324515000217200ustar00rootroot00000000000000''' MAVProxy sailing dashboard module Rhys Mainwaring November 2020 ''' from pymavlink import mavutil from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import mp_settings from MAVProxy.modules.lib.mp_settings import MPSetting from MAVProxy.modules.lib.wxsaildash import SailingDashboard from MAVProxy.modules.lib.wxsaildash_util import WindReference, SpeedUnit, WindAngleAndSpeed, WaterSpeedAndHeading import time class SailModule(mp_module.MPModule): '''SailModule provides a dashboard to display sailing instrument data''' def __init__(self, mpstate): super(SailModule, self).__init__(mpstate, "sail", "sailing module") # dashboard GUI self.sail_dash = SailingDashboard(title="Sailing Dashboard") # mavlink messages self.wind = None self.vfr_hud = None # data self.wnd_ang_app = 0.0 self.wnd_spd_app = 0.0 self.wnd_dir_tru = 0.0 self.wnd_ang_tru = 0.0 self.wnd_spd_tru = 0.0 self.heading = 0.0 self.ground_speed = 0.0 # control update rate to GUI self._msg_list = [] self._fps = 10.0 self._last_send = 0.0 self._send_delay = (1.0/self._fps) * 0.9 # commands self.add_command('sail', self.cmd_sail, "sailing dashboard") def cmd_sail(self, args): '''Control behaviour of the module''' if len(args) == 0: print(self.usage()) elif args[0] == "status": print(self.status()) else: print(self.usage()) def usage(self): '''Show help on command line options''' return "Usage: sail " def status(self): '''Returns information about the sailing state''' return({ "SAIL": { "wnd_ang_app": self.wnd_ang_app, "wnd_spd_app": self.wnd_spd_app }, "WIND": { "direction": self.wind.direction, "speed": self.wind.speed, "speed_z": self.wind.speed_z }, "VFR_HUD": { "airspeed": self.vfr_hud.airspeed, "groundspeed": self.vfr_hud.groundspeed, "heading": self.vfr_hud.heading, "throttle": self.vfr_hud.throttle, "alt": self.vfr_hud.alt, "climb": self.vfr_hud.climb }, }) def mavlink_packet(self, m): '''Handle a mavlink packet''' if m.get_type() == 'NAMED_VALUE_FLOAT': if m.name == 'AppWndDir': self.wnd_ang_app = m.value elif m.name == 'AppWndSpd': self.wnd_spd_app = m.value # apparent wind: convert speed units and append to msg list angle = self.wnd_ang_app speed = self.wnd_spd_app reference = WindReference.RELATIVE unit = SpeedUnit.KNOTS speed = SailModule._convert_speed_units('m/s', SpeedUnit.KNOTS, speed) self._msg_list.append(WindAngleAndSpeed(reference, angle, speed, unit)) elif m.get_type() == 'SAIL': self.sail = m elif m.get_type() == 'WIND': self.wind = m self.wnd_dir_tru = m.direction self.wnd_spd_tru = m.speed # convert wind direction to angle self.wnd_ang_tru = SailModule._wind_direction_to_angle(self.wnd_dir_tru, self.heading) # true wind: convert speed units and append to msg list angle = self.wnd_ang_tru speed = self.wnd_spd_tru reference = WindReference.TRUE unit = SpeedUnit.KNOTS speed = SailModule._convert_speed_units('m/s', SpeedUnit.KNOTS, speed) self._msg_list.append(WindAngleAndSpeed(reference, angle, speed, unit)) elif m.get_type() == 'VFR_HUD': self.vfr_hud = m self.heading = m.heading self.ground_speed = m.groundspeed # water speed and true heading: convert speed units and append to msg list heading_true = self.heading water_speed = SailModule._convert_speed_units('m/s', SpeedUnit.KNOTS, self.ground_speed) self._msg_list.append(WaterSpeedAndHeading(water_speed, heading_true)) def idle_task(self): '''Idle tasks - check if the GUI has received a close event - periodically send data to the GUI ''' # tell MAVProxy to unload the module if the GUI is closed if self.sail_dash.close_event.wait(timeout=0.001): self.needs_unloading = True # send message list via pipe to gui at desired update rate if (time.time() - self._last_send) > self._send_delay: # pipe data to GUI self.sail_dash.parent_pipe_send.send(self._msg_list) # reset counters etc. self._msg_list = [] self._last_send = time.time() def unload(self): '''Close the GUI and unload module''' # close the gui self.sail_dash.close() @staticmethod def _convert_speed_units(from_units, to_units, speed): '''Convert a speed to different units''' # use m/s as the reference to_speed = speed if from_units == 'm/s': pass elif from_units == 'kph': to_speed /= 3.6 elif from_units == 'mph': to_speed /= 2.23694 elif from_units == 'knots': to_speed /= 1.94384 else: raise Exception('Invalid source speed units') if to_units == SpeedUnit.KPH: to_speed *= 3.6 elif to_units == SpeedUnit.MPH: to_speed *= 2.23694 elif to_units == SpeedUnit.KNOTS: to_speed *= 1.94384 else: raise Exception('Invalid target speed units') # print('from_units: {}, to_units: {}, from_speed: {}, to_speed: {}'.format( # from_units, to_units, speed, to_speed)) return to_speed @staticmethod def _wind_direction_to_angle(wind_dir, heading): '''Convert a wind direction to a wind angle relative to a heading''' wind_angle = (wind_dir - heading) % 360 wind_angle = wind_angle if wind_angle <= 180 else wind_angle - 360 return wind_angle def init(mpstate): ''' Initialise module''' return SailModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_sensors.py000066400000000000000000000104501504324515000224470ustar00rootroot00000000000000#!/usr/bin/env python3 '''monitor sensor consistancy''' import time, math from pymavlink import mavutil from MAVProxy.modules.lib import mp_module def angle_diff(angle1, angle2): ret = angle1 - angle2 if ret > 180: ret -= 360; if ret < -180: ret += 360 return ret class sensors_report(object): def __init__(self): self.last_report = 0 self.ok = True self.value = 0 class SensorsModule(mp_module.MPModule): def __init__(self, mpstate): super(SensorsModule, self).__init__(mpstate, "sensors", "monitor sensor consistancy") self.add_command('sensors', self.cmd_sensors, "show key sensors") self.add_command('speed', self.cmd_speed, "enable/disable speed report") self.last_report = 0 self.ok = True self.value = 0 self.ground_alt = 0 self.gps_alt = 0 self.max_speed = 0 self.last_watch = 0 self.reports = {} self.reports['heading'] = sensors_report() self.reports['altitude'] = sensors_report() self.reports['speed'] = sensors_report() from MAVProxy.modules.lib.mp_settings import MPSetting self.settings.append(MPSetting('speedreporting', bool, False, 'Speed Reporting', tab='Sensors')) if 'GPS_RAW_INT' in self.status.msgs: # cope with reload gps = mpstate.status.msgs['GPS_RAW_INT'] self.ground_alt = (gps.alt / 1.0e3) - self.status.altitude def cmd_sensors(self, args): '''show key sensors''' gps_heading = self.status.msgs['GPS_RAW_INT'].cog * 0.01 self.console.writeln("heading: %u/%u alt: %u/%u r/p: %u/%u speed: %u/%u thr: %u" % ( self.status.msgs['VFR_HUD'].heading, gps_heading, self.status.altitude, self.gps_alt, math.degrees(self.status.msgs['ATTITUDE'].roll), math.degrees(self.status.msgs['ATTITUDE'].pitch), self.status.msgs['VFR_HUD'].airspeed, self.status.msgs['VFR_HUD'].groundspeed, self.status.msgs['VFR_HUD'].throttle)) def cmd_speed(self, args): '''enable/disable speed report''' self.settings.set('speedreporting', not self.settings.speedreporting) if self.settings.speedreporting: self.console.writeln("Speed reporting enabled", bg='yellow') else: self.console.writeln("Speed reporting disabled", bg='yellow') def report(self, name, ok, msg=None, deltat=20): '''report a sensor error''' r = self.reports[name] if time.time() < r.last_report + deltat: r.ok = ok return r.last_report = time.time() if ok and not r.ok: self.say("%s OK" % name) r.ok = ok if not r.ok: self.say(msg) def report_change(self, name, value, maxdiff=1, deltat=10): '''report a sensor change''' r = self.reports[name] if time.time() < r.last_report + deltat: return r.last_report = time.time() if math.fabs(r.value - value) < maxdiff: return r.value = value self.say("%s %u" % (name, value)) def check_heading(self, m): '''check heading discrepancy''' if 'GPS_RAW_INT' in self.status.msgs: gps = self.status.msgs['GPS_RAW_INT'] if gps.vel < 300: return diff = math.fabs(angle_diff(m.heading, gps.cog / 100.0)) else: return self.report('heading', diff < 20, 'heading error %u' % diff) def mavlink_packet(self, m): '''handle an incoming mavlink packet''' if m.get_type() == 'VFR_HUD' and 'GPS_RAW_INT' in self.status.msgs: self.check_heading(m) if self.settings.speedreporting: if m.airspeed != 0: speed = m.airspeed else: speed = m.groundspeed speed = self.speed_convert_units(speed) self.report_change('speed', speed, maxdiff=2, deltat=2) if self.status.watch == "sensors" and time.time() > self.sensors_state.last_watch + 1: self.sensors_state.last_watch = time.time() self.cmd_sensors([]) def init(mpstate): '''initialise module''' return SensorsModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_serial.py000066400000000000000000000057321504324515000222410ustar00rootroot00000000000000#!/usr/bin/env python3 '''serial_control MAVLink handling''' import time, os, fnmatch, sys from pymavlink import mavutil, mavwp from MAVProxy.modules.lib import mp_settings from MAVProxy.modules.lib import mp_module class SerialModule(mp_module.MPModule): def __init__(self, mpstate): super(SerialModule, self).__init__(mpstate, "serial", "serial control handling") self.add_command('serial', self.cmd_serial, 'remote serial control', ['', 'set (SERIALSETTING)']) self.serial_settings = mp_settings.MPSettings( [ ('port', int, 0), ('baudrate', int, 57600), ('timeout', int, 500) ] ) self.add_completion_function('(SERIALSETTING)', self.serial_settings.completion) self.locked = False def mavlink_packet(self, m): '''handle an incoming mavlink packet''' if m.get_type() == 'SERIAL_CONTROL': data = m.data[:m.count] s = ''.join(str(chr(x)) for x in data) sys.stdout.write(s) def serial_lock(self, lock): '''lock or unlock the port''' mav = self.master.mav if lock: flags = mavutil.mavlink.SERIAL_CONTROL_FLAG_EXCLUSIVE self.locked = True else: flags = 0 self.locked = False mav.serial_control_send(self.serial_settings.port, flags, 0, 0, 0, [0]*70) def serial_send(self, args): '''send some bytes''' mav = self.master.mav flags = 0 if self.locked: flags |= mavutil.mavlink.SERIAL_CONTROL_FLAG_EXCLUSIVE if self.serial_settings.timeout != 0: flags |= mavutil.mavlink.SERIAL_CONTROL_FLAG_RESPOND if self.serial_settings.timeout >= 500: flags |= mavutil.mavlink.SERIAL_CONTROL_FLAG_MULTI s = ' '.join(args) s = s.replace('\\r', '\r') s = s.replace('\\n', '\n') buf = [ord(x) for x in s] buf.extend([0]*(70-len(buf))) mav.serial_control_send(self.serial_settings.port, flags, self.serial_settings.timeout, self.serial_settings.baudrate, len(s), buf) def cmd_serial(self, args): '''serial control commands''' usage = "Usage: serial " if len(args) < 1: print(usage) return if args[0] == "lock": self.serial_lock(True) elif args[0] == "unlock": self.serial_lock(False) elif args[0] == "set": self.serial_settings.command(args[1:]) elif args[0] == "send": self.serial_send(args[1:]) else: print(usage) def init(mpstate): '''initialise module''' return SerialModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_setpos.py000066400000000000000000000074301504324515000222740ustar00rootroot00000000000000""" setpos command for SET_POSITION_TARGET_LOCAL_NED """ import math import time from MAVProxy.modules.lib import mp_module from pymavlink import mavutil from MAVProxy.modules.lib import mp_settings class SetPosModule(mp_module.MPModule): def __init__(self, mpstate): super(SetPosModule, self).__init__(mpstate, "SetPos", "SetPos", public=False) self.add_command('setpos', self.cmd_setpos, "set local pos") self.add_command('hop', self.cmd_hop, "hop position") self.hop = None self.hop_stage = 0 self.hop_last_time = time.time() self.hop_settings = mp_settings.MPSettings( [('height', float, 0.7), ('takeoff_delay', float, 4.0), ('move_delay', float, 4.0)]) self.add_command('hop', self.cmd_hop, 'HOP control', ["set (HOPSETTING)"]) self.add_completion_function('(HOPSETTING)', self.hop_settings.completion) def mavlink_packet(self, msg): '''handle an incoming mavlink packet''' pass def cmd_setpos(self, args): '''set local position''' if len(args) < 3: print("Usage: setpos dX dY dZ dYaw") return dX = float(args[0]) dY = float(args[1]) dZ = float(args[2]) if len(args) >= 4: dYaw = math.radians(float(args[3])) else: dYaw = 0.0 self.master.mav.set_position_target_local_ned_send( 0, # timestamp self.target_system, # target system_id self.target_component, # target component id mavutil.mavlink.MAV_FRAME_BODY_OFFSET_NED, 0b1111101111111000, # mask specifying use-only-x-y-z-yaw dX, # x dY, # y -dZ,# z 0, # vx 0, # vy 0, # vz 0, # afx 0, # afy 0, # afz dYaw, # yaw 0, # yawrate ) def cmd_hop(self, args): '''start a hop''' if len(args) > 0 and args[0] == "set": self.hop_settings.command(args[1:]) return if len(args) < 2: print("Usage: hop dX dY dYaw") return dX = float(args[0]) dY = float(args[1]) if len(args) > 2: dYaw = float(args[2]) else: dYaw = 0 self.hop_stage = 0 self.hop_last_time = time.time() self.hop = [dX, dY, dYaw] def idle_task(self): '''run commands when idle''' if self.hop is None: return if time.time() - self.hop_last_time < 0.2: return if self.status.flightmode != 'GUIDED': self.module('mode').cmd_mode(['GUIDED']) self.hop_last_time = time.time() return if not self.master.motors_armed(): self.module('arm').cmd_arm(['throttle']) self.hop_last_time = time.time() return now = time.time() if self.hop_stage == 0: self.module('cmdlong').cmd_takeoff([self.hop_settings.height]) self.hop_last_time = time.time() self.hop_stage += 1 if self.hop_stage == 1: if now - self.hop_last_time < self.hop_settings.takeoff_delay: return dX = self.hop[0] dY = self.hop[1] dYaw = self.hop[2] self.cmd_setpos([dX, dY, 0, dYaw]) self.hop_last_time = time.time() self.hop_stage += 1 if self.hop_stage == 2: if now - self.hop_last_time < self.hop_settings.move_delay: return self.module('mode').cmd_mode(['LAND']) self.hop = None def init(mpstate): '''initialise module''' return SetPosModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_signing.py000066400000000000000000000136511504324515000224170ustar00rootroot00000000000000#!/usr/bin/env python3 ''' control MAVLink2 signing ''' from pymavlink import mavutil import time, struct, math, sys import os from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_util if mp_util.has_wxpython: from MAVProxy.modules.lib.mp_menu import * class SigningModule(mp_module.MPModule): def __init__(self, mpstate): super(SigningModule, self).__init__(mpstate, "signing", "signing control", public=True) self.add_command('signing', self.cmd_signing, "signing control", [""]) self.allow = None self.saved_key = None self.last_timestamp_update = time.time() def cmd_signing(self, args): '''handle link commands''' usage = "signing: passphrase" if len(args) == 0: print(usage) elif args[0] == 'setup': self.cmd_signing_setup(args[1:]) elif args[0] == 'key': self.cmd_signing_key(args[1:]) elif args[0] == 'disable': self.cmd_signing_disable(args[1:]) elif args[0] == 'remove': self.cmd_signing_remove(args[1:]) else: print(usage) def passphrase_to_key(self, passphrase): '''convert a passphrase to a 32 byte key''' import hashlib h = hashlib.new('sha256') if sys.version_info[0] >= 3: passphrase = passphrase.encode('ascii') h.update(passphrase) return h.digest() def cmd_signing_setup(self, args): '''setup signing key on board''' if len(args) == 0: print("usage: signing setup passphrase") return if not self.master.mavlink20(): print("You must be using MAVLink2 for signing") return passphrase = args[0] key = self.passphrase_to_key(passphrase) secret_key = [] for b in key: if sys.version_info[0] >= 3: secret_key.append(b) else: secret_key.append(ord(b)) initial_timestamp = self.get_signing_timestamp() self.master.mav.setup_signing_send(self.target_system, self.target_component, secret_key, initial_timestamp) print("Sent secret_key") self.cmd_signing_key([passphrase]) def get_signing_timestamp(self): '''get a timestamp from current clock in units for signing''' epoch_offset = 1420070400 now = max(time.time(), epoch_offset) return int((now - epoch_offset)*1e5) def allow_unsigned(self, mav, msgId): '''see if an unsigned packet should be allowed''' if self.allow is None: self.allow = { mavutil.mavlink.MAVLINK_MSG_ID_RADIO : True, mavutil.mavlink.MAVLINK_MSG_ID_RADIO_STATUS : True } if msgId in self.allow: return True if self.settings.allow_unsigned: return True return False def setup_signing_link(self, m): '''add signing to a link''' if self.saved_key is not None: m.setup_signing(self.saved_key, sign_outgoing=True, allow_unsigned_callback=self.allow_unsigned) def find_signing_passphrase(self, device): ''' look for a signing passphrase in ~/.mavproxy/signing.keys file format is lines of form "device passphrase" ''' path = mp_util.dot_mavproxy("signing.keys") try: lines = open(path,'r').readlines() except Exception: return None for line in lines: a = line.split() if len(a) == 2 and a[0].lower() == device.lower(): return a[1] return None def setup_signing_device(self, m, device): '''add signing to a link, with a device name''' passphrase = self.find_signing_passphrase(device) key = self.saved_key if passphrase: key = self.passphrase_to_key(passphrase) if key is not None: m.setup_signing(key, sign_outgoing=True, allow_unsigned_callback=self.allow_unsigned) def cmd_signing_key(self, args): '''set signing key on connection''' if len(args) == 0: print("usage: signing setup passphrase") return if not self.master.mavlink20(): print("You must be using MAVLink2 for signing") return passphrase = args[0] key = self.passphrase_to_key(passphrase) self.saved_key = key for m in self.mpstate.mav_master: self.setup_signing_link(m) print("Setup signing key") def cmd_signing_disable(self, args): '''disable signing locally''' self.saved_key = None self.master.disable_signing() print("Disabled signing") def cmd_signing_remove(self, args): '''remove signing from server''' self.saved_key = None if not self.master.mavlink20(): print("You must be using MAVLink2 for signing") return self.master.mav.setup_signing_send(self.target_system, self.target_component, [0]*32, 0) self.master.disable_signing() print("Removed signing") def idle_task(self): now = time.time() # every 10 seconds ensure our signing timestamps are at least the # current clock, this ensures if we have an idle link we don't fall # behind in the timestamp too far and send packets that will be # rejected if now - self.last_timestamp_update > 10: self.last_timestamp_update = now signing_timestamp = self.get_signing_timestamp() for m in self.mpstate.mav_master: if m.mav.signing and m.mav.signing.sign_outgoing: m.mav.signing.timestamp = max(m.mav.signing.timestamp, signing_timestamp) def init(mpstate): '''initialise module''' return SigningModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_silvus.py000066400000000000000000000237511504324515000223100ustar00rootroot00000000000000#!/usr/bin/env python3 ''' silvus radio support To use add this in mavinit.scr for vehicle: module load silvus silvus set gnd_ip 172.20.167.5 silvus set air_ip 172.20.168.66 silvus set nmea_ip 172.20.167.5 silvus set nmea_port 11234 # UDP port for NMEA input to radio thanks to Felix from Amber Technologies for the code this came from ''' import time import datetime import socket import requests import threading from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_settings from pymavlink import mavutil class SilvusModule(mp_module.MPModule): def __init__(self, mpstate): super(SilvusModule, self).__init__(mpstate, "Silvus", "Silvus output") # filter_dist is distance in metres self.silvus_settings = mp_settings.MPSettings([("gnd_ip", str, ""), ("air_ip", str, ""), ("air_node", int, 0), ("gnd_node", int, 0), ("aux_node1", int, 0), ("aux_node2", int, 0), ("nmea_ip", str, ""), ("nmea_port", int, -1), ('log_dt', float, 1.0), ('debug', int, 0), ]) self.add_completion_function('(SILVUSSETTING)', self.silvus_settings.completion) self.add_command('silvus', self.cmd_silvus, "silvus control", ["status", "set (SILVUSSETTING)"]) self.last_nmea_send = time.time() self.last_log_time = time.time() self.thread = threading.Thread(target=self.thread_loop) self.thread.start() self.values = {} def cmd_silvus(self, args): '''silvus commands''' if args[0] == "set": self.silvus_settings.command(args[1:]) elif args[0] == "status": self.cmd_status() def nmea_checkstr(self, msg): d = msg[1:] cs = 0 for i in d: cs ^= ord(i) return "*%02X\r\n" % cs def send_nmea(self): '''send a NMEA packet to a radio, so the radio knows its position for logging and display''' if not self.silvus_settings.nmea_ip or self.silvus_settings.nmea_port <= 0: print("no setup") return now_time = time.time() if now_time - self.last_nmea_send < 1.0: return self.last_nmea_send = now_time gps = self.master.messages.get('GPS_RAW_INT', None) if gps is None or gps.fix_type < 3: return lat = gps.lat * 1.0e-7 lon = gps.lon * 1.0e-7 alt = gps.alt * 1.0e-3 nsat = gps.satellites_visible hdop = gps.eph/100.0 fix = gps.fix_type speed = ((gps.vel/100.0)/1852.0)*3600 # knots course = gps.cog/100.0 output = "" utc_sec = now_time tm_t = time.gmtime(utc_sec) dstr = "%02d%02d%02d" % (tm_t.tm_mday, tm_t.tm_mon, tm_t.tm_year % 100) subsecs = utc_sec - int(utc_sec); tstr = "%02d%02d%05.3f" % (tm_t.tm_hour, tm_t.tm_min, tm_t.tm_sec + subsecs) deg = abs(lat) minutes = (deg - int(deg))*60 latstr = "%02d%08.5f,%c" % (int(deg), minutes, 'S' if lat < 0 else 'N') deg = abs(lon) minutes = (deg - int(deg))*60 lonstr = "%03d%08.5f,%c" % (int(deg), minutes, 'W' if lon < 0 else 'E') gga = "$GPGGA,%s,%s,%s,%01d,%02d,%04.1f,%07.2f,M,0.0,M,," % (tstr, latstr, lonstr, fix, nsat, hdop, alt) output = output + gga + self.nmea_checkstr(gga) rmc = "$GPRMC,%s,%s,%s,%s,%.2f,%.2f,%s,," % (tstr, fix, latstr, lonstr, speed, course, dstr) output = output + rmc + self.nmea_checkstr(rmc) if self.silvus_settings.debug > 1: print("NMEA: %s" % output) try: sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP) sock.sendto(output.encode("UTF-8"), (self.silvus_settings.nmea_ip, self.silvus_settings.nmea_port)) except Exception as ex: print("Silvus NMEA send fail: %s" % ex) def url(self, nodeip, api): return "http://%s/%s" % (nodeip, api) # Get Frequency == freq (nodeip) def get_freq(self, nodeip): data = '{"jsonrpc":"2.0","method":"freq","id":"sbkb5u0c"}' response = requests.post(self.url(nodeip, 'streamscape_api'), data=data) freql = (response.json()["result"]) freq = int(freql[0]) return freq # Get NoiseLevel == noise(nodeip) def get_noise(self, nodeip): data = '{"jsonrpc":"2.0","method":"noise_level","id":"sbkb5u0c"}' response = requests.post(self.url(nodeip, 'streamscape_api'), data=data) noisel = (response.json()["result"]) return int(noisel[0]) # Get Neighbor RSSI == nbr_rssi(nodeip, localnode) def get_rssi(self, nodeip, remotenode): data = '{"jsonrpc":"2.0","method":"nbr_rssi","params":["' + remotenode + '"],"id":"sbkb5u0c"}' response = requests.post(self.url(nodeip, 'streamscape_api'), data=data) nbr_rssi = (response.json()["result"]) return nbr_rssi # Get network Status, output as an array def network_status(self, nodeip): data = '{"jsonrpc":"2.0","method":"network_status","id":"sbkb5u0c"}' response = requests.post(self.url(nodeip, 'streamscape_api'), data=data) netstat = (response.json()["result"]) return netstat # Get GPS status def get_gps_state(self, nodeip): data = '{"jsonrpc":"2.0","method":"gps_mode","id":"sbkb5u0c"}' response = requests.post(self.url(nodeip, 'streamscape_api'), data=data) gpsstat = (response.json()["result"]) return gpsstat # Get max throughput between nodes def get_throughput(self, nodeip, remotenode): data = '{"jsonrpc":"2.0","method":"link_throughput","params":["' + remotenode + '", "1"],"id":"sbkb5u0c"}' response = requests.post(self.url(nodeip, 'streamscape_api'), data=data) nbr_tp = (response.json()["result"]) nbr_tp = (nbr_tp)[0] return nbr_tp # Returns the TX MCS def get_neighbor_mcs(self, nodeip, remotenode): data = '{"jsonrpc":"2.0","method":"nbr_mcs","params":["' + remotenode + '"],"id":"sbkb5u0c"}' response = requests.post(self.url(nodeip, 'streamscape_api'), data=data) nbr_mcs = (response.json()["result"]) nbr_mcs = (nbr_mcs)[0] # print(data) return nbr_mcs # Returns the RX MCS def get_neighbor_mcs_rx(self, nodeip, remotenode): data = '{"jsonrpc":"2.0","method":"nbr_mcs_rx","params":["' + remotenode + '"],"id":"sbkb5u0c"}' response = requests.post(self.url(nodeip, 'streamscape_api'), data=data) nbr_mcs_rx = (response.json()["result"]) nbr_mcs_rx = (nbr_mcs_rx)[0] # print(data) return nbr_mcs_rx # Get GPS coords, output as an array def get_gps_coords(self, nodeip): data = '{"jsonrpc":"2.0","method":"gps_coordinates","id":"sbkb5u0c"}' response = requests.post(self.url(nodeip, 'streamscape_api'), data=data) coords = (response.json()["result"]) return coords def get_radio_data(self): now = time.time() if now - self.last_log_time < self.silvus_settings.log_dt: return self.last_log_time = now localip = self.silvus_settings.gnd_ip remoteip = self.silvus_settings.air_ip if len(localip.split('.')) != 4: return if len(remoteip.split('.')) != 4: return localnode = str(self.silvus_settings.gnd_node) remotenode = str(self.silvus_settings.air_node) self.values['TXMCS'] = float(self.get_neighbor_mcs(localip, remotenode)) self.values['RXMCS'] = float(self.get_neighbor_mcs_rx(localip, remotenode)) rssi = self.get_rssi(localip, remotenode) if len(rssi) >= 4: self.values['TXRSSI1'] = float(rssi[0]) self.values['TXRSSI2'] = float(rssi[1]) rssi = self.get_rssi(remoteip, localnode) if len(rssi) >= 4: self.values['RXRSSI1'] = float(rssi[0]) self.values['RXRSSI2'] = float(rssi[1]) if self.silvus_settings.aux_node1 > 0: rssi = self.get_rssi(remoteip, str(self.silvus_settings.aux_node1)) if len(rssi) >= 4: self.values['A1RSSI1'] = float(rssi[0]) self.values['A1RSSI2'] = float(rssi[1]) if self.silvus_settings.aux_node2 > 0: rssi = self.get_rssi(remoteip, str(self.silvus_settings.aux_node2)) if len(rssi) >= 4: self.values['A2RSSI1'] = float(rssi[0]) self.values['A2RSSI2'] = float(rssi[1]) self.values['LOCNSE'] = float(self.get_noise(localip)) self.values['REMNSE'] = float(self.get_noise(remoteip)) self.values['LINKSNR'] = float(self.network_status(localip)[2]) self.values['LOCTPUT'] = float(self.get_throughput(localip, remotenode)) self.values['REMTPUT'] = float(self.get_throughput(remoteip, localnode)) for f in self.values: self.send_named_float('SR_' + f, self.values[f]) def cmd_status(self): for f in sorted(self.values.keys()): print("%20s %.1f" % (f, self.values[f])) def thread_loop(self): while True: time.sleep(self.silvus_settings.log_dt) try: self.send_nmea() self.get_radio_data() except Exception as ex: if self.silvus_settings.debug > 0: print(ex) if self.silvus_settings.debug > 1: print(self.get_exception_stacktrace(ex)) def init(mpstate): '''initialise module''' return SilvusModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_smartcamera/000077500000000000000000000000001504324515000227005ustar00rootroot00000000000000MAVProxy-1.8.74/MAVProxy/modules/mavproxy_smartcamera/__init__.py000066400000000000000000000454371504324515000250260ustar00rootroot00000000000000#!/usr/bin/env python3 #*************************************************************************** # Copyright Jaime Machuca #*************************************************************************** # Title : mavproxy_smartcamera.py # # Description : This file is intended to be added as a module to MAVProxy, # it is intended to be used to control smart cameras that are # connected to a companion computer. It reads MAVlink commands # and uses them to control the cameras attached. The module # reads a configuration file called smart_camera.cnf that tells # it what cameras are connected, it then tries to connect to the # cameras and populates a list of available cameras. # # Environment : Python 2.7 Code. Intended to be included in MAVproxy as a Module # # Responsible : Jaime Machuca # # License : GNU GPL version 3 # # Editor Used : Xcode 6.1.1 (6A2008a) # #**************************************************************************** #**************************************************************************** # HEADER-FILES (Only those that are needed in this file) #**************************************************************************** # System Header files and Module Headers import time, math, sched, threading # Module Dependent Headers from pymavlink import mavutil from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib.mp_settings import MPSetting # Own Headers from sc_webcam import SmartCameraWebCam from sc_SonyQX1 import SmartCamera_SonyQX import sc_config #**************************************************************************** # LOCAL DEFINES #**************************************************************************** #**************************************************************************** # Class name : SmartCameraModule # # Public Methods : init # mavlink_packet # # Private Methods : __vRegisterCameras # __vCmdCamTrigger # #**************************************************************************** class SmartCameraModule(mp_module.MPModule): #**************************************************************************** # Method Name : __init__ Class Initializer # # Description : Initializes the class # # Parameters : mpstate # # Return Value : None # # Author : Jaime Machuca # #**************************************************************************** def __init__(self, mpstate): super(SmartCameraModule, self).__init__(mpstate, "SmartCamera", "SmartCamera commands") self.add_command('camtrigger', self.__vCmdCamTrigger, "Trigger camera") self.add_command('connectcams', self.__vCmdConnectCameras, "Connect to Cameras") self.add_command('setCamISO', self.__vCmdSetCamISO, "Set Camera ISO") self.add_command('setCamAperture', self.__vCmdSetCamAperture, "Set Camera Aperture") self.add_command('setCamShutterSpeed', self.__vCmdSetCamShutterSpeed, "Set Camera Shutter Speed") self.add_command('setCamExposureMode', self.__vCmdSetCamExposureMode, "Set Camera Exposure Mode") self.add_command('getAllPictures', self.__vCmdGetAllPictures, "Download all flight pictures, filename as argument optional") self.CamRetryScheduler = sched.scheduler(time.time, time.sleep) self.ProgramAuto = 1 self.Aperture = 2 self.Shutter = 3 self.Manual = 4 self.IntelligentAuto = 5 self.SuperiorAuto = 6 self.WirelessPort = sc_config.config.get_string("general", 'WirelessPort', "wlan0") self.u8RetryTimeout = 0 self.u8MaxRetries = 5 self.tLastCheckTime = time.time() self.u8KillHeartbeatTimer = 100 self.__vRegisterCameras() self.mpstate = mpstate # Start a 10 second timer to kill heartbeats as a workaround # threading.Timer(10, self.__vKillHeartbeat).start() #**************************************************************************** # Method Name : __vKillHeartbeat # # Description : Sets heartbeat setting to 0 to stop sending heartbeats # this is a temporary workaround for systems that do not # properly interpret the heartbeat contents like 3DR Solo # in such systems the heartbeats from the camera controller # and the main system are confused causing potential issues # # Parameters : None # # Return Value : None # # Author : Jaime Machuca # #**************************************************************************** def __vKillHeartbeat(self): print("Killing Heartbeat - Solo Workaround") self.mpstate.settings.heartbeat = 0 #**************************************************************************** # Method Name : __vRegisterQXCamera # # Description : Tries to connect to a QX camera on the specified Wireless # port. If no camera is found it will retry every 5 seconds # until u8MaxRetries is reached. # # Parameters : None # # Return Value : None # # Author : Jaime Machuca # #**************************************************************************** def __vRegisterQXCamera(self,u8CamNumber): if (self.u8RetryTimeout < self.u8MaxRetries): new_camera = SmartCamera_SonyQX(u8CamNumber, self.WirelessPort) if new_camera.boValidCameraFound() is True: self.camera_list = self.camera_list + [new_camera] print("Found QX Camera") self.master.mav.statustext_send(6,"Camera Controller: Found QX Camera, Ready to Fly") else: print("No Valid Camera Found, retry in 5 sec") self.u8RetryTimeout = self.u8RetryTimeout + 1 self.CamRetryScheduler.enter(5, 1, self.__vRegisterQXCamera, [u8CamNumber]) self.CamRetryScheduler.run() else: print("Max retries reached, No QX Camera Found") self.master.mav.statustext_send(3,"Camera Controller: Warning! Camera not found") self.u8RetryTimeout = 0 #**************************************************************************** # Method Name : __vRegisterCameras # # Description : Creates camera objects based on camera-type configuration # # Parameters : None # # Return Value : None # # Author : Jaime Machuca # #**************************************************************************** def __vRegisterCameras(self): # initialise list self.camera_list = [] #look for up to 2 cameras for i in range(0,2): config_group = "camera%d" % i camera_type = sc_config.config.get_integer(config_group, 'type', 0) # webcam if camera_type == 1: new_camera = SmartCameraWebCam(i) self.camera_list = self.camera_list + [new_camera] # Sony QX1 if camera_type == 2: self.__vRegisterQXCamera(i) # display number of cameras found print ("cameras found: %d" % len(self.camera_list)) #**************************************************************************** # Method Name : __vCmdCamTrigger # # Description : Triggers all the cameras and stores Geotag information # # Parameters : None # # Return Value : None # # Author : Jaime Machuca # #**************************************************************************** def __vCmdCamTrigger(self, args): '''Trigger Camera''' #print(self.camera_list) for cam in self.camera_list: cam.take_picture() print("Trigger Cam %s" % cam) #**************************************************************************** # Method Name : __vCmdConnectCameras # # Description : Initiates connection to cameras # # Parameters : None # # Return Value : None # # Author : Jaime Machuca # #**************************************************************************** def __vCmdConnectCameras(self, args): '''ToDo: Validate the argument as a valid port''' if len(args) >= 1: self.WirelessPort = args[0] print ("Connecting to Cameras on %s" % self.WirelessPort) self.__vRegisterCameras() #**************************************************************************** # Method Name : __vCmdSetCamExposureMode # # Description : Sets the camera exposure mode # # Parameters : Exposure Mode, Cam number # Valid values are Program Auto, Aperture, Shutter, Manual # Intelligent Auto, Superior Auto # # Return Value : None # # Author : Jaime Machuca # #**************************************************************************** def __vCmdSetCamExposureMode(self, args): '''ToDo: Validate CAM number and Valid Mode Values''' if len(args) == 1: for cam in self.camera_list: cam.boSetExposureMode(args[0]) elif len(args) == 2: cam = self.camera_list[int(args[1])] cam.boSetExposureMode(args[0]) else: print ("Usage: setCamExposureMode MODE [CAMNUMBER], Valid values for MODE: Program Auto, Aperture, Shutter, Manual, Intelligent Auto, Superior Auto") #**************************************************************************** # Method Name : __vCmdSetCamAperture # # Description : Sets the camera aperture # # Parameters : Aperture Value, Cam number # # Return Value : None # # Author : Jaime Machuca # #**************************************************************************** def __vCmdSetCamAperture(self, args): '''ToDo: Validate CAM number and Valid Aperture Value''' if len(args) == 1: for cam in self.camera_list: cam.boSetAperture(int(args[0])) elif len(args) == 2: cam = self.camera_list[int(args[1])] cam.boSetAperture(int(args[0])) else: print ("Usage: setCamAperture APERTURE [CAMNUMBER], APERTURE is value x10") #**************************************************************************** # Method Name : __vCmdSetCamShutterSpeed # # Description : Sets the shutter speed for the camera # # Parameters : Shutter speed, Cam Number # # Return Value : None # # Author : Jaime Machuca # #**************************************************************************** def __vCmdSetCamShutterSpeed(self, args): '''ToDo: Validate CAM number and Valid Shutter Speed''' if len(args) == 1: for cam in self.camera_list: cam.boSetShutterSpeed(int(args[0])) elif len(args) == 2: cam = self.camera_list[int(args[1])] cam.boSetShutterSpeed(int(args[0])) else: print ("Usage: setCamShutterSpeed SHUTTERVALUE [CAMNUMBER], Shutter value is the devisor in 1/x (only works for values smaller than 1)") #**************************************************************************** # Method Name : __vCmdSetCamISO # # Description : Sets the ISO value for the camera # # Parameters : ISO Value, Cam Number # # Return Value : None # # Author : Jaime Machuca # #**************************************************************************** def __vCmdSetCamISO(self, args): '''ToDo: Validate CAM number and Valid ISO Value''' if len(args) == 1: for cam in self.camera_list: cam.boSetISO(args[0]) elif len(args) == 2: cam = self.camera_list[int(args[1])] cam.boSetISO(args[0]) else: print ("Usage: setCamISO ISOVALUE [CAMNUMBER]") #**************************************************************************** # Method Name : __vCmdCamZoomIn # # Description : Commands the Camera to Zoom In # # Parameters : None # # Return Value : None # # Author : Jaime Machuca # #**************************************************************************** def __vCmdCamZoomIn(self): for cam in self.camera_list: cam.boZoomIn() #**************************************************************************** # Method Name : __vCmdCamZoomOut # # Description : Commands the Camera to Zoom In # # Parameters : None # # Return Value : None # # Author : Jaime Machuca # #**************************************************************************** def __vCmdCamZoomOut(self): for cam in self.camera_list: cam.boZoomOut() #**************************************************************************** # Method Name : __vCmdGetAllPictures # # Description : Downloads all the pics taken during this flight # # Parameters : None # # Return Value : None # # Author : Jaime Machuca # #**************************************************************************** def __vCmdGetAllPictures(self, args): #Download Pictures if len(args) >= 1: slogFileName = args[0] for cam in self.camera_list: print("Init Picture Download for Cam %s from file %s" % cam, slogFileName) cam.boGetAllSessionPictures(slogFileName) else: for cam in self.camera_list: print("Init Picture Download for Cam %s" % cam) cam.boGetAllSessionPictures(0) #**************************************************************************** # Method Name : __vDecodeDIGICAMConfigure # # Description : Decode and process the camera configuration Messages # # Parameters : CommandLong Message # # Return Value : None # # Author : Jaime Machuca # #**************************************************************************** def __vDecodeDIGICAMConfigure(self, mCommand_Long): if mCommand_Long.param1 != 0: print ("Exposure Mode = %d" % mCommand_Long.param1) if mCommand_Long.param1 == self.ProgramAuto: self.__vCmdSetCamExposureMode(["Program Auto"]) elif mCommand_Long.param1 == self.Aperture: self.__vCmdSetCamExposureMode(["Aperture"]) elif mCommand_Long.param1 == self.Shutter: self.__vCmdSetCamExposureMode(["Shutter"]) '''Shutter Speed''' if mCommand_Long.param2 != 0: print ("Shutter Speed= %d" % mCommand_Long.param2) self.__vCmdSetCamShutterSpeed([mCommand_Long.param2]) '''Aperture''' if mCommand_Long.param3 != 0: print ("Aperture = %d" % mCommand_Long.param3) self.__vCmdSetCamAperture([mCommand_Long.param3]) '''ISO''' if mCommand_Long.param4 != 0: print ("ISO = %d" % mCommand_Long.param4) self.__vCmdSetCamISO([mCommand_Long.param4]) '''Exposure Type''' if mCommand_Long.param5 != 0: print ("Exposure type= %d" % mCommand_Long.param5) #**************************************************************************** # Method Name : __vDecodeDIGICAMControl # # Description : Decode and process the camera control Messages # # Parameters : CommandLong Message # # Return Value : None # # Author : Jaime Machuca # #**************************************************************************** def __vDecodeDIGICAMControl(self, mCommand_Long): '''Session''' if mCommand_Long.param1 != 0: print ("Session = %d" % mCommand_Long.param1) '''Zooming Step Value''' if mCommand_Long.param2 != 0: print ("Zooming Step = %d" % mCommand_Long.param2) '''Zooming Step Value''' if mCommand_Long.param3 != 0: print ("Zooming Value = %d" % mCommand_Long.param3) if (mCommand_Long.param3 == 1): self.__vCmdCamZoomIn() elif (mCommand_Long.param3 == -1): self.__vCmdCamZoomOut() else: print ("Invalid Zoom Value") '''Focus 0=Unlock/1=Lock/2=relock''' if mCommand_Long.param4 != 0: print ("Focus = %d" % mCommand_Long.param4) '''Trigger''' if mCommand_Long.param5 != 0: print ("Trigger = %d" % mCommand_Long.param5) self.__vCmdCamTrigger(mCommand_Long) #**************************************************************************** # Method Name : mavlink_packet # # Description : MAVProxy requiered callback function used to receive MAVlink # packets # # Parameters : MAVLink Message # # Return Value : None # # Author : Jaime Machuca # #**************************************************************************** def mavlink_packet(self, m): '''handle a mavlink packet''' mtype = m.get_type() if mtype == "GLOBAL_POSITION_INT": for cam in self.camera_list: cam.boSet_GPS(m) if mtype == "ATTITUDE": for cam in self.camera_list: cam.boSet_Attitude(m) if mtype == "CAMERA_STATUS": print ("Got Message camera_status") if mtype == "CAMERA_FEEDBACK": print ("Got Message camera_feedback") '''self.__vCmdCamTrigger(m)''' if mtype == "COMMAND_LONG": if m.command == mavutil.mavlink.MAV_CMD_DO_DIGICAM_CONFIGURE: print ("Got Message Digicam_configure") self.__vDecodeDIGICAMConfigure(m) elif m.command == mavutil.mavlink.MAV_CMD_DO_DIGICAM_CONTROL: print ("Got Message Digicam_control") self.__vDecodeDIGICAMControl(m) #**************************************************************************** # Method Name : idle_task # # Description : used for heartbeat work arround timer # # Parameters : none # # Return Value : none # # Author : Jaime Machuca # #**************************************************************************** def idle_task(self): now = time.time() if not self.u8KillHeartbeatTimer == 0 and self.tLastCheckTime > 1: self.tLastCheckTime = now self.u8KillHeartbeatTimer -= 1 if self.u8KillHeartbeatTimer == 0: self.__vKillHeartbeat(); #**************************************************************************** # Method Name : init # # Description : # # Parameters : mpstate # # Return Value : SmartCameraModule Instance # # Author : Jaime Machuca # #**************************************************************************** def init(mpstate): '''initialise module''' return SmartCameraModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_smartcamera/sc_ExifWriter.py000077500000000000000000000115031504324515000260320ustar00rootroot00000000000000#!/usr/bin/env python3 #*************************************************************************** # Copyright 2017 Jaime Machuca #*************************************************************************** # Title : sc_ExifWriter.py # # Description : This file is used to write the geotag informaton into the # EXIF metadata of a picture file. The file was originaly written # by Escadrone and distributed under Apache V2.0 license which is # retained by this file. This file may be modified from the original # in order to make it compatible with this MAVProxy Module. # The original file can be found here: # # https://github.com/Escadrone/Solo-Mapper.git # # Environment : Python 2.7 Code. Intended to be included in MAVproxy as a Module # # Responsible : Jaime Machuca # # License : Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. # # Editor Used : Xcode 6.1.1 (6A2008a) # #**************************************************************************** #**************************************************************************** # HEADER-FILES (Only those that are needed in this file) #**************************************************************************** # System Header files and Module Headers # Module Dependent Headers import piexif # Own Headers #**************************************************************************** # LOCAL DEFINES #**************************************************************************** #**************************************************************************** # Class name : ExifWriter # # Public Methods : write_gps # # Private Methods : _decdeg2dms # #**************************************************************************** class ExifWriter: #**************************************************************************** # Method Name : write_gps # # Description : Writes GPS coordinates into the given pictures EXIF # # Parameters : filename Path to the image file # lat Latitude in decimal degrees to write # longit Longitude in decimal degrees to write # altitude Altitude above mean sea level in meters # # Return Value : None # # Author : Gael Billon, Escadrone # #**************************************************************************** @staticmethod def write_gps(filename, lat, longit, altitude): #lat and long are decimals gps = {} #create array #Altitude if altitude<0: gps[piexif.GPSIFD.GPSAltitudeRef] = 1; #Below see level else: gps[piexif.GPSIFD.GPSAltitudeRef] = 0; #Above see level gps[piexif.GPSIFD.GPSAltitude]= (int(abs(altitude)*100),100) #Latitude if lat<0: gps[piexif.GPSIFD.GPSLatitudeRef] = "S" else: gps[piexif.GPSIFD.GPSLatitudeRef] = "N" latd,latm,lats = ExifWriter._decdeg2dms(lat) gps[piexif.GPSIFD.GPSLatitude] = [(latd,1),(latm,1),(lats*100,100)]; #Longitude if longit<0: gps[piexif.GPSIFD.GPSLongitudeRef] = "W" else: gps[piexif.GPSIFD.GPSLongitudeRef] = "E" longd,longm,longs = ExifWriter._decdeg2dms(longit) gps[piexif.GPSIFD.GPSLongitude] = [(longd,1),(longm,1),(longs*100,100)]; exifdict = piexif.load(filename) exifdict["GPS"] = gps exif_bytes = piexif.dump(exifdict) piexif.insert(exif_bytes, filename) exifdict = piexif.load(filename) #**************************************************************************** # Method Name : _decdeg2dms # # Description : Converts decimal degrees to Degrees, Minutes, seconds # # Parameters : dd Coordinate in decimal degrees # # Return Value : None # # Author : Gael Billon, Escadrone # #**************************************************************************** #method converting decimal format to DMS @staticmethod def _decdeg2dms(dd): dd = abs(dd) minutes,seconds = divmod(dd*3600,60) degrees,minutes = divmod(minutes,60) return (degrees,minutes,seconds) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_smartcamera/sc_SonyQX1.py000066400000000000000000000747441504324515000252410ustar00rootroot00000000000000#*************************************************************************** # Copyright Jaime Machuca #*************************************************************************** # Title : sc_SonyQX1.py # # Description : This file contains a class to use the Sony QX range of cams # It finds a camera using SSDP discovery and returns it as an # object. If a camera is not found it returns an error value # that should be catched by the application. Initially it will # have support for triggering the camera, and downloading the # latest image file. Other functions will be added gradually. # # Environment : Python 2.7 Code. Intended to be included in a Mavproxy Module # # Responsible : Jaime Machuca # # License : GNU GPL version 3 # # Editor Used : Xcode 6.1.1 (6A2008a) # #**************************************************************************** #**************************************************************************** # HEADER-FILES (Only those that are needed in this file) #**************************************************************************** # System Header files and Module Headers import os, sys, time, math, cv2, struct, fcntl from datetime import datetime # Module Dependent Headers import requests, json, socket, StringIO import xml.etree.ElementTree as ET import urllib from sc_ExifWriter import ExifWriter # Own Headers import ssdp #**************************************************************************** # Constants #**************************************************************************** # Target Initial Camera Values targetShutterSpeed = 1600 targetAperture = 120 targetISOValue = "AUTO" #**************************************************************************** # Class name : SmartCamera_SonyQX # # Public Methods : boGetLatestImage # u32GetImageCounter # boTakePicture # boSetExposureMode # boSetShutterSpeed # boSetAperture # boSetISO # boZoomIn # boZoomOut # # Private Methods : __sFindInterfaceIPAddress # __sFindCameraURL # __sMakeCall # __sSimpleCall #**************************************************************************** class SmartCamera_SonyQX(): #**************************************************************************** # Method Name : __init__ Class Initializer # # Description : Initializes the class # # Parameters : u8instance Camera Instance Number # snetInterface String containing the Network Interface # Name where we should look for the cam # # Return Value : None # # Author : Jaime Machuca, Randy Mackay # #**************************************************************************** def __init__(self, u8Instance, sNetInterface): # record instance self.u8Instance = u8Instance self.sConfigGroup = "Camera%d" % self.u8Instance # background image processing variables self.u32ImgCounter = 0 # num images requested so far # latest image captured self.sLatestImageURL = None # String with the URL to the latest image # latest image downloaded self.sLatestImageFilename = None #String with the Filename for the last downloaded image self.sLatestFileName = None #String with the camera file name for the last image taken self.vehicleLat = 0.0 # Current Vehicle Latitude self.vehicleLon = 0.0 # Current Vehicle Longitude self.vehicleHdg = 0.0 # Current Vehicle Heading self.vehicleAMSL = 0.0 # Current Vehicle Altitude above mean sea level self.vehicleRoll = 0.0 # Current Vehicle Roll self.vehiclePitch = 0.0 # Current Vehicle Pitch # Look Camera and Get URL self.sCameraURL = self.__sFindCameraURL(sNetInterface) if self.sCameraURL is None: print("No QX camera found, failed to open QX camera %d" % self.u8Instance) else: self.__openGeoTagLogFile() # open geoTag Log self.boCameraInitialSetup() # Setup Initial camera parameters #**************************************************************************** # Method Name : __str__ # # Description : Returns a human readable string name for the instance # # Parameters : none # # Return Value : String with object instance name # # Author : Randy Mackay # #**************************************************************************** # __str__ - print position vector as string def __str__(self): return "SmartCameraSonyQX Object for %s" % self.sConfigGroup #**************************************************************************** # Method Name : boCameraInitialSetup # # Description : Sets Initial Camera Parameters # # Parameters : None # # Return Value : None # # Author : Jaime Machuca # #**************************************************************************** def boCameraInitialSetup(self): print("Setting up Camera Initial Parameters") # Check if we need to do 'startRecMode' APIList = self.__sSimpleCall("getAvailableApiList") # For those cameras which need it if 'startRecMode' in (APIList['result'])[0]: print("Need to send startRecMode, sending and waiting 5 sec...") self.__sSimpleCall("startRecMode") time.sleep(1) print("4 sec") time.sleep(1) print("3 sec") time.sleep(1) print("2 sec") time.sleep(1) print("1 sec") time.sleep(1) # Set Postview Size to Orignial size to get real image filename sResponse = self.__sSimpleCall("getSupportedPostviewImageSize") print("%s" % sResponse) sResponse = self.__sSimpleCall("setPostviewImageSize", adictParams=["Original"]) print("%s" % sResponse) sResponse = self.__sSimpleCall("getPostviewImageSize") print("%s" % sResponse) # Set Mode to Shutter Priority if available SupportedModes = self.__sSimpleCall("getSupportedExposureMode") if 'Shutter' in (SupportedModes['result'])[0]: self.boSetExposureMode("Shutter") #elif 'Manual' in (SupportedModes['result'])[0]: # self.boSetExposureMode("Manual") else: print("Error no Shutter Priority Mode") # Set Target Shutter Speed self.boSetShutterSpeed(targetShutterSpeed) # Set Target ISO Value self.boSetISO(targetISOValue) #Take Confirmation Picture self.boTakePicture() #**************************************************************************** # Method Name : boSet_GPS # # Description : Gets the GPS Position from the provided message # # Parameters : mGPSMessage GPS Mavlink Message type # # # Return Value : None # # Author : Jaime Machuca # #**************************************************************************** def boSet_GPS(self, mGPSMessage): if mGPSMessage.get_type() == 'GLOBAL_POSITION_INT': (self.vehicleLat, self.vehicleLon, self.vehicleHdg, self.vehicleAMSL) = (mGPSMessage.lat*1.0e-7, mGPSMessage.lon*1.0e-7, mGPSMessage.hdg*0.01, mGPSMessage.alt*0.001) #**************************************************************************** # Method Name : boSet_Attitude # # Description : Gets the vehicle attitude from the provided message # # Parameters : mAttitudeMessage MAVlink Attitude Message type # # # Return Value : None # # Author : Jaime Machuca # #**************************************************************************** def boSet_Attitude(self, mAttitudeMessage): if mAttitudeMessage.get_type() == 'ATTITUDE': (self.vehicleRoll, self.vehiclePitch) = (math.degrees(mAttitudeMessage.roll), math.degrees(mAttitudeMessage.pitch)) #**************************************************************************** # Method Name : __geoRef_write # # Description : Writes GeoReference to file # # Parameters : sImageFileName File name of image to be entered into the log # # Return Value : None # # Author : Jaime Machuca # #**************************************************************************** # Geo reference log for all the GoPro pictures def __geoRef_write(self, sImageFileName): #self.geoRef_writer.write(datetime.now().strftime('%d-%m-%Y %H:%M:%S.%f')[:-3]) self.geoRef_writer.write(sImageFileName) self.geoRef_writer.write(",%f,%f,%f,%f,%f,%f" % (self.vehicleLat, self.vehicleLon, self.vehicleAMSL, self.vehicleRoll, self.vehiclePitch,self.vehicleHdg)) self.geoRef_writer.write('\n') self.geoRef_writer.flush() #**************************************************************************** # Method Name : __boWriteURLToLog # # Description : Writes images URL to file # # Parameters : sImageFileName File name of image to be entered into the log # # Return Value : None # # Author : Jaime Machuca # #**************************************************************************** # Geo reference log for all the GoPro pictures def __boWriteURLToLog(self, sURLName): self.urlLog_writer.write(sURLName) self.urlLog_writer.write('\n') self.urlLog_writer.flush() #**************************************************************************** # Method Name : get_real_Yaw # # Description : Helper method to get the real Yaw # # Parameters : yaw Vehicle Yaw # # Return Value : None # # Author : Jaime Machuca # #**************************************************************************** def get_real_Yaw(self, yaw): if (yaw < 0): return yaw+360 return yaw #**************************************************************************** # Method Name : __writeGeoRefToFile # # Description : Writes the Georeference of the image to the log. NOT SURE # IF IT IS DUPLICATED FOR A GOOD REASON. # # Parameters : sImageFileName1 Image file name # # Return Value : None # # Author : Jaime Machuca # #**************************************************************************** def __writeGeoRefToFile(self, sImageFileName1): self.__geoRef_write(sImageFileName1) #**************************************************************************** # Method Name : __openGeoTagLogFile # # Description : Checks for existing log files and creates a new Log file # with an incremented index number # # Parameters : None # # Return Value : None # # Author : Jaime Machuca # #**************************************************************************** def __openGeoTagLogFile(self): # Verify folder exists if not os.path.exists('/sdcard/log'): os.makedirs('/sdcard/log') #Open GeoTag Log File i = 0 while os.path.exists('/sdcard/log/geoRef%s.log' % i): #print('checking /sdcard/log/geoRef%s.log' % i) i += 1 self.sCurrentGeoRefFilename = '/sdcard/log/geoRef%s.log' % i self.geoRef_writer = open('/sdcard/log/geoRef%s.log' % i, 'w', 0) self.geoRef_writer.write('Filename, Latitude, Longitude, Alt (AMSL), Roll, Pitch, Yaw\n') print('Opened GeoTag Log File with Filename: geoRef%s.log' % i) #Open URL Log File i = 0 while os.path.exists('/sdcard/log/urlLog%s.log' % i): #print('checking /sdcard/log/urlLog%s.log' % i) i += 1 self.sCurrentURLLogFilename = '/sdcard/log/urlLog%s.log' % i self.urlLog_writer = open('/sdcard/log/urlLog%s.log' % i, 'w', 0) print('Opened URL Log File with Filename: urlLog%s.log' % i) #**************************************************************************** # Method Name : __sFindInterfaceIPAddress # # Description : Gets the IP Address of the interface name requested # # Parameters : sInterfaceName # # Return Value : String with the IP Address for the requested interface # # Author : Jaime Machuca, # #**************************************************************************** def __sFindInterfaceIPAddress(self,sInterfaceName): s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) return socket.inet_ntoa(fcntl.ioctl( s.fileno(), 0x8915, # SIOCGIFADDR struct.pack('256s', sInterfaceName[:15]) )[20:24]) #**************************************************************************** # Method Name : __sMakeCall # # Description : Sends a json encoded command to the QX camera URL # # Parameters : sService # adictPayload # # Return Value : JSON encoded string with camera response # # Author : Andrew Tridgell, Jaime Machuca # #**************************************************************************** def __sMakeCall(self, sService, adictPayload): sURL = "%s/%s" % (self.sCameraURL, sService) adictHeaders = {"content-type": "application/json"} sData = json.dumps(adictPayload) sResponse = requests.post(sURL, data=sData, headers=adictHeaders).json() return sResponse #**************************************************************************** # Method Name : __sSimpleCall # # Description : Articulates a camera service command to send to the QX # camera # # Parameters : sMethod, command name as stated in Sony's API documentation # sTarget, API Service type # adictParams, command specific parameters (see Sony's API Documentation) # u8Id, ?? # sVersion, API version for the command (see Sony's API Documentation) # # Return Value : JSON encoded string with camera response # # Author : Andrew Tridgell, Jaime Machuca # #**************************************************************************** def __sSimpleCall(self, sMethod, sTarget="camera", adictParams=[], u8Id=1, sVersion="1.0"): print("Calling %s" % sMethod) return self.__sMakeCall(sTarget, { "method" : sMethod, "params" : adictParams, "id" : u8Id, "version" : sVersion }) #**************************************************************************** # Method Name : __sFindCameraURL # # Description : Sends an SSDP request to look for a QX camera on the # specified network interface # # Parameters : sInterface, String with the network interface name # # Return Value : String containing the URL for sending commands to the # Camera # # Author : Andrew Tridgell, Jaime Machuca # #**************************************************************************** def __sFindCameraURL(self, sInterface): sSSDPString = "urn:schemas-sony-com:service:ScalarWebAPI:1"; sInterfaceIP = self.__sFindInterfaceIPAddress(sInterface) print ("Interface IP Address: %s" % sInterfaceIP) sRet = ssdp.discover(sSSDPString, if_ip=sInterfaceIP) if len(sRet) == 0: return None sDMS_URL = sRet[0].location print("Fetching DMS from %s" % sDMS_URL) xmlReq = requests.request('GET', sDMS_URL) xmlTree = ET.ElementTree(file=StringIO.StringIO(xmlReq.content)) for xmlElem in xmlTree.iter(): if xmlElem.tag == '{urn:schemas-sony-com:av}X_ScalarWebAPI_ActionList_URL': print("Found camera at %s" % xmlElem.text) return xmlElem.text return None #**************************************************************************** # Method Name : boValidCameraFound # # Description : Returns weather or not a camera has been found. This # should be used to try to find the camera again, or # destroy the object. # # Parameters : none # # Return Value : True if camera has been found # False if no camera has been found # # Author : Jaime Machuca # #**************************************************************************** def boValidCameraFound(self): print ("Checking URL at %s" % self.sCameraURL) if self.sCameraURL is None: return False return True #**************************************************************************** # Method Name : boGetLatestImage # # Description : Downloads the latest image taken by the camera and then # saves it to a file name composed by the camera instance # and image number. # # Parameters : none # # Return Value : True if it was successful # False if no image was downloaded # # Author : Jaime Machuca # #**************************************************************************** def boGetLatestImage(self): self.sLatestImageFilename = '%s_image_%s.jpg' % (self.sConfigGroup,self.u32ImgCounter) print ("Downloading, ",self.sLatestImageFilename) imgReq = requests.request('GET', self.sLatestImageURL) if imgReq is not None: open(self.sLatestImageFilename, 'w').write(imgReq.content) return True return False #**************************************************************************** # Method Name : boGetAllSessionPictures # # Description : Downloads all the images stored in the URL log file to # the companion computer. # # Parameters : none # # Return Value : True if it was successful # False if no image was downloaded # # Author : Jaime Machuca # #**************************************************************************** def boGetAllSessionPictures(self, sLogFile): print("Picture Download started") file = open(self.sCurrentURLLogFilename, "r") for url in file: url = url.rstrip('\n') #now download link start = self.sLatestImageURL.find('DSC') end = self.sLatestImageURL.find('JPG', start) + 3 filename = url[start:end] print("Downloading %s" % filename) geotagFile = open(self.sCurrentGeoRefFilename, "r") for line in geotagFile: if filename in line: currFileLatitude = float(line.split(',')[1]) currFileLongitude = float(line.split(',')[2]) currFileAltitude = float(line.split(',')[3]) print ("%s,%f,%f,%f" % (filename, currFileLatitude, currFileLongitude, currFileAltitude)) geotagFile.close() try: req = requests.request('GET', url) open('/sdcard/log/%s' % filename, 'w').write(req.content) ExifWriter.write_gps('/sdcard/log/%s' % filename, currFileLatitude, currFileLongitude, currFileAltitude) except Exception as ex: template = "An exception of type {0} occurred. Arguments:\n{1!r}" message = template.format(type(ex).__name__, ex.args) print(message) file.close() return False #**************************************************************************** # Method Name : sGetLatestImageFilename # # Description : Returns the filename of the last image downloaded from # the camera # # Parameters : none # # Return Value : String containing the image file name # # Author : Jaime Machuca # #**************************************************************************** def sGetLatestImageFilename(self): return self.sLatestImageFilename #**************************************************************************** # Method Name : u32GetImageCounter # # Description : Returns the number of images taken # # Parameters : none # # Return Value : Integer with the number of images # # Author : Jaime Machuca # #**************************************************************************** def u32GetImageCounter(self): return self.u32ImgCounter #**************************************************************************** # Method Name : boZoomIn # # Description : Commands the camera to do a Zoom In step # # Parameters : None # # Return Value : True if successful # False if Error Received # # Author : Jaime Machuca # #**************************************************************************** def boZoomIn(self): # Send command to set Exposure Mode sResponse = self.__sSimpleCall("actZoom", adictParams=["in","1shot"]) # Check response for a successful result if 'result' in sResponse: print ("Zoomed in") return True # In case of an error, return false print ("Failed to Zoom") return False #**************************************************************************** # Method Name : boZoomOut # # Description : Commands the camera to do a Zoom In step # # Parameters : None # # Return Value : True if successful # False if Error Received # # Author : Jaime Machuca # #**************************************************************************** def boZoomOut(self): # Send command to set Exposure Mode sResponse = self.__sSimpleCall("actZoom", adictParams=["out","1shot"]) # Check response for a successful result if 'result' in sResponse: print ("Zoomed out") return True # In case of an error, return false print ("Failed to Zoom") return False #**************************************************************************** # Method Name : boSetExposureMode # # Description : Commands the camera to set a specific ShootingMode # # Parameters : Exposure Mode String # Program Auto, Aperture, Shutter, Manual, Intelligent Auto, Superior Auto # # Return Value : True if successful # False if Error Received # # Author : Jaime Machuca # #**************************************************************************** def boSetExposureMode(self,sExposureMode): # Send command to set Exposure Mode sResponse = self.__sSimpleCall("setExposureMode", adictParams=[sExposureMode]) # Check response for a successful result if 'result' in sResponse: time.sleep(0.25) sResponse = self.__sSimpleCall("getExposureMode") if sExposureMode not in sResponse["result"]: print ("Failed to set Exposure Mode, current value: %s" %sResponse["result"]) return False print ("Exposure Mode set to %s" % sExposureMode) return True # In case of an error, return false print ("Failed to set Exposure Mode") return False #**************************************************************************** # Method Name : boSetShutterSpeed # # Description : Commands the camera to set the Shutter Speed # # Parameters : Integer with the shutter speed divisor # i.e. 1/1000 = 1000 # NOTE: This will only work for shutter speeds smaller than 1 sec # # Return Value : True if successful # False if Error Received # # Author : Jaime Machuca # #**************************************************************************** def boSetShutterSpeed(self,u16ShutterSpeed): # Create Shutter Speed String sShutterSpeed = "1/%s" % str(u16ShutterSpeed) # Send command to set Exposure Mode sResponse = self.__sSimpleCall("setShutterSpeed", adictParams=[sShutterSpeed]) # Check response for a successful result if 'result' in sResponse: time.sleep(0.25) sResponse = self.__sSimpleCall("getShutterSpeed") if sShutterSpeed not in sResponse["result"]: print ("Failed to set Shutter Speed, current value: %s" %sResponse["result"]) return False print ("Shutter Speed set to %s" % sShutterSpeed) return True # In case of an error, return false print ("Failed to set Shutter Speed") return False #**************************************************************************** # Method Name : boSetAperture # # Description : Commands the camera to set a lens Apperture # # Parameters : F number * 10 # i.e. F 2.8 = 28 # # Return Value : True if successful # False if Error Received # # Author : Jaime Machuca # #**************************************************************************** def boSetAperture(self,u8Aperture): # Create Aperture String (cast one of the numbers to float to get a float) fFvalue = u8Aperture / float(10) sFValue = str(fFvalue) # Send command to set Exposure Mode sResponse = self.__sSimpleCall("setFNumber", adictParams=[sFValue]) # Check response for a successful result if 'result' in sResponse: time.sleep(0.25) sResponse = self.__sSimpleCall("getFNumber") if sFValue not in sResponse["result"]: print ("Failed to set aperture, current value: %s" %sResponse["result"]) return False print ("Aperture set to %s" % sFValue) return True # In case of an error, return false print ("Failed to set aperture") return False #**************************************************************************** # Method Name : boSetISO # # Description : Commands the camera to set an ISO number # # Parameters : ISO Value # 80, 100, 1000, 3200, etc... # # Return Value : True if successful # False if Error Received # # Author : Jaime Machuca # #**************************************************************************** def boSetISO(self,u16ISO): # Create ISO String sISO = str(u16ISO) # Send command to set Exposure Mode sResponse = self.__sSimpleCall("setIsoSpeedRate", adictParams=[sISO]) # Check response for a successful result if 'result' in sResponse: sResponse = self.__sSimpleCall("getIsoSpeedRate") if sISO not in sResponse["result"]: print ("Failed to Set ISO, current value: %s" %sResponse["result"]) return False print ("ISO set to %s" % sISO) return True # In case of an error, return false print ("Failed to Set ISO") return False #**************************************************************************** # Method Name : __vAddGeotagToLog # # Description : Adds an entry to the log file with the name of the image # and geoposition and orientation of the shot. # # Parameters : Image file name, position, orientation # # Return Value : True if successful # False if no URL was received for the image # # Author : Jaime Machuca # #**************************************************************************** def __boAddGeotagToLog(self, sImageFileName): self.__writeGeoRefToFile(sImageFileName) return True #**************************************************************************** # Method Name : boTakePicture # # Description : Commands the camera to take a picture # # Parameters : none # # Return Value : True if successful # False if no URL was received for the image # # Author : Jaime Machuca # #**************************************************************************** def boTakePicture(self): # Send command to take picture to camera sResponse = self.__sSimpleCall("actTakePicture") # Check response for a successful result and save latest image URL if 'result' in sResponse: self.sLatestImageURL = sResponse['result'][0][0] start = self.sLatestImageURL.find('DSC') end = self.sLatestImageURL.find('JPG', start) + 3 self.sLatestFileName = self.sLatestImageURL[start:end] print("image URL: %s" % self.sLatestImageURL) print("image Name: %s" % self.sLatestFileName) self.__boAddGeotagToLog(self.sLatestFileName) self.__boWriteURLToLog(self.sLatestImageURL) self.u32ImgCounter = self.u32ImgCounter+1 return True # In case of an error, return false return False #**************************************************************************** # # Stuff Needed for testing and compatibility with current code. # #**************************************************************************** def take_picture(self): return self.boTakePicture() def get_latest_image(self): self.boGetLatestImage() # this reads the image from the filename, parameter is 1 color, 0 BW, -1 unchanged return cv2.imread(self.sLatestImageFilename,1) # main - tests SmartCameraWebCam class def main(self): while True: # send request to image capture for image if self.take_picture(): # display image cv2.imshow ('image_display', self.get_latest_image()) else: print("no image") # check for ESC key being pressed k = cv2.waitKey(5) & 0xFF if k == 27: break # take a rest for a bit time.sleep(0.01) # run test run from the command line if __name__ == "__main__": sc_SonyQX1_0 = SmartCameraSonyQX1(0) sc_SonyQX1_0.main() MAVProxy-1.8.74/MAVProxy/modules/mavproxy_smartcamera/sc_config.py000066400000000000000000000117771504324515000252210ustar00rootroot00000000000000""" SmartCameraConfig class : handles config for the smart_camera project smart_camera.cnf file is created in the local directory other classes or files wishing to use this class should add import sc_config """ from os.path import expanduser import ConfigParser class SmartCameraConfig(object): def __init__(self): # default config file self.config_file = expanduser("~/smart_camera.cnf") # print config file location print("config file: %s" % self.config_file) # create the global parser object self.parser = ConfigParser.SafeConfigParser() # read the config file into memory self.read() # read - reads the contents of the file into the dictionary in RAM def read(self): try: self.parser.read(self.config_file) except IOError as e: print('Error {0} reading config file: {1}: '.format(e.errno, e.strerror)) return # save - saves the config to disk def save(self): try: with open(self.config_file, 'wb') as configfile: self.parser.write(configfile) except IOError as e: print('Error {0} writing config file: {1}: '.format(e.errno, e.strerror)) return # check_section - ensures the section exists, creates it if not def check_section(self, section): if not self.parser.has_section(section): self.parser.add_section(section) return # get_boolean - returns the boolean found in the specified section/option or the default if not found def get_boolean(self, section, option, default): try: return self.parser.getboolean(section, option) except ConfigParser.Error: return default # set_boolean - sets the boolean to the specified section/option def set_boolean(self, section, option, new_value): self.check_section(section) self.parser.set(section, option, str(bool(new_value))) return # get_integer - returns the integer found in the specified section/option or the default if not found def get_integer(self, section, option, default): try: return self.parser.getint(section, option) except ConfigParser.Error: return default # set_integer - sets the integer to the specified section/option def set_integer(self, section, option, new_value): self.check_section(section) self.parser.set(section, option, str(int(new_value))) return # get_float - returns the float found in the specified section/option or the default if not found def get_float(self, section, option, default): try: return self.parser.getfloat(section, option) except ConfigParser.Error: return default # set_float - sets the float to the specified section/option def set_float(self, section, option, new_value): self.check_section(section) self.parser.set(section, option, str(float(new_value))) return # get_string - returns the string found in the specified section/option or the default if not found def get_string(self, section, option, default): try: return self.parser.get(section, option) except ConfigParser.Error: return default # set_string - sets the string to the specified section/option def set_string(self, section, option, new_value): self.check_section(section) self.parser.set(section, option, str(new_value)) return # main - tests SmartCameraConfig class def main(self): # print welcome message print("SmartCameraConfig v1.0 test") print("config file: %s" % self.config_file) # write and read a boolean section = 'Test_Section1' option = 'Test_boolean' print("Writing %s/%s = True" % (section,option)) self.set_boolean(section,option,True) print("Read %s/%s : %s" % (section, option, self.get_boolean(section, option, False))) # write and read an integer section = 'Test_Section1' option = 'Test_integer' print("Writing %s/%s = 11" % (section,option)) self.set_integer(section,option,11) print("Read %s/%s : %s" % (section, option, self.get_integer(section, option, 99))) # write and read a float section = 'Test_Section1' option = 'Test_float' print("Writing %s/%s = 12.345" % (section,option)) self.set_float(section,option,12.345) print("Read %s/%s : %s" % (section, option, self.get_float(section, option, 0.01))) # read an undefined number to get back the default section = 'Test_Section2' option = 'test_default' print("Read %s/%s : %s" % (section, option, self.get_float(section, option, 21.21))) # save the config file self.save() return # declare global config object config = SmartCameraConfig() # run the main routine if this is file is called from the command line if __name__ == "__main__": config.main() MAVProxy-1.8.74/MAVProxy/modules/mavproxy_smartcamera/sc_main.py000066400000000000000000000173501504324515000246710ustar00rootroot00000000000000import time import math import cv2 from pymavlink import mavutil from droneapi.lib import VehicleMode, Location import sc_config from sc_video import sc_video from sc_webcam import SmartCameraWebCam from sc_SonyQX1 import SmartCamera_SonyQX """ sc_main.py - runs top level smart camera function To run this module: * Run mavproxy.py with the correct options to connect to your vehicle * module load api * api start sc_main.py (Once tested we can put these directives into a mavinit.scr file and mavproxy will load/run this code automatically) """ class SmartCamera(object): def __init__(self, use_api): # if using droneapi connect to vehicle if (use_api): # First get an instance of the API endpoint (the connect via web case will be similar) self.api = local_connect() # Our vehicle (we assume the user is trying to control the virst vehicle attached to the GCS) self.vehicle = self.api.get_vehicles()[0] else: self.api = None self.vehicle = None # initialised flag self.home_initialised = False # timer to intermittently check for home position self.last_home_check = time.time() self.home_location = None # vehicle mission self.mission_cmds = None # check if we should display debug messages self.debug = sc_config.config.get_boolean('general','debug',True) # register cameras self.register_cameras(); # initialise video writer self.writer = None # register cameras - creates camera objects based on camera-type configuration def register_cameras(self): # initialise list self.camera_list = [] #look for up to 2 cameras for i in range(0,2): config_group = "camera%d" % i camera_type = sc_config.config.get_integer(config_group, 'type', 0) # webcam if camera_type == 1: new_camera = SmartCameraWebCam(i) self.camera_list = self.camera_list + [new_camera] # Sony QX1 if camera_type == 2: new_camera = SmartCamera_SonyQX(i,"wlan0") if new_camera.boValidCameraFound() is True: self.camera_list = self.camera_list + [new_camera] print("Found QX Camera") # display number of cameras found print ("cameras found: %d" % len(self.camera_list)) # fetch_mission - fetch mission from flight controller def fetch_mission(self): # download the vehicle waypoints self.mission_cmds = self.vehicle.commands self.mission_cmds.download() self.mission_cmds.wait_valid() # check home - intermittently checks for changes to the home location def check_home(self): # return immediately if home has already been initialised if self.home_initialised: return True # check for home no more than once every two seconds if (time.time() - self.last_home_check > 2): # update that we have performed a status check self.last_home_check = time.time() # check if we have a vehicle if self.vehicle is None: self.vehicle = self.api.get_vehicles()[0] return # ensure the vehicle's position is known if self.vehicle.location is None: return False if self.vehicle.location.lat is None or self.vehicle.location.lon is None or self.vehicle.location.alt is None: return False # download the vehicle waypoints if we don't have them already if self.mission_cmds is None: self.fetch_mission() return False # get the home lat and lon home_lat = self.mission_cmds[0].x home_lon = self.mission_cmds[0].y home_alt = self.mission_cmds[0].z # sanity check the home position if home_lat is None or home_lon is None or home_alt is None: return False # sanity check again and set home position if (home_lat != 0 and home_lon != 0): self.home_location = Location(home_lat,home_lon,home_alt) self.home_initialised = True else: self.mission_cmds = None # To-Do: if we wish to have the same home position as the flight controller # we must download the home waypoint again whenever the vehicle is armed # return whether home has been initialised or not return self.home_initialised # checks if video output should be started def check_video_out(self): # return immediately if video has already been started if not self.writer is None: return # start video once vehicle is armed if self.vehicle.armed: self.writer = sc_video.open_video_writer() # check_status - poles vehicle' status to determine if we should record video or not def check_status(self): # download the vehicle waypoints if we don't have them already # To-Do: do not load waypoints if vehicle is armed if self.mission_cmds is None: self.fetch_mission() return # take_picture_all - ask all cameras to take a picture def take_picture_all(self): for cam in self.camera_list: cam.take_picture() # saves_picture_all - ask all cameras for their latest image and saves to files def save_picture_all(self): cam_num = 0 for cam in self.camera_list: img = cam.get_latest_image() # display image window_name = "cam%d" % cam_num cv2.namedWindow(window_name, 0) cv2.resizeWindow(window_name, 640, 480) cv2.imshow (window_name, img) # write to file #imgfilename = "C:\Users\rmackay9\Documents\GitHub\ardupilot-balloon-finder\smart_camera\img%d-%d.jpg" % (cam_num,cam.get_image_counter()) #imgfilename = "img%d-%d.jpg" % (cam_num,cam.get_image_counter()) #print (imgfilename) #cv2.imwrite(imgfilename, img) # check for ESC key being pressed k = cv2.waitKey(5) & 0xFF if k == 27: break cam_num = cam_num + 1 # get image from sc_video class and write to file def analyze_image(self): # record time now = time.time() # get new image from camera f = self.get_frame() # save image for debugging later if not self.writer is None: self.writer.write(f) def run(self): while True: # ask all cameras to take a picture self.take_picture_all() # store images to disk self.save_picture_all() # Don't suck up too much CPU, only process a new image occasionally time.sleep(1) ''' while not self.api.exit: # only process images once home has been initialised if self.check_home(): # start video if required self.check_video_out() # check if we are controlling the vehicle self.check_status() # ask all cameras to take a picture self.take_picture_all() # Don't suck up too much CPU, only process a new image occasionally time.sleep(2.0) if not self.use_simulator: sc_video.stop_background_capture() ''' # initialise depending upon whether running from command line or as part of mavproxy if __name__ == "__main__": sc_main = SmartCamera(False) else: sc_main = SmartCamera(True) # run the smart camera sc_main.run() MAVProxy-1.8.74/MAVProxy/modules/mavproxy_smartcamera/sc_video.py000066400000000000000000000150551504324515000250530ustar00rootroot00000000000000""" sc_video.py This file includes functions to: Initialise the camera Initialise the output video Image size is held in the smart_camera.cnf """ import sys from os.path import expanduser import time import math from MAVProxy.modules.lib import multiproc import cv2 import sc_config class SmartCameraVideo: def __init__(self): # get image resolution self.img_width = sc_config.config.get_integer('camera','width',640) self.img_height = sc_config.config.get_integer('camera','height',480) # get image center self.img_center_x = self.img_width / 2 self.img_center_y = self.img_height / 2 # define field of view self.cam_hfov = sc_config.config.get_float('camera','horizontal-fov',70.42) self.cam_vfov = sc_config.config.get_float('camera','vertical-fov',43.3) # define video output filename self.video_filename = sc_config.config.get_string('camera','video_output_file','~/smartcamera-%Y-%m-%d-%H-%M.avi') self.video_filename = expanduser(self.video_filename) self.video_filename = time.strftime(self.video_filename) # background image processing variables self.proc = None # background process object self.parent_conn = None # parent end of communicatoin pipe self.img_counter = 0 # num images requested so far # __str__ - print position vector as string def __str__(self): return "SmartCameraVideo Object W:%d H:%d" % (self.img_width, self.img_height) # get_camera - initialises camera and returns VideoCapture object def get_camera(self): # setup video capture self.camera = cv2.VideoCapture(0) self.camera.set(cv2.cv.CV_CAP_PROP_FRAME_WIDTH,self.img_width) self.camera.set(cv2.cv.CV_CAP_PROP_FRAME_HEIGHT,self.img_height) # check we can connect to camera if not self.camera.isOpened(): print("failed to open camera, exiting!") sys.exit(0) return self.camera # open_video_writer - begin writing to video file def open_video_writer(self): # Define the codec and create VideoWriter object # Note: setting ex to -1 will display pop-up requesting user choose the encoder ex = int(cv2.cv.CV_FOURCC('M','J','P','G')) self.video_writer = cv2.VideoWriter(self.video_filename, ex, 25, (self.img_width,self.img_height)) return self.video_writer # pixels_to_angle_x - converts a number of pixels into an angle in radians def pixels_to_angle_x(self, num_pixels): return num_pixels * math.radians(self.cam_hfov) / self.img_width # pixels_to_angle_y - converts a number of pixels into an angle in radians def pixels_to_angle_y(self, num_pixels): return num_pixels * math.radians(self.cam_vfov) / self.img_height # angle_to_pixels_x - converts a horizontal angle (i.e. yaw) to a number of pixels # angle : angle in radians def angle_to_pixels_x(self, angle): return int(angle * self.img_width / math.radians(self.cam_hfov)) # angle_to_pixels_y - converts a vertical angle (i.e. pitch) to a number of pixels # angle : angle in radians def angle_to_pixels_y(self, angle): return int(angle * self.img_height / math.radians(self.cam_vfov)) # # background image processing routines # # image_capture_background - captures all images from the camera in the background and returning the latest image via the pipe when the parent requests it def image_capture_background(self, imgcap_connection): # exit immediately if imgcap_connection is invalid if imgcap_connection is None: print("image_capture failed because pipe is uninitialised") return # open the camera camera = self.get_camera() # clear latest image latest_image = None while True: # constantly get the image from the webcam success_flag, image=camera.read() # if successful overwrite our latest image if success_flag: latest_image = image # check if the parent wants the image if imgcap_connection.poll(): recv_obj = imgcap_connection.recv() # if -1 is received we exit if recv_obj == -1: break # otherwise we return the latest image imgcap_connection.send(latest_image) # release camera when exiting camera.release() # start_background_capture - starts background image capture def start_background_capture(self): # create pipe self.parent_conn, imgcap_conn = multiproc.Pipe() # create and start the sub process and pass it it's end of the pipe self.proc = multiproc.Process(target=self.image_capture_background, args=(imgcap_conn,)) self.proc.start() def stop_background_capture(self): # send exit command to image capture process self.parent_conn.send(-1) # join process self.proc.join() # get_image - returns latest image from the camera captured from the background process def get_image(self): # return immediately if pipe is not initialised if self.parent_conn is None: return None # send request to image capture for image self.parent_conn.send(self.img_counter) # increment counter for next interation self.img_counter = self.img_counter + 1 # wait endlessly until image is returned recv_img = self.parent_conn.recv() # return image to caller return recv_img # main - tests SmartCameraVideo class def main(self): # start background process self.start_background_capture() while True: # send request to image capture for image img = self.get_image() # check image is valid if not img is None: # display image cv2.imshow ('image_display', img) else: print("no image") # check for ESC key being pressed k = cv2.waitKey(5) & 0xFF if k == 27: break # take a rest for a bit time.sleep(0.1) # send exit command to image capture process self.stop_background_capture() print("a2p 10 = %f" % self.angle_to_pixels_x(10)) print("p2a 10 = %f" % self.pixels_to_angle_x(10)) # create a single global object sc_video = SmartCameraVideo() if __name__ == "__main__": sc_video.main() MAVProxy-1.8.74/MAVProxy/modules/mavproxy_smartcamera/sc_webcam.py000066400000000000000000000063471504324515000252070ustar00rootroot00000000000000""" sc_webcam.py This file includes functions to: initialise a web cam capture image from web cam Image size is held in the smart_camera.cnf """ import sys import time import math import cv2 import sc_config class SmartCameraWebCam: def __init__(self, instance): # health self.healthy = False; # record instance self.instance = instance self.config_group = "camera%d" % self.instance # get image resolution self.img_width = sc_config.config.get_integer(self.config_group,'width',640) self.img_height = sc_config.config.get_integer(self.config_group,'height',480) # background image processing variables self.img_counter = 0 # num images requested so far # latest image captured self.latest_image = None # setup video capture self.camera = cv2.VideoCapture(self.instance) # check we can connect to camera if not self.camera.isOpened(): print("failed to open webcam %d" % self.instance) # __str__ - print position vector as string def __str__(self): return "SmartCameraWebCam Object W:%d H:%d" % (self.img_width, self.img_height) # latest_image - returns latest image captured def get_latest_image(self): # write to file #imgfilename = "C:\Users\rmackay9\Documents\GitHub\ardupilot-balloon-finder\smart_camera\img%d-%d.jpg" % (cam_num,cam.get_image_counter()) imgfilename = "img%d-%d.jpg" % (self.instance,self.get_image_counter()) print (imgfilename) cv2.imwrite(imgfilename, self.latest_image) return self.latest_image # get_image_counter - returns number of images captured since startup def get_image_counter(self): return self.img_counter # take_picture - take a picture # returns True on success def take_picture(self): # setup video capture print("Taking Picture") self.camera = cv2.VideoCapture(self.instance) self.camera.set(cv2.cv.CV_CAP_PROP_FRAME_WIDTH,self.img_width) self.camera.set(cv2.cv.CV_CAP_PROP_FRAME_HEIGHT,self.img_height) # check we can connect to camera if not self.camera.isOpened(): self.healty = False return False # get an image from the webcam success_flag, self.latest_image=self.camera.read() # release camera self.camera.release() # if successful overwrite our latest image if success_flag: self.img_counter = self.img_counter+1 return True # return failure return False # main - tests SmartCameraWebCam class def main(self): while True: # send request to image capture for image if self.take_picture(): # display image cv2.imshow ('image_display', self.get_latest_image()) else: print("no image") # check for ESC key being pressed k = cv2.waitKey(5) & 0xFF if k == 27: break # take a rest for a bit time.sleep(0.01) # run test run from the command line if __name__ == "__main__": sc_webcam0 = SmartCameraWebCam(0) sc_webcam0.main() MAVProxy-1.8.74/MAVProxy/modules/mavproxy_smartcamera/smart_camera.cnf000066400000000000000000000003721504324515000260300ustar00rootroot00000000000000[camera0] # for no camera set type = 0, for webcam set type = 1 type = 2 #width = 640 #height = 480 #horizontal-fov = 70.42 #vertical-fov = 43.3 #video_output_file = ~/smartcamera-%%Y-%%m-%%d-%%H-%%M.avi [general] WirelessPort = wlan0 #debug = True MAVProxy-1.8.74/MAVProxy/modules/mavproxy_smartcamera/ssdp.py000066400000000000000000000043141504324515000242250ustar00rootroot00000000000000# thanks to # https://gist.github.com/dankrause/6000248 # # Copyright 2014 Dan Krause # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. import socket import httplib import StringIO class SSDPResponse(object): class _FakeSocket(StringIO.StringIO): def makefile(self, *args, **kw): return self def __init__(self, response): r = httplib.HTTPResponse(self._FakeSocket(response)) r.begin() self.location = r.getheader("location") self.usn = r.getheader("usn") self.st = r.getheader("st") self.cache = r.getheader("cache-control").split("=")[1] def __repr__(self): return "".format(**self.__dict__) def discover(service, if_ip=None, timeout=2, retries=1): group = ("239.255.255.250", 1900) message = "\r\n".join([ 'M-SEARCH * HTTP/1.1', 'HOST: {0}:{1}', 'MAN: "ssdp:discover"', 'ST: {st}','MX: 3','','']) socket.setdefaulttimeout(timeout) responses = [] for _ in range(retries): sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP) sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) sock.setsockopt(socket.IPPROTO_IP, socket.IP_MULTICAST_TTL, 2) if if_ip is not None: sock.setsockopt(socket.IPPROTO_IP, socket.IP_MULTICAST_IF, socket.inet_aton(if_ip)) sock.sendto(message.format(*group, st=service), group) while True: try: response = SSDPResponse(sock.recv(1024)) responses.append(response) except socket.timeout: break return responses # Example: # import ssdp # ssdp.discover("roku:ecp") MAVProxy-1.8.74/MAVProxy/modules/mavproxy_soar.py000066400000000000000000000053061504324515000217230ustar00rootroot00000000000000#!/usr/bin/env python3 ''' Soaring Module Ryan Friedman This module displays the estimated soaring thermals on the map. A circle is drawn with the estimated radius from ArduSoar's estimated thermal location. Note that this module uses NAMED_VALUE_FLOAT messages from the autopilot, a temporary measure until a proper mavlink message is decided upon. AP_FLAKE8_CLEAN ''' from MAVProxy.modules.lib import mp_module, mp_util from MAVProxy.modules.mavproxy_map import mp_slipmap import time class soar(mp_module.MPModule): _SOAR_THERMAL_MAP_OBJ_ID = "soar-thermal" _CLEAR_STALE_THERMAL_TIME = 5.0 def __init__(self, mpstate): """Initialise module""" super(soar, self).__init__(mpstate, "soar", "") self._strength = None self._radius = None self._x = None self._y = None self._last_draw_time = time.time() def mavlink_packet(self, m): '''handle mavlink packets''' if m.get_type() == 'NAMED_VALUE_FLOAT' and m.name.startswith("SOAR"): if m.name == "SOAREKFX0": self._strength = m.value elif m.name == "SOAREKFX1": self._radius = m.value elif m.name == "SOAREKFX2": self._x = m.value elif m.name == "SOAREKFX3": self._y = m.value else: raise NotImplementedError(m.name) self.draw_thermal_estimate() def idle_task(self): '''called rapidly by mavproxy''' if time.time() - self._last_draw_time > self._CLEAR_STALE_THERMAL_TIME: self.clear_thermal_estimate() def draw_thermal_estimate(self): if self._radius is None: return if self._x is None: return if self._y is None: return wp_module = self.module('wp') if wp_module is None: return home = wp_module.get_home() if home is None: return home_lat = home.x home_lng = home.y (thermal_lat, thermal_lon) = mp_util.gps_offset(home_lat, home_lng, self._y, self._x) slipcircle = mp_slipmap.SlipCircle( self._SOAR_THERMAL_MAP_OBJ_ID, # key "thermals", # layer (thermal_lat, thermal_lon), # latlon self._radius, # radius (0, 255, 255), linewidth=2) for mp in self.module_matching('map*'): self._last_draw_time = time.time() mp.map.add_object(slipcircle) def clear_thermal_estimate(self): for mp in self.module_matching('map*'): mp.map.remove_object(self._SOAR_THERMAL_MAP_OBJ_ID) def init(mpstate): '''initialise module''' return soar(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_speech.py000066400000000000000000000204301504324515000222210ustar00rootroot00000000000000#!/usr/bin/env python3 '''tune command handling''' import time, os from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import multiproc from MAVProxy.modules.lib import mp_util class SpeechCommandSay(object): def __init__(self, text, priority): self.text = text self.timestamp = time.time() self.priority = priority class SpeechCommandSetVoice(object): def __init__(self, voice): self.voice = voice class SpeechCommandUnload(object): def __init__(self): pass class SpeechCommandListVoices(object): def __init__(self): pass class SpeechBackend(): ''' speech control backend ''' def __init__(self, settings): self.settings = settings self.max_age = 5 self.parent_pipe, self.child_pipe = multiproc.Pipe() self.child = multiproc.Process(target=self.child_task) self.child.start() def send(self, command): '''send a command to the backend''' self.parent_pipe.send(command) def child_task(self): '''child process - this does the speech output''' mp_util.child_close_fds() self.pyttsx3_engine = None self.kill_speech_dispatcher() self.say_backend = None self.voice = '' for (backend_name,backend) in [("espeak",self.say_espeak), ("speechd",self.say_speechd), ("speech", self.say_speech), ("say", self.say_say), ("pyttsx3", self.say_pyttsx3)]: try: backend("") self.say_backend = backend print("Using speech backend '%s'" % backend_name) break except Exception: pass if self.say_backend is None: print("No speech available") while True: time.sleep(0.1) if self.pyttsx3_engine is not None: self.pyttsx3_engine.iterate() if self.child_pipe.poll(): cmd = self.child_pipe.recv() if isinstance(cmd, SpeechCommandSay): if self.say_backend is not None and time.time() - cmd.timestamp < self.max_age: self.say_backend(cmd.text, cmd.priority) elif isinstance(cmd, SpeechCommandListVoices): self.list_voices() elif isinstance(cmd, SpeechCommandSetVoice): self.voice = cmd.voice def say_speechd(self, text, priority='important'): '''speak some text''' ''' http://cvs.freebsoft.org/doc/speechd/ssip.html see 4.3.1 for priorities''' import speechd self.speech = speechd.SSIPClient('MAVProxy%u' % os.getpid()) self.speech.set_output_module('festival') self.speech.set_language('en') self.speech.set_priority(priority) self.speech.set_punctuation(speechd.PunctuationMode.SOME) self.speech.speak(text) self.speech.close() def say_espeak(self, text, priority='important'): '''speak some text using espeak''' from espeak import espeak if self.voice: espeak.set_voice(self.voice) espeak.synth(text) while espeak.is_playing(): time.sleep(0.1) def say_speech(self, text, priority='important'): '''speak some text using speech module''' import speech speech.say(text) def say_pyttsx3(self, text, priority='important'): '''speak some text using pyttsx3 module''' if self.pyttsx3_engine is None: import pyttsx3 self.pyttsx3_engine = pyttsx3.init() if self.voice: self.pyttsx3_engine.setProperty('voice', self.voice) self.pyttsx3_engine.startLoop(False) return if len(text) > 0: if self.voice: self.pyttsx3_engine.setProperty('voice', self.voice) self.pyttsx3_engine.say(text) def say_say(self, text, priority='important'): '''speak some text using macOS say command''' import subprocess subprocess.check_call(["say",text]) def list_voices(self): if self.say_backend == self.say_espeak: from espeak import espeak voices = espeak.list_voices() vlist = [ v.name for v in voices ] print(vlist) elif self.say_backend == self.say_pyttsx3: vlist = [ v.name for v in self.pyttsx3_engine.getProperty('voices') ] print(vlist) else: print("Backend can't list voices") def kill_speech_dispatcher(self): '''kill speech dispatcher processs''' if not 'HOME' in os.environ: return pidpath = os.path.join(os.environ['HOME'], '.speech-dispatcher', 'pid', 'speech-dispatcher.pid') if os.path.exists(pidpath): try: import signal pid = int(open(pidpath).read()) if pid > 1 and os.kill(pid, 0) is None: print("Killing speech dispatcher pid %u" % pid) os.kill(pid, signal.SIGINT) time.sleep(1) except Exception as e: pass class SpeechModule(mp_module.MPModule): def __init__(self, mpstate): super(SpeechModule, self).__init__(mpstate, "speech", "speech output") self.add_command('speech', self.cmd_speech, "text-to-speech", ['']) self.old_mpstate_say_function = self.mpstate.functions.say self.mpstate.functions.say = self.say try: self.settings.set('speech', 1) except AttributeError: self.settings.append(('speech', int, 1)) try: self.settings.set('speech_voice', '') except AttributeError: self.settings.append(('speech_voice', str, '')) self.backend = SpeechBackend(self.settings) self.settings_set_callback_installed = False self.settings_set_callback_delay = None def settings_callback(self, setting): '''handle changes in settings''' if setting.name == "speech_voice": self.backend.send(SpeechCommandSetVoice(setting.value)) def unload(self): '''unload module''' self.backend.send(SpeechCommandUnload()) self.settings.set('speech', 0) if self.mpstate.functions.say == self.mpstate.functions.say: self.mpstate.functions.say = self.old_mpstate_say_function def say(self, text, priority='important'): '''speak some text''' ''' http://cvs.freebsoft.org/doc/speechd/ssip.html see 4.3.1 for priorities''' self.console.writeln(text) if self.settings.speech: self.backend.send(SpeechCommandSay(text, priority)) def mavlink_packet(self, msg): '''handle an incoming mavlink packet''' type = msg.get_type() if type == "STATUSTEXT": # say some statustext values speech_prefixes = [ "Tuning: ", "@" ] for s in speech_prefixes: if msg.text.startswith(s): self.say(msg.text[len(s):]) def cmd_speech(self, args): '''speech commands''' usage = "usage: speech " if len(args) < 1: print(usage) return if args[0] == "say": if len(args) < 2: print("usage: speech say ") return self.say(" ".join(args[1::])) if args[0] == "list_voices": self.backend.send(SpeechCommandListVoices()) def idle_task(self): if not self.settings_set_callback_installed: now = time.time() if self.settings_set_callback_delay is None: self.settings_set_callback_delay_start = now if now - self.settings_set_callback_delay_start < 1: return self.settings_set_callback_delay = None try: self.settings.set_callback(self.settings_callback) self.settings_set_callback_installed = True except Exception as ex: print("Caught exception (%s)" % str(ex)) def init(mpstate): '''initialise module''' return SpeechModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_swarm.py000066400000000000000000001201241504324515000221040ustar00rootroot00000000000000''' Swarming support Stephen Dade, July 2021 Helper GUI for managing leader-follower swarms ''' import sys import time import wx.lib.scrolledpanel as scrolled from pymavlink import mavutil from MAVProxy.modules.lib import (icon, mp_module, mp_settings, mp_util, multiproc, win_layout) from MAVProxy.modules.lib.wx_loader import wx def get_vehicle_name(vehtype): '''return vehicle type string from a heartbeat''' if vehtype in [mavutil.mavlink.MAV_TYPE_FIXED_WING, mavutil.mavlink.MAV_TYPE_VTOL_DUOROTOR, mavutil.mavlink.MAV_TYPE_VTOL_QUADROTOR, mavutil.mavlink.MAV_TYPE_VTOL_TILTROTOR]: return 'Plane' if vehtype == mavutil.mavlink.MAV_TYPE_GROUND_ROVER: return 'Rover' if vehtype == mavutil.mavlink.MAV_TYPE_SURFACE_BOAT: return 'Boat' if vehtype == mavutil.mavlink.MAV_TYPE_SUBMARINE: return 'Sub' if vehtype in [mavutil.mavlink.MAV_TYPE_QUADROTOR, mavutil.mavlink.MAV_TYPE_COAXIAL, mavutil.mavlink.MAV_TYPE_HEXAROTOR, mavutil.mavlink.MAV_TYPE_OCTOROTOR, mavutil.mavlink.MAV_TYPE_TRICOPTER, mavutil.mavlink.MAV_TYPE_DODECAROTOR]: return "Copter" if vehtype == mavutil.mavlink.MAV_TYPE_HELICOPTER: return "Heli" if vehtype == mavutil.mavlink.MAV_TYPE_ANTENNA_TRACKER: return "Tracker" if vehtype == mavutil.mavlink.MAV_TYPE_AIRSHIP: return "Blimp" return "UNKNOWN({0})".format(vehtype) def parmString(str): '''convert string to bytes in python3''' if sys.version_info.major < 3: return str return bytes(str, 'ascii') class SwarmUI(): ''' Swarm User Interface ''' def __init__(self, parmsToShow, title='MAVProxy: Swarm Control', takeoffalt=10): self.title = title self.parmsToShow = parmsToShow self.takeoffalt = takeoffalt self.parent_pipe, self.child_pipe = multiproc.Pipe() self.close_event = multiproc.Event() self.close_event.clear() self.child = multiproc.Process(target=self.child_task) self.child.start() def child_task(self): '''child process - this holds all the GUI elements''' mp_util.child_close_fds() app = wx.App(False) app.frame = SwarmFrame( self, title=self.title, params=self.parmsToShow, takeoffalt=self.takeoffalt) app.frame.Show() app.MainLoop() def changesetting(self, setting, val): '''Change a setting''' if self.child.is_alive(): self.parent_pipe.send(('changesetting', (setting, val))) def close(self): '''close the UI''' self.close_event.set() if self.is_alive(): self.child.join(2) def is_alive(self): '''check if child is still going''' return self.child.is_alive() def updateLayout(self, newLayout): '''set a status value''' if self.child.is_alive(): self.parent_pipe.send(('updatelayout', newLayout)) def updateHB(self, vehHB): '''update HB status of vehicles''' if self.child.is_alive(): self.parent_pipe.send(('updateHB', vehHB)) def onmavlinkpacket(self, pkt): '''set a status value''' if self.child.is_alive(): self.parent_pipe.send(('onmavlinkpacket', pkt)) class UnassignedPanel(wx.Panel): ''' A wx.Panel to hold a single unassigned vehicle ''' def __init__(self, state, parent): wx.Panel.__init__(self, parent) # , style=wx.BORDER_SIMPLE) self.state = state self.sizer = wx.BoxSizer(wx.VERTICAL) self.titleText = wx.StaticText( self, label="Unassigned Vehicles -->\n\nTools:") self.sizer.Add(self.titleText, flag=wx.EXPAND | wx.LEFT | wx.RIGHT, border=5) self.getParamsButton = wx.Button( self, label="Get offsets", size=wx.Size(100, 50)) self.Bind(wx.EVT_BUTTON, self.getParams, self.getParamsButton) self.resetButton = wx.Button( self, label="Reset layout", size=wx.Size(100, 50)) self.Bind(wx.EVT_BUTTON, self.reset, self.resetButton) self.sizer.Add(self.getParamsButton) self.sizer.Add(self.resetButton) # Do the sizer layout self.SetSizer(self.sizer) def getParams(self, event): '''get offset params again''' self.state.child_pipe.send(("getparams", None, None)) def reset(self, event): '''arm/disarm the vehicle''' self.state.child_pipe.send(("resetLayout", None, None)) class VehiclePanel(wx.Panel): ''' A wx.panel to hold a single vehicle (leader or follower) ''' def __init__(self, state, parent, sysid, compid, vehtype, isLeader, listFollowers, takeoffalt): wx.Panel.__init__(self, parent) self.state = state self.sysid = sysid self.compid = compid self.listFollowers = listFollowers self.isLeader = isLeader self.vehtype = vehtype self.takeoffalt = takeoffalt self.inLinkLoss = False # XYZ offsets. Filled are we get params self.offsetValues = [None, None, None] self.sizer = wx.BoxSizer(wx.VERTICAL) # Status boxes if self.isLeader: self.title = wx.StaticText(self, label="Leader {0}:{1} {2}".format( sysid, compid, get_vehicle_name(vehtype))) self.offsets = wx.StaticText(self, label="Offset: N/A") else: self.title = wx.StaticText(self, label="Veh {0}:{1} {2}".format( sysid, compid, get_vehicle_name(vehtype))) self.offsets = wx.StaticText(self, label="Offset: xxxxxx") self.armmode = wx.StaticText(self, label="armed/mode N/A ") self.thrAlt = wx.StaticText( self, label="Alt: {0}m Thr: {1}%".format(0, 0)) self.altRel = wx.StaticText(self, label="Rel Alt: {0}m".format(0)) self.battery = wx.StaticText(self, label="Battery: {0}V".format(0)) self.status = wx.StaticText(self, label="Status: N/A") self.prearm = wx.StaticText(self, label="Prearm: N/A") self.statusText = wx.TextCtrl( self, style=wx.TE_READONLY | wx.TE_MULTILINE, size=wx.Size(140, 100)) # Command buttons self.doArm = wx.Button(self, label="XXX", size=wx.Size(100, 50)) self.Bind(wx.EVT_BUTTON, self.arm, self.doArm) if self.isLeader: self.armSizer = wx.BoxSizer(wx.HORIZONTAL) self.doArmAll = wx.Button(self, label="ALL", size=wx.Size(70, 50)) self.Bind(wx.EVT_BUTTON, self.armAll, self.doArmAll) self.doGuided = wx.Button( self, label="Mode GUIDED", size=wx.Size(100, 50)) self.Bind(wx.EVT_BUTTON, self.guided, self.doGuided) if self.isLeader: self.guidedSizer = wx.BoxSizer(wx.HORIZONTAL) self.doGuidedAll = wx.Button( self, label="ALL", size=wx.Size(70, 50)) self.Bind(wx.EVT_BUTTON, self.guidedAll, self.doGuidedAll) if vehtype != mavutil.mavlink.MAV_TYPE_GROUND_ROVER: self.doGuidedTakeoff = wx.Button( self, label="GUIDED T/O {0}m".format(self.takeoffalt), size=wx.Size(130, 50)) self.Bind(wx.EVT_BUTTON, self.guidedTakeoff, self.doGuidedTakeoff) if self.isLeader: self.takeoffSizer = wx.BoxSizer(wx.HORIZONTAL) self.doGuidedTakeoffAll = wx.Button( self, label="ALL".format(self.takeoffalt), size=wx.Size(70, 50)) self.Bind(wx.EVT_BUTTON, self.guidedTakeoffAll, self.doGuidedTakeoffAll) self.doRTL = wx.Button(self, label="Mode RTL", size=wx.Size(100, 50)) self.Bind(wx.EVT_BUTTON, self.rtl, self.doRTL) if self.isLeader: self.rtlSizer = wx.BoxSizer(wx.HORIZONTAL) self.doRTLAll = wx.Button(self, label="ALL", size=wx.Size(70, 50)) self.Bind(wx.EVT_BUTTON, self.rtlAll, self.doRTLAll) self.doKill = wx.Button(self, label="KILL", size=wx.Size(100, 50)) self.killTimer = None self.Bind(wx.EVT_BUTTON, self.kill, self.doKill) if self.isLeader: self.killSizer = wx.BoxSizer(wx.HORIZONTAL) self.doKillAll = wx.Button(self, label="ALL", size=wx.Size(70, 50)) self.killAllTimer = None self.Bind(wx.EVT_BUTTON, self.killall, self.doKillAll) if self.isLeader: self.doFollowAll = wx.Button( self, label="All Follow Leader", size=wx.Size(130, 50)) self.Bind(wx.EVT_BUTTON, self.followAll, self.doFollowAll) self.doAUTO = wx.Button( self, label="Mode AUTO", size=wx.Size(100, 50)) self.Bind(wx.EVT_BUTTON, self.auto, self.doAUTO) else: self.doFollow = wx.Button( self, label="Mode Follow", size=wx.Size(100, 50)) self.Bind(wx.EVT_BUTTON, self.follow, self.doFollow) # Do the sizer layout self.doSizer() # get offset params. Needs to be after GUI elements are created time.sleep(0.05) self.state.child_pipe.send(("getoffsets", self.sysid, self.compid)) def doSizer(self): '''Sort out all the sizers and layout''' self.sizer.Add(self.title) self.sizer.Add(self.armmode) self.sizer.Add(self.thrAlt) self.sizer.Add(self.altRel) self.sizer.Add(self.battery) self.sizer.Add(self.status) self.sizer.Add(self.prearm) self.sizer.Add(self.offsets) self.sizer.Add(self.statusText) if self.isLeader: self.armSizer.Add(self.doArm) self.armSizer.Add(self.doArmAll) self.sizer.Add(self.armSizer) else: self.sizer.Add(self.doArm) if self.vehtype != mavutil.mavlink.MAV_TYPE_GROUND_ROVER: if self.isLeader: self.takeoffSizer.Add(self.doGuidedTakeoff) self.takeoffSizer.Add(self.doGuidedTakeoffAll) self.sizer.Add(self.takeoffSizer) else: self.sizer.Add(self.doGuidedTakeoff) if self.isLeader: self.guidedSizer.Add(self.doGuided) self.guidedSizer.Add(self.doGuidedAll) self.sizer.Add(self.guidedSizer) else: self.sizer.Add(self.doGuided) if self.isLeader: self.rtlSizer.Add(self.doRTL) self.rtlSizer.Add(self.doRTLAll) self.sizer.Add(self.rtlSizer) else: self.sizer.Add(self.doRTL) if self.isLeader: self.killSizer.Add(self.doKill) self.killSizer.Add(self.doKillAll) self.sizer.Add(self.killSizer) else: self.sizer.Add(self.doKill) if self.isLeader: self.sizer.Add(self.doFollowAll) self.sizer.Add(self.doAUTO) else: self.sizer.Add(self.doFollow) self.SetSizer(self.sizer) def updatetakeoffalt(self, alt): '''update takeoff altitude''' self.takeoffalt = alt if self.vehtype != mavutil.mavlink.MAV_TYPE_GROUND_ROVER: self.doGuidedTakeoff.SetLabel( "GUIDED T/O {0}m".format(self.takeoffalt)) if self.isLeader: self.doGuidedTakeoffAll.SetLabel("ALL".format(self.takeoffalt)) def updateData(self, armed, mode): '''update the arming/mode status. Only change if required''' if armed and (self.doArm.GetLabel() in ["ARM", "XXX"] or str(mode) not in self.armmode.GetLabel()): self.armmode.SetForegroundColour((0, 200, 0)) self.armmode.SetLabel("Armed" + "/" + str(mode)) self.doArm.SetLabel("DISARM") elif not armed and (self.doArm.GetLabel() in ["DISARM", "XXX"] or str(mode) not in self.armmode.GetLabel()): self.armmode.SetForegroundColour((200, 0, 0)) self.armmode.SetLabel("Disarmed" + "/" + str(mode)) self.doArm.SetLabel("ARM") def updatethralt(self, throttle, alt): '''update throttle and altitude status''' self.thrAlt.SetLabel("Alt: {0}m Thr: {1}%".format(int(alt), throttle)) def updaterelalt(self, relalt): '''update relative altitude''' self.altRel.SetLabel("Rel Alt: {0}m".format(int(relalt))) def updateStatus(self, status): '''update status''' self.status.SetLabel("Status: {0}".format(status)) if status in ["FAILSAFE", "Emergency", "Terminated"]: self.status.SetForegroundColour((200, 0, 0)) elif status == "Flying": self.status.SetForegroundColour((0, 200, 0)) else: self.status.SetForegroundColour((120, 120, 0)) def updateprearm(self, preArmGood): '''Update pre-arm status''' self.prearm.SetLabel("Prearm: {0}".format( "OK" if preArmGood else "BAD")) if preArmGood: self.prearm.SetForegroundColour((0, 200, 0)) else: self.prearm.SetForegroundColour((200, 0, 0)) def updatevoltage(self, voltage): '''update battery voltage''' self.battery.SetLabel("Battery: {0:.1f}V".format(voltage)) def arm(self, event): '''arm/disarm the vehicle''' self.state.child_pipe.send( ("arm" if self.doArm.GetLabel() == "ARM" else "disarm", self.sysid, self.compid)) def armAll(self, event): '''Arm leader and all followers''' self.state.child_pipe.send(("arm", self.sysid, self.compid)) if len(self.listFollowers) > 0: for (sysidFollow, compidFollow, vehtype) in self.listFollowers: self.state.child_pipe.send(("arm", sysidFollow, compidFollow)) def guided(self, event): '''switch to mode guided''' self.state.child_pipe.send(("GUIDED", self.sysid, self.compid)) def guidedAll(self, event): '''mode guided for leader and all followers''' self.state.child_pipe.send(("GUIDED", self.sysid, self.compid)) if len(self.listFollowers) > 0: for (sysidFollow, compidFollow, vehtype) in self.listFollowers: self.state.child_pipe.send( ("GUIDED", sysidFollow, compidFollow)) def addstatustext(self, text): '''have recieved statustext, update relevant control''' self.statusText.AppendText('\n' + text) def guidedTakeoff(self, event): '''switch to guided mode, wait 0.1 sec then nav_takeoff to TAKEOFFALT''' self.state.child_pipe.send(("GUIDED", self.sysid, self.compid)) time.sleep(0.1) self.state.child_pipe.send(("takeoff", self.sysid, self.compid)) def guidedTakeoffAll(self, event): '''switch to guided mode, wait 0.1 sec then nav_takeoff to TAKEOFFALT for all vehicles''' self.state.child_pipe.send(("GUIDED", self.sysid, self.compid)) time.sleep(0.1) self.state.child_pipe.send(("takeoff", self.sysid, self.compid)) if len(self.listFollowers) > 0: for (sysidFollow, compidFollow, vehtype) in self.listFollowers: self.state.child_pipe.send( ("GUIDED", sysidFollow, compidFollow)) time.sleep(0.1) self.state.child_pipe.send( ("takeoff", sysidFollow, compidFollow)) def rtl(self, event): '''switch to mode RTL''' self.state.child_pipe.send(("RTL", self.sysid, self.compid)) def rtlAll(self, event): '''RTL leader and all followers''' self.state.child_pipe.send(("RTL", self.sysid, self.compid)) if len(self.listFollowers) > 0: for (sysidFollow, compidFollow, vehtype) in self.listFollowers: self.state.child_pipe.send(("RTL", sysidFollow, compidFollow)) def killTimeout(self, event): '''Kill action timeout''' self.doKill.SetLabel("KILL") self.killTimer = None def killAllTimeout(self, event): '''Kill all action timeout''' self.doKillAll.SetLabel("ALL") self.killAllTimer = None def kill(self, event): '''disarm force (kill) the drone''' if self.doKill.GetLabel() == "KILL": self.doKill.SetLabel("KILL Sure?") # start a 1 sec timer self.killTimer = wx.Timer(self) self.Bind(wx.EVT_TIMER, self.killTimeout, self.killTimer) self.killTimer.Start(1000) else: self.state.child_pipe.send(("kill", self.sysid, self.compid)) def killall(self, event): '''disarm force (kill) the whole swarm''' if self.doKillAll.GetLabel() == "ALL": self.doKillAll.SetLabel("ALL Sure?") # start a 1 sec timer self.killAllTimer = wx.Timer(self) self.Bind(wx.EVT_TIMER, self.killAllTimeout, self.killAllTimer) self.killAllTimer.Start(1000) else: self.state.child_pipe.send(("kill", self.sysid, self.compid)) if len(self.listFollowers) > 0: for (sysidFollow, compidFollow, vehtype) in self.listFollowers: self.state.child_pipe.send( ("kill", sysidFollow, compidFollow)) def follow(self, event): '''switch to mode follow''' self.state.child_pipe.send(("FOLLOW", self.sysid, self.compid)) def followAll(self, event): '''Mode FOLLOW for all followers''' if len(self.listFollowers) > 0: for (sysidFollow, compidFollow, vehtype) in self.listFollowers: self.state.child_pipe.send( ("FOLLOW", sysidFollow, compidFollow)) def auto(self, event): '''switch to mode AUTO''' self.state.child_pipe.send(("AUTO", self.sysid, self.compid)) def updateOffset(self, param, value): '''get offset param''' if self.isLeader: return if param == 'FOLL_OFS_X': self.offsetValues[0] = value elif param == 'FOLL_OFS_Y': self.offsetValues[1] = value elif param == 'FOLL_OFS_Z': self.offsetValues[2] = value else: return # refresh static text if self.offsetValues[0] != None and self.offsetValues[1] != None and self.offsetValues[2] != None: self.offsets.SetLabel("Offset: {0}m,{1}m,{2}m".format( self.offsetValues[0], self.offsetValues[1], self.offsetValues[2])) class SwarmFrame(wx.Frame): ''' The main frame of the UI. Runs in a subprocess, so need a pipe to communicate with ''' def __init__(self, state, title, params, takeoffalt): self.state = state wx.Frame.__init__(self, None, title=title, size=( 1400, 500), style=wx.DEFAULT_FRAME_STYLE) self.panel = scrolled.ScrolledPanel(self, style=wx.FULL_REPAINT_ON_RESIZE) self.panel.SetBackgroundColour(wx.WHITE) # Icon self.SetIcon(icon.SimpleIcon("Swarm").get_ico()) # Params to show (array) self.parmsToShow = params self.takeoffalt = takeoffalt self.last_layout_send = time.time() # layout. Column per leader, with followers underneath self.sizer = wx.FlexGridSizer(1, 1, 0, 0) # add in the pipe from MAVProxy self.timer = wx.Timer(self) self.Bind(wx.EVT_TIMER, lambda evt, panel=self.panel: self.on_timer(evt), self.timer) self.timer.Start(100) #Fires on window resize self.Bind(wx.EVT_SIZE, self.OnSize) # layout self.panel.SetSizer(self.sizer) self.panel.Layout() self.panel.SetupScrolling() self.Show(True) def OnSize(self, e): #This refresh shouldn't be necessary self.Refresh() #Pass event up the chain so window still resizes e.Skip() def on_timer(self, event): '''receive messages from MAVProxy and pass on to GUI''' state = self.state # update saved pos/size of GUI now = time.time() if now - self.last_layout_send > 1: self.last_layout_send = now state.child_pipe.send( (win_layout.get_wx_window_layout(self), 0, 0)) if state.close_event.wait(0.001): self.timer.Stop() self.Destroy() return while state.child_pipe.poll(): obj = state.child_pipe.recv() if obj[0] == 'updatelayout': self.updateLayout(obj[1]) elif obj[0] == 'onmavlinkpacket': self.onmavlinkpacket(obj[1]) elif obj[0] == 'updateHB': self.updateHB(obj[1]) elif isinstance(obj[0], win_layout.WinLayout): win_layout.set_wx_window_layout(self, obj[0]) elif obj[0] == 'changesetting' and obj[1][0] == 'takeoffalt': self.updatetakeoffalt(int(obj[1][1])) def updatetakeoffalt(self, alt): '''Update the takeoff altitude of the vehicles''' children = self.sizer.GetChildren() # update panel for child in children: widget = child.GetWindow() if isinstance(widget, VehiclePanel): widget.updatetakeoffalt(alt) def updateHB(self, vehHB): '''Update the GUI panels if we've lost link to vehicle Panel goes red if more than 4 sec since last HB''' children = self.sizer.GetChildren() # update panel for child in children: widget = child.GetWindow() if isinstance(widget, VehiclePanel): if (widget.sysid, widget.compid) in vehHB.keys(): # put to red if more than 4 sec, else no colour. Only change if required. if vehHB[(widget.sysid, widget.compid)] + 4 < time.time() and widget.GetBackgroundColour() != wx.RED: widget.SetBackgroundColour(wx.RED) elif vehHB[(widget.sysid, widget.compid)] + 4 > time.time() and widget.GetBackgroundColour() != wx.WHITE: widget.SetBackgroundColour(wx.WHITE) def updateLayout(self, layout): '''Update (recreate) the GUI layout, based on known vehicles''' leaders = [] # array of (sysid, compid, followid, vehtype) # create list of leaders, another vehicle has it's sysid as leader for veh in layout: for vehL in layout: if vehL[2] == veh[0] and veh not in leaders: leaders.append(veh) # create list of followers followers = {} # dict of key=leadersysid, (sysid, compid, vehtype) maxfollowers = 0 for veh in layout: # don't include leaders in the follower list if veh[2] != 0: if veh[2] not in followers.keys(): followers[veh[2]] = [(veh[0], veh[1], veh[3])] else: followers[veh[2]].append((veh[0], veh[1], veh[3])) if len(followers[veh[2]]) > maxfollowers: maxfollowers = len(followers[veh[2]]) # sort followers by sysid increasing for fwr in followers.keys(): followers[fwr].sort(key=lambda tup: tup[0]) # Any unassigned vehicles: Leader with 0 followers OR leader not present # OR vehicles not present in either list (leftovers) unassignedVeh = [] # (sysid, compid, vehtype) # Leader with no followers for index, veh in enumerate(leaders): if veh[0] not in followers.keys(): del leaders[index] unassignedVeh.append((veh[0], veh[1], veh[3])) # Not present in either list allfollowersflat = [] for fl in followers.items(): for vv in fl[1]: allfollowersflat.append(vv[0]) for veh in layout: if (veh not in leaders) and veh[0] not in allfollowersflat: unassignedVeh.append((veh[0], veh[1], veh[3])) # Leader not present for leader in followers.copy().keys(): if leader not in [i[0] for i in leaders]: for veh in followers[leader]: unassignedVeh.append(veh) del followers[leader] # followers.remove(leader) self.sizer.Clear(True) colsVeh = max(maxfollowers, len(unassignedVeh)) self.sizer = wx.FlexGridSizer((len(leaders)*2) + 1, colsVeh+1+1, 5, 0) # start populating the grid # for each row: for leader in leaders: panelLeader = VehiclePanel( self.state, self.panel, leader[0], leader[1], leader[3], True, followers[leader[0]], self.takeoffalt) self.sizer.Add(panelLeader) # add vertical line line = wx.StaticLine(self.panel, style=wx.LI_VERTICAL) self.sizer.Add(line, proportion=0, flag=wx.EXPAND | wx.LEFT | wx.RIGHT, border=5) for follower in range(colsVeh): if leader[0] in followers.keys() and len(followers[leader[0]]) > follower: panelFollower = VehiclePanel(self.state, self.panel, followers[leader[0]][follower][0], followers[ leader[0]][follower][1], followers[leader[0]][follower][2], False, None, self.takeoffalt) else: panelFollower = wx.StaticText(self.panel, label="N/A") self.sizer.Add(panelFollower, flag=wx.EXPAND | wx.LEFT | wx.RIGHT, border=5) # add horizontal line, column by column for follower in range(colsVeh+1+1): line = wx.StaticLine(self.panel, style=wx.LI_HORIZONTAL) self.sizer.Add(line, proportion=0, flag=wx.EXPAND | wx.ALL, border=0) # add "unassigned" row panelUnassigned = UnassignedPanel(self.state, self.panel) self.sizer.Add(panelUnassigned, flag=wx.EXPAND | wx.LEFT | wx.RIGHT, border=5) line = wx.StaticLine(self.panel, style=wx.LI_VERTICAL) self.sizer.Add(line, proportion=0, flag=wx.EXPAND | wx.LEFT | wx.RIGHT, border=5) for veh in unassignedVeh: panelunassigned = VehiclePanel( self.state, self.panel, veh[0], veh[1], veh[2], False, None, self.takeoffalt) self.sizer.Add(panelunassigned) self.panel.SetSizer(self.sizer) self.panel.Layout() self.panel.SetupScrolling() def onmavlinkpacket(self, msg): ''' on new mavlink packet, update relevant GUI elements''' children = self.sizer.GetChildren() sysid = msg.get_srcSystem() compid = msg.get_srcComponent() mtype = msg.get_type() for child in children: widget = child.GetWindow() # update arm and mode status on leader if isinstance(widget, VehiclePanel) and widget.sysid == sysid and widget.compid == compid: if mtype == 'HEARTBEAT': mode_map = mavutil.mode_mapping_bynumber(msg.type) isArmed = True if msg.base_mode & mavutil.mavlink.MAV_MODE_FLAG_SAFETY_ARMED == 128 else False widget.updateData(isArmed, mode_map[msg.custom_mode]) sysStatus = msg.system_status if sysStatus == mavutil.mavlink.MAV_STATE_BOOT: widget.updateStatus("Booting") elif sysStatus == mavutil.mavlink.MAV_STATE_CALIBRATING: widget.updateStatus("Calibrating") elif sysStatus == mavutil.mavlink.MAV_STATE_STANDBY: widget.updateStatus("On Ground") elif sysStatus == mavutil.mavlink.MAV_STATE_ACTIVE: widget.updateStatus("Flying") elif sysStatus == mavutil.mavlink.MAV_STATE_CRITICAL: widget.updateStatus("FAILSAFE") elif sysStatus == mavutil.mavlink.MAV_STATE_EMERGENCY: widget.updateStatus("Emergency") elif sysStatus == mavutil.mavlink.MAV_STATE_POWEROFF: widget.updateStatus("Poweroff") elif sysStatus == mavutil.mavlink.MAV_STATE_FLIGHT_TERMINATION: widget.updateStatus("Terminated") elif mtype == 'VFR_HUD': widget.updatethralt(msg.throttle, msg.alt) elif mtype == 'GLOBAL_POSITION_INT': widget.updaterelalt(msg.relative_alt * 1.0e-3) elif mtype == "SYS_STATUS": preArmGood = ((msg.onboard_control_sensors_health & mavutil.mavlink.MAV_SYS_STATUS_PREARM_CHECK) == mavutil.mavlink.MAV_SYS_STATUS_PREARM_CHECK) widget.updateprearm(preArmGood) widget.updatevoltage(float(msg.voltage_battery)/1000) elif mtype == "STATUSTEXT" and msg.severity <= mavutil.mavlink.MAV_SEVERITY_WARNING: # Only pass on warning messages or more severe widget.addstatustext(msg.text) elif mtype == 'PARAM_VALUE' and msg.param_id in self.parmsToShow: widget.updateOffset(msg.param_id, int(msg.param_value)) class swarm(mp_module.MPModule): ''' The MAVProxy module that manages the GUI ''' def __init__(self, mpstate): '''Initialise module''' super(swarm, self).__init__(mpstate, "swarm", "swarm module", multi_vehicle=True) # array of tuples for (SYSID, COMPID, FOLL_SYSID, veh_type) of all detected vehicles self.vehicleListing = [] self.add_command('swarm', self.cmd_swarm, "swarm control", ["", "set (SWARMSETTING)"]) self.swarm_settings = mp_settings.MPSettings( [("takeoffalt", int, 10)]) # meters self.add_completion_function('(SWARMSETTING)', self.swarm_settings.completion) # Which params to show on the GUI per vehicle self.parmsToShow = ["FOLL_OFS_X", "FOLL_OFS_Y", "FOLL_OFS_Z"] # time of last HB for each vehicle. Key is tuple of sysid,compid. Value is time of last HB self.vehicleLastHB = {} self.needHBupdate_timer = mavutil.periodic_event(1) # Periodic event to update the GUI self.needGUIupdate = False self.needGUIupdate_timer = mavutil.periodic_event(1) # Periodic event to send param (offset) requests (5 Hz) self.requestParams_timer = mavutil.periodic_event(5) # Periodic event re-get params (0.1 Hz) self.RerequestParams_timer = mavutil.periodic_event(0.1) # List of any vehicles we still need to get params for self.vehParamsToGet = [] # All vehicle positions. Dict. Key is sysid, value is tuple of (lat,lon,alt) self.allVehPos = {} self.validVehicles = frozenset([mavutil.mavlink.MAV_TYPE_FIXED_WING, mavutil.mavlink.MAV_TYPE_VTOL_DUOROTOR, mavutil.mavlink.MAV_TYPE_VTOL_QUADROTOR, mavutil.mavlink.MAV_TYPE_VTOL_TILTROTOR, mavutil.mavlink.MAV_TYPE_GROUND_ROVER, mavutil.mavlink.MAV_TYPE_SURFACE_BOAT, mavutil.mavlink.MAV_TYPE_SUBMARINE, mavutil.mavlink.MAV_TYPE_QUADROTOR, mavutil.mavlink.MAV_TYPE_COAXIAL, mavutil.mavlink.MAV_TYPE_HEXAROTOR, mavutil.mavlink.MAV_TYPE_OCTOROTOR, mavutil.mavlink.MAV_TYPE_TRICOPTER, mavutil.mavlink.MAV_TYPE_HELICOPTER, mavutil.mavlink.MAV_TYPE_DODECAROTOR, mavutil.mavlink.MAV_TYPE_AIRSHIP]) # The GUI self.gui = SwarmUI( self.parmsToShow, takeoffalt=self.swarm_settings.get('takeoffalt')) def cmd_swarm(self, args): '''swarm command parser''' usage = "usage: swarm " if len(args) == 0: print(usage) elif args[0] == "set": self.swarm_settings.command(args[1:]) if len(args) == 3: self.gui.changesetting(args[1], args[2]) else: print(usage) def set_layout(self, layout): '''set window layout''' self.gui.parent_pipe.send([layout]) def idle_task(self): '''run on idle''' # send updated HB stats to GUI every 1 sec if self.needHBupdate_timer.trigger(): self.gui.updateHB(self.vehicleLastHB) # do we need to update the GUI? if self.needGUIupdate_timer.trigger() and self.needGUIupdate: self.gui.updateLayout(self.vehicleListing) self.needGUIupdate = False # do we need to get any vehicle follow sysid params? # only send param requests 1 per 0.1sec, to avoid link flooding if self.requestParams_timer.trigger() and len(self.vehParamsToGet) > 0: (sysid, compid) = self.vehParamsToGet.pop(0) self.mpstate.foreach_mav(sysid, compid, lambda mav: mav.param_request_read_send( sysid, compid, parmString("FOLL_SYSID"), -1)) if self.RerequestParams_timer.trigger(): # If any in vehicleListing are missing their FOLL_SYSID, re-request for veh in self.vehicleListing: if veh[2] == 0: self.vehParamsToGet.append(((veh[0], veh[1]))) # execute any commands from GUI via parent_pipe if self.gui.parent_pipe.poll(): (cmd, sysid, compid) = self.gui.parent_pipe.recv() if isinstance(cmd, win_layout.WinLayout): win_layout.set_layout(cmd, self.set_layout) if cmd == "arm": self.mpstate.foreach_mav(sysid, compid, lambda mav: mav.command_long_send( # self.master.mav.command_long_send( sysid, # target_system compid, mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM, # command 0, # confirmation 1, # param1 (1 to indicate arm) 0, # param2 (all other params meaningless) 0, # param3 0, # param4 0, # param5 0, # param6 0)) # param7 elif cmd == "disarm": self.mpstate.foreach_mav(sysid, compid, lambda mav: mav.command_long_send( sysid, # target_system compid, mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM, # command 0, # confirmation 0, # param1 (1 to indicate arm) 0, # param2 (all other params meaningless) 0, # param3 0, # param4 0, # param5 0, # param6 0)) # param7 elif cmd == "takeoff": self.mpstate.foreach_mav(sysid, compid, lambda mav: mav.command_long_send( sysid, # target_system compid, # target_component mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, # command 0, # confirmation 0, # param1 0, # param2 0, # param3 0, # param4 0, # param5 0, # param6 self.swarm_settings.takeoffalt)) # param7 elif cmd in ["FOLLOW", "RTL", "AUTO", "GUIDED"]: mode_mapping = self.master.mode_mapping() self.mpstate.foreach_mav(sysid, compid, lambda mav: mav.command_long_send(sysid, compid, mavutil.mavlink.MAV_CMD_DO_SET_MODE, 0, mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED, mode_mapping[cmd], 0, 0, 0, 0, 0)) elif cmd == "kill": self.mpstate.foreach_mav(sysid, compid, lambda mav: mav.command_long_send( sysid, # target_system compid, mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM, # command 0, # confirmation 0, # param1 (0 to indicate disarm) 21196, # param2 (indicates force disarm) 0, # param3 0, # param4 0, # param5 0, # param6 0)) # param7 elif cmd == 'getoffsets': # time.sleep(0.1) for parm in self.parmsToShow: self.mpstate.foreach_mav(sysid, compid, lambda mav: mav.param_request_read_send( sysid, compid, parmString(parm), -1)) elif cmd == 'resetLayout': self.vehicleListing = [] self.vehicleLastHB = {} self.needGUIupdate = True # self.gui.updateLayout(self.vehicleListing) elif cmd == 'getparams': for (sysid, compid, foll_sysid, veh_type) in self.vehicleListing: # time.sleep(0.1) for parm in self.parmsToShow: self.mpstate.foreach_mav(sysid, compid, lambda mav: mav.param_request_read_send( sysid, compid, parmString(parm), -1)) def mavlink_packet(self, m): '''handle incoming mavlink packets''' mtype = m.get_type() sysid = m.get_srcSystem() compid = m.get_srcComponent() # add to GUI if vehicle not seen before if mtype == 'HEARTBEAT' and m.type in self.validVehicles and not (sysid in [sysidList[0] for sysidList in self.vehicleListing] and compid in [compidList[1] for compidList in self.vehicleListing]): self.vehicleListing.append((sysid, compid, 0, m.type)) # figure out leader for vehicle - check FOLL_SYSID self.vehParamsToGet.append((sysid, compid)) self.needGUIupdate = True self.vehicleLastHB[(sysid, compid)] = time.time() # Only send these packets on if the vehicle is already in the list elif (sysid, compid) in self.vehicleLastHB.keys(): # update time vehicle was last seen if mtype == 'HEARTBEAT': self.vehicleLastHB[(sysid, compid)] = time.time() # updated leader information from vehicle elif mtype == 'PARAM_VALUE' and m.param_id == "FOLL_SYSID": for i in range(0, len(self.vehicleListing)): # only update if the leader ID has changed (avoids unessariliy refreshing the UI) if self.vehicleListing[i][0] == sysid and self.vehicleListing[i][1] == compid and self.vehicleListing[i][2] != int(m.param_value): self.vehicleListing[i] = (self.vehicleListing[i][0], self.vehicleListing[i][1], int( m.param_value), self.vehicleListing[i][3]) # get GUI to update layout self.needGUIupdate = True break # pass to gui elements. Only send relevant packets, otherwise will slow the GUI if mtype in ['HEARTBEAT', 'VFR_HUD', 'GLOBAL_POSITION_INT', "SYS_STATUS", "STATUSTEXT", 'PARAM_VALUE']: self.gui.onmavlinkpacket(m) def init(mpstate): '''initialise module''' return swarm(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_system_time.py000066400000000000000000000075641504324515000233310ustar00rootroot00000000000000#!/usr/bin/env python3 ''' System_Time Module Peter barker, May 2018 Send mavlink SYSTEM_TIME messages via mavlink ''' import time from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_settings class system_time(mp_module.MPModule): def __init__(self, mpstate): """Initialise module""" super(system_time, self).__init__(mpstate, "system_time", "") self.last_sent = 0 self.last_sent_ts1 = 0 self.last_sent_timesync = 0 self.module_load_time = time.time() self.system_time_settings = mp_settings.MPSettings( [('verbose', bool, False), ('interval_timesync', int, 10), ('interval', int, 10)]) self.add_command('system_time', self.cmd_system_time, "system_time module", ['status', 'set (LOGSETTING)']) def usage(self): '''show help on command line options''' return "Usage: system_time " def cmd_system_time(self, args): '''control behaviour of the module''' if len(args) == 0: print(self.usage()) elif args[0] == "status": print(self.status()) elif args[0] == "set": self.system_time_settings.command(args[1:]) else: print(self.usage()) def status(self): '''returns information about module''' return "Perfectly happy. All is good with the world" def uptime(self): '''return system uptime in ms''' return int(1000*(time.time()-self.module_load_time)) def idle_task(self): '''called rapidly by mavproxy''' now = time.time() if now-self.last_sent > self.system_time_settings.interval: self.last_sent = now time_us = time.time() * 1000000 if self.system_time_settings.verbose: print("ST: Sending system time: (%u/%u)" % (time_us, self.uptime(),)) self.master.mav.system_time_send(int(time_us), self.uptime()) if (now-self.last_sent_timesync > self.system_time_settings.interval_timesync): self.last_sent_timesync = now time_ns = time.time() * 1000000000 time_ns += 1234 if self.system_time_settings.verbose: print("ST: Sending timesync request") self.master.mav.timesync_send(0, int(time_ns)) self.last_sent_ts1 = time_ns def mavlink_packet(self, m): '''handle mavlink packets''' if m.get_type() == 'SYSTEM_TIME': if self.system_time_settings.verbose: print("ST: Received from (%u/%u): %s" % (m.get_srcSystem(), m.get_srcComponent(), m)) if m.get_type() == 'TIMESYNC': if m.tc1 == 0: # this is a request for a timesync response time_ns = time.time() * 1000000000 time_ns += 1234 if True or self.system_time_settings.verbose: if self.system_time_settings.verbose: print("ST: received timesync; sending response: %u" % (time_ns)) self.master.mav.timesync_send(int(time_ns), m.ts1) else: if m.ts1 == self.last_sent_ts1: # we sent this one! now_ns = time.time() * 1000000000 now_ns += 1234 if self.system_time_settings.verbose: print("ST: timesync response: sysid=%u latency=%fms" % (m.get_srcSystem(), (now_ns-self.last_sent_ts1)/1000000.0)) def init(mpstate): '''initialise module''' return system_time(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_terrain.py000066400000000000000000000136101504324515000224200ustar00rootroot00000000000000""" MAVProxy terrain handling module """ import time from MAVProxy.modules.lib import mp_elevation from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_settings class TerrainModule(mp_module.MPModule): def __init__(self, mpstate): super(TerrainModule, self).__init__(mpstate, "terrain", "terrain handling", public=True) self.current_request = None self.sent_mask = 0 self.last_send_time = time.time() self.requests_received = 0 self.blocks_sent = 0 self.check_lat = 0 self.check_lon = 0 self.add_command('terrain', self.cmd_terrain, "terrain control", ["", 'set (TERRAINSETTING)']) self.terrain_settings = mp_settings.MPSettings([('debug', int, 0), ('enable', int, 1), ('offline', int, 0), mp_settings.MPSetting('source', str, "SRTM3", choice=mp_elevation.TERRAIN_SERVICES.keys())]) self.add_completion_function('(TERRAINSETTING)', self.terrain_settings.completion) self.ElevationModel = mp_elevation.ElevationModel(database=self.terrain_settings.source, offline=self.terrain_settings.offline) def cmd_terrain(self, args): '''terrain command parser''' usage = "usage: terrain " if len(args) == 0: print(usage) return if args[0] == "status": print("blocks_sent: %u requests_received: %u" % ( self.blocks_sent, self.requests_received)) elif args[0] == "set": self.terrain_settings.command(args[1:]) # Re-init terrain model self.ElevationModel = mp_elevation.ElevationModel(database=self.terrain_settings.source, offline=self.terrain_settings.offline) elif args[0] == "check": self.cmd_terrain_check(args[1:]) else: print(usage) def cmd_terrain_check(self, args): '''check a piece of terrain data''' if len(args) >= 2: latlon = (float(args[0]), float(args[1])) else: latlon = self.mpstate.click_location if latlon is None: print("No map click position available") return self.check_lat = int(latlon[0]*1e7) self.check_lon = int(latlon[1]*1e7) self.master.mav.terrain_check_send(self.check_lat, self.check_lon) def mavlink_packet(self, msg): '''handle an incoming mavlink packet''' mtype = msg.get_type() master = self.master # add some status fields if mtype == 'TERRAIN_REQUEST' and self.terrain_settings.enable: self.current_request = msg self.sent_mask = 0 self.requests_received += 1 elif mtype == 'TERRAIN_REPORT': if (msg.lat == self.check_lat and msg.lon == self.check_lon and (self.check_lat != 0 or self.check_lon != 0)): print(msg) self.check_lat = 0 self.check_lon = 0 def send_terrain_data_bit(self, bit): '''send some terrain data''' lat = self.current_request.lat * 1.0e-7 lon = self.current_request.lon * 1.0e-7 bit_spacing = self.current_request.grid_spacing * 4 (lat, lon) = mp_util.gps_offset(lat, lon, east=bit_spacing * (bit % 8), north=bit_spacing * (bit // 8)) data = [] for i in range(4*4): y = i % 4 x = i // 4 (lat2,lon2) = mp_util.gps_offset(lat, lon, east=self.current_request.grid_spacing * y, north=self.current_request.grid_spacing * x) alt = self.ElevationModel.GetElevation(lat2, lon2) if alt is None: if self.terrain_settings.debug: print("no alt ", lat2, lon2) return data.append(int(alt)) self.master.mav.terrain_data_send(self.current_request.lat, self.current_request.lon, self.current_request.grid_spacing, bit, data) self.blocks_sent += 1 self.last_send_time = time.time() self.sent_mask |= 1< 60: self.mpstate.functions.process_stdin("rc 2 1500") self.mpstate.functions.process_stdin("auto") self.state = TestState.AUTO def init(mpstate): '''initialise module''' return TestModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_timesync.py000066400000000000000000000021401504324515000226030ustar00rootroot00000000000000#!/usr/bin/env python3 from __future__ import print_function """ Currently what I do is run a sync every second and keep the following: time_send time_receive As a result the delta between GCS time and drone time is: dtime = (time_send + time_receive) / 2 - drone_time; And when doing that a lot the dtime will average to the correct delta. As a result it is now possible to know exactly when a "GLOBAL_POSITION_INT" was created in GCS time. """ from MAVProxy.modules.lib import mp_module class TimeSyncModule(mp_module.MPModule): def __init__(self, mpstate): super(TimeSyncModule, self).__init__(mpstate, "timesync") self.add_command('timesync', self.cmd_timesync, "timesync") def cmd_timesync(self, args): if (len(args) != 1): print("Usage: timesync CURRENT_TIME") return self.master.mav.timesync_send(0, int(args[0])) def mavlink_packet(self, m): '''handle an incoming mavlink packet''' if m.get_type() == 'TIMESYNC': print(m) def init(mpstate): '''initialise module''' return TimeSyncModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_tracker.py000066400000000000000000000201131504324515000224030ustar00rootroot00000000000000#!/usr/bin/env python3 ''' Antenna tracker control module This module catches MAVLINK_MSG_ID_GLOBAL_POSITION_INT and sends them to a MAVlink connected antenna tracker running ardupilot AntennaTracker Mike McCauley, based on earlier work by Andrew Tridgell June 2012 ''' import sys, os, time from MAVProxy.modules.lib import mp_settings from MAVProxy.modules import mavproxy_map from pymavlink import mavutil from MAVProxy.modules.lib import mp_module from MAVProxy.modules.mavproxy_param import ParamState # this should be in mavutil.py mode_mapping_antenna = { 'MANUAL' : 0, 'AUTO' : 10, 'INITIALISING' : 16 } class TrackerModule(mp_module.MPModule): def __init__(self, mpstate): from pymavlink import mavparm super(TrackerModule, self).__init__(mpstate, "tracker", "antenna tracker control module") self.connection = None self.tracker_param = mavparm.MAVParmDict() sysid = 2 self.pstate = ParamState(self.tracker_param, self.logdir, self.vehicle_name, 'tracker.parm', mpstate, sysid) self.tracker_settings = mp_settings.MPSettings( [ ('port', str, "/dev/ttyUSB0"), ('baudrate', int, 57600), ('debug', int, 0) ] ) self.add_command('tracker', self.cmd_tracker, "antenna tracker control module", ['', 'set (TRACKERSETTING)', 'param (TRACKERPARAMETER)', 'param (TRACKERSETTING)']) self.add_completion_function('(TRACKERSETTING)', self.tracker_settings.completion) self.add_completion_function('(TRACKERPARAMETER)', self.complete_parameter) def complete_parameter(self, text): '''complete a tracker parameter''' return self.tracker_param.keys() def find_connection(self): '''find an antenna tracker connection if possible''' if self.connection is not None: return self.connection for m in self.mpstate.mav_master: if 'HEARTBEAT' in m.messages: if m.messages['HEARTBEAT'].type == mavutil.mavlink.MAV_TYPE_ANTENNA_TRACKER: return m return None def cmd_tracker(self, args): '''tracker command parser''' usage = "usage: tracker [options]" if len(args) == 0: print(usage) return if args[0] == "start": self.cmd_tracker_start() elif args[0] == "set": self.tracker_settings.command(args[1:]) elif args[0] == 'arm': self.cmd_tracker_arm() elif args[0] == 'disarm': self.cmd_tracker_disarm() elif args[0] == 'level': self.cmd_tracker_level() elif args[0] == 'param': self.cmd_tracker_param(args[1:]) elif args[0] == 'mode': self.cmd_tracker_mode(args[1:]) elif args[0] == 'position': self.cmd_tracker_position(args[1:]) elif args[0] == 'calpress': self.cmd_tracker_calpress(args[1:]) else: print(usage) def cmd_tracker_position(self, args): '''tracker manual positioning commands''' connection = self.find_connection() if not connection: print("No antenna tracker found") return positions = [0, 0, 0, 0, 0] # x, y, z, r, buttons. only position[0] (yaw) and position[1] (pitch) are currently used for i in range(0, 4): if len(args) > i: positions[i] = int(args[i]) # default values are 0 connection.mav.manual_control_send(connection.target_system, positions[0], positions[1], positions[2], positions[3], positions[4]) def cmd_tracker_calpress(self, args): '''calibrate barometer on tracker''' connection = self.find_connection() if not connection: print("No antenna tracker found") return connection.calibrate_pressure() def cmd_tracker_mode(self, args): '''set arbitrary mode''' connection = self.find_connection() if not connection: print("No antenna tracker found") return mode_mapping = connection.mode_mapping() if mode_mapping is None: print('No mode mapping available') return if len(args) != 1: print('Available modes: ', mode_mapping.keys()) return mode = args[0].upper() if mode not in mode_mapping: print('Unknown mode %s: ' % mode) return connection.set_mode(mode_mapping[mode]) def mavlink_packet(self, m): '''handle an incoming mavlink packet from the master vehicle. Relay it to the tracker if it is a GLOBAL_POSITION_INT''' if m.get_type() in ['GLOBAL_POSITION_INT', 'SCALED_PRESSURE']: connection = self.find_connection() if not connection: return if m.get_srcSystem() != connection.target_system: connection.mav.send(m) def idle_task(self): '''called in idle time''' if not self.connection: return # check for a mavlink message from the tracker m = self.connection.recv_msg() if m is None: return if self.tracker_settings.debug: print(m) self.pstate.handle_mavlink_packet(self.connection, m) self.pstate.fetch_check(self.connection) if self.module('map') is None: return if m.get_type() == 'GLOBAL_POSITION_INT': (self.lat, self.lon, self.heading) = (m.lat*1.0e-7, m.lon*1.0e-7, m.hdg*0.01) if self.lat != 0 or self.lon != 0: self.module('map').create_vehicle_icon('AntennaTracker', 'red', follow=False, vehicle_type='antenna') self.mpstate.map.set_position('AntennaTracker', (self.lat, self.lon), rotation=self.heading) def cmd_tracker_start(self): if self.tracker_settings.port is None: print("tracker port not set") return if self.connection is not None: self.connection.close() self.connection = None print("Closed old connection") print("connecting to tracker %s at %d" % (self.tracker_settings.port, self.tracker_settings.baudrate)) m = mavutil.mavlink_connection(self.tracker_settings.port, autoreconnect=True, source_system=self.settings.source_system, baud=self.tracker_settings.baudrate) m.mav.srcComponent = self.settings.source_component if self.logdir: m.setup_logfile(os.path.join(self.logdir, 'tracker.tlog')) self.connection = m def cmd_tracker_arm(self): '''Enable the servos in the tracker so the antenna will move''' if not self.connection: print("tracker not connected") return self.connection.arducopter_arm() def cmd_tracker_disarm(self): '''Disable the servos in the tracker so the antenna will not move''' if not self.connection: print("tracker not connected") return self.connection.arducopter_disarm() def cmd_tracker_level(self): '''Calibrate the accelerometers. Disarm and move the antenna level first''' if not self.connection: print("tracker not connected") return self.connection.calibrate_level() def cmd_tracker_param(self, args): '''Parameter commands''' if not self.connection: print("tracker not connected") return self.pstate.handle_command(self.connection, self.mpstate, args) def init(mpstate): '''initialise module''' return TrackerModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_tuneopt.py000066400000000000000000000067511504324515000224620ustar00rootroot00000000000000#!/usr/bin/env python3 '''tune command handling''' import time, os from MAVProxy.modules.lib import mp_module tune_options = { 'None': '0', 'StabRollPitchkP': '1', 'RateRollPitchkP': '4', 'RateRollPitchkI': '5', 'RateRollPitchkD': '21', 'StabYawkP': '3', 'RateYawkP': '6', 'RateYawkD': '26', 'AltitudeHoldkP': '14', 'ThrottleRatekP': '7', 'ThrottleAccelkP': '34', 'ThrottleAccelkI': '35', 'ThrottleAccelkD': '36', 'LoiterSpeed': '42', 'LoiterPoskP': '12', 'VelocityXYkP': '22', 'VelocityXYkI': '28', 'WPSpeed': '10', 'AcroRollPitchkP': '25', 'AcroYawkP': '40', 'HeliExtGyro': '13', 'OFLoiterkP': '17', 'OFLoiterkI': '18', 'OFLoiterkD': '19', 'Declination': '38', 'CircleRate': '39', 'RangeFinderGain': '41', 'RatePitchkP': '46', 'RatePitchkI': '47', 'RatePitchkD': '48', 'RateRollkP': '49', 'RateRollkI': '50', 'RateRollkD': '51', 'RatePitchFF': '52', 'RateRollFF': '53', 'RateYawFF': '54', } class TuneoptModule(mp_module.MPModule): def __init__(self, mpstate): super(TuneoptModule, self).__init__(mpstate, "tuneopt", "tuneopt command handling") self.add_command('tuneopt', self.cmd_tuneopt, 'Select option for Tune Pot on Channel 6 (quadcopter only)') def tune_show(self): opt_num = str(int(self.get_mav_param('TUNE'))) option = None for k in tune_options.keys(): if opt_num == tune_options[k]: option = k break else: print("TUNE is currently set to unknown value " + opt_num) return low = self.get_mav_param('TUNE_LOW') high = self.get_mav_param('TUNE_HIGH') print("TUNE is currently set to %s LOW=%f HIGH=%f" % (option, low/1000, high/1000)) def tune_option_validate(self, option): for k in tune_options: if option.upper() == k.upper(): return k return None # TODO: Check/show the limits of LOW and HIGH def cmd_tuneopt(self, args): '''Select option for Tune Pot on Channel 6 (quadcopter only)''' usage = "usage: tuneopt " if self.mpstate.vehicle_type != 'copter': print("This command is only available for copter") return if len(args) < 1: print(usage) return if args[0].lower() == 'reset': self.param_set('TUNE', '0') elif args[0].lower() == 'set': if len(args) < 4: print('Usage: tuneopt set OPTION LOW HIGH') return option = self.tune_option_validate(args[1]) if not option: print('Invalid Tune option: ' + args[1]) return low = args[2] high = args[3] self.param_set('TUNE', tune_options[option]) self.param_set('TUNE_LOW', float(low) * 1000) self.param_set('TUNE_HIGH', float(high) * 1000) elif args[0].lower() == 'show': self.tune_show() elif args[0].lower() == 'list': print("Options available:") for s in sorted(tune_options.keys()): print(' ' + s) else: print(usage) def init(mpstate): '''initialise module''' return TuneoptModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_ublox/000077500000000000000000000000001504324515000215325ustar00rootroot00000000000000MAVProxy-1.8.74/MAVProxy/modules/mavproxy_ublox/__init__.py000066400000000000000000000150771504324515000236550ustar00rootroot00000000000000#!/usr/bin/env python3 ''' UBX UBLOX Module Peter Barker, April 2017 This module allows one to interact with the UBlox GPS's "Multi-GNSS-Assist" ("MGA") functionality. To use the uBlox API you will need to create a file containing your API token in ~/.mavproxy/ublox/api_token ''' import os import struct import time import ublox as ub from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import mp_settings class ublox(mp_module.MPModule): def __init__(self, mpstate): """Initialise module""" super(ublox, self).__init__(mpstate, "ublox", "") self.auto = True self.verbose = False self.api_token = self.read_api_token() self.auto_failed = None self.last_auto = 0 self.fix_type = 0 self.time_boot_ms = 0 self.mga_offline_last_check = 0 self.mga_offline_data_uploaded = None self.state_dir = mp_util.dot_mavproxy('ublox') self.mga_cachedir = os.path.join(self.state_dir, "mga") try: os.makedirs(self.mga_cachedir) except OSError as e: if e.errno != 17: raise e self.mga_dbd_cachefile = os.path.join(self.mga_cachedir, "dbd.ubx") self.mga_offline = ub.mga.MGAOfflineCache(cachefile=os.path.join(self.mga_cachedir, "offline.ubx"), token=self.api_token) if self.mga_offline.should_request_fresh_data(): print("Apparently should request fresh data") # self.mga_offline.start_update_thread() self.ublox_settings = mp_settings.MPSettings( [ ('verbose', bool, False), ('auto', bool, False), ]) self.add_command('ublox', self.cmd_ublox, "ublox module", ['status','set (AUTO)', 'reset', 'mga']) def token_file(self): return os.path.join(mp_util.dot_mavproxy('ublox'), "api_token") # read API token from separate file in dot-mavproxy; you probably # want this file non-world-readable, as opposed to .mavinit.scr def read_api_token(self): fh = open(self.token_file(), "r") content = fh.read() fh.close() content = content.rstrip() return content def usage(self): '''show help on command line options''' return "Usage: ublox " def cmd_ublox(self, args): '''control behaviour of the module''' if len(args) == 0: print(self.usage()) elif args[0] == "status": print(self.cmd_status()) elif args[0] == "set": self.ublox_settings.command(args[1:]) elif args[0] == "reset": self.cmd_ublox_reset(args[1:]) elif args[0] == "mga": self.cmd_ublox_mga(args[1:]) else: print(self.usage()) def cmd_status(self): '''returns information about module''' return("status called" % ()) def cmd_ublox_reset(self, args): '''attempts to cold-reboot (factory-reboot) gps module''' print("Sending uBlox reset") msg = struct.pack(" date.date(1,0,0): # ignore data older than one day # return False # print("Would upload data") return False def idle_upload_mga_offline(self): now = time.time() if now - self.mga_offline_last_check < 5: return self.mga_offline_last_check = now date = self.mga_offline.get_data_date_closest_to_now() if date is None: print("No offline data") return False if (self.mga_offline_data_uploaded is not None and self.mga_offline_data_uploaded == date): print("Already uploaded data for (%s)" % str(date)) return # send all data past his point; the driver in ArduPilot will filter # to send just the closest to the GPS data = self.mga_offline.messages_for_date(date) print("Uploading MGA-Offline for %s" % str(data)) # print("Uploadable data: %s" % str(data)) if len(data) == 0: return False for msg in data: raw = msg.raw() if len(raw) > 110: print("offline data message too long") continue # print("Sending message (%s)" % (str(msg))) self.master.mav.gps_inject_data_send( self.target_system, self.target_component, len(raw), bytearray(raw.ljust(110, '\0'))) self.mga_offline_data_uploaded = date return True def idle_upload_mga_online(self): return False def idle_task(self): '''called rapidly by mavproxy''' if self.fix_type >= 3: # don't do anything if we have a fix return if self.mpstate.status.armed: # do not upload data over telemetry link if we are armed # perhaps we should just limit rate instead. return now = time.time() if self.auto: if now-self.last_auto > 2: self.last_auto = now print("Doing auto things") if self.idle_upload_mga_dbd(): self.auto_status = "DBD uploaded" if not self.idle_upload_mga_online(): self.auto_status = "Online uploaded" if not self.idle_upload_mga_offline(): self.auto_status = "Offline uploaded" def mavlink_packet(self, m): '''handle mavlink packets''' # can't use status.msgs as we need this filtered to our target system if (self.settings.target_system != 0 and self.settings.target_system != m.get_srcSystem()): return if m.get_type() == 'GPS_RAW_INT': self.fix_type = m.fix_type if m.get_type() == 'SYSTEM_TIME': self.time_boot_ms = m.time_boot_ms def unload(self): print("Unload called") self.mga_offline.stop_update_thread() def init(mpstate): '''initialise module''' return ublox(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_ucenter.py000066400000000000000000000135721504324515000224300ustar00rootroot00000000000000''' setup a listening TCP socket for forwarding u-center connections to a GPS via MAVLink serial-control ''' from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_settings from pymavlink import mavutil import socket import time import errno class UcenterModule(mp_module.MPModule): def __init__(self, mpstate): super(UcenterModule, self).__init__(mpstate, "ucenter", "ucenter forwarding") self.add_command('ucenter', self.cmd_ucenter, "ucenter control", ["","set (UCENTERSETTING)"]) self.ucenter_settings = mp_settings.MPSettings([("port", int, 2001), ('devnum', int, 2), ('baudrate', int, 115200), ('delay', float, 0.01), ('debug', int, 0)]) self.add_completion_function('(UCENTERSETTING)', self.ucenter_settings.completion) self.listen_sock = None self.sock = None self.last_write = time.time() self.last_baudrate = 0 self.last_devnum = -1 def cmd_ucenter(self, args): '''ucenter command parser''' usage = "usage: ucenter " if len(args) == 0: print(usage) return if args[0] == "set": self.ucenter_settings.command(args[1:]) elif args[0] == "start": self.start_listener() elif args[0] == "stop": self.stop_listener() elif args[0] == "restart": self.stop_listener() self.start_listener() else: print(usage) def start_listener(self): '''start listening for packets''' if self.listen_sock is not None: self.listen_sock.close() if self.sock is not None: self.sock.close() self.listen_sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM, socket.IPPROTO_TCP) self.listen_sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) self.listen_sock.bind(('', self.ucenter_settings.port)) self.listen_sock.setblocking(False) self.listen_sock.listen(1) print("ucenter listening on port %u" % self.ucenter_settings.port) def stop_listener(self): '''stop listening for packets''' if self.sock is not None: self.sock.close() self.sock = None if self.listen_sock is not None: self.listen_sock.close() self.listen_sock = None self.last_baudrate = 0 def debug(self, s): '''debug write''' if self.ucenter_settings.debug <= 0: return print(s) def write(self, b): '''write some bytes to remove port''' while True: # note that we send a single empty buffer on len(b)==0 n = len(b) if n > 70: n = 70 buf = bytes(b[:n]) buf += b'\x00' * (70-len(buf)) if self.last_baudrate != self.ucenter_settings.baudrate or self.last_devnum != self.ucenter_settings.devnum: baudrate = self.ucenter_settings.baudrate self.last_baudrate = baudrate self.last_devnum = self.ucenter_settings.devnum print("ucenter requesting baudrate %u" % baudrate) else: baudrate = 0 self.master.mav.serial_control_send(self.ucenter_settings.devnum, mavutil.mavlink.SERIAL_CONTROL_FLAG_EXCLUSIVE | mavutil.mavlink.SERIAL_CONTROL_FLAG_RESPOND, 0, baudrate, n, buf) b = b[n:] self.last_write = time.time() if len(b) == 0: break def idle_task(self): '''called on idle''' if self.sock is None and self.listen_sock is None: return if self.sock is None: try: conn_sock, addr = self.listen_sock.accept() except Exception as e: if e.errno not in [ errno.EAGAIN, errno.EWOULDBLOCK ]: print("ucenter listen fail") self.stop_listener() return return self.sock = conn_sock self.sock.setblocking(False) print("ucenter connection from %s" % str(addr)) now = time.time() try: pkt = self.sock.recv(1000) except socket.error as e: if e.errno not in [ errno.EAGAIN, errno.EWOULDBLOCK ]: print("ucenter connection closed") self.sock.close() self.sock = None return # send empty packet if idle pkt = bytes() if len(pkt) == 0 and now - self.last_write < self.ucenter_settings.delay: return self.write(pkt) def mavlink_packet(self, m): '''process SERIAL_CONTROL packets''' if m.get_type() != 'SERIAL_CONTROL': return if self.sock is None: return if m.count == 0: return data = m.data data = m.data[:m.count] buf = bytes(data) self.debug("got reply len %u" % len(buf)) try: self.sock.send(buf) except socket.error as e: if e.errno not in [ errno.EAGAIN, errno.EWOULDBLOCK ]: print("ucenter connection write error") self.sock.close() self.sock = None def init(mpstate): '''initialise module''' return UcenterModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_useralerts.py000066400000000000000000000177531504324515000231610ustar00rootroot00000000000000'''Advise user if there are applicable user alerts This is a reference implementation based on the documentation at https://github.com/ArduPilot/useralerts and https://ardupilot.org/dev/docs/user-alerts-developer.html ''' import sys import json import string from packaging import version from pymavlink import mavutil if sys.version_info.major < 3: from urllib2 import Request from urllib2 import urlopen from urllib2 import URLError else: from urllib.request import Request from urllib.request import urlopen from urllib.error import URLError from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_settings from MAVProxy.modules.lib.mp_util import decode_flight_sw_version class UserAlertsModule(mp_module.MPModule): def __init__(self, mpstate): super(UserAlertsModule, self).__init__(mpstate, "useralerts", public=True) self.url = "https://firmware.ardupilot.org/useralerts/manifest.json" self.testurl = "https://firmware.ardupilot.org/useralerts/examplemanifest.json" # The useTest setting allows the user to query the example database # instead of the real database # The filterBoard setting determines whether User Alerts are filtered # by the hardwareLimited field. self.alerts_settings = mp_settings.MPSettings( [('useTest', bool, False), ('filterBoard', bool, True)]) self.add_completion_function('(ALERTSETTING)', self.alerts_settings.completion) self.add_command('useralerts', self.cmd_check, "Check User Alerts", ["check", "set (ALERTSETTING)"]) self.board = None self.version = None def mavlink_packet(self, m): '''handle an incoming mavlink packet''' mtype = m.get_type() if mtype == "STATUSTEXT": #Looking for a response to MAV_CMD_DO_SEND_BANNER: #APM: KakuteF4 00390032 4B4B500F 20313548 #no nice way to parse this. So assuming 4 words, the last 3 are 8 character hex values splitText = m.text.split(" ") if (len(splitText) == 4 and len(splitText[1]) == 8 and len(splitText[2]) == 8 and len(splitText[3]) == 8 and all(c in string.hexdigits for c in splitText[1]) and all(c in string.hexdigits for c in splitText[2]) and all(c in string.hexdigits for c in splitText[3])): self.board = splitText[0] if not self.alerts_settings.filterBoard: self.board = "N/A" elif mtype == "AUTOPILOT_VERSION": #Example output: #AUTOPILOT_VERSION {capabilities : 61935, flight_sw_version : 67174400, middleware_sw_version : 0, os_sw_version : 0, # board_version : 0, flight_custom_version : [54, 49, 51, 100, 50, 99, 50, 101], # middleware_custom_version : [0, 0, 0, 0, 0, 0, 0, 0], os_custom_version : [51, 51, 49, 102, 101, 55, 53, 100], # vendor_id : 0, product_id : 0, uid : 0, uid2 : [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]} vMajor,vMinor,vPatch,vFwType = decode_flight_sw_version(m.flight_sw_version) self.version = "{0}.{1}.{2}".format(vMajor, vMinor, vPatch) if self.board and self.version: print("Checking Alerts for {1} version {0}, board {2}".format(self.version, self.mpstate.vehicle_type, self.board)) #download user alerts if self.alerts_settings.useTest: req = Request(self.testurl) else: req = Request(self.url) try: r = urlopen(req).read() except URLError: print("Error: unable to download User Alerts") # reset for next time "check" is called self.version = None self.board = None return allAlerts = json.loads(r.decode('utf-8')) print("Downloaded {0} alerts".format(len(allAlerts))) # Check and print out applicable alerts for (key, alert) in allAlerts.items(): #print("Checking: {0}".format(key)) (valid, mitigation) = self.alert_is_applicable(alert, self.version, str(self.mpstate.vehicle_type), self.board) if valid: print("******************") print("User alert {0} is valid for this vehicle:".format(key)) print("Issue: {0}\nMitigation: {1}".format(alert['description'], mitigation)) # reset for next time "check" is called self.version = None self.board = None def alert_is_applicable(self, alert, APversion, APfirmware, boardName): '''checks for alert validity given ArduPilot version, board and type returns (true, mitigationString) if alert is applicable, (false, None) otherwise''' # if affectedFirmware is not all AND does not contain the APFirmware, alert is not applicable if ('all' not in alert['affectedFirmware']) and (APfirmware not in alert['affectedFirmware']): #print("False on affectedFirmware: " + str(alert['affectedFirmware'])) return (False, None) # Check hardwareLimited. If there is a list of boards, check if on list if len(alert['hardwareLimited']) > 0 and (boardName not in alert['hardwareLimited']) and boardName != "N/A": #print("False on hardwareLimited: " + str(alert['hardwareLimited'])) return (False, None) #check that versionFrom is either blank or less-than-or-equal-to the reported firmware if len(alert['versionFrom']) == 0 or version.parse(alert['versionFrom'][APfirmware]) <= version.parse(APversion): # Check if there is a fixed version out if APfirmware in alert['versionFixed'] and version.parse(alert['versionFixed'][APfirmware]) <= version.parse(APversion): # User is already running fixed version (or higher) #print("False on versionFixed: " + str(alert['versionFixed'][APfirmware]) + ", " + APversion) return (False, None) elif APfirmware in alert['versionFixed']: # There is a fixed version and the user is not running it return (True, "Upgrade to V{0} (or later) of {1}".format(alert['versionFixed'][APfirmware], APfirmware)) else: # There is not a fixed version out yet for this firmware return (True, alert['mitigation']) else: #print("False on versionFrom: " + str(alert['versionFrom'][APfirmware]) + ", " + APversion) return (False, None) def cmd_doCheck(self): '''Query ArduPilot for version and board information When the messages are returned via mavlink_packet(), perform the checks for applicable User Alerts''' self.board = None self.version = None self.master.mav.command_long_send( self.settings.target_system, # target_system self.settings.target_component, # target_component mavutil.mavlink.MAV_CMD_DO_SEND_BANNER, # command 1, # confirmation 1, # param1 0, # param2 0, # param3 0, # param4 0, # param5 0, # param6 0) # param7 self.master.mav.command_long_send( self.settings.target_system, self.settings.target_component, mavutil.mavlink.MAV_CMD_REQUEST_MESSAGE, 0, # confirmation mavutil.mavlink.MAVLINK_MSG_ID_AUTOPILOT_VERSION, 0, 0, 0, 0, 0, 0) def cmd_check(self, args): '''Useralert operations''' usage = "Usage: useralerts " if len(args) < 1: print(usage) return if args[0] == 'check': self.cmd_doCheck() elif args[0] == "set": self.alerts_settings.command(args[1:]) def init(mpstate): '''initialise module''' return UserAlertsModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_vicon.py000066400000000000000000000247531504324515000221040ustar00rootroot00000000000000""" use vicon data to provide VISION_POSITION_ESTIMATE and GPS_INPUT data """ import math import threading import time from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_settings from MAVProxy.modules.lib import LowPassFilter2p from MAVProxy.modules.lib import mp_util from pymavlink.rotmat import Vector3 from pymavlink.quaternion import Quaternion from pymavlink import mavutil from pymavlink import mavextra from pyvicon import pyvicon class ViconModule(mp_module.MPModule): def __init__(self, mpstate): super(ViconModule, self).__init__(mpstate, "vicon", "vicon", public=False) self.console.set_status('VPos', 'VPos -- -- --', row=5) self.console.set_status('VAtt', 'VAtt -- -- --', row=5) self.vicon_settings = mp_settings.MPSettings( [('host', str, "vicon"), ('origin_lat', float, -35.363261), ('origin_lon', float, 149.165230), ('origin_alt', float, 584.0), ('vision_rate', int, 14), ('vel_filter_hz', float, 30.0), ('gps_rate', int, 5), ('gps_nsats', float, 16), ('object_name', str, None) ]) self.add_command('vicon', self.cmd_vicon, 'VICON control', ["", "", "set (VICONSETTING)"]) self.add_completion_function('(VICONSETTING)', self.vicon_settings.completion) self.vicon = None self.thread = threading.Thread(target=self.thread_loop) self.thread.start() self.pos = None self.att = None self.frame_count = 0 self.gps_count = 0 self.vision_count = 0 self.last_frame_count = 0 self.vel_filter = LowPassFilter2p.LowPassFilter2p(200.0, 30.0) self.actual_frame_rate = 0.0 def detect_vicon_object(self): self.vicon.get_frame() object_name = self.vicon_settings.object_name if object_name is None: # We haven't specified which object we are looking for, so just find the first one object_name = self.vicon.get_subject_name(0) if object_name is None: # No objects found return None, None segment_name = self.vicon.get_subject_root_segment_name(object_name) if segment_name is None: # Object we're looking for can't be found return None, None print("Connected to subject '%s' segment '%s'" % (object_name, segment_name)) return object_name, segment_name def get_vicon_pose(self, object_name, segment_name): # get position in mm. Coordinates are in NED vicon_pos = self.vicon.get_segment_global_translation(object_name, segment_name) if vicon_pos is None: # Object is not in view return None, None, None, None vicon_quat = Quaternion(self.vicon.get_segment_global_quaternion(object_name, segment_name)) pos_ned = Vector3(vicon_pos * 0.001) euler = vicon_quat.euler roll, pitch, yaw = euler[0], euler[1], euler[2] yaw = math.radians(mavextra.wrap_360(math.degrees(yaw))) return pos_ned, roll, pitch, yaw def thread_loop(self): """background processing""" object_name = None segment_name = None last_pos = None last_frame_num = None frame_count = 0 while True: if self.vicon is None: time.sleep(0.1) object_name = None continue if not object_name: object_name, segment_name = self.detect_vicon_object() if object_name is None: continue last_msg_time = time.time() now = time.time() last_origin_send = now now_ms = int(now * 1000) last_gps_send_ms = now_ms frame_rate = self.vicon.get_frame_rate() frame_dt = 1.0/frame_rate last_rate = time.time() frame_count = 0 print("Vicon frame rate %.1f" % frame_rate) if self.vicon_settings.gps_rate > 0: gps_period_ms = 1000 // self.vicon_settings.gps_rate time.sleep(0.01) self.vicon.get_frame() mav = self.master now = time.time() now_ms = int(now * 1000) frame_num = self.vicon.get_frame_number() frame_count += 1 if now - last_rate > 0.1: rate = frame_count / (now - last_rate) self.actual_frame_rate = 0.9 * self.actual_frame_rate + 0.1 * rate last_rate = now frame_count = 0 self.vel_filter.set_cutoff_frequency(self.actual_frame_rate, self.vicon_settings.vel_filter_hz) pos_ned, roll, pitch, yaw = self.get_vicon_pose(object_name, segment_name) if pos_ned is None: continue # print(f"XYZ: {pos_ned.x}, {pos_ned.y}, {pos_ned.z}, ") if last_frame_num is None or frame_num - last_frame_num > 100 or frame_num <= last_frame_num: last_frame_num = frame_num last_pos = pos_ned continue dt = (frame_num - last_frame_num) * frame_dt vel = (pos_ned - last_pos) * (1.0/dt) last_pos = pos_ned last_frame_num = frame_num filtered_vel = self.vel_filter.apply(vel) if self.vicon_settings.vision_rate > 0: dt = now - last_msg_time if dt < 1.0 / self.vicon_settings.vision_rate: continue last_msg_time = now self.pos = pos_ned self.att = [math.degrees(roll), math.degrees(pitch), math.degrees(yaw)] self.frame_count += 1 time_us = int(now * 1.0e6) if now - last_origin_send > 1 and self.vicon_settings.vision_rate > 0: # send a heartbeat msg mav.mav.heartbeat_send(mavutil.mavlink.MAV_TYPE_GCS, mavutil.mavlink.MAV_AUTOPILOT_GENERIC, 0, 0, 0) # send origin at 1Hz mav.mav.set_gps_global_origin_send(self.target_system, int(self.vicon_settings.origin_lat*1.0e7), int(self.vicon_settings.origin_lon*1.0e7), int(self.vicon_settings.origin_alt*1.0e3), time_us) last_origin_send = now if self.vicon_settings.gps_rate > 0 and now_ms - last_gps_send_ms > gps_period_ms: '''send GPS data at the specified rate, trying to align on the given period''' self.gps_input_send(now, pos_ned, yaw, filtered_vel) last_gps_send_ms = (now_ms//gps_period_ms) * gps_period_ms self.gps_count += 1 if self.vicon_settings.vision_rate > 0: # send VISION_POSITION_ESTIMATE # we force mavlink1 to avoid the covariances which seem to make the packets too large # for the mavesp8266 wifi bridge mav.mav.global_vision_position_estimate_send(time_us, pos_ned.x, pos_ned.y, pos_ned.z, roll, pitch, yaw, force_mavlink1=True) self.vision_count += 1 def gps_input_send(self, time, pos_ned, yaw, gps_vel): time_us = int(time * 1.0e6) gps_lat, gps_lon = mavextra.gps_offset(self.vicon_settings.origin_lat, self.vicon_settings.origin_lon, pos_ned.y, pos_ned.x) gps_alt = self.vicon_settings.origin_alt - pos_ned.z gps_week, gps_week_ms = mp_util.get_gps_time(time) if self.vicon_settings.gps_nsats >= 6: fix_type = 3 else: fix_type = 1 yaw_cd = int(mavextra.wrap_360(math.degrees(yaw)) * 100) if yaw_cd == 0: # the yaw extension to GPS_INPUT uses 0 as no yaw support yaw_cd = 36000 self.master.mav.gps_input_send(time_us, 0, 0, gps_week_ms, gps_week, fix_type, int(gps_lat * 1.0e7), int(gps_lon * 1.0e7), gps_alt, 1.0, 1.0, gps_vel.x, gps_vel.y, gps_vel.z, 0.2, 1.0, 1.0, self.vicon_settings.gps_nsats, yaw_cd) def cmd_start(self): """start vicon""" vicon = pyvicon.PyVicon() print("Opening Vicon connection to %s" % self.vicon_settings.host) vicon.connect(self.vicon_settings.host) print("Configuring vicon") vicon.set_stream_mode(pyvicon.StreamMode.ClientPull) vicon.enable_marker_data() vicon.enable_segment_data() vicon.enable_unlabeled_marker_data() vicon.enable_device_data() # Set the axis mapping to the ardupilot convention (North, East, Down) vicon.set_axis_mapping(pyvicon.Direction.Forward, pyvicon.Direction.Right, pyvicon.Direction.Down) print(vicon.get_axis_mapping()) print("vicon ready") self.vicon = vicon def cmd_vicon(self, args): """command processing""" if len(args) == 0: print("Usage: vicon ") return if args[0] == "start": self.cmd_start() if args[0] == "stop": self.vicon = None elif args[0] == "set": self.vicon_settings.command(args[1:]) def idle_task(self): """run on idle""" if not self.pos or not self.att or self.frame_count == self.last_frame_count: return self.last_frame_count = self.frame_count self.console.set_status('VPos', 'Vicon: Pos: %.2fN %.2fE %.2fD' % (self.pos.x, self.pos.y, self.pos.z), row=5) self.console.set_status('VAtt', ' Att R:%.2f P:%.2f Y:%.2f GPS %u VIS %u RATE %.1f' % (self.att[0], self.att[1], self.att[2], self.gps_count, self.vision_count, self.actual_frame_rate), row=5) def init(mpstate): """initialise module""" return ViconModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_warning.py000066400000000000000000000176021504324515000224260ustar00rootroot00000000000000#!/usr/bin/env python '''module to display and announce warnings about system failures''' import time from MAVProxy.modules.lib import mp_module from MAVProxy.modules.lib import mp_settings from pymavlink import mavutil class WarningModule(mp_module.MPModule): def __init__(self, mpstate): super(WarningModule, self).__init__(mpstate, "warning", "warning module") self.add_command('warning', self.cmd_warning, "warning", ["details", "set (WARNINGSETTING)"]) self.check_time = time.time() self.warn_time = time.time() self.failure = None self.details = [] self.warning_settings = mp_settings.MPSettings( [ ('warn_time', int, 5), ('details', bool, True), ('min_sat', int, 10), ('sat_diff', int, 5), ('alt_diff', float, 20), ('airspd_diff', float, 5), ('airspd_age', float, 5), ('esc_group1', int, 0), ('esc_group2', int, 0), ('esc_min_rpm', int, 100), ('max_wind', int, 10), ]) self.add_completion_function('(WARNINGSETTING)', self.warning_settings.completion) # variables for monitoring airspeed changes self.last_as1 = 0 self.last_as2 = 0 self.last_as1_change = time.time() self.last_as2_change = time.time() def cmd_warning(self, args): '''warning commands''' state = self if len(args) > 0: if args[0] == 'set': state.warning_settings.command(args[1:]) if args[0] == 'details': print("warning: %s" % '|'.join(self.details)) else: print('usage: warning set|details') def get_esc_rpms(self): '''get a dictionary of ESC RPMs''' ret = {} esc_messages = [ ('ESC_TELEMETRY_1_TO_4', 1), ('ESC_TELEMETRY_5_TO_8', 5), ('ESC_TELEMETRY_9_TO_12', 9), ('ESC_TELEMETRY_13_TO_16', 13) ] for (mname, base) in esc_messages: m = self.master.messages.get(mname, None) if m: for i in range(4): ret[base+i] = m.rpm[i] return ret def check_esc_group(self, group_mask, rpms): '''check one ESC group for consistency. Either all running or none running''' escs = [] for i in range(16): if group_mask & (1<= self.warning_settings.esc_min_rpm: num_running += 1 return num_running != 0 and num_running != len(escs) def check_escs(self): '''check for ESC consistency''' rpms = self.get_esc_rpms() if self.check_esc_group(self.warning_settings.esc_group1, rpms): self.details.append("ESC group1 fail") return True if self.check_esc_group(self.warning_settings.esc_group2, rpms): self.details.append("ESC group2 fail") return True return False def check_gps(self): '''check GPS issues''' gps1 = self.master.messages.get("GPS_RAW_INT", None) gps2 = self.master.messages.get("GPS2_RAW", None) if gps1 and gps2: if abs(gps1.satellites_visible - gps2.satellites_visible) > self.warning_settings.sat_diff: self.details.append("GPS sat diff") return True if abs(gps1.alt*0.001 - gps2.alt*0.001) > self.warning_settings.alt_diff: self.details.append("GPS alt diff") return True if gps1 and gps1.satellites_visible < self.warning_settings.min_sat: self.details.append("GPS1 low sat count") return True if gps2 and gps2.satellites_visible < self.warning_settings.min_sat: self.details.append("GPS2 low sat count") return True return False def check_airspeed(self): '''check airspeed sensors''' vfr_hud = self.master.messages.get("VFR_HUD", None) nvf_as2 = self.master.messages.get("NAMED_VALUE_FLOAT[AS2]", None) if vfr_hud and nvf_as2: as1 = vfr_hud.airspeed as2 = nvf_as2.value if abs(as1 - as2) > self.warning_settings.airspd_diff: self.details.append("Airspeed difference") return True now = time.time() if as1 != self.last_as1: self.last_as1 = as1 self.last_as1_change = now if as2 != self.last_as2: self.last_as2 = as2 self.last_as2_change = now if as1 > 0 and now - self.last_as1_change > self.warning_settings.airspd_age: self.details.append("Airspeed1 age") return True if as2 > 0 and now - self.last_as2_change > self.warning_settings.airspd_age: self.details.append("Airspeed2 age") return True return False def check_status(self): '''check SYS_STATUS health bits''' status = self.master.messages.get("SYS_STATUS", None) if not status: return False sensors = { 'AS' : mavutil.mavlink.MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE, 'MAG' : mavutil.mavlink.MAV_SYS_STATUS_SENSOR_3D_MAG, 'INS' : mavutil.mavlink.MAV_SYS_STATUS_SENSOR_3D_ACCEL | mavutil.mavlink.MAV_SYS_STATUS_SENSOR_3D_GYRO, 'AHRS' : mavutil.mavlink.MAV_SYS_STATUS_AHRS, 'TERR' : mavutil.mavlink.MAV_SYS_STATUS_TERRAIN, 'LOG' : mavutil.mavlink.MAV_SYS_STATUS_LOGGING, 'FEN' : mavutil.mavlink.MAV_SYS_STATUS_GEOFENCE, } health = status.onboard_control_sensors_health for sname in sensors: bits = sensors[sname] if health & bits != bits: self.details.append("status %s" % sname) return True return False def check_wind(self): '''check wind level''' wind = self.master.messages.get("WIND", None) if wind: if wind.speed > self.warning_settings.max_wind: self.details.append("Wind %.1f" % wind.speed) return True return False def check_all(self): failures = [] if self.check_escs(): failures.append('ESC') if self.check_gps(): failures.append('GPS') if self.check_airspeed(): failures.append('AIRSPEED') if self.check_status(): failures.append('STATUS') if self.check_wind(): failures.append('WIND') if len(failures) > 0: self.failure = '|'.join(failures) def monitor(self): last_fail = self.failure self.failure = None self.details = [] self.check_all() if self.failure and self.failure != last_fail: self.warn(self.failure) if not self.failure: self.console.set_status('WARN', 'WARN:OK', fg='green', row=2) else: self.console.set_status('WARN', 'WARN:%s' % self.failure, fg='red', row=2) def warn(self, err): self.say("Warning " + err) self.warn_time = time.time() def idle_task(self): '''called on idle''' now = time.time() # at 1Hz update status. If status changes warn immediately if (now - self.check_time) >= 1: self.check_time = now self.monitor() # periodically announce the failure if any if (self.failure and self.warning_settings.warn_time > 0 and (now - self.warn_time) >= self.warning_settings.warn_time): self.warn(self.failure) def init(mpstate): '''initialise module''' return WarningModule(mpstate) MAVProxy-1.8.74/MAVProxy/modules/mavproxy_wp.py000066400000000000000000000546621504324515000214160ustar00rootroot00000000000000''' waypoint command handling AP_FLAKE8_CLEAN ''' from MAVProxy.modules.lib import mission_item_protocol from MAVProxy.modules.lib import mp_util from pymavlink import mavutil from pymavlink import mavwp import time if mp_util.has_wxpython: from MAVProxy.modules.lib.mp_menu import MPMenuCallTextDialog from MAVProxy.modules.lib.mp_menu import MPMenuItem class WPModule(mission_item_protocol.MissionItemProtocolModule): def __init__(self, mpstate): super(WPModule, self).__init__(mpstate, "wp", "waypoint handling", public=True) # support for setting mission waypoint via command self.accepts_DO_SET_MISSION_CURRENT = {} # keyed by (sysid/compid) def gui_menu_items(self): ret = super(WPModule, self).gui_menu_items() ret.extend([ MPMenuItem('Editor', 'Editor', '# wp editor'), MPMenuItem( 'Draw', 'Draw', '# wp draw ', handler=MPMenuCallTextDialog( title='Mission Altitude (m)', default=100)), MPMenuItem('Loop', 'Loop', '# wp loop'), MPMenuItem( 'Add Takeoff', 'Add Takeoff', '# wp add_takeoff ', handler=MPMenuCallTextDialog( title='Takeoff Altitude (m)', default=20)), MPMenuItem('Add Landing', 'Add Landing', '# wp add_landing'), MPMenuItem('Add RTL', 'Add RTL', '# wp add_rtl'), MPMenuItem('Add DO_LAND_START', 'Add DO_LAND_START', '# wp add_dls'), MPMenuItem('Reset', 'Reset', '# wp set 0'), ]) return ret def mission_ftp_name(self): return "@MISSION/mission.dat" def loader_class(self): return mavwp.MAVWPLoader def mav_mission_type(self): return mavutil.mavlink.MAV_MISSION_TYPE_MISSION def save_filename_base(self): return 'way' def itemstype(self): '''returns description of items in the plural''' return 'waypoints' def itemtype(self): '''returns description of item''' return 'waypoint' def index_from_0(self): # other similar user-visible interfaces start indexing # user-modifiable items from 1. waypoints make index 0 # visible to the user. return True def command_name(self): return "wp" def mavlink_packet(self, m): '''handle an incoming mavlink packet''' mtype = m.get_type() if mtype in ["MISSION_CURRENT"]: if m.seq != self.last_waypoint: self.last_waypoint = m.seq if self.settings.wpupdates: self.say("waypoint %u" % m.seq, priority='message') elif mtype == "MISSION_ITEM_REACHED": wp = self.wploader.wp(m.seq) if wp is None: # should we spit out a warning?! # self.say("No waypoints") pass else: if wp.command == mavutil.mavlink.MAV_CMD_DO_LAND_START: alt_offset = self.get_mav_param('ALT_OFFSET', 0) if alt_offset > 0.005: self.say("ALT OFFSET IS NOT ZERO passing DO_LAND_START") elif mtype == "COMMAND_ACK": # check to see if the vehicle has bounced our attempts to # set the current mission item via mavlink command (as # opposed to the old message): if m.command == mavutil.mavlink.MAV_CMD_DO_SET_MISSION_CURRENT: key = (m.get_srcSystem(), m.get_srcComponent()) if m.result == mavutil.mavlink.MAV_RESULT_UNSUPPORTED: # stop sending the commands: self.accepts_DO_SET_MISSION_CURRENT[key] = False elif m.result in [mavutil.mavlink.MAV_RESULT_ACCEPTED]: self.accepts_DO_SET_MISSION_CURRENT[key] = True super(WPModule, self).mavlink_packet(m) def idle_task(self): if (self.master is not None and 'HOME_POSITION' not in self.master.messages and time.time() - self.last_get_home > 2): self.master.mav.command_long_send( self.settings.target_system, 0, mavutil.mavlink.MAV_CMD_GET_HOME_POSITION, 0, 0, 0, 0, 0, 0, 0, 0) self.last_get_home = time.time() super(WPModule, self).idle_task() def cmd_moverelhome(self, args, latlon=None): '''handle wp move to a point relative to home by dist/bearing''' if len(args) < 3: print("usage: wp moverelhome WPNUM dist bearing") return idx = int(args[0]) if idx < 1 or idx > self.wploader.count(): print("Invalid wp number %u" % idx) return dist = float(args[1]) bearing = float(args[2]) home = self.get_WP0(home_only=True) if home is None: print("Need home") return wp = self.wploader.wp(idx) if not self.is_location_wp(wp): print("Not a nav command") return (newlat, newlon) = mp_util.gps_newpos(home.x, home.y, bearing, dist) wp.x = newlat wp.y = newlon wp.target_system = self.target_system wp.target_component = self.target_component self.wploader.set(wp, idx) self.loading_waypoints = True self.loading_waypoint_lasttime = time.time() self.master.mav.mission_write_partial_list_send(self.target_system, self.target_component, idx, idx+1) print("Moved WP %u %.1fm bearing %.1f from home" % (idx, dist, bearing)) def commands(self): ret = super(WPModule, self).commands() ret.update({ 'add': self.cmd_add, "changealt": self.cmd_changealt, "changeframe": self.cmd_changeframe, 'draw': self.cmd_draw, 'editor': self.cmd_editor, 'loop': self.cmd_loop, "param": self.cmd_param, "movemulti": self.cmd_movemulti, "moverelhome": self.cmd_moverelhome, 'set': self.cmd_set, 'sethome': self.cmd_sethome, 'slope': self.cmd_slope, 'split': self.cmd_split, "move": self.cmd_move, # handled in parent class "add_takeoff": self.wp_add_takeoff, "add_landing": self.wp_add_landing, "add_rtl": self.wp_add_RTL, "add_dls": self.wp_add_dls, "update": (self.cmd_update, ["(FILENAME)"]), "undo": self.cmd_undo, }) return ret def mission_type_string(self): return 'Mission' # waypoint-specific methods: def cmd_slope(self, args): '''show slope of waypoints''' if len(args) == 2: # specific waypoints wp1 = int(args[0]) wp2 = int(args[1]) w1 = self.wploader.wp(wp1) w2 = self.wploader.wp(wp2) delta_alt = w1.z - w2.z if delta_alt == 0: slope = "Level" else: delta_xy = mp_util.gps_distance(w1.x, w1.y, w2.x, w2.y) slope = "%.1f" % (delta_xy / delta_alt) print("wp%u -> wp%u %s" % (wp1, wp2, slope)) return if len(args) != 0: print("Usage: wp slope WP1 WP2") return last_w = None for i in range(1, self.wploader.count()): w = self.wploader.wp(i) if w.command not in [mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, mavutil.mavlink.MAV_CMD_NAV_LAND]: continue if last_w is not None: if last_w.frame != w.frame: print("WARNING: frame change %u -> %u at %u" % (last_w.frame, w.frame, i)) delta_alt = last_w.z - w.z if delta_alt == 0: slope = "Level" else: delta_xy = mp_util.gps_distance(w.x, w.y, last_w.x, last_w.y) slope = "%.1f" % (delta_xy / delta_alt) print("WP%u: slope %s" % (i, slope)) last_w = w def get_default_frame(self): '''default frame for waypoints''' if self.settings.terrainalt == 'Auto': if self.get_mav_param('TERRAIN_FOLLOW', 0) == 1: return mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT return mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT if self.settings.terrainalt == 'True': return mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT return mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT def get_WP0(self, home_only=False): '''get a location for WP0 when building a mission this ideally should be home, but if home is not available then use a click position ''' (lat, lon, alt) = (None, None, None) if self.master is not None and 'HOME_POSITION' in self.master.messages: h = self.master.messages['HOME_POSITION'] (lat, lon, alt) = (h.latitude*1.0e-7, h.longitude*1.0e-7, h.altitude*1.0e-3) elif home_only: return None elif self.wploader.count() > 0: return self.wploader.wp(0) else: latlon = self.mpstate.click_location if latlon is None: return None (lat, lon, alt) = (latlon[0], latlon[1], 0) if lat is None or lon is None: return None w = mavutil.mavlink.MAVLink_mission_item_message(self.target_system, self.target_component, 0, 0, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 0, 0, 0, 0, 0, lat, lon, alt) return w def get_home(self): '''get a location for home''' return self.get_WP0(home_only=True) def wp_draw_callback(self, points): '''callback from drawing waypoints''' if len(points) < 2: return self.wploader.target_system = self.target_system self.wploader.target_component = self.target_component if self.wploader.count() < 2: home = self.get_WP0() if home is None: print("Need home location for draw - please run gethome") return self.wploader.clear() self.wploader.add(home) if self.get_default_frame() == mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT: use_terrain = True else: use_terrain = False for p in points: self.wploader.add_latlonalt(p[0], p[1], self.settings.wpalt, terrain_alt=use_terrain) self.send_all_waypoints() def cmd_draw(self, args): if 'draw_lines' not in self.mpstate.map_functions: print("No map drawing available") return if self.get_WP0() is None: print("Need home location - please run gethome") return if len(args) > 1: self.settings.wpalt = int(args[1]) self.mpstate.map_functions['draw_lines'](self.wp_draw_callback) print("Drawing %s on map at altitude %d" % (self.itemstype(), self.settings.wpalt)) def cmd_editor(self, args): if self.module('misseditor'): self.mpstate.functions.process_stdin("module reload misseditor", immediate=True) else: self.mpstate.functions.process_stdin("module load misseditor", immediate=True) def cmd_set(self, args): usage = "usage: wp set [reset]" reset = False if len(args) == 2: if args[1] != "reset": print(usage) return reset = True elif len(args) != 1: print(usage) return wp_num = int(args[0]) key = (self.target_system, self.target_component) supports = self.accepts_DO_SET_MISSION_CURRENT.get(key, None) # if we don't know, send both. If we do know, send only one. # we "know" because we hook receipt of COMMAND_ACK. if self.settings.wp_use_waypoint_set_current or supports is False: if reset: print("Reset unavailable, wp command NOT executed") return self.master.waypoint_set_current_send(wp_num) else: p2 = 0 if reset: p2 = 1 self.master.mav.command_long_send( self.target_system, self.target_component, mavutil.mavlink.MAV_CMD_DO_SET_MISSION_CURRENT, 0, wp_num, p2, 0, 0, 0, 0, 0 ) def cmd_add(self, args): '''add a NAV waypoint at the last map click position''' if not self.check_have_list(): return latlon = self.mpstate.click_location if latlon is None: print("No click position available") return if len(args) < 1: alt = self.settings.wpalt else: alt = float(args[0]) m = mavutil.mavlink.MAVLink_mission_item_int_message( self.target_system, self.target_component, 0, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, # frame mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, # command 0, # current 0, # autocontinue 0.0, # param1, 0.0, # param2, 0.0, # param3 0.0, # param4 int(latlon[0] * 1e7), # x (latitude) int(latlon[1] * 1e7), # y (longitude) alt, # z (altitude) self.mav_mission_type(), ) self.append(m) self.send_all_items() def cmd_loop(self, args): '''close the loop on a mission''' loader = self.wploader if loader.count() < 2: print("Not enough waypoints (%u)" % loader.count()) return wp = loader.wp(loader.count()-2) if wp.command == mavutil.mavlink.MAV_CMD_DO_JUMP: print("Mission is already looped") return if (loader.count() > 1 and loader.wp(1).command in [mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, mavutil.mavlink.MAV_CMD_NAV_VTOL_TAKEOFF]): target = 2 else: target = 1 wp = mavutil.mavlink.MAVLink_mission_item_message(0, 0, 0, 0, mavutil.mavlink.MAV_CMD_DO_JUMP, 0, 1, target, -1, 0, 0, 0, 0, 0) loader.add(wp) self.loading_waypoints = True self.loading_waypoint_lasttime = time.time() self.master.waypoint_count_send(self.wploader.count()) print("Closed loop on mission") def is_quadplane(self): Q_ENABLE = int(self.get_mav_param("Q_ENABLE", 0)) return Q_ENABLE > 0 def wp_add_takeoff(self, args): '''add a takeoff as first mission item''' if not self.check_have_list(): return latlon = self.mpstate.click_location if latlon is None: print("No position chosen") return takeoff_alt = 20 if len(args) > 0: takeoff_alt = float(args[0]) if self.is_quadplane(): wptype = mavutil.mavlink.MAV_CMD_NAV_VTOL_TAKEOFF else: wptype = mavutil.mavlink.MAV_CMD_NAV_TAKEOFF wp = mavutil.mavlink.MAVLink_mission_item_message(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, wptype, 0, 1, 0, 0, 0, 0, latlon[0], latlon[1], takeoff_alt) if self.wploader.count() < 2: home = self.get_WP0() if home is None: print("Need home location - please run gethome") return self.wploader.clear() self.wploader.add(home) # assume first waypoint self.wploader.insert(1, wp) self.send_all_waypoints() def wp_add_landing(self, args): '''add a landing as last mission item''' if not self.check_have_list(): return latlon = self.mpstate.click_location if latlon is None: print("No position chosen") return if self.is_quadplane(): wptype = mavutil.mavlink.MAV_CMD_NAV_VTOL_LAND else: wptype = mavutil.mavlink.MAV_CMD_NAV_LAND wp = mavutil.mavlink.MAVLink_mission_item_message(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, wptype, 0, 1, 0, 0, 0, 0, latlon[0], latlon[1], 0) # assume last waypoint self.wploader.add(wp) self.send_all_waypoints() def wp_add_RTL(self, args): '''add a RTL as last mission item''' if not self.check_have_list(): return wp = mavutil.mavlink.MAVLink_mission_item_message(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 1, 0, 0, 0, 0, 0, 0, 0) # assume last waypoint self.wploader.add(wp) self.send_all_waypoints() def wp_add_dls(self, args): '''add a DO_LAND_START as last mission item''' if not self.check_have_list(): return latlon = self.mpstate.click_location if latlon is None: print("No position chosen") return wp = mavutil.mavlink.MAVLink_mission_item_message(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_DO_LAND_START, 0, 1, 0, 0, 0, 0, latlon[0], latlon[1], 0) # assume last waypoint self.wploader.add(wp) self.send_all_waypoints() def cmd_sethome(self, args): '''set home location from last map click''' latlon = self.mpstate.click_location if latlon is None: print("No position available") return lat = float(latlon[0]) lon = float(latlon[1]) if self.wploader.count() == 0: self.wploader.add_latlonalt(lat, lon, 0) w = self.wploader.wp(0) w.x = lat w.y = lon self.wploader.set(w, 0) self.loading_waypoints = True self.loading_waypoint_lasttime = time.time() self.master.mav.mission_write_partial_list_send( self.target_system, self.target_component, 0, 0 ) def fix_jumps(self, idx, delta): '''fix up jumps when we add/remove rows''' numrows = self.wploader.count() for row in range(numrows): wp = self.wploader.wp(row) jump_cmds = [mavutil.mavlink.MAV_CMD_DO_JUMP] if hasattr(mavutil.mavlink, "MAV_CMD_DO_CONDITION_JUMP"): jump_cmds.append(mavutil.mavlink.MAV_CMD_DO_CONDITION_JUMP) if wp.command in jump_cmds: p1 = int(wp.param1) if p1 > idx and p1 + delta > 0: wp.param1 = float(p1+delta) self.wploader.set(wp, row) def get_loc(self, m): '''return a mavutil.location for item m''' t = m.get_type() if t == "MISSION_ITEM": lat = m.x * 1e7 lng = m.y * 1e7 alt = m.z * 1e2 elif t == "MISSION_ITEM_INT": lat = m.x lng = m.y alt = m.z else: return None return mavutil.location(lat, lng, alt) def cmd_split(self, args): '''splits the segment ended by the supplied waypoint into two''' try: num = int(args[0]) except IOError: return "Bad wp num (%s)" % args[0] if num < 1 or num > self.wploader.count(): print("Bad item %s" % str(num)) return wp = self.wploader.wp(num) if wp is None: print("Could not get wp %u" % num) return loc = self.get_loc(wp) if loc is None: print("wp is not a location command") return prev = num while True: prev = prev - 1 if prev < 1 or prev > self.wploader.count(): print("Bad item %u" % num) return prev_wp = self.wploader.wp(prev) if prev_wp is None: print("Could not get previous wp %u" % prev) return if prev_wp.command == mavutil.mavlink.MAV_CMD_DO_LAND_START: continue prev_loc = self.get_loc(prev_wp) if prev_loc is None: print("previous wp is not a location command") return break if wp.frame != prev_wp.frame: print("waypoints differ in frame (%u vs %u)" % (wp.frame, prev_wp.frame)) return if wp.frame != prev_wp.frame: print("waypoints differ in frame") return lat_avg = (loc.lat + prev_loc.lat)/2 lng_avg = (loc.lng + prev_loc.lng)/2 alt_avg = (loc.alt + prev_loc.alt)/2 new_wp = mavutil.mavlink.MAVLink_mission_item_message( self.target_system, self.target_component, wp.seq, # seq wp.frame, # frame mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, # command 0, # current 0, # autocontinue 0.0, # param1, 0.0, # param2, 0.0, # param3 0.0, # param4 lat_avg * 1e-7, # x (latitude) lng_avg * 1e-7, # y (longitude) alt_avg * 1e-2, # z (altitude) ) self.wploader.insert(wp.seq, new_wp) self.wploader.expected_count += 1 self.fix_jumps(wp.seq, 1) self.send_all_waypoints() def init(mpstate): '''initialise module''' return WPModule(mpstate) MAVProxy-1.8.74/MAVProxy/tools/000077500000000000000000000000001504324515000161245ustar00rootroot00000000000000MAVProxy-1.8.74/MAVProxy/tools/MAVExplorer.bat000066400000000000000000000001621504324515000207570ustar00rootroot00000000000000cd ..\..\ python.exe -m pip install --upgrade build . --user python.exe .\MAVProxy\tools\MAVExplorer.py pause MAVProxy-1.8.74/MAVProxy/tools/MAVExplorer.py000077500000000000000000001542571504324515000206630ustar00rootroot00000000000000#!/usr/bin/env python3 from __future__ import print_function ''' log analysis program Andrew Tridgell December 2014 ''' import copy import sys import time import os import fnmatch import threading import shlex import traceback from math import * os.environ['MAVLINK20'] = '1' from MAVProxy.modules.lib import multiproc from MAVProxy.modules.lib import rline from MAVProxy.modules.lib import wxconsole from MAVProxy.modules.lib import param_help from MAVProxy.modules.lib import param_ftp from MAVProxy.modules.lib.graph_ui import Graph_UI from pymavlink.mavextra import * from MAVProxy.modules.lib.mp_menu import * import MAVProxy.modules.lib.mp_util as mp_util from pymavlink import mavutil from pymavlink import mavwp from pymavlink import DFReader from MAVProxy.modules.lib.mp_settings import MPSettings, MPSetting from MAVProxy.modules.lib import wxsettings from MAVProxy.modules.lib.graphdefinition import GraphDefinition from lxml import objectify import pkg_resources from builtins import input import datetime import matplotlib import struct grui = [] flightmodes = None # Global var to hold the GUI menu element TopMenu = None # have we decoded MAVFtp params? done_ftp_decode = False def xml_unescape(e): '''unescape < amd >''' e = e.replace('>', '>') e = e.replace('<', '<') return e def xml_escape(e): '''escape < amd >''' e = e.replace('>', '>') e = e.replace('<', '<') return e def timestring(msg): '''return string for msg timestamp''' ts_ms = int(msg._timestamp * 1000.0) % 1000 return time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(msg._timestamp)) + ".%.03u" % ts_ms class MEStatus(object): '''status object to conform with mavproxy structure for modules''' def __init__(self): self.msgs = {} class XLimits(object): '''A class capturing timestamp limits''' def __init__(self): self.last_xlim = None self.xlim_low = None self.xlim_high = None def timestamp_in_range(self, timestamp): '''check if a timestamp is in current limits return -1 if too low return 1 if too high return 0 if in range ''' if self.xlim_low is not None and timestamp < self.xlim_low: return -1 if self.xlim_high is not None and timestamp > self.xlim_high: return 1 return 0 xlimits = XLimits() class MEState(object): '''holds state of MAVExplorer''' def __init__(self): self.input_queue = multiproc.Queue() self.rl = None self.console = wxconsole.MessageConsole(title='MAVExplorer') self.exit = False self.status = MEStatus() self.settings = MPSettings( [ MPSetting('marker', str, '+', 'data marker', tab='Graph'), MPSetting('condition', str, None, 'condition'), MPSetting('xaxis', str, None, 'xaxis'), MPSetting('linestyle', str, None, 'linestyle'), MPSetting('show_flightmode', int, 1, 'show flightmode'), MPSetting('sync_xzoom', bool, True, 'sync X-axis zoom'), MPSetting('sync_xmap', bool, True, 'sync X-axis zoom for map'), MPSetting('legend', str, 'upper left', 'legend position'), MPSetting('legend2', str, 'upper right', 'legend2 position'), MPSetting('title', str, None, 'Graph title'), MPSetting('debug', int, 0, 'debug level'), MPSetting('paramdocs', bool, True, 'show param docs'), MPSetting('max_rate', float, 0, 'maximum display rate of graphs in Hz'), MPSetting('vehicle_type', str, 'Auto', 'force vehicle type for mode handling'), ] ) self.mlog = None self.mav_param = None self.filename = None self.command_map = command_map self.completions = { "set" : ["(SETTING)"], "condition" : ["(VARIABLE)"], "graph" : ['(VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE)'], "dump" : ['(MESSAGETYPE)', '--verbose (MESSAGETYPE)'], "map" : ['(VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE)'], "param" : ['download', 'check', 'help (PARAMETER)', 'save', 'savechanged', 'diff', 'show', 'check'], "logmessage": ['download', 'help (MESSAGETYPE)'], } self.aliases = {} self.graphs = [] self.flightmode_selections = [] self.last_graph = GraphDefinition(self.settings.title, '', '', [], None) #pipe to the wxconsole for any child threads (such as the save dialog box) self.parent_pipe_recv_console,self.child_pipe_send_console = multiproc.Pipe(duplex=False) #pipe for creating graphs (such as from the save dialog box) self.parent_pipe_recv_graph,self.child_pipe_send_graph = multiproc.Pipe(duplex=False) self.param_help = param_help.ParamHelp() tConsoleWrite = threading.Thread(target=self.pipeRecvConsole) tConsoleWrite.daemon = True tConsoleWrite.start() tGraphWrite = threading.Thread(target=self.pipeRecvGraph) tGraphWrite.daemon = True tGraphWrite.start() def pipeRecvConsole(self): '''watch for piped data from save dialog''' try: while True: console_msg = self.parent_pipe_recv_console.recv() if console_msg is not None: self.console.writeln(console_msg) time.sleep(0.1) except EOFError: pass def pipeRecvGraph(self): '''watch for piped data from save dialog''' try: while True: graph_rec = self.parent_pipe_recv_graph.recv() if graph_rec is not None: mestate.input_queue.put(graph_rec) time.sleep(0.1) except EOFError: pass def have_graph(name): '''return true if we have a graph of the given name''' for g in mestate.graphs: if g.name == name: return True return False def menu_callback(m): '''called on menu selection''' if m.returnkey.startswith('# '): cmd = m.returnkey[2:] if m.handler is not None: if m.handler_result is None: return cmd += m.handler_result process_stdin(cmd) elif m.returnkey == 'menuSettings': wxsettings.WXSettings(mestate.settings) elif m.returnkey.startswith("mode-"): idx = int(m.returnkey[5:]) mestate.flightmode_selections[idx] = m.IsChecked() elif m.returnkey.startswith("loadLog"): print("File: " + m.returnkey[8:]) elif m.returnkey == 'quit': mestate.console.close() mestate.exit = True print("Exited. Press Enter to continue.") sys.exit(0) else: print('Unknown menu selection: %s' % m.returnkey) def flightmode_menu(): '''construct flightmode menu''' global flightmodes ret = [] idx = 0 for (mode,t1,t2) in flightmodes: modestr = "%s %us" % (mode, (t2-t1)) ret.append(MPMenuCheckbox(modestr, modestr, 'mode-%u' % idx)) idx += 1 mestate.flightmode_selections.append(False) return ret def graph_menus(): '''return menu tree for graphs (recursive)''' ret = MPMenuSubMenu('Graphs', []) for i in range(len(mestate.graphs)): g = mestate.graphs[i] path = g.name.split('/') name = path[-1] path = path[:-1] ret.add_to_submenu(path, MPMenuItem(name, name, '# graph :%u' % i)) return ret def setup_file_menu(): global TopMenu TopMenu = MPMenuTop([]) TopMenu.add(MPMenuSubMenu('MAVExplorer', items=[MPMenuItem('Settings', 'Settings', 'menuSettings'), MPMenuItem('&Open\tCtrl+O', 'Open Log', '# loadLog ', handler=MPMenuCallFileDialog( flags=('open',), title='Logfile Load', wildcard='*.tlog;*.log;*.BIN;*.bin')), MPMenuItem('&Quit\tCtrl+Q', 'Quit', 'quit')])) mestate.console.set_menu(TopMenu, menu_callback) def setup_menus(): '''setup console menus''' global TopMenu TopMenu.add(MPMenuSubMenu('Display', items=[MPMenuItem('Map', 'Map', '# map'), MPMenuItem('Save Graph', 'Save', '# save'), MPMenuItem('Reload Graphs', 'Reload', '# reload')])) TopMenu.add(graph_menus()) TopMenu.add(MPMenuSubMenu('FlightMode', items=flightmode_menu())) TopMenu.add(MPMenuSubMenu('Tools', items=[MPMenuItem('MagFit', 'MagFit', '# magfit'), MPMenuItem('Stats', 'Stats', '# stats'), MPMenuItem('FFT', 'FFT', '# fft')])) mestate.console.set_menu(TopMenu, menu_callback) def expression_ok(expression, msgs=None): '''return True if an expression is OK with current messages''' expression_ok = True if expression is None: return False fields = expression.split() if msgs is None: msgs = mestate.status.msgs for f in fields: try: if f.endswith(">"): a2 = f.rfind("<") if a2 != -1: f = f[:a2] if f.endswith(':2'): f = f[:-2] if f[-1] == '}': # avoid passing nocondition unless needed to allow us to work witih older # pymavlink versions res = mavutil.evaluate_expression(f, msgs, nocondition=True) else: res = mavutil.evaluate_expression(f, msgs) if res is None: expression_ok = False except Exception: expression_ok = False break return expression_ok def load_graph_xml(xml, filename, load_all=False): '''load a graph from one xml string''' ret = [] try: root = objectify.fromstring(xml) except Exception as ex: print(filename, ex) return [] if root.tag != 'graphs': return [] if not hasattr(root, 'graph'): return [] names = set() for g in root.graph: name = g.attrib['name'] expressions = [] for e in g.expression: if e.text is not None: expressions.append(e.text) if load_all: if not name in names: if hasattr(g,'description'): description = g.description.text else: description = '' ret.append(GraphDefinition(name, expressions[0], description, expressions, filename)) names.add(name) continue if have_graph(name): continue for e in expressions: if e is None: continue e = xml_unescape(e) if expression_ok(e): if hasattr(g,'description'): description = g.description.text else: description = '' ret.append(GraphDefinition(name, e, description, expressions, filename)) break return ret def load_graphs(): '''load graphs from mavgraphs.xml''' mestate.graphs = [] gfiles = ['mavgraphs.xml'] for dirname, dirnames, filenames in os.walk(mp_util.dot_mavproxy()): # Skip XML files in the LogMessages subfolder if os.path.basename(dirname) == "LogMessages": continue for filename in filenames: if filename.lower().endswith('.xml'): gfiles.append(os.path.join(dirname, filename)) for file in gfiles: if not os.path.exists(file): continue # skip parameter files. They specify an encoding, and under # Python3 this leads to a warning from etree if os.path.basename(file) in ["ArduSub.xml", "ArduPlane.xml", "APMrover2.xml", "ArduCopter.xml", "AntennaTracker.xml", "Blimp.xml", "Rover.xml", "Heli.xml"]: continue graphs = load_graph_xml(open(file).read(), file) if graphs: mestate.graphs.extend(graphs) mestate.console.writeln("Loaded %s" % file) # also load the built in graphs try: dlist = pkg_resources.resource_listdir("MAVProxy", "tools/graphs") for f in dlist: raw = pkg_resources.resource_stream("MAVProxy", "tools/graphs/%s" % f).read() graphs = load_graph_xml(raw, None) if graphs: mestate.graphs.extend(graphs) mestate.console.writeln("Loaded %s" % f) except Exception: #we're in a Windows exe, where pkg_resources doesn't work import pkgutil for f in ["ekf3Graphs.xml", "ekfGraphs.xml", "mavgraphs.xml", "mavgraphs2.xml"]: raw = pkgutil.get_data( 'MAVProxy', 'tools//graphs//' + f) graphs = load_graph_xml(raw, None) if graphs: mestate.graphs.extend(graphs) mestate.console.writeln("Loaded %s" % f) mestate.graphs = sorted(mestate.graphs, key=lambda g: g.name) def flightmode_colours(): '''return mapping of flight mode to colours''' from MAVProxy.modules.lib.grapher import flightmode_colours mapping = {} idx = 0 for (mode,t0,t1) in flightmodes: if not mode in mapping: mapping[mode] = flightmode_colours[idx] idx += 1 if idx >= len(flightmode_colours): idx = 0 return mapping def check_vehicle_type(): '''check vehicle_type option''' vtypes = { "Rover" : mavutil.mavlink.MAV_TYPE_GROUND_ROVER, "Plane" : mavutil.mavlink.MAV_TYPE_FIXED_WING, "Copter" : mavutil.mavlink.MAV_TYPE_QUADROTOR, "Tracker" : mavutil.mavlink.MAV_TYPE_ANTENNA_TRACKER, "Antenna" : mavutil.mavlink.MAV_TYPE_ANTENNA_TRACKER, "Sub" : mavutil.mavlink.MAV_TYPE_SUBMARINE, "Blimp" : mavutil.mavlink.MAV_TYPE_AIRSHIP } if mestate.settings.vehicle_type == 'Auto': # let mavutil handle it return old_mav_type = mestate.mlog.mav_type for k in vtypes.keys(): if mestate.settings.vehicle_type.lower().find(k.lower()) != -1: mestate.mlog.mav_type = vtypes[k] if old_mav_type != mestate.mlog.mav_type: global flightmodes mestate.mlog._flightmodes = None flightmodes = mestate.mlog.flightmode_list() return print("Unknown vehicle type '%s'" % mestate.settings.vehicle_type) def cmd_graph(args): '''graph command''' usage = "usage: graph " if len(args) < 1: print(usage) return check_vehicle_type() if args[0][0] == ':': i = int(args[0][1:]) g = mestate.graphs[i] expression = g.expression args = expression.split() mestate.console.write("Added graph: %s\n" % g.name) if g.description: mestate.console.write("%s\n" % g.description, fg='blue') mestate.rl.add_history("graph %s" % ' '.join(expression.split())) mestate.last_graph = g else: expression = ' '.join(args) mestate.last_graph = GraphDefinition(mestate.settings.title, expression, '', [expression], None) if mestate.settings.debug > 0: print("Adding graph: %s" % mestate.last_graph.expression) grui.append(Graph_UI(mestate)) grui[-1].display_graph(mestate.last_graph, flightmode_colours()) global xlimits if xlimits.last_xlim is not None and mestate.settings.sync_xzoom: #print("initial: ", xlimits.last_xlim) grui[-1].set_xlim(xlimits.last_xlim) map_timelim_pipes = [] def cmd_map(args): '''map command''' import mavflightview #mestate.mlog.reduce_by_flightmodes(mestate.flightmode_selections) #setup and process the map check_vehicle_type() options = mavflightview.mavflightview_options() options.condition = mestate.settings.condition options._flightmodes = mestate.mlog._flightmodes options.show_flightmode_legend = mestate.settings.show_flightmode options.colour_source='flightmode' # check for kml or kmz for a in args: if a.endswith('.kml') or a.endswith('.kmz'): options.kml = a args = list(filter(lambda x : x != a, args)) break if len(args) > 0: options.types = ':'.join(args) filtered_args = list(filter(lambda x : x != "CMD", options.types)) if len(filtered_args) > 1: options.colour_source='type' mfv_mav_ret = mavflightview.mavflightview_mav(mestate.mlog, options, mestate.flightmode_selections) if mfv_mav_ret is None: return [path, wp, fen, used_flightmodes, mav_type, instances] = mfv_mav_ret global map_timelim_pipes timelim_pipe = multiproc.Pipe() child = multiproc.Process(target=mavflightview.mavflightview_show, args=[path, wp, fen, used_flightmodes, mav_type, options, instances, None, timelim_pipe]) map_timelim_pipes.append(timelim_pipe) global xlimits if xlimits.last_xlim is not None and mestate.settings.sync_xmap: try: timelim_pipe[0].send(xlimits.last_xlim) except Exception: pass child.start() mestate.mlog.rewind() def cmd_set(args): '''control MAVExporer options''' mestate.settings.command(args) def cmd_condition(args): '''control MAVExporer conditions''' if len(args) == 0: print("condition is: %s" % mestate.settings.condition) return mestate.settings.condition = ' '.join(args) if len(mestate.settings.condition) == 0 or mestate.settings.condition == 'clear': mestate.settings.condition = None def cmd_reload(args): '''reload graphs''' mestate.console.writeln('Reloading graphs', fg='blue') load_graphs() setup_menus() mestate.console.write("Loaded %u graphs\n" % len(mestate.graphs)) fft_tool = None def cmd_fft(args): '''display fft from log''' from MAVProxy.modules.lib import mav_fft if len(args) > 0: condition = args[0] else: condition = None global fft_tool, xlimits fft_tool = mav_fft.MavFFT(mlog=mestate.mlog, xlimits=xlimits) fft_tool.start() msgstats_tool = None def cmd_stats(args): '''show status on log''' from MAVProxy.modules.lib import msgstats global msgstats_tool msgstats_tool = msgstats.MPMsgStats(mlog=mestate.mlog) msgstats_tool.start() def cmd_dump(args): '''dump messages from log''' global xlimits # understand --verbose to give as much information about message as possible verbose = False if "--verbose" in args: verbose = True args = list(filter(lambda x : x != "--verbose", args)) if len(args) > 0: wildcard = args[0] else: print("Usage: dump PATTERN") return mlog = mestate.mlog mlog.rewind() types = [] for p in wildcard.split(','): for t in mlog.name_to_id.keys(): if fnmatch.fnmatch(t, p): types.extend([t]) while True: msg = mlog.recv_match(type=types, condition=mestate.settings.condition) if msg is None: break in_range = xlimits.timestamp_in_range(msg._timestamp) if in_range < 0: continue if in_range > 0: continue if verbose and "pymavlink.dialects" in str(type(msg)): mavutil.dump_message_verbose(sys.stdout, msg) elif verbose and hasattr(msg,"dump_verbose"): msg.dump_verbose(sys.stdout) else: print("%s %s" % (timestring(msg), msg)) mlog.rewind() mfit_tool = None def cmd_magfit(args): '''fit magnetic field''' from MAVProxy.modules.lib import magfit global mfit_tool, xlimits mfit_tool = magfit.MagFit(title="MagFit", mlog=mestate.mlog, xlimits=xlimits) mfit_tool.start() def save_graph(graphdef): '''save a graph as XML''' if graphdef.filename is None: graphdef.filename = os.path.join(mp_util.dot_mavproxy(), 'mavgraphs.xml') contents = None try: contents = open(graphdef.filename).read() graphs = load_graph_xml(contents, graphdef.filename, load_all=True) except Exception as ex: graphs = [] print(ex) if contents is not None and len(graphs) == 0: print("Unable to parse %s" % graphdef.filename) return if contents is not None: try: open(graphdef.filename + ".bak",'w').write(contents) except Exception: pass found_name = False for i in range(len(graphs)): if graphs[i].name == graphdef.name: graphs[i] = graphdef found_name = True break if not found_name: graphs.append(graphdef) pipe_console_input.send("Saving %u graphs to %s" % (len(graphs), graphdef.filename)) f = open(graphdef.filename, "w") f.write("\n\n") for g in graphs: f.write(" \n" % g.name.strip()) if g.description is None: g.description = '' f.write(" %s\n" % g.description.strip()) for e in g.expressions: if e is None: continue e = xml_escape(e) f.write(" %s\n" % e.strip()) f.write(" \n\n") f.write("\n") f.close() def save_callback(operation, graphdef): '''callback from save thread''' if operation == 'test': for e in graphdef.expressions: if e is None: continue if expression_ok(e, msgs): graphdef.expression = e pipe_graph_input.send('graph ' + graphdef.expression) return pipe_console_input.send('Invalid graph expressions') return if operation == 'save': save_graph(graphdef) def save_process(MAVExpLastGraph, child_pipe_console_input, child_pipe_graph_input, statusMsgs): '''process for saving a graph''' from MAVProxy.modules.lib import wx_processguard from MAVProxy.modules.lib.wx_loader import wx from MAVProxy.modules.lib.wxgrapheditor import GraphDialog #This pipe is used to send text to the console global pipe_console_input pipe_console_input = child_pipe_console_input #This pipe is used to send graph commands global pipe_graph_input pipe_graph_input = child_pipe_graph_input #The valid expression messages, required to #validate the expression in the dialog box global msgs msgs = statusMsgs app = wx.App(False) if MAVExpLastGraph.description is None: MAVExpLastGraph.description = '' frame = GraphDialog('Graph Editor', MAVExpLastGraph, save_callback) frame.ShowModal() frame.Destroy() def cmd_save(args): '''save a graph''' child = multiproc.Process(target=save_process, args=[mestate.last_graph, mestate.child_pipe_send_console, mestate.child_pipe_send_graph, mestate.status.msgs]) child.start() # events from EV messages, taken from AP_Logger.h events = { 7 : "DATA_AP_STATE", 8 : "DATA_SYSTEM_TIME_SET", 9 : "DATA_INIT_SIMPLE_BEARING", 10 : "DATA_ARMED", 11 : "DATA_DISARMED", 15 : "DATA_AUTO_ARMED", 17 : "DATA_LAND_COMPLETE_MAYBE", 18 : "DATA_LAND_COMPLETE", 28 : "DATA_NOT_LANDED", 19 : "DATA_LOST_GPS", 21 : "DATA_FLIP_START", 22 : "DATA_FLIP_END", 25 : "DATA_SET_HOME", 26 : "DATA_SET_SIMPLE_ON", 27 : "DATA_SET_SIMPLE_OFF", 29 : "DATA_SET_SUPERSIMPLE_ON", 30 : "DATA_AUTOTUNE_INITIALISED", 31 : "DATA_AUTOTUNE_OFF", 32 : "DATA_AUTOTUNE_RESTART", 33 : "DATA_AUTOTUNE_SUCCESS", 34 : "DATA_AUTOTUNE_FAILED", 35 : "DATA_AUTOTUNE_REACHED_LIMIT", 36 : "DATA_AUTOTUNE_PILOT_TESTING", 37 : "DATA_AUTOTUNE_SAVEDGAINS", 38 : "DATA_SAVE_TRIM", 39 : "DATA_SAVEWP_ADD_WP", 41 : "DATA_FENCE_ENABLE", 42 : "DATA_FENCE_DISABLE", 43 : "DATA_ACRO_TRAINER_DISABLED", 44 : "DATA_ACRO_TRAINER_LEVELING", 45 : "DATA_ACRO_TRAINER_LIMITED", 46 : "DATA_GRIPPER_GRAB", 47 : "DATA_GRIPPER_RELEASE", 49 : "DATA_PARACHUTE_DISABLED", 50 : "DATA_PARACHUTE_ENABLED", 51 : "DATA_PARACHUTE_RELEASED", 52 : "DATA_LANDING_GEAR_DEPLOYED", 53 : "DATA_LANDING_GEAR_RETRACTED", 54 : "DATA_MOTORS_EMERGENCY_STOPPED", 55 : "DATA_MOTORS_EMERGENCY_STOP_CLEARED", 56 : "DATA_MOTORS_INTERLOCK_DISABLED", 57 : "DATA_MOTORS_INTERLOCK_ENABLED", 58 : "DATA_ROTOR_RUNUP_COMPLETE", 59 : "DATA_ROTOR_SPEED_BELOW_CRITICAL", 60 : "DATA_EKF_ALT_RESET", 61 : "DATA_LAND_CANCELLED_BY_PILOT", 62 : "DATA_EKF_YAW_RESET", 63 : "DATA_AVOIDANCE_ADSB_ENABLE", 64 : "DATA_AVOIDANCE_ADSB_DISABLE", 65 : "DATA_AVOIDANCE_PROXIMITY_ENABLE", 66 : "DATA_AVOIDANCE_PROXIMITY_DISABLE", 67 : "DATA_GPS_PRIMARY_CHANGED", 68 : "DATA_WINCH_RELAXED", 69 : "DATA_WINCH_LENGTH_CONTROL", 70 : "DATA_WINCH_RATE_CONTROL", 71 : "DATA_ZIGZAG_STORE_A", 72 : "DATA_ZIGZAG_STORE_B", 73 : "DATA_LAND_REPO_ACTIVE", 74 : "DATA_STANDBY_ENABLE", 75 : "DATA_STANDBY_DISABLE", 76 : "FENCE_ALT_MAX_ENABLE", 77 : "FENCE_ALT_MAX_DISABLE", 80 : "FENCE_FLOOR_ENABLE", 81 : "FENCE_FLOOR_DISABLE", 82 : "FENCE_POLYGON_ENABLE", 83 : "FENCE_POLYGON_DISABLE", 85 : "EK3_SOURCES_SET_TO_PRIMARY", 86 : "EK3_SOURCES_SET_TO_SECONDARY", 87 : "EK3_SOURCES_SET_TO_TERTIARY", 90 : "AIRSPEED_PRIMARY_CHANGED", 163 : "DATA_SURFACED", 164 : "DATA_NOT_SURFACED", 165 : "DATA_BOTTOMED", 166 : "DATA_NOT_BOTTOMED", } subsystems = { 1 : "MAIN", 2 : "RADIO", 3 : "COMPASS", 4 : "OPTFLOW", 5 : "FAILSAFE_RADIO", 6 : "FAILSAFE_BATT", 7 : "FAILSAFE_GPS", 8 : "FAILSAFE_GCS", 9 : "FAILSAFE_FENCE", 10 : "FLIGHT_MODE", 11 : "GPS", 12 : "CRASH_CHECK", 13 : "FLIP", 14 : "AUTOTUNE", 15 : "PARACHUTES", 16 : "EKFCHECK", 17 : "FAILSAFE_EKFINAV", 18 : "BARO", 19 : "CPU", 20 : "FAILSAFE_ADSB", 21 : "TERRAIN", 22 : "NAVIGATION", 23 : "FAILSAFE_TERRAIN", 24 : "EKF_PRIMARY", 25 : "THRUST_LOSS_CHECK", 26 : "FAILSAFE_SENSORS", 27 : "FAILSAFE_LEAK", 28 : "PILOT_INPUT", 29 : "FAILSAFE_VIBE", 30 : "INTERNAL_ERROR", 31 : "FAILSAFE_DEADRECKON", } error_codes = { "RADIO" : { # subsystem specific error codes -- radio 2: "RADIO_LATE_FRAME", }, "FAILSAFE_FENCE" : { # for failsafe fence, non-zero is a bitmask 0: "FAILSAFE_RESOLVED", '*': "Fence:#", }, "FAILSAFE*" : { # subsystem specific error codes -- failsafe_thr, batt, gps 0: "FAILSAFE_RESOLVED", 1: "FAILSAFE_OCCURRED", }, "MAIN" : { # subsystem specific error codes -- main 1: "MAIN_INS_DELAY", }, "CRASH_CHECK" : { # subsystem specific error codes -- crash checker 1: "CRASH_CHECK_CRASH", 2: "CRASH_CHECK_LOSS_OF_CONTROL", }, "FLIP" : { # subsystem specific error codes -- flip 2: "FLIP_ABANDONED", }, "TERRAIN" : { # subsystem specific error codes -- terrain 2: "MISSING_TERRAIN_DATA", }, "NAVIGATION" : { # subsystem specific error codes -- navigation 2: "FAILED_TO_SET_DESTINATION", 3: "RESTARTED_RTL", 4: "FAILED_CIRCLE_INIT", 5: "DEST_OUTSIDE_FENCE", 6: "RTL_MISSING_RNGFND", }, "INTERNAL_ERROR" : { # subsystem specific error codes -- internal_error 1: "INTERNAL_ERRORS_DETECTED", }, "PARACHUTES" : { # parachute failed to deploy because of low altitude or landed 2: "PARACHUTE_TOO_LOW", 3: "PARACHUTE_LANDED", }, "EKFCHECK" : { # EKF check definitions 2: "EKFCHECK_BAD_VARIANCE", 0: "EKFCHECK_VARIANCE_CLEARED", }, "BARO" : { # Baro specific error codes 2: "BARO_GLITCH", 3: "BAD_DEPTH", # sub-only }, "GPS" : { # GPS specific error coces 2: "GPS_GLITCH", }, "EKF_PRIMARY" : { # EKF primary - code is the EKF number '*': "EKF:#", }, "FLIGHT_MODE" : { # flight mode - code is the mode number '*': "Mode:#", }, "*" : { # general error codes 0: "ERROR_RESOLVED", 1: "FAILED_TO_INITIALISE", 4: "UNHEALTHY", } } def cmd_messages(args): '''show messages''' invert = False if len(args) > 0: wildcard = args[0] if wildcard.startswith("!"): invert = True wildcard = wildcard[1:] if wildcard.find('*') == -1 and wildcard.find('?') == -1: wildcard = "*" + wildcard + "*" else: wildcard = '*' # statustext reassembly: statustext_current_id = None statustext_next_seq = 0 statustext_accumulation = None # statustext_timestring = None def print_if_match(m_timestring, mstr): matches = fnmatch.fnmatch(mstr.upper(), wildcard.upper()) if invert: matches = not matches if matches: print("%s %s" % (m_timestring, mstr)) def get_error_code(subsys, ecode): for e in error_codes: if e.endswith('*'): subsys_match = subsys.startswith(e[:-1]) else: subsys_match = subsys == e if subsys_match: if ecode in error_codes[e]: return error_codes[e][ecode] elif "*" in error_codes[e]: return error_codes[e]['*'].replace("#",str(ecode)) return str(ecode) mestate.mlog.rewind() types = set(['MSG','EV','ERR', 'STATUSTEXT']) while True: m = mestate.mlog.recv_match(type=types, condition=mestate.settings.condition) if m is None: break if m.get_type() == 'MSG': mstr = m.Message elif m.get_type() == 'EV': mstr = "Event: %s" % events.get(m.Id, str(m.Id)) elif m.get_type() == 'ERR': subsys = subsystems.get(m.Subsys, str(m.Subsys)) ecode = get_error_code(subsys, m.ECode) mstr = "Error: Subsys %s ECode %s " % (subsys, ecode) else: mstr = m.text # special handling for statustext: if hasattr(m, 'id') and hasattr(m, 'chunk_seq') and m.chunk_seq != 0: # assume STATUSTEXT if m.id != statustext_current_id: if statustext_accumulation is not None: print_if_match(statustext_timestring, statustext_accumulation) statustext_accumulation = "" statustext_current_id = m.id statustext_next_seq = 0 statustext_timestring = timestring(m) if m.chunk_seq != statustext_next_seq: statustext_accumulation += "..." statustext_next_seq = m.chunk_seq + 1 statustext_accumulation += m.text continue print_if_match(timestring(m), mstr) # emit any remaining statustext if it matches: if statustext_accumulation is not None: print_if_match(statustext_timestring, statustext_accumulation) mestate.mlog.rewind() def extract_files(): '''extract all FILE messages as a dictionary of files''' sequences = {} mestate.mlog.rewind() while True: m = mestate.mlog.recv_match(type=['FILE'], condition=mestate.settings.condition) if m is None: break if not m.FileName in sequences: sequences[m.FileName] = set() sequences[m.FileName].add((m.Offset, m.Data[:m.Length])) ret = {} for f in sequences: ofs = 0 seen = set() seq = sorted(list(sequences[f]), key=lambda t: t[0]) ret[f] = bytes() for t in seq: if t[0] in seen: continue seen.add(t[0]) if t[0] != ofs: print("Gap in %s at %u" % (f, ofs)) ret[f] += t[1] ofs = t[0]+len(t[1]) mestate.mlog.rewind() return ret def cmd_file(args): '''show files''' files = extract_files() if len(args) == 0: # list for n in sorted(files.keys()): print("%s (length %u)" % (n, len(files[n]))) return fname = args[0] if not fname in files: print("File %s not found" % fname) return if len(args) == 1: # print on terminal print(files[fname].decode('utf-8')) else: # save to file dest = args[1] open(dest, "wb").write(files[fname]) print("Saved %s to %s" % (fname, dest)) def set_vehicle_name(): mapping = { mavutil.mavlink.MAV_TYPE_GROUND_ROVER : "Rover", mavutil.mavlink.MAV_TYPE_FIXED_WING : "ArduPlane", mavutil.mavlink.MAV_TYPE_QUADROTOR : "ArduCopter", mavutil.mavlink.MAV_TYPE_ANTENNA_TRACKER : "AntennaTracker", mavutil.mavlink.MAV_TYPE_SUBMARINE : "ArduSub", } mestate.param_help.vehicle_name = mapping.get(mestate.mlog.mav_type, None) def cmd_param_diff(args): '''show parameter changed using 4.3.x defaults''' verbose = mestate.settings.paramdocs mlog = mestate.mlog if not hasattr(mlog, 'param_defaults'): print("No param defaults in log") return if len(args) > 0: wildcard = args[0] else: wildcard = '*' k = sorted(mlog.params.keys()) defaults = mlog.param_defaults for p in k: p = str(p).upper() if not p in defaults: continue if mlog.params[p] == defaults[p]: continue if fnmatch.fnmatch(p, wildcard.upper()): s = "%-16.16s %f %f" % (str(p), mlog.params[p], defaults[p]) if verbose: set_vehicle_name() info = mestate.param_help.param_info(p, mlog.params[p]) if info is not None: s += " # %s" % info info_default = mestate.param_help.param_info(p, defaults[p]) if info_default is not None: s += " (DEFAULT: %s)" % info_default print(s) def cmd_param_save(args, changed_only=False): '''save parameters''' mlog = mestate.mlog if changed_only and not hasattr(mlog, 'param_defaults'): print("No param defaults in log") return filename = args[0] if len(args) > 1: wildcard = args[1] else: wildcard = '*' k = sorted(mlog.params.keys()) count = 0 try: f = open(filename, "w") except Exception as ex: print("Failed to open %s - %s" % (filename, ex)) return for p in k: p = str(p).upper() if changed_only and p in mlog.param_defaults and mlog.params[p] == mlog.param_defaults[p]: continue if fnmatch.fnmatch(p, wildcard.upper()): v = mlog.params[p] if int(v) == v: s = "%-16.16s %d" % (str(p), mlog.params[p]) else: s = "%-16.16s %f" % (str(p), mlog.params[p]) s = s.rstrip('0') f.write(s + "\n") count += 1 f.close() print("Saved %u parameters to %s" % (count, filename)) def ftp_decode(mlog): '''decode FILE_TRANSFER_PROTOCOL for parameters''' mlog.rewind() ftp_transfers = {} ftp_block_size = 0 FTP_OpenFileRO = 4 FTP_ReadFile = 5 FTP_BurstReadFile = 15 FTP_Ack = 128 FTP_NAck = 129 class Block(object): def __init__(self, offset, size, data): self.offset = offset self.size = size self.data = data class Transfer(object): def __init__(self, filename): self.filename = filename self.blocks = [] def extract(self): self.blocks.sort(key = lambda x: x.offset) data = bytes() for b in self.blocks: if b.offset < len(data): continue if b.offset > len(data): print("gap at %u" % len(data)) return None data += bytes(b.data) return data while True: m = mestate.mlog.recv_match(type=['FILE_TRANSFER_PROTOCOL']) if m is None: break session = m.payload[2] opcode = m.payload[3] size = m.payload[4] req_opcode = m.payload[5] burst_complete = m.payload[6] data = m.payload[12:12+size] if opcode == FTP_OpenFileRO: filename = data ftp_transfers[session] = Transfer(bytearray(filename)) if req_opcode in [FTP_ReadFile, FTP_BurstReadFile] and opcode == FTP_Ack: if not session in ftp_transfers: print("No session %u" % session) continue offset, = struct.unpack(" 0: mlog.param_defaults = {} for (name,value,ptype) in pdata.defaults: name = name.decode('utf-8') mlog.param_defaults[name] = value def cmd_param(args): '''show parameters''' verbose = mestate.settings.paramdocs mlog = mestate.mlog usage = "Usage: param " global done_ftp_decode if isinstance(mlog, mavutil.mavfile) and not done_ftp_decode: done_ftp_decode = True ftp_decode(mlog) if len(args) > 0: if args[0] == 'help': if len(args) < 2: print(usage) return set_vehicle_name() mestate.param_help.param_help(args[1:]) return if args[0] == 'download': mestate.param_help.param_help_download() return if args[0] == 'check': set_vehicle_name() mestate.param_help.param_check(mlog.params, args[1:]) return if args[0] == 'show': # habits from mavproxy cmd_param(args[1:]) return if args[0] == 'diff': cmd_param_diff(args[1:]) return if args[0] == 'save': # save parameters if len(args) < 2: print("Usage: param save FILENAME ") return cmd_param_save(args[1:], False) return if args[0] == 'savechanged': # save changed parameters if len(args) < 2: print("Usage: param savechanged FILENAME ") return cmd_param_save(args[1:], True) return wildcard = args[0] if len(args) > 1 and args[1] == "-v": verbose = True else: wildcard = '*' k = mp_util.sorted_natural(mlog.params.keys()) for p in k: if fnmatch.fnmatch(str(p).upper(), wildcard.upper()): s = "%-16.16s %f" % (str(p), mlog.params[p]) if verbose: set_vehicle_name() info = mestate.param_help.param_info(p, mlog.params[p]) if info is not None: s += " # %s" % info print(s) def cmd_paramchange(args): '''show param changes''' if len(args) > 0: wildcard = args[0] if wildcard.find('*') == -1 and wildcard.find('?') == -1: wildcard = "*" + wildcard + "*" else: wildcard = '*' types = set(['PARM','PARAM_VALUE']) vmap = {} while True: m = mestate.mlog.recv_match(type=types, condition=mestate.settings.condition) if m is None: break if m.get_type() == 'PARM': pname = m.Name pvalue = m.Value elif m.get_type() == 'PARAM_VALUE': pname = m.param_id pvalue = m.param_value else: continue if pname.startswith('STAT_'): # STAT_* changes are not interesting continue if not fnmatch.fnmatch(pname.upper(), wildcard.upper()): continue if not pname in vmap or vmap[pname] == pvalue: vmap[pname] = pvalue continue print("%s %s %.6f -> %.6f" % (timestring(m), pname, vmap[pname], pvalue)) vmap[pname] = pvalue mestate.mlog.rewind() def cmd_logmessage(args): '''show log message information''' mlog = mestate.mlog usage = "Usage: logmessage " # Print usage and return, if we have no arguments if len(args) <= 0: print(usage) return # help: print help for the requested log message if args[0] == 'help': if len(args) < 2: print(usage) return if hasattr(mlog, 'metadata'): mlog.metadata.print_help(args[1]) elif isinstance(mlog, mavutil.mavlogfile): print("logmessage help is not supported for telemetry log files") else: print("Incompatible pymavlink; upgrade pymavlink?") return # download: download XML files for log messages if args[0] == 'download': if not hasattr(DFReader, 'DFMetaData'): print("Incompatible pymavlink; upgrade pymavlink?") return try: child = multiproc.Process(target=DFReader.DFMetaData.download) child.start() except Exception as e: print(e) if hasattr(mlog, 'metadata'): mlog.metadata.reset() return # Print usage if we've dropped through the ifs print(usage) def cmd_mission(args): '''show mission''' if (len(args) == 1): print("Usage: mission ") return mestate.mlog.rewind() types = set(['CMD','MISSION_ITEM_INT']) wp = mavwp.MAVWPLoader() while True: m = mestate.mlog.recv_match(type=types, condition=mestate.settings.condition) if m is None: break if m.get_type() == 'CMD': try: frame = m.Frame except AttributeError: print("Warning: assuming frame is GLOBAL_RELATIVE_ALT") frame = mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT num_wps = m.CTot m = mavutil.mavlink.MAVLink_mission_item_message(0, 0, m.CNum, frame, m.CId, 0, 1, m.Prm1, m.Prm2, m.Prm3, m.Prm4, m.Lat, m.Lng, m.Alt) if m.get_type() == 'MISSION_ITEM_INT': m = mavutil.mavlink.MAVLink_mission_item_message(m.target_system, m.target_component, m.seq, m.frame, m.command, m.current, m.autocontinue, m.param1, m.param2, m.param3, m.param4, m.x*1.0e-7, m.y*1.0e-7, m.z) if m.current >= 2: continue while m.seq > wp.count(): print("Adding dummy WP %u" % wp.count()) wp.set(m, wp.count()) wp.set(m, m.seq) if len(args) == 2 and args[0] == 'save': wp.save(args[1]) mestate.mlog.rewind() return for i in range(wp.count()): w = wp.wp(i) print("%u\t%u\t%u\t%u\t%f\t%f\t%f\t%f\t%f\t\t%f\t\t%f\t%u" % ( w.seq, w.current, w.frame, w.command, w.param1, w.param2, w.param3, w.param4, w.x, w.y, w.z, w.autocontinue)) mestate.mlog.rewind() def cmd_devid(args): '''show parameters''' params = mestate.mlog.params k = sorted(params.keys()) for p in k: if p.startswith('COMPASS_DEV_ID') or p.startswith('COMPASS_PRIO') or ( p.startswith('COMPASS') and p.endswith('DEV_ID')): mp_util.decode_devid(params[p], p) if p.startswith('INS') and p.endswith('_ID'): mp_util.decode_devid(params[p], p) if p.startswith('GND_BARO') and p.endswith('_ID'): mp_util.decode_devid(params[p], p) if p.startswith('BARO') and p.endswith('DEVID'): mp_util.decode_devid(params[p], p) if p.startswith('ARSPD') and p.endswith('DEVID'): mp_util.decode_devid(params[p], p) def cmd_loadfile(args): '''callback from menu to load a log file''' if len(args) != 1: fileargs = " ".join(args) else: fileargs = args[0] if not os.path.exists(fileargs): print("Error loading file ", fileargs); return if os.name == 'nt': #convert slashes in Windows fileargs = fileargs.replace("\\", "/") loadfile(fileargs.strip('"')) def loadfile(args): '''load a log file (path given by arg)''' mestate.console.write("Loading %s...\n" % args) t0 = time.time() mlog = mavutil.mavlink_connection(args, notimestamps=False, zero_time_base=False, progress_callback=progress_bar) mestate.filename = args mestate.mlog = mlog # note that this is a shallow copy of the messages. # Instance-number-containing messages in mestate.status.msgs may # reference messages in their parent DFReader object which no # longer exist after a rewind() is performed. Still, this is good # enough for tab-completion to function. mestate.status.msgs = copy.copy(mlog.messages) t1 = time.time() mestate.console.write("\ndone (%u messages in %.1fs)\n" % (mestate.mlog._count, t1-t0)) # evaluate graph expressions before finding flightmode list as # flightmode_list does a rewind(), and that clears the DFReader # object. While we do take a copy of mestate.status.msgs above, # that is a shallow copy, so does not allow # DFMessage.parent.messages to function, which is vital for # instance-number-indexing to work - and the graph expression # evaluation requires that to function. load_graphs() global flightmodes flightmodes = mlog.flightmode_list() mestate.mav_param = mlog.params setup_menus() def print_caught_exception(e): if sys.version_info[0] >= 3: ret = "%s\n" % e ret += ''.join(traceback.format_exception(type(e), value=e, tb=e.__traceback__)) print(ret) else: print(traceback.format_exc(e)) def cmd_help(args): '''help command''' if len(args) == 0: k = command_map.keys() for cmd in sorted(k): (fn, help) = command_map[cmd] print("%-15s : %s" % (cmd, help)) return cmd = args[0] if cmd in command_map.keys(): (fn, help) = command_map[cmd] print("%-15s : %s" % (cmd, help)) return import pymavlink.mavextra as mavextra import math import pydoc pydoc.pager = pydoc.plainpager for v in [mavextra,math]: if hasattr(v,cmd): pydoc.help(getattr(v,cmd)) return print("%s not found" % cmd) def process_stdin(line): '''handle commands from user''' if line is None: sys.exit(0) line = line.strip() if not line: return try: args = shlex.split(line) except ValueError as e: print_caught_exception(e) return cmd = args[0] if cmd == 'help': cmd_help(args[1:]) return if cmd == 'exit': mestate.exit = True return if not cmd in command_map: print("Unknown command '%s'" % line) return (fn, help) = command_map[cmd] try: fn(args[1:]) except Exception as e: print("ERROR in command %s: %s" % (args[1:], str(e))) if mestate.settings.debug > 0: print_caught_exception(e) def input_loop(): '''wait for user input''' while mestate.exit != True: try: if mestate.exit != True: line = input(mestate.rl.prompt) except EOFError: mestate.exit = True sys.exit(1) mestate.input_queue.put(line) new_matplotlib = False mversion = matplotlib.__version__.split('.') matplotlib_major = mversion[0] matplotlib_minor = mversion[1] if int(matplotlib_major) > 3: new_matplotlib = True elif (int(matplotlib_major) >= 3 and int(matplotlib_minor) >= 5): new_matplotlib = True def epoch_time(num): '''converts a number into an epoch time - compatability wrapper''' if new_matplotlib: return matplotlib.dates.num2date(num).timestamp() return matplotlib.dates.num2epoch(num) def main_loop(): '''main processing loop, display graphs and maps''' global grui, xlimits while True: if mestate is None or mestate.exit: return while not mestate.input_queue.empty(): line = mestate.input_queue.get() cmds = line.split(';') for c in cmds: process_stdin(c) remlist = [] for i in range(0, len(grui)): xlim = grui[i].check_xlim_change() if xlim is not None and mestate.settings.sync_xzoom: for j in range(0, len(grui)): if j == i: continue if not grui[j].set_xlim(xlim): remlist.append(j) xlimits.last_xlim = xlim from dateutil.tz import tzlocal localtimezone = tzlocal() tbase = epoch_time(xlim[0]) tzofs = localtimezone.utcoffset(datetime.datetime.utcfromtimestamp(tbase)).total_seconds() xlimits.xlim_low = epoch_time(xlim[0]) - tzofs xlimits.xlim_high = epoch_time(xlim[1]) - tzofs if mestate.settings.sync_xmap: remlist = [] global map_timelim_pipes for p in map_timelim_pipes[:]: try: p[0].send(xlim) except Exception: map_timelim_pipes.remove(p) break if len(remlist) > 0: # remove stale graphs new_grui = [] for j in range(0, len(grui)): if j not in remlist: new_grui.append(grui[j]) grui = new_grui time.sleep(0.1) command_map = { 'graph' : (cmd_graph, 'display a graph'), 'set' : (cmd_set, 'control settings'), 'reload' : (cmd_reload, 'reload graphs'), 'save' : (cmd_save, 'save a graph'), 'condition' : (cmd_condition, 'set graph conditions'), 'param' : (cmd_param, 'show parameters'), 'paramchange': (cmd_paramchange, 'show parameter changes in log'), 'messages' : (cmd_messages, 'show messages'), 'devid' : (cmd_devid, 'show device IDs'), 'map' : (cmd_map, 'show map view'), 'fft' : (cmd_fft, 'show a FFT (if available)'), 'loadLog' : (cmd_loadfile, 'load a log file'), 'stats' : (cmd_stats, 'show statistics on the log'), 'magfit' : (cmd_magfit, 'fit mag parameters to WMM'), 'dump' : (cmd_dump, 'dump messages from log'), 'file' : (cmd_file, 'show files'), 'mission' : (cmd_mission, 'show mission'), 'logmessage' : (cmd_logmessage, 'show log message information'), } def progress_bar(pct): if pct % 2 == 0: mestate.console.write('#') if __name__ == "__main__": multiproc.freeze_support() from argparse import ArgumentParser parser = ArgumentParser(description=__doc__) parser.add_argument("--version", action='store_true', help="show version") parser.add_argument("files", metavar="", nargs="?") args = parser.parse_args() if args.version: #pkg_resources doesn't work in the windows exe build, so read the version file try: version = pkg_resources.require("mavproxy")[0].version except Exception as e: start_script = mp_util.dot_mavproxy("version.txt") f = open(start_script, 'r') version = f.readline() print("MAVExplorer Version: " + version) sys.exit(1) mestate = MEState() setup_file_menu() mestate.rl = rline.rline("MAV> ", mestate) #If specified, open the log file if args.files is not None and len(args.files) != 0: loadfile(args.files) # run main loop as a thread mestate.thread = threading.Thread(target=main_loop, name='main_loop') mestate.thread.daemon = True mestate.thread.start() # input loop while mestate.rl is not None and not mestate.exit: try: try: line = mestate.rl.input() except EOFError: mestate.exit = True break mestate.input_queue.put(line) except KeyboardInterrupt: mestate.exit = True break MAVProxy-1.8.74/MAVProxy/tools/graphs/000077500000000000000000000000001504324515000174105ustar00rootroot00000000000000MAVProxy-1.8.74/MAVProxy/tools/graphs/ekf3Graphs.xml000066400000000000000000000312621504324515000221330ustar00rootroot00000000000000 EKF3 Gyro Bias XKF1[0].GX XKF1[0].GY XKF1[0].GZ XKF1[1].GX XKF1[1].GY XKF1[1].GZ XKF1[2].GX XKF1[2].GY XKF1[2].GZ XKF1[0].GX XKF1[0].GY XKF1[0].GZ XKF1[1].GX XKF1[1].GY XKF1[1].GZ XKF1.GX XKF1.GY XKF1.GZ EKF3 Origin Height XKF1[0].OH XKF1[1].OH XKF1[2].OH XKF1[0].OH XKF1[1].OH XKF1.OH EKF3 Position Down XKF1[0].PD XKF1[1].PD XKF1[2].PD XKF1[0].PD XKF1[1].PD XKF1.PD EKF3 Position North/East XKF1[0].PN XKF1[1].PN XKF1[2].PN XKF1[0].PE XKF1[1].PE XKF1[2].PE XKF1[0].PN XKF1[1].PN XKF1[0].PE XKF1[1].PE XKF1.PN XKF1.PE EKF3 Position Down XKF1[0].PD XKF1[1].PD XKF1[2].PD XKF1[0].PD XKF1[1].PD XKF1.PD EKF3 Position Innovation North/East XKF3[0].IPN XKF3[1].IPN XKF3[2].IPN XKF3[0].IPE XKF3[1].IPE XKF3[2].IPE XKF3[0].IPN XKF3[1].IPN XKF3[0].IPE XKF3[1].IPE XKF3.IPN XKF3.IPE EKF3 Position Down XKF3[0].IPD XKF3[1].IPD XKF3[2].IPD XKF3[0].IPD XKF3[1].IPD XKF3.IPD EKF3 Velocity Innovation North/East XKF3[0].IVN XKF3[1].IVN XKF3[2].IVN XKF3[0].IVE XKF3[1].IVE XKF3[2].IVE XKF3[0].IVN XKF3[1].IVN XKF3[0].IVE XKF3[1].IVE XKF3.IVN XKF3.IVE EKF3 Velocity Down XKF3[0].IVD XKF3[1].IVD XKF3[2].IVD XKF3[0].IVD XKF3[1].IVD XKF3.IVD EKF3 Mag Innovations Lane1 XKF3[0].IMX XKF3[0].IMY XKF3[0].IMZ XKF3[0].IYAW:2 EKF3 Mag Innovations Lane2 XKF3[1].IMX XKF3[1].IMY XKF3[1].IMZ XKF3[1].IYAW:2 EKF3 Mag Innovations Lane3 XKF3[2].IMX XKF3[2].IMY XKF3[2].IMZ XKF3[2].IYAW:2 EKF3 Euler Roll ATT.Roll XKF1[0].Roll XKF1[1].Roll XKF1[2].Roll ATT.Roll XKF1[0].Roll XKF1[1].Roll ATT.Roll XKF1.Roll EKF3 Euler Pitch ATT.Pitch XKF1[0].Pitch XKF1[1].Pitch XKF1[2].Pitch ATT.Pitch XKF1[0].Pitch XKF1[1].Pitch ATT.Pitch XKF1.Pitch EKF3 Euler Yaw ATT.Yaw XKF1[0].Yaw XKF1[1].Yaw XKF1[2].Yaw ATT.Yaw XKF1[0].Yaw XKF1[1].Yaw ATT.Yaw XKF1.Yaw EKF3 Velocity North XKF1[0].VN XKF1[1].VN XKF1[2].VN XKF1[0].VN XKF1[1].VN XKF1.VN EKF3 Velocity East XKF1[0].VE XKF1[1].VE XKF1[2].VE XKF1[0].VE XKF1[1].VE XKF1.VE EKF3 Velocity Down XKF1[0].VD XKF1[1].VD XKF1[2].VD XKF1[0].VD XKF1[1].VD XKF1.VD EKF3 Velocity Down (DP derivative) XKF1[0].dPD XKF1[1].dPD XKF1[2].dPD XKF1[0].dPD XKF1[1].dPD XKF1.dPD EKF3 Accel Bias Lane1 XKF2[0].AX XKF2[0].AY XKF2[0].AZ XKF2.AX XKF2.AY XKF2.AZ EKF3 Accel Bias Lane2 XKF2[1].AX XKF2[1].AY XKF2[1].AZ EKF3 Accel Bias Lane3 XKF2[2].AX XKF2[2].AY XKF2[2].AZ EKF3 Gyro Scale Factor XKF2[0].GSX XKF2[0].GSY XKF2[0].GSZ XKF2[1].GSX XKF2[1].GSY XKF2[1].GSZ XKF2[2].GSX XKF2[2].GSY XKF2[2].GSZ XKF2[0].GSX XKF2[0].GSY XKF2[0].GSZ XKF2[1].GSX XKF2[1].GSY XKF2[1].GSZ XKF2.GSX XKF2.GSY XKF2.GSZ EKF3 Mag Earth Field XKF2[0].MN XKF2[0].ME XKF2[0].MD XKF2[1].MN XKF2[1].ME XKF2[1].MD XKF2[2].MN XKF2[2].ME XKF2[2].MD XKF2[0].MN XKF2[0].ME XKF2[0].MD XKF2[1].MN XKF2[1].ME XKF2[1].MD XKF2.MN XKF2.ME XKF2.MD EKF3 Mag Body Field XKF2[0].MX XKF2[0].MY XKF2[0].MZ XKF2[1].MX XKF2[1].MY XKF2[1].MZ XKF2[2].MX XKF2[2].MY XKF2[2].MZ XKF2[0].MX XKF2[0].MY XKF2[0].MZ XKF2[1].MX XKF2[1].MY XKF2[1].MZ XKF2.MX XKF2.MY XKF2.MZ EKF3 Wind NE XKF2[0].VWN XKF2[0].VWE XKF2[1].VWN XKF2[1].VWE XKF2[2].VWN XKF2[2].VWE XKF2[0].VWN XKF2[0].VWE XKF2[1].VWN XKF2[1].VWE XKF2.VWN XKF2.VWE EKF3 Mag Innovations Lane1 XKF3[0].IMX XKF2[0].IMY XKF2[0].IMZ XKF3[0].IYAW:2 XKF3.IMX XKF2.IMY XKF2.IMZ XKF3.IYAW:2 EKF3 Mag Innovations Lane2 XKF3[1].IMX XKF2[1].IMY XKF2[1].IMZ XKF3[1].IYAW:2 EKF3 Mag Innovations Lane3 XKF3[2].IMX XKF2[2].IMY XKF2[2].IMZ XKF3[2].IYAW:2 EKF3 Pos Innovations Lane1 XKF3[0].IPN XKF2[0].IPE XKF2[0].IPD XKF3.IPN XKF2.IPE XKF2.IPD EKF3 Pos Innovations Lane2 XKF3[1].IPN XKF2[1].IPE XKF2[1].IPD EKF3 Pos Innovations Lane3 XKF3[2].IPN XKF2[2].IPE XKF2[2].IPD EKF3 Velocity Innovations Lane1 XKF3[0].IVN XKF2[0].IVE XKF2[0].IVD XKF3.IVN XKF2.IVE XKF2.IVD EKF3 Velocity Innovations Lane2 XKF3[1].IVN XKF2[1].IVE XKF2[1].IVD EKF3 Velocity Innovations Lane3 XKF3[2].IVN XKF2[2].IVE XKF2[2].IVD EKF3 Normalized Innovations Lane1 XKF4[0].SV XKF4[0].SP XKF4[0].SH XKF4[0].SM XKF4[0].SVT XKF4.SV XKF4.SP XKF4.SH XKF4.SM XKF4.SVT EKF3 Normalized Innovations Lane2 XKF4[1].SV XKF4[1].SP XKF4[1].SH XKF4[1].SM XKF4[1].SVT XKF9.SV XKF9.SP XKF9.SH XKF9.SM XKF9.SVT EKF3 Normalized Innovations Lane3 XKF4[2].SV XKF4[2].SP XKF4[2].SH XKF4[2].SM XKF4[2].SVT EKF3 Wind Velocity NE sqrt(XKF2[0].VWN**2+XKF2[0].VWE**2) wrap_360(degrees(atan2(-XKF2[0].VWE,-XKF2[0].VWN))):2 sqrt(XKF2[1].VWN**2+XKF2[1].VWE**2) wrap_360(degrees(atan2(-XKF2[1].VWE,-XKF2[1].VWN))):2 sqrt(XKF2.VWN**2+XKF2.VWE**2) wrap_360(degrees(atan2(-XKF2.VWE,-XKF2.VWN))):2 sqrt(XKF7.VWN**2+XKF7.VWE**2) wrap_360(degrees(atan2(-XKF7.VWE,-XKF7.VWN))):2 EKF3 Solution Status XKF4[0].SS XKF4[1].SS XKF4[2].SS XKF4[0].SS XKF4[1].SS XKF4.SS XKF9.SS XKF4.SS EKF3 GPS Check Status XKF4[0].GPS XKF4[1].GPS XKF4[2].GPS XKF4[0].GPS XKF4[1].GPS XKF4.GPS XKF9.GPS XKF4.GPS EKF3 Optical Flow Innovations XKF5[0].FIX XKF5[0].FIY XKF5[0].AFI XKF5.FIX XKF5.FIY XKF5.AFI EKF3 Rangefinder Innovations XKF5[0].RI XKF5[1].RI XKF5[2].RI XKF5[0].RI XKF5[1].RI XKF5.RI EKF3 Magnetometer Selection XKF2[0].MI XKF2[1].MI XKF2[2].MI XKF2[0].MI XKF2[1].MI XKF2.MI XKF7.MI XKF2.MI EKF3 Primary Core XKF4.PI EKF3 Error Scores XKF3[0].ErSc XKF3[1].ErSc XKF3[2].ErSc XKF4.PI:2 XKF3[0].ErSc XKF3[1].ErSc XKF4.PI:2 XKF3.ErSc XKF4.PI:2 EKF3 Relative Errors XKF3[0].RErr XKF3[1].RErr XKF3[2].RErr XKF4.PI:2 XKF3[0].RErr XKF3[1].RErr XKF4.PI:2 XKF3.RErr XKF4.PI:2 MAVProxy-1.8.74/MAVProxy/tools/graphs/ekfGraphs.xml000066400000000000000000000262121504324515000220470ustar00rootroot00000000000000 EKF2 Gyro Bias NKF1[0].GX NKF1[0].GY NKF1[0].GZ NKF1[1].GX NKF1[1].GY NKF1[1].GZ NKF1[2].GX NKF1[2].GY NKF1[2].GZ NKF1[0].GX NKF1[0].GY NKF1[0].GZ NKF1[1].GX NKF1[1].GY NKF1[1].GZ NKF1.GX NKF1.GY NKF1.GZ EKF2 Origin Height NKF1[0].OH NKF1[1].OH NKF1[2].OH NKF1[0].OH NKF1[1].OH NKF1.OH EKF2 Position North/East NKF1[0].PN NKF1[1].PN NKF1[2].PN NKF1[0].PE NKF1[1].PE NKF1[2].PE NKF1[0].PN NKF1[1].PN NKF1[0].PE NKF1[1].PE NKF1.PN NKF1.PE EKF2 Position Down NKF1[0].PD NKF1[1].PD NKF1[2].PD NKF1[0].PD NKF1[1].PD NKF1.PD EKF2 Position Innovation North/East NKF3[0].IPN NKF3[1].IPN NKF3[2].IPN NKF3[0].IPE NKF3[1].IPE NKF3[2].IPE NKF3[0].IPN NKF3[1].IPN NKF3[0].IPE NKF3[1].IPE NKF3.IPN NKF3.IPE EKF2 Position Down NKF3[0].IPD NKF3[1].IPD NKF3[2].IPD NKF3[0].IPD NKF3[1].IPD NKF3.IPD EKF2 Velocity Innovation North/East NKF3[0].IVN NKF3[1].IVN NKF3[2].IVN NKF3[0].IVE NKF3[1].IVE NKF3[2].IVE NKF3[0].IVN NKF3[1].IVN NKF3[0].IVE NKF3[1].IVE NKF3.IVN NKF3.IVE EKF2 Velocity Down NKF3[0].IVD NKF3[1].IVD NKF3[2].IVD NKF3[0].IVD NKF3[1].IVD NKF3.IVD EKF2 Euler Roll ATT.Roll NKF1[0].Roll NKF1[1].Roll NKF1[2].Roll ATT.Roll NKF1[0].Roll NKF1[1].Roll ATT.Roll NKF1.Roll NKF6.Roll ATT.Roll NKF1.Roll EKF2 Euler Pitch ATT.Pitch NKF1[0].Pitch NKF1[1].Pitch NKF1[2].Pitch ATT.Pitch NKF1[0].Pitch NKF1[1].Pitch ATT.Pitch NKF1.Pitch NKF6.Pitch ATT.Pitch NKF1.Pitch EKF2 Euler Yaw ATT.Yaw NKF1[0].Yaw NKF1[1].Yaw NKF1[2].Yaw ATT.Yaw NKF1[0].Yaw NKF1[1].Yaw ATT.Yaw NKF1.Yaw NKF6.Yaw ATT.Yaw NKF1.Yaw EKF2 Velocity North NKF1[0].VN NKF1[1].VN NKF1[2].VN NKF1[0].VN NKF1[1].VN NKF1.VN EKF2 Velocity East NKF1[0].VE NKF1[1].VE NKF1[2].VE NKF1[0].VE NKF1[1].VE NKF1.VE NKF6.VE NKF1.VE EKF2 Velocity Down NKF1[0].VD NKF1[1].VD NKF1[2].VD NKF1[0].VD NKF1[1].VD NKF1.VD NKF6.VD NKF1.VD EKF2 Velocity Down (DP derivative) NKF1[0].dPD NKF1[1].dPD NKF1[2].dPD NKF1[0].dPD NKF1[1].dPD NKF1.dPD EKF2 AccelZ Bias NKF2[0].AZbias NKF2[1].AZbias NKF2[2].AZbias NKF2[0].AZbias NKF2[1].AZbias NKF2.AZbias NKF7.AZbias NKF2.AZbias EKF2 Gyro Scale Factor NKF2[0].GSX NKF2[0].GSY NKF2[0].GSZ NKF2[1].GSX NKF2[1].GSY NKF2[1].GSZ NKF2[2].GSX NKF2[2].GSY NKF2[2].GSZ NKF2[0].GSX NKF2[0].GSY NKF2[0].GSZ NKF2[1].GSX NKF2[1].GSY NKF2[1].GSZ NKF2.GSX NKF2.GSY NKF2.GSZ EKF2 Mag Earth Field NKF2[0].MN NKF2[0].ME NKF2[0].MD NKF2[1].MN NKF2[1].ME NKF2[1].MD NKF2[2].MN NKF2[2].ME NKF2[2].MD NKF2[0].MN NKF2[0].ME NKF2[0].MD NKF2[1].MN NKF2[1].ME NKF2[1].MD NKF2.MN NKF2.ME NKF2.MD EKF2 Mag Body Field NKF2[0].MX NKF2[0].MY NKF2[0].MZ NKF2[1].MX NKF2[1].MY NKF2[1].MZ NKF2[2].MX NKF2[2].MY NKF2[2].MZ NKF2[0].MX NKF2[0].MY NKF2[0].MZ NKF2[1].MX NKF2[1].MY NKF2[1].MZ NKF2.MX NKF2.MY NKF2.MZ EKF2 Wind NE NKF2[0].VWN NKF2[0].VWE NKF2[1].VWN NKF2[1].VWE NKF2[2].VWN NKF2[2].VWE NKF2[0].VWN NKF2[0].VWE NKF2[1].VWN NKF2[1].VWE NKF2.VWN NKF2.VWE EKF2 Mag Innovations Lane1 NKF3[0].IMX NKF2[0].IMY NKF2[0].IMZ NKF3[0].IYAW:2 NKF3.IMX NKF2.IMY NKF2.IMZ NKF3.IYAW:2 EKF2 Mag Innovations Lane2 NKF3[1].IMX NKF2[1].IMY NKF2[1].IMZ NKF3[1].IYAW:2 EKF2 Mag Innovations Lane3 NKF3[2].IMX NKF2[2].IMY NKF2[2].IMZ NKF3[2].IYAW:2 EKF2 Pos Innovations Lane1 NKF3[0].IPN NKF2[0].IPE NKF2[0].IPD NKF3.IPN NKF2.IPE NKF2.IPD EKF2 Pos Innovations Lane2 NKF3[1].IPN NKF2[1].IPE NKF2[1].IPD EKF2 Pos Innovations Lane3 NKF3[2].IPN NKF2[2].IPE NKF2[2].IPD EKF2 Velocity Innovations Lane1 NKF3[0].IVN NKF2[0].IVE NKF2[0].IVD NKF3.IVN NKF2.IVE NKF2.IVD EKF2 Velocity Innovations Lane2 NKF3[1].IVN NKF2[1].IVE NKF2[1].IVD EKF2 Velocity Innovations Lane3 NKF3[2].IVN NKF2[2].IVE NKF2[2].IVD EKF2 Normalized Innovations Lane1 NKF4[0].SV NKF4[0].SP NKF4[0].SH NKF4[0].SM NKF4[0].SVT NKF4.SV NKF4.SP NKF4.SH NKF4.SM NKF4.SVT EKF2 Normalized Innovations Lane2 NKF4[1].SV NKF4[1].SP NKF4[1].SH NKF4[1].SM NKF4[1].SVT NKF9.SV NKF9.SP NKF9.SH NKF9.SM NKF9.SVT EKF2 Mag Innovations Lane1 NKF3[0].IMX NKF3[0].IMY NKF3[0].IMZ NKF3[0].IYAW:2 EKF2 Mag Innovations Lane2 NKF3[1].IMX NKF3[1].IMY NKF3[1].IMZ NKF3[1].IYAW:2 EKF2 Mag Innovations Lane3 NKF3[2].IMX NKF3[2].IMY NKF3[2].IMZ NKF3[2].IYAW:2 EKF2 Wind Velocity NE sqrt(NKF2[0].VWN**2+NKF2[0].VWE**2) wrap_360(degrees(atan2(-NKF2[0].VWE,-NKF2[0].VWN))):2 sqrt(NKF2[1].VWN**2+NKF2[1].VWE**2) wrap_360(degrees(atan2(-NKF2[1].VWE,-NKF2[1].VWN))):2 sqrt(NKF2.VWN**2+NKF2.VWE**2) wrap_360(degrees(atan2(-NKF2.VWE,-NKF2.VWN))):2 sqrt(NKF7.VWN**2+NKF7.VWE**2) wrap_360(degrees(atan2(-NKF7.VWE,-NKF7.VWN))):2 EKF2 Solution Status NKF4[0].SS NKF4[1].SS NKF4[2].SS NKF4[0].SS NKF4[1].SS NKF4.SS NKF9.SS NKF4.SS EKF2 GPS Check Status NKF4[0].GPS NKF4[1].GPS NKF4[2].GPS NKF4[0].GPS NKF4[1].GPS NKF4.GPS NKF9.GPS NKF4.GPS EKF2 Optical Flow Innovations NKF5[0].FIX NKF5[0].FIY NKF5[0].AFI NKF5.FIX NKF5.FIY NKF5.AFI EKF2 Rangefinder Innovations NKF5[0].RI NKF5[1].RI NKF5[2].RI NKF5[0].RI NKF5[1].RI NKF5.RI EKF2 Magnetometer Selection NKF2[0].MI NKF2[1].MI NKF2[2].MI NKF2[0].MI NKF2[1].MI NKF2.MI NKF7.MI NKF2.MI EKF2 Primary Core NKF4.PI MAVProxy-1.8.74/MAVProxy/tools/graphs/mavgraphs.xml000066400000000000000000001032511504324515000221240ustar00rootroot00000000000000 VFR_HUD.groundspeed VFR_HUD.airspeed GPS[0].Spd GPS[1].Spd CTUN.As ARSP.Airspeed GPS.Spd CTUN.As ARSP.Airspeed GPS.Spd ARSP.Airspeed This shows the ground speed of the vehicle versus its air speed GPS[0].Spd GPS[1].Spd CTUN.As*CTUN.E2T GPS.Spd CTUN.As*CTUN.E2T Airspeed correction VFR_HUD.groundspeed GPS.Spd This shows the ground speed of the vehicle Roll and Pitch degrees(ATTITUDE.roll) degrees(ATTITUDE.pitch) ATT.Roll ATT.Pitch Roll and pitch comparison between primary and secondary attitude estimator degrees(ATTITUDE.roll) degrees(ATTITUDE.pitch) degrees(AHRS2.roll) degrees(AHRS2.pitch) ATT.Roll ATT.Pitch AHR2.Roll AHR2.Pitch Desired versus achieved roll and pitch. This shows you how well the attitude controller are for your aircraft. In a well tuned aircraft the desired and achieved roll and pitch should match to within a couple of degrees for any portion of the flight where stabilisation is enabled. NAV_CONTROLLER_OUTPUT.nav_roll NAV_CONTROLLER_OUTPUT.nav_pitch degrees(ATTITUDE.roll) degrees(ATTITUDE.pitch) ATT.DesRoll ATT.Roll ATT.DesPitch ATT.Pitch CTUN.NavRoll CTUN.Roll CTUN.NavPitch CTUN.Pitch Total circular angle, as limited by ANGLE_MAX in Copter. sqrt(ATT.Roll*ATT.Roll+ATT.Pitch*ATT.Pitch) sqrt(CTUN.Roll*CTUN.Roll+CTUN.Pitch*CTUN.Pitch) degrees(sqrt(ATTITUDE.roll*ATTITUDE.roll+ATTITUDE.pitch*ATTITUDE.Pitch)) Difference between total circular angle, as limited by ANGLE_MAX in Copter, and desired circular angle. sqrt(((ATT.Roll-ATT.DesRoll)**2)+((ATT.Pitch-ATT.DesPitch)**2)) Accelerometer Output RAW_IMU.xacc*9.81*0.001 RAW_IMU.yacc*9.81*0.001 RAW_IMU.zacc*9.81*0.001 gravity(RAW_IMU) IMU[0].AccX IMU[0].AccY IMU[0].AccZ sqrt(IMU[0].AccX**2+IMU[0].AccY**2+IMU[0].AccZ**2) IMU.AccX IMU.AccY IMU.AccZ sqrt(IMU.AccX**2+IMU.AccY**2+IMU.AccZ**2) Accelerometer Two Output SCALED_IMU2.xacc*9.81*0.001 SCALED_IMU2.yacc*9.81*0.001 SCALED_IMU2.zacc*9.81*0.001 IMU[1].AccX IMU[1].AccY IMU[1].AccZ sqrt(IMU[1].AccX**2+IMU[1].AccY**2+IMU[1].AccZ**2) IMU2.AccX IMU2.AccY IMU2.AccZ sqrt(IMU2.AccX**2+IMU2.AccY**2+IMU2.AccZ**2) Accelerometer Three Output SCALED_IMU3.xacc*9.81*0.001 SCALED_IMU3.yacc*9.81*0.001 SCALED_IMU3.zacc*9.81*0.001 IMU[2].AccX IMU[2].AccY IMU[2].AccZ sqrt(IMU[2].AccX**2+IMU[2].AccY**2+IMU[2].AccZ**2) IMU3.AccX IMU3.AccY IMU3.AccZ sqrt(IMU3.AccX**2+IMU3.AccY**2+IMU3.AccZ**2) Accelerometer Comparison RAW_IMU.xacc*9.81*0.001 RAW_IMU.yacc*9.81*0.001 RAW_IMU.zacc*9.81*0.001 SCALED_IMU2.xacc*9.81*0.001 SCALED_IMU2.yacc*9.81*0.001 SCALED_IMU2.zacc*9.81*0.001 SCALED_IMU3.xacc*9.81*0.001 SCALED_IMU3.yacc*9.81*0.001 SCALED_IMU3.zacc*9.81*0.001 RAW_IMU.xacc*9.81*0.001 RAW_IMU.yacc*9.81*0.001 RAW_IMU.zacc*9.81*0.001 SCALED_IMU2.xacc*9.81*0.001 SCALED_IMU2.yacc*9.81*0.001 SCALED_IMU2.zacc*9.81*0.001 IMU[0].AccX IMU[0].AccY IMU[0].AccZ IMU[1].AccX IMU[1].AccY IMU[1].AccZ IMU[2].AccX IMU[2].AccY IMU[2].AccZ IMU[0].AccX IMU[0].AccY IMU[0].AccZ IMU[1].AccX IMU[1].AccY IMU[1].AccZ IMU.AccX IMU.AccY IMU.AccZ IMU2.AccX IMU2.AccY IMU2.AccZ IMU3.AccX IMU3.AccY IMU3.AccZ IMU.AccX IMU.AccY IMU.AccZ IMU2.AccX IMU2.AccY IMU2.AccZ Gyroscope Output degrees(RAW_IMU.xgyro*0.001) degrees(RAW_IMU.ygyro*0.001) degrees(RAW_IMU.zgyro*0.001) IMU[0].GyrX IMU[0].GyrY IMU[0].GyrZ IMU.GyrX IMU.GyrY IMU.GyrZ Gyroscope Two Output degrees(SCALED_IMU2.xgyro*0.001) degrees(SCALED_IMU2.ygyro*0.001) degrees(SCALED_IMU2.zgyro*0.001) IMU[1].GyrX IMU[1].GyrY IMU[1].GyrZ IMU2.GyrX IMU2.GyrY IMU2.GyrZ Gyroscope Three Output degrees(SCALED_IMU3.xgyro*0.001) degrees(SCALED_IMU3.ygyro*0.001) degrees(SCALED_IMU3.zgyro*0.001) IMU[2].GyrX IMU[2].GyrY IMU[2].GyrZ IMU3.GyrX IMU3.GyrY IMU3.GyrZ Gyroscope Comparison degrees(RAW_IMU.xgyro*0.001) degrees(RAW_IMU.ygyro*0.001) degrees(RAW_IMU.zgyro*0.001) degrees(SCALED_IMU2.xgyro*0.001) degrees(SCALED_IMU2.ygyro*0.001) degrees(SCALED_IMU2.zgyro*0.001) degrees(SCALED_IMU3.xgyro*0.001) degrees(SCALED_IMU3.ygyro*0.001) degrees(SCALED_IMU3.zgyro*0.001) degrees(RAW_IMU.xgyro*0.001) degrees(RAW_IMU.ygyro*0.001) degrees(RAW_IMU.zgyro*0.001) degrees(SCALED_IMU2.xgyro*0.001) degrees(SCALED_IMU2.ygyro*0.001) degrees(SCALED_IMU2.zgyro*0.001) IMU[0].GyrX IMU[0].GyrY IMU[0].GyrZ IMU[1].GyrX IMU[1].GyrY IMU[1].GyrZ IMU[2].GyrX IMU[2].GyrY IMU[2].GyrZ IMU[0].GyrX IMU[0].GyrY IMU[0].GyrZ IMU[1].GyrX IMU[1].GyrY IMU[1].GyrZ IMU.GyrX IMU.GyrY IMU.GyrZ IMU2.GyrX IMU2.GyrY IMU2.GyrZ IMU3.GyrX IMU3.GyrY IMU3.GyrZ IMU.GyrX IMU.GyrY IMU.GyrZ IMU2.GyrX IMU2.GyrY IMU2.GyrZ Barometer altitude(SCALED_PRESSURE) SCALED_PRESSURE.temperature*0.01:2 BARO[0].Alt BARO[0].Temp:2 BARO.Alt BARO.Temp:2 Barometric Altitude altitude(SCALED_PRESSURE2) SCALED_PRESSURE2.temperature*0.01:2 BARO[1].Alt BARO[1].Temp:2 BAR2.Alt BAR2.Temp:2 Barometric Altitude altitude(SCALED_PRESSURE3) SCALED_PRESSURE3.temperature*0.01:2 BARO[2].Alt BARO[2].Temp:2 BAR3.Alt BAR3.Temp:2 Barometer Comparison altitude(SCALED_PRESSURE) SCALED_PRESSURE.temperature*0.01:2 altitude(SCALED_PRESSURE2) SCALED_PRESSURE2.temperature*0.01:2 altitude(SCALED_PRESSURE3) SCALED_PRESSURE3.temperature*0.01:2 altitude(SCALED_PRESSURE) SCALED_PRESSURE.temperature*0.01:2 altitude(SCALED_PRESSURE2) SCALED_PRESSURE2.temperature*0.01:2 BARO[0].Alt BARO[0].Temp:2 BARO[1].Alt BARO[1].Temp:2 BARO[2].Alt BARO[2].Temp:2 BARO[0].Alt BARO[0].Temp:2 BARO[1].Alt BARO[1].Temp:2 BARO.Alt BARO.Temp:2 BAR2.Alt BAR2.Temp:2 BAR3.Alt BAR3.Temp:2 BARO.Alt BARO.Temp:2 BAR2.Alt BAR2.Temp:2 Barometric Pressure SCALED_PRESSURE.press_abs BARO.Press Primary Compass RAW_IMU.xmag RAW_IMU.ymag RAW_IMU.zmag mag_field(RAW_IMU) MAG[0].MagX MAG[0].MagY MAG[0].MagZ sqrt(MAG[0].MagX**2+MAG[0].MagY**2+MAG[0].MagZ**2) MAG.MagX MAG.MagY MAG.MagZ sqrt(MAG.MagX**2+MAG.MagY**2+MAG.MagZ**2) Second Compass SCALED_IMU2.xmag SCALED_IMU2.ymag SCALED_IMU2.zmag mag_field(SCALED_IMU2) MAG[1].MagX MAG[1].MagY MAG[1].MagZ sqrt(MAG[1].MagX**2+MAG[1].MagY**2+MAG[1].MagZ**2) MAG2.MagX MAG2.MagY MAG2.MagZ sqrt(MAG2.MagX**2+MAG2.MagY**2+MAG2.MagZ**2) Third Compass SCALED_IMU3.xmag SCALED_IMU3.ymag SCALED_IMU3.zmag mag_field(SCALED_IMU3) MAG[2].MagX MAG[2].MagY MAG[2].MagZ sqrt(MAG[2].MagX**2+MAG[2].MagY**2+MAG[2].MagZ**2) MAG3.MagX MAG3.MagY MAG3.MagZ sqrt(MAG3.MagX**2+MAG3.MagY**2+MAG3.MagZ**2) Primary Compass vs Yaw mag_heading(RAW_IMU,ATTITUDE) degrees(ATTITUDE.yaw) mag_heading_df(MAG,ATT) ATT.Yaw First 4 servo outputs SERVO_OUTPUT_RAW.servo1_raw SERVO_OUTPUT_RAW.servo2_raw SERVO_OUTPUT_RAW.servo3_raw SERVO_OUTPUT_RAW.servo4_raw RCOU.Ch1 RCOU.Ch2 RCOU.Ch3 RCOU.Ch4 RCOU.C1 RCOU.C2 RCOU.C3 RCOU.C4 First 8 servo outputs SERVO_OUTPUT_RAW.servo1_raw SERVO_OUTPUT_RAW.servo2_raw SERVO_OUTPUT_RAW.servo3_raw SERVO_OUTPUT_RAW.servo4_raw SERVO_OUTPUT_RAW.servo5_raw SERVO_OUTPUT_RAW.servo6_raw SERVO_OUTPUT_RAW.servo7_raw SERVO_OUTPUT_RAW.servo8_raw RCOU.Ch1 RCOU.Ch2 RCOU.Ch3 RCOU.Ch4 RCOU.Ch5 RCOU.Ch6 RCOU.Ch7 RCOU.Ch8 RCOU.C1 RCOU.C2 RCOU.C3 RCOU.C4 RCOU.C5 RCOU.C6 RCOU.C7 RCOU.C8 RCOU.C5 RCOU.C6 RCOU.C7 RCOU.C8 RCOU.C9 RCOU.C10 RCOU.C11 RCOU.C12 First 4 RC inputs RC_CHANNELS.chan1_raw RC_CHANNELS.chan2_raw RC_CHANNELS.chan3_raw RC_CHANNELS.chan4_raw RC_CHANNELS_RAW.chan1_raw RC_CHANNELS_RAW.chan2_raw RC_CHANNELS_RAW.chan3_raw RC_CHANNELS_RAW.chan4_raw RCIN.C1 RCIN.C2 RCIN.C3 RCIN.C4 RC inputs 5-12 RCIN.C5 RCIN.C6 RCIN.C7 RCIN.C8 RCIN.C9 RCIN.C10 RCIN.C11 RCIN.C12 First 8 RC inputs RC_CHANNELS.chan1_raw RC_CHANNELS.chan2_raw RC_CHANNELS.chan3_raw RC_CHANNELS.chan4_raw RC_CHANNELS.chan5_raw RC_CHANNELS.chan6_raw RC_CHANNELS.chan7_raw RC_CHANNELS.chan8_raw RC_CHANNELS_RAW.chan1_raw RC_CHANNELS_RAW.chan2_raw RC_CHANNELS_RAW.chan3_raw RC_CHANNELS_RAW.chan4_raw RC_CHANNELS_RAW.chan5_raw RC_CHANNELS_RAW.chan6_raw RC_CHANNELS_RAW.chan7_raw RC_CHANNELS_RAW.chan8_raw RCIN.C1 RCIN.C2 RCIN.C3 RCIN.C4 RCIN.C5 RCIN.C6 RCIN.C7 RCIN.C8 Rangefinders vs Barometric Altitude BARO.Alt RFND.Dist1 RFND.Dist2 BARO.Alt RFND.Dist[0] MAG[0].MagX expected_mag(GPS,ATT).x MAG[0].MagY expected_mag(GPS,ATT).y MAG[0].MagZ expected_mag(GPS,ATT).z MAG.MagX expected_mag(GPS,ATT).x MAG.MagY expected_mag(GPS,ATT).y MAG.MagZ expected_mag(GPS,ATT).z RAW_IMU.xmag expected_mag(GPS_RAW_INT,ATTITUDE).x RAW_IMU.ymag expected_mag(GPS_RAW_INT,ATTITUDE).y RAW_IMU.zmag expected_mag(GPS_RAW_INT,ATTITUDE).z MAG[1].MagX expected_mag(GPS,ATT).x MAG[1].MagY expected_mag(GPS,ATT).y MAG[1].MagZ expected_mag(GPS,ATT).z MAG2.MagX expected_mag(GPS,ATT).x MAG2.MagY expected_mag(GPS,ATT).y MAG2.MagZ expected_mag(GPS,ATT).z SCALED_IMU2.xmag expected_mag(GPS_RAW_INT,ATTITUDE).x SCALED_IMU2.ymag expected_mag(GPS_RAW_INT,ATTITUDE).y SCALED_IMU2.zmag expected_mag(GPS_RAW_INT,ATTITUDE).z MAG[2].MagX expected_mag(GPS,ATT).x MAG[2].MagY expected_mag(GPS,ATT).y MAG[2].MagZ expected_mag(GPS,ATT).z MAG3.MagX expected_mag(GPS,ATT).x MAG3.MagY expected_mag(GPS,ATT).y MAG3.MagZ expected_mag(GPS,ATT).z SCALED_IMU3.xmag expected_mag(GPS_RAW_INT,ATTITUDE).x SCALED_IMU3.ymag expected_mag(GPS_RAW_INT,ATTITUDE).y SCALED_IMU3.zmag expected_mag(GPS_RAW_INT,ATTITUDE).z MAG[0].MagX expected_mag_yaw(GPS,ATT,MAG[0]).x MAG[0].MagY expected_mag_yaw(GPS,ATT,MAG[0]).y MAG[0].MagZ expected_mag_yaw(GPS,ATT,MAG[0]).z MAG.MagX expected_mag_yaw(GPS,ATT,MAG).x MAG.MagY expected_mag_yaw(GPS,ATT,MAG).y MAG.MagZ expected_mag_yaw(GPS,ATT,MAG).z MAG[1].MagX expected_mag_yaw(GPS,ATT,MAG[1]).x MAG[1].MagY expected_mag_yaw(GPS,ATT,MAG[1]).y MAG[1].MagZ expected_mag_yaw(GPS,ATT,MAG[1]).z MAG2.MagX expected_mag_yaw(GPS,ATT,MAG2).x MAG2.MagY expected_mag_yaw(GPS,ATT,MAG2).y MAG2.MagZ expected_mag_yaw(GPS,ATT,MAG2).z MAG[2].MagX expected_mag_yaw(GPS,ATT,MAG[2]).x MAG[2].MagY expected_mag_yaw(GPS,ATT,MAG[2]).y MAG[2].MagZ expected_mag_yaw(GPS,ATT,MAG[2]).z MAG3.MagX expected_mag_yaw(GPS,ATT,MAG3).x MAG3.MagY expected_mag_yaw(GPS,ATT,MAG3).y MAG3.MagZ expected_mag_yaw(GPS,ATT,MAG3).z MAG[0].MagX expected_mag_yaw(GPS,NKF1,MAG[0]).x MAG[0].MagY expected_mag_yaw(GPS,NKF1,MAG[0]).y MAG[0].MagZ expected_mag_yaw(GPS,NKF1,MAG[0]).z MAG.MagX expected_mag_yaw(GPS,NKF1,MAG).x MAG.MagY expected_mag_yaw(GPS,NKF1,MAG).y MAG.MagZ expected_mag_yaw(GPS,NKF1,MAG).z MAG[1].MagX expected_mag_yaw(GPS,NKF1,MAG[1]).x MAG[1].MagY expected_mag_yaw(GPS,NKF1,MAG[1]).y MAG[1].MagZ expected_mag_yaw(GPS,NKF1,MAG[1]).z MAG2.MagX expected_mag_yaw(GPS,NKF1,MAG2).x MAG2.MagY expected_mag_yaw(GPS,NKF1,MAG2).y MAG2.MagZ expected_mag_yaw(GPS,NKF1,MAG2).z MAG[2].MagX expected_mag_yaw(GPS,NKF1,MAG[2]).x MAG[2].MagY expected_mag_yaw(GPS,NKF1,MAG[2]).y MAG[2].MagZ expected_mag_yaw(GPS,NKF1,MAG[2]).z MAG3.MagX expected_mag_yaw(GPS,NKF1,MAG3).x MAG3.MagY expected_mag_yaw(GPS,NKF1,MAG3).y MAG3.MagZ expected_mag_yaw(GPS,NKF1,MAG3).z MAG[0].MagX expected_mag_yaw(GPS,XKF1,MAG[0]).x MAG[0].MagY expected_mag_yaw(GPS,XKF1,MAG[0]).y MAG[0].MagZ expected_mag_yaw(GPS,XKF1,MAG[0]).z MAG.MagX expected_mag_yaw(GPS,XKF1,MAG).x MAG.MagY expected_mag_yaw(GPS,XKF1,MAG).y MAG.MagZ expected_mag_yaw(GPS,XKF1,MAG).z MAG[1].MagX expected_mag_yaw(GPS,XKF1,MAG[1]).x MAG[1].MagY expected_mag_yaw(GPS,XKF1,MAG[1]).y MAG[1].MagZ expected_mag_yaw(GPS,XKF1,MAG[1]).z MAG2.MagX expected_mag_yaw(GPS,XKF1,MAG2).x MAG2.MagY expected_mag_yaw(GPS,XKF1,MAG2).y MAG2.MagZ expected_mag_yaw(GPS,XKF1,MAG2).z MAG[2].MagX expected_mag_yaw(GPS,XKF1,MAG[2]).x MAG[2].MagY expected_mag_yaw(GPS,XKF1,MAG[2]).y MAG[2].MagZ expected_mag_yaw(GPS,XKF1,MAG[2]).z MAG3.MagX expected_mag_yaw(GPS,XKF1,MAG3).x MAG3.MagY expected_mag_yaw(GPS,XKF1,MAG3).y MAG3.MagZ expected_mag_yaw(GPS,XKF1,MAG3).z earth_field_error(GPS,NKF2[0]).x earth_field_error(GPS,NKF2[0]).y earth_field_error(GPS,NKF2[0]).z earth_field_error(GPS,NKF2).x earth_field_error(GPS,NKF2).y earth_field_error(GPS,NKF2).z earth_field_error(GPS,NKF2[1]).x earth_field_error(GPS,NKF2[1]).y earth_field_error(GPS,NKF2[1]).z earth_field_error(GPS,NKF7).x earth_field_error(GPS,NKF7).y earth_field_error(GPS,NKF7).z earth_field_error(GPS,XKF2[0]).x earth_field_error(GPS,XKF2[0]).y earth_field_error(GPS,XKF2[0]).z earth_field_error(GPS,XKF2).x earth_field_error(GPS,XKF2).y earth_field_error(GPS,XKF2).z earth_field_error(GPS,XKF2[1]).x earth_field_error(GPS,XKF2[1]).y earth_field_error(GPS,XKF2[1]).z earth_field_error(GPS,XKF7).x earth_field_error(GPS,XKF7).y earth_field_error(GPS,XKF7).z PIDP.P PIDP.I PIDP.D PIDR.P PIDR.I PIDR.D PIDY.P PIDY.I PIDY.D PIDA.P PIDA.I PIDA.D IMU[0].GyrX sim_body_rates(SIM).x IMU.GyrX sim_body_rates(SIM).x IMU[0].GyrY sim_body_rates(SIM).y IMU.GyrY sim_body_rates(SIM).y IMU[0].GyrZ sim_body_rates(SIM).z IMU.GyrZ sim_body_rates(SIM).z GPA[0].HAcc GPA[0].SAcc GPA[0].VAcc GPS[0].NSats:2 GPA.HAcc GPA.SAcc GPA.VAcc GPS.NSats:2 GPA[1].HAcc GPA[1].SAcc GPA[1].VAcc GPS[1].NSats:2 GPA2.HAcc GPA2.SAcc GPA2.VAcc GPS2.NSats:2 GPS[0].Spd*sin(radians(GPS[0].GCrs)) GPS[0].Spd*cos(radians(GPS[0].GCrs)) GPS.Spd*sin(radians(GPS.GCrs)) GPS.Spd*cos(radians(GPS.GCrs)) GPS[1].Spd*sin(radians(GPS[1].GCrs)) GPS[1].Spd*cos(radians(GPS[1].GCrs)) GPS2.Spd*sin(radians(GPS2.GCrs)) GPS2.Spd*cos(radians(GPS2.GCrs)) GPS[0].Spd*sin(radians(GPS[0].GCrs)) GPS[0].Spd*cos(radians(GPS[0].GCrs)) GPS[1].Spd*sin(radians(GPS[1].GCrs)) GPS[1].Spd*cos(radians(GPS[1].GCrs)) GPS.Spd*sin(radians(GPS.GCrs)) GPS.Spd*cos(radians(GPS.GCrs)) GPS2.Spd*sin(radians(GPS2.GCrs)) GPS2.Spd*cos(radians(GPS2.GCrs)) distance_two(GPS,GPS2){GPS2.GMS==GPS.GMS} GPS2.Alt-GPS.Alt{GPS2.GMS==GPS.GMS} XKY0[0].Y0 XKY0[0].Y1 XKY0[0].Y2 XKY0[0].Y3 XKY0[0].Y4 XKY0[0].YC XKY0[1].Y0 XKY0[1].Y1 XKY0[1].Y2 XKY0[1].Y3 XKY0[1].Y4 XKY0[1].YC sqrt(XKY1[0].IVN0**2+XKY1[0].IVE0**2) sqrt(XKY1[0].IVN1**2+XKY1[0].IVE1**2) sqrt(XKY1[0].IVN2**2+XKY1[0].IVE2**2) sqrt(XKY1[0].IVN3**2+XKY1[0].IVE3**2) sqrt(XKY1[0].IVN4**2+XKY1[0].IVE4**2) ATT.Yaw:2 XKY0[0].W0 XKY0[0].W1 XKY0[0].W2 XKY0[0].W3 XKY0[0].W4 XKY0[1].W0 XKY0[1].W1 XKY0[1].W2 XKY0[1].W3 XKY0[1].W4 XKF1[0].VN-XKF1[100].VN{XKF1.C==100} XKF1[0].VE-XKF1[100].VE{XKF1.C==100} XKF1[0].Pitch-XKF1[100].Pitch{XKF1.C==100} XKF1[0].Roll-XKF1[100].Roll{XKF1.C==100} NKF1[0].Pitch-NKF1[100].Pitch{NKF1.C==100} NKF1[0].Roll-NKF1[100].Roll{NKF1.C==100} NKF1[0].Yaw-NKF1[100].Yaw{NKF1.C==100} XKF1[0].PN-XKF1[100].PN{XKF1.C==100} XKF1[0].PE-XKF1[100].PE{XKF1.C==100} NKF1[0].PN-NKF1[100].PN{NKF1.C==100} NKF1[0].PE-NKF1[100].PE{NKF1.C==100} NKF1[0].PD-NKF1[100].PD{NKF1.C==100} XKF1[0].PD-XKF1[100].PD{XKF1.C==100} lowpass(IMU[0].AccX,0,0.9) lowpass(IMU[1].AccX,1,0.9) lowpass(IMU[2].AccX,2,0.9) lowpass(IMU[0].AccX,0,0.9) lowpass(IMU[1].AccX,1,0.9) lowpass(IMU.AccX,0,0.9) lowpass(IMU2.AccX,1,0.9) lowpass(IMU3.AccX,2,0.9) lowpass(IMU.AccX,0,0.9) lowpass(IMU2.AccX,1,0.9) lowpass(IMU[0].AccY,0,0.9) lowpass(IMU[1].AccY,1,0.9) lowpass(IMU[2].AccY,2,0.9) lowpass(IMU[0].AccY,0,0.9) lowpass(IMU[1].AccY,1,0.9) lowpass(IMU.AccY,0,0.9) lowpass(IMU2.AccY,1,0.9) lowpass(IMU3.AccY,2,0.9) lowpass(IMU.AccY,0,0.9) lowpass(IMU2.AccY,1,0.9) lowpass(IMU[0].AccZ,0,0.9) lowpass(IMU[1].AccZ,1,0.9) lowpass(IMU[2].AccZ,2,0.9) lowpass(IMU[0].AccZ,0,0.9) lowpass(IMU[1].AccZ,1,0.9) lowpass(IMU.AccZ,0,0.9) lowpass(IMU2.AccZ,1,0.9) lowpass(IMU3.AccZ,2,0.9) lowpass(IMU.AccZ,0,0.9) lowpass(IMU2.AccZ,1,0.9) sqrt(PSCN.DVN**2+PSCE.DVE**2) sqrt(PSCN.VN**2+PSCE.VE**2) PSCN.VN PSCN.DVN PSCN.TVN PSCE.VE PSCE.DVE PSCE.TVE PSCN.TPN PSCN.PN PSCE.TPE PSCE.PE sqrt(PSCN.DAN**2+PSCE.DAE**2) sqrt(PSCN.TAN**2+PSCE.TAE**2) sqrt(PSCN.AN**2+PSCE.AE**2) sqrt(PSCN.DVN**2+PSCE.DVE**2) sqrt(PSCN.VN**2+PSCE.VE**2) QPOS.TSpd PSCZ.AZ PSCZ.DAZ PSCZ.TAZ PSCZ.VZ PSCZ.TVZ PSCZ.PZ PSCZ.TPZ XKF4[100].SV XKF4[100].SP XKF4[100].SH XKF4[100].SM XKF4[100].SVT XKF4[101].SV XKF4[101].SP XKF4[101].SH XKF4[101].SM XKF4[101].SVT PIDR.Dmod PIDR.SRate:2 PIDP.Dmod PIDP.SRate:2 PIDY.Dmod PIDY.SRate:2 RCOU.C1 RCOU.C2 RCOU.C3 RCOU.C4 RCOU.C5 RCOU.C6 PIDP.Tar PIDP.Act PIDR.Act PIDR.Tar lowpass(degrees(IMU[0].GyrX),0,0.9) lowpass(degrees(IMU[1].GyrX),1,0.9) lowpass(degrees(IMU[2].GyrX),2,0.9) IMU[0].T:2 IMU[1].T:2 IMU[3].T:2 lowpass(degrees(IMU[0].GyrX),0,0.9) lowpass(degrees(IMU[1].GyrX),1,0.9) IMU[0].T:2 IMU[1].T:2 lowpass(degrees(IMU[0].GyrX),0,0.9) IMU[0].T:2 lowpass(degrees(IMU[0].GyrY),0,0.9) lowpass(degrees(IMU[1].GyrY),1,0.9) lowpass(degrees(IMU[2].GyrY),2,0.9) IMU[0].T:2 IMU[1].T:2 IMU[3].T:2 lowpass(degrees(IMU[0].GyrY),0,0.9) lowpass(degrees(IMU[1].GyrY),1,0.9) IMU[0].T:2 IMU[1].T:2 lowpass(degrees(IMU[0].GyrY),0,0.9) IMU[0].T:2 lowpass(degrees(IMU[0].GyrZ),0,0.9) lowpass(degrees(IMU[1].GyrZ),1,0.9) lowpass(degrees(IMU[2].GyrZ),2,0.9) IMU[0].T:2 IMU[1].T:2 IMU[3].T:2 lowpass(degrees(IMU[0].GyrZ),0,0.9) lowpass(degrees(IMU[1].GyrZ),1,0.9) IMU[0].T:2 IMU[1].T:2 lowpass(degrees(IMU[0].GyrZ),0,0.9) IMU[0].T:2 lowpass(IMU[0].AccX,0,0.9) lowpass(IMU[1].AccX),1,0.9) lowpass(IMU[2].AccX),2,0.9) IMU[0].T:2 IMU[1].T:2 IMU[3].T:2 lowpass(IMU[0].AccX,0,0.9) lowpass(IMU[1].AccX),1,0.9) IMU[0].T:2 IMU[1].T:2 lowpass(IMU[0].AccX,0,0.9) IMU[0].T:2 lowpass(IMU[0].AccY,0,0.9) lowpass(IMU[1].AccY),1,0.9) lowpass(IMU[2].AccY),2,0.9) IMU[0].T:2 IMU[1].T:2 IMU[3].T:2 lowpass(IMU[0].AccY,0,0.9) lowpass(IMU[1].AccY),1,0.9) IMU[0].T:2 IMU[1].T:2 lowpass(IMU[0].AccY,0,0.9) IMU[0].T:2 lowpass(IMU[0].AccZ,0,0.9) lowpass(IMU[1].AccZ),1,0.9) lowpass(IMU[2].AccZ),2,0.9) IMU[0].T:2 IMU[1].T:2 IMU[3].T:2 lowpass(IMU[0].AccZ,0,0.9) lowpass(IMU[1].AccZ),1,0.9) IMU[0].T:2 IMU[1].T:2 lowpass(IMU[0].AccZ,0,0.9) IMU[0].T:2 0.3*PIDR.Act*AETR.SSx AETR.Ail*0.01 0.3*PIDR.Act*AETR.SS AETR.Ail*0.01 0.3*PIDP.Act*AETR.SSy AETR.Elev*0.01 0.3*PIDP.Act*AETR.SS AETR.Elev*0.01 0.3*PIDY.Act*AETR.SSz AETR.Rudd*0.01 0.3*PIDY.Act*AETR.SS AETR.Rudd*0.01 lowpass(degrees(IMU[0].GyrX),0,0.9) lowpass(degrees(IMU[1].GyrX),1,0.9) lowpass(degrees(IMU[2].GyrX),2,0.9) lowpass(degrees(IMU[0].GyrX),0,0.9) lowpass(degrees(IMU[1].GyrX),1,0.9) lowpass(degrees(IMU[0].GyrX),0,0.9) lowpass(degrees(IMU.GyrX),0,0.9) lowpass(degrees(IMU[0].GyrY),0,0.9) lowpass(degrees(IMU[1].GyrY),1,0.9) lowpass(degrees(IMU[2].GyrY),2,0.9) lowpass(degrees(IMU[0].GyrY),0,0.9) lowpass(degrees(IMU[1].GyrY),1,0.9) lowpass(degrees(IMU[0].GyrY),0,0.9) lowpass(degrees(IMU.GyrY),0,0.9) lowpass(degrees(IMU[0].GyrZ),0,0.9) lowpass(degrees(IMU[1].GyrZ),1,0.9) lowpass(degrees(IMU[2].GyrZ),2,0.9) lowpass(degrees(IMU[0].GyrZ),0,0.9) lowpass(degrees(IMU[1].GyrZ),1,0.9) lowpass(degrees(IMU[0].GyrZ),0,0.9) lowpass(degrees(IMU.GyrZ),0,0.9) RATE.R RATE.RDes ATT.Roll:2 ATT.DesRoll:2 RATE.P RATE.PDes ATT.Pitch:2 ATT.DesPitch:2 RATE.Y RATE.YDes ATT.Yaw:2 ATT.DesYaw:2 MAVProxy-1.8.74/MAVProxy/tools/graphs/mavgraphs2.xml000066400000000000000000000627661504324515000222250ustar00rootroot00000000000000 shows demanded speed vs speed TECS.sp TECS.sp_dem RANGEFINDER.distance GLOBAL_POSITION_INT.relative_alt*0.001 Board VCC and servo voltage POWER_STATUS.Vcc*0.001 POWER_STATUS.Vservo*0.001 This shows the raw vibration values before filtering in the accelerometers. If you see values above 50 m/s/s then you should redo your vibration isolation system VIBE[0].VibeX VIBE[0].VibeY VIBE[0].VibeZ VIBE.VibeX VIBE.VibeY VIBE.VibeZ This shows the raw vibration values before filtering in the accelerometers. If you see values above 50 m/s/s then you should redo your vibration isolation system VIBE[1].VibeX VIBE[1].VibeY VIBE[1].VibeZ This shows the raw vibration values before filtering in the accelerometers. If you see values above 50 m/s/s then you should redo your vibration isolation system VIBE[2].VibeX VIBE[2].VibeY VIBE[2].VibeZ This shows the clipping count for the accelerometers. A clipping event is when any axis of an accelerometer goes above 16g. You should only see clipping events if the vehicle hits a surface very hard, such as a crash or hard landing. If you see any clipping events (the clipping value rising) in flight then you should redo your vibration isolation system VIBE[0].Clip VIBE[1].Clip VIBE[2].Clip VIBE[0].Clip VIBE[1].Clip VIBE[0].Clip VIBE.Clip0 VIBE.Clip1 VIBE.Clip2 BARO.Alt RFND[0].Dist*(cos(radians(ATT.Roll))*cos(radians(ATT.Pitch))) BARO.Alt/(cos(radians(ATT.Roll))*cos(radians(ATT.Pitch))) RFND.Dist1 BARO.Alt/(cos(radians(ATT.Roll))*cos(radians(ATT.Pitch))) RFND[0].Dist BARO.Alt RFND.Dist[0]*cos(radians(ATT.Roll))*cos(radians(ATT.Pitch)) BARO.Alt RFND.Dist1*cos(radians(ATT.Roll))*cos(radians(ATT.Pitch)) MCU Voltage Information MCU.MVolt MCU.MVmax MCU.MVmin MCU Tepmerature Information MCU.MTemp RADIO_STATUS.rssi RADIO_STATUS.noise RADIO_STATUS.remrssi RADIO_STATUS.remnoise distance_home(GPS_RAW_INT):2 RCOU.Ch5 RCOU.Ch6 RCOU.Ch7 RCOU.Ch8 RCOU.C5 RCOU.C6 RCOU.C7 RCOU.C8 RCOU.Ch1 RCOU.Ch2 RCOU.Ch3 RCOU.Ch4 RCOU.C1 RCOU.C2 RCOU.C3 RCOU.C4 SYS_STATUS.voltage_battery*0.001 SYS_STATUS.current_battery*0.01 RCOU.Ch5 RCOU.Ch6 RCOU.Ch7 RCOU.Ch8 RCOU.Ch9 RCOU.Ch10 RCOU.Ch11 RCOU.Ch12 RCOU.C5 RCOU.C6 RCOU.C7 RCOU.C8 RCOU.C9 RCOU.C10 RCOU.C11 RCOU.C12 RCOU.Ch5 RCOU.Ch6 RCOU.Ch7 RCOU.Ch8 RCOU.Ch9 RCOU.Ch10 RCOU.Ch11 RCOU.Ch12 RCOU.C5 RCOU.C6 RCOU.C7 RCOU.C8 RCOU.C9 RCOU.C10 RCOU.C11 RCOU.C12 QTUN.CRt QTUN.DCRt BARO.Alt:2 QTUN.DVx QTUN.DVy NKF1[0].VN NKF1[0].VE QTUN.DVx QTUN.DVy NKF1.VN NKF1.VE QTUN.DVx QTUN.DVy NKF1[0].VN NKF1[0].VE ATT.DesPitch:2 ATT.Pitch:2 QTUN.DVx QTUN.DVy NKF1.VN NKF1.VE ATT.DesPitch:2 ATT.Pitch:2 QTUN.DVx QTUN.DVy NKF1[0].VN NKF1[0].VE ATT.DesPitch ATT.Pitch NTUN.WpDist:2 BARO.Alt:2 QTUN.DVx QTUN.DVy NKF1.VN NKF1.VE ATT.DesPitch ATT.Pitch NTUN.WpDist:2 BARO.Alt:2 SIM.Roll ATT.Roll NKF1.Roll NKF1[1].Roll SIM.Roll ATT.Roll NKF1.Roll NKF6.Roll EKF1.Roll SIM.Pitch ATT.Pitch NKF1[0].Pitch NKF1[1].Pitch SIM.Pitch ATT.Pitch NKF1.Pitch NKF6.Pitch EKF1.Pitch SIM.Yaw ATT.Yaw NKF1[0].Yaw NKF1[1].Yaw SIM.Yaw ATT.Yaw NKF1.Yaw NKF6.Yaw EKF1.Yaw PM.MaxT PM.NLon:2 PM.MaxT PM.NLon:2 PM.LogDrop:2 CTRL.RMSRoll CTRL.RMSPitch CTRL.RMSYaw CTRL.RMSRollP CTRL.RMSRollD CTRL.RMSPitchP CTRL.RMSPitchD CTRL.RMSYaw lowpass(pow(2,(RADIO_STATUS.rssi-RADIO_STATUS.noise)*0.5/6)*distance_home(GPS_RAW_INT),"r1",0.99) lowpass(pow(2,(RADIO_STATUS.remrssi-RADIO_STATUS.remnoise)*0.5/6)*distance_home(GPS_RAW_INT),"r2",0.99) STER.Achieved STER.Demanded RCOU.Ch5 RCOU.Ch7 RCOU.Ch9 RCOU.Ch11 RCOU.C5 RCOU.C7 RCOU.C9 RCOU.C11 RCOU.Ch6 RCOU.Ch8 RCOU.Ch10 RCOU.Ch12 RCOU.C6 RCOU.C8 RCOU.C10 RCOU.C12 RATE.ROut RATE.POut RATE.YOut RATE.AOut degrees(IMU[0].GyrX) degrees(IMU[0].GyrY) degrees(IMU[0].GyrZ) degrees(IMU.GyrX) degrees(IMU.GyrY) degrees(IMU.GyrZ) degrees(IMU[1].GyrX) degrees(IMU[1].GyrY) degrees(IMU[1].GyrZ) degrees(IMU2.GyrX) degrees(IMU2.GyrY) degrees(IMU2.GyrZ) degrees(IMU[2].GyrX) degrees(IMU[2].GyrY) degrees(IMU[2].GyrZ) degrees(IMU3.GyrX) degrees(IMU3.GyrY) degrees(IMU3.GyrZ) RCOU.C5 RCOU.C6 RCOU.C9 RCOU.C10 RCOU.C7 RCOU.C8 RCOU.C11 RCOU.C12 RCOU.C5+RCOU.C6+RCOU.C9+RCOU.C10 RCOU.C7+RCOU.C8+RCOU.C11+RCOU.C12 RAD.RSSI RAD.Noise RAD.RemRSSI RAD.RemNoise distance_home(GPS):2 RAD.RSSI RAD.Noise RAD.RemRSSI RAD.RemNoise lowpass(max((GPS.Spd/(OF.flowY-OF.bodyY)),0)*cos(radians(ATT.Roll))*cos(radians(ATT.Pitch)),"flowheight",0.95) TERR.CHeight max(min(cos(radians(ATT.Roll))*cos(radians(ATT.Pitch))*GPS.Spd/lowpass(ROF.Fx-ROF.By,"r",0.95),100),0) BARO.Alt (RCOU.C5+RCOU.C7+RCOU.C9+RCOU.C11)/4 (RCOU.C6+RCOU.C8+RCOU.C10+RCOU.C12)/4 0.25*(SERVO_OUTPUT_RAW.servo5_raw+SERVO_OUTPUT_RAW.servo7_raw+SERVO_OUTPUT_RAW.servo9_raw+SERVO_OUTPUT_RAW.servo11_raw) 0.25*(SERVO_OUTPUT_RAW.servo6_raw+SERVO_OUTPUT_RAW.servo8_raw+SERVO_OUTPUT_RAW.servo10_raw+SERVO_OUTPUT_RAW.servo12_raw) 0.25*(SERVO_OUTPUT_RAW.servo5_raw+SERVO_OUTPUT_RAW.servo6_raw+SERVO_OUTPUT_RAW.servo9_raw+SERVO_OUTPUT_RAW.servo10_raw) 0.25*(SERVO_OUTPUT_RAW.servo7_raw+SERVO_OUTPUT_RAW.servo8_raw+SERVO_OUTPUT_RAW.servo11_raw+SERVO_OUTPUT_RAW.servo12_raw) link_up(GPS_RAW_INT,0) link_up(GPS_RAW_INT,1) link_up(GPS_RAW_INT,2) link_up(GPS_RAW_INT,3) GLOBAL_POSITION_INT.relative_alt*0.001:2 diff(HEARTBEAT._timestamp,"t") SYSTEM_TIME._timestamp-SYSTEM_TIME.time_unix_usec*1.0e-6 ADAP.K1H MAG[0].MagX MAG[0].MagY MAG[0].MagZ MAG[1].MagX MAG[1].MagY MAG[1].MagZ MAG.MagX MAG.MagY MAG.MagZ MAG2.MagX MAG2.MagY MAG2.MagZ sqrt(NKF2[0].VWE**2+NKF2[0].VWN**2) sqrt(NKF2.VWE**2+NKF2.VWN**2) TECS.h TECS.hdem BARO.Alt TECS.sp TECS.spdem diff(GPS.TimeUS,"t")*1.0e-6 diff(GPS.GMS,"gt")*1.0e-3 NKF3[0].IPN NKF3[0].IPE NKF3.IPN NKF3.IPE degrees(PIDR.Des) degrees(IMU.GyrX) ACC1.AccZ IMU.AccZ ACC1.AccY IMU.AccY OF.flowX OF.bodyX IMU.GyrX OF.flowY OF.bodyY IMU.GyrY sqrt((OF.flowX-OF.bodyX)**2+(OF.flowY-OF.bodyY)**2)*RFND.Dist1*cos(radians(ATT.Roll))*cos(radians(ATT.Pitch)) GPS.Spd BARO.Alt:2 sqrt((OF.flowX-OF.bodyX)**2+(OF.flowY-OF.bodyY)**2)*RFND[0].Dist*cos(radians(ATT.Roll))*cos(radians(ATT.Pitch)) GPS.Spd BARO.Alt:2 VIBRATION.vibration_x VIBRATION.vibration_y VIBRATION.vibration_z GPS.Spd*sin(radians(GPS.GCrs)) NKF1[0].VE GPS.Spd*cos(radians(GPS.GCrs)) NKF1[0].VN GPS.Spd*sin(radians(GPS.GCrs)) NKF1.VE GPS.Spd*cos(radians(GPS.GCrs)) NKF1.VN NKF1[0].VN NKF1[0].VE flow_vel_ef(OF,RFND,ATT).x flow_vel_ef(OF,RFND,ATT).y NKF1.VN NKF1.VE flow_vel_ef(OF,RFND,ATT).x flow_vel_ef(OF,RFND,ATT).y gps_vel_body(GPS,ATT).x (OF.flowY-OF.bodyY)*RFND.Dist1 gps_vel_body(GPS,ATT).y (OF.flowX-OF.bodyX)*RFND.Dist1*-1 gps_vel_body(GPS,ATT).x (OF.flowY-OF.bodyY)*RFND[0].Dist gps_vel_body(GPS,ATT).y (OF.flowX-OF.bodyX)*RFND[0].Dist*-1 PIQP.FF PIQP.P PIQP.I PIQP.D PIQR.Dmod PIQR.SRate:2 PIQP.Dmod PIQP.SRate:2 PIQR.FF PIQR.P PIQR.I PIQR.D PIQY.FF PIQY.P PIQY.I PIQY.D PIQY.Dmod PIQY.SRate:2 PIQA.P PIQA.I PIQA.D PIDR.FF PIDR.P PIDR.I PIDR.D PIQR.Tar PIQR.Act PIQY.Tar PIQY.Act PIDP.FF PIDP.P PIDP.I PIDP.D PIQP.Act PIQP.Tar PIQP.FF+PIQP.P+PIQP.D:2 PIQP.Act*0.2:2 PIQP.Tar PIQP.Act PIDS.P PIDS.I PIDS.D BAT[0].Curr BAT[0].Volt BAT[0].VoltR BAT[0].CurrTot:2 ATRP[0].P ATRP[0].FF PIDR.Dmod ATRP[0].D:2 ATRP[1].P ATRP[1].FF PIDP.Dmod ATRP[1].D:2 ATRP[2].P ATRP[2].FF PIDY.Dmod ATRP[2].D:2 PIDY.FF PIDY.P PIDY.I PIDY.D PIDY.Tar PIDY.Act 0.3*PIDY.Act*AETR.SS AETR.Rudd*0.01 AERT.Perr MSG.Message PIDR.SRate PIDP.SRate PIDY.SRate IMU[0].GHz IMU[1].GHz IMU[2].GHz IMU[0].GHz IMU[1].GHz IMU[0].GHz IMU[0].GH IMU[1].GH IMU[2].GH IMU[0].GH IMU[1].GH IMU[0].GH IMU[0].AH IMU[1].AH IMU[2].AH IMU[0].AH IMU[1].AH IMU[0].AH IMU[0].AHz IMU[1].AHz IMU[2].AHz IMU[0].AHz IMU[1].AHz IMU[0].AHz degrees(IMU[0].GyrX) degrees(IMU[1].GyrX) degrees(IMU[2].GyrX) degrees(IMU[0].GyrX) degrees(IMU[1].GyrX) degrees(IMU[0].GyrY) degrees(IMU[1].GyrY) degrees(IMU[2].GyrY) degrees(IMU[0].GyrY) degrees(IMU[1].GyrY) degrees(IMU[0].GyrZ) degrees(IMU[1].GyrZ) degrees(IMU[2].GyrZ) degrees(IMU[0].GyrZ) degrees(IMU[1].GyrZ) IMU[0].AccX IMU[1].AccX IMU[2].AccX IMU[0].AccX IMU[1].AccX IMU[0].AccY IMU[1].AccY IMU[2].AccY IMU[0].AccY IMU[1].AccY IMU[0].AccZ IMU[1].AccZ IMU[2].AccZ IMU[0].AccZ IMU[1].AccZ FTN2[0].PkX FTN2[1].PkX FTN2[2].PkX FTN[1].NF1 FTN[1].NF2 FTN[1].NF3 FTN[1].NF4 PIDR.SRate PIDP.SRate PIDY.SRate GPA[0].Delta GPA[1].Delta GPA.Delta sqrt(XKF1[0].VN**2+XKF1[0].VE**2) GPS.Spd ATSC.AngPScX ATSC.AngPScY ATSC.AngPScZ PIQR.SRate PIQP.SRate PIQY.SRate NTUN.DVelX NTUN.DVelY NTUN.VelX NTUN.VelY QTUN.DAlt QTUN.Alt ESC1.Curr+ESC2.Curr+ESC3.Curr+ESC4.Curr+ESC5.Curr sqrt((IMU[0].AccX-IMU[1].AccX)**2+(IMU[0].AccY-IMU[1].AccY)**2+(IMU[0].AccZ-IMU[1].AccZ)**2) AETR.Ail AETR.Elev AETR.Rudd AETR.Thr:2 ATDE.Rate ATUN.Targ ATUN.Min ATUN.Max 2.24*(TECS.sp) 2.24*(TECS.spdem) 2.24*(GPS.Spd) 2.24*(ARSP.Airspeed) GPS_RAW_INT.alt*0.001 BARO.Alt PSC.TAX PSC.AX PSC.TAY PSC.AY PSC.PX PSC.TPX PSC.PY PSC.TPY PSC.VX PSC.TVX PSC.VY PSC.TVY MAG.MagX-expected_mag_yaw(GPS,ATT,MAG).x MAG.MagY-expected_mag_yaw(GPS,ATT,MAG).y MAG.MagZ-expected_mag_yaw(GPS,ATT,MAG).z MAG2.MagX-expected_mag_yaw(GPS,ATT,MAG2).x MAG2.MagY-expected_mag_yaw(GPS,ATT,MAG2).y MAG2.MagZ-expected_mag_yaw(GPS,ATT,MAG2).z PTUN.TunVal PTUN.Param:2 XKV1.V01 XKV1.V02 XKV1.V03 XKV1.V04 XKV1.V05 XKV1.V06 XKV1.V07 XKV1.V08 XKV1.V09 XKV1.V10 XKV1.V11 XKV2.V12 XKV2.V13 XKV2.V14 XKV2.V15 XKV2.V16 XKV2.V17 XKV2.V18 XKV2.V19 XKV2.V20 XKV2.V21 XKV2.V22 XKV2.V23 3.28*(TECS.h) 3.28*(TECS.hdem) 3.28*(BARO.Alt) 3.28*(GPS.Alt):2 PIQY.Act PIQY.Tar PIQY.FF+PIQY.P+PIQY.D:2 PIQY.Act*0.15:2 delta(GPS.Alt,0,GPS.TimeUS) GPS.VZ*-1 XKF1[0].VN XKF1[0].VE GPS.GCrs wrap_360(degrees(atan2(XKF1[0].VE,XKF1[0].VN))) ATT.DesPitch:2 BAT.Curr CTUN.ThO CTUN.As BARO.Alt STER.DesTurnRate STER.TurnRate STER.DesLatAcc:2 STER.LatAcc:2 THR.DesSpeed THR.Speed THR.Speed BAT.Curr:2 BAT.Volt:2 THR.Speed THR.ThrOut:2 WENC.Dist0 WENC.Dist1 VISP.PX VISP.PY VISP.PZ Compares EKF estimate vs DCM estimate XKF2[0].VWN DCM.VWN XKF2[0].VWE DCM.VWE sqrt(XKF2[0].VWN**2+XKF2[0].VWE**2) sqrt(DCM.VWN**2+DCM.VWE**2) If Replay is enabled, the flag fly-forward flag as set in the AHRS RFRN.Flags&(1<<2) MAVProxy-1.8.74/MAVProxy/tools/mavflightview.py000077500000000000000000000672111504324515000213640ustar00rootroot00000000000000#!/usr/bin/env python3 ''' view a mission log on a map AP_FLAKE8_CLEAN ''' import cv2 import functools import random import re import sys import time from pymavlink import mavutil from pymavlink import mavwp from pymavlink import mavextra from MAVProxy.modules.mavproxy_map import mp_slipmap, mp_tile from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import multiproc from MAVProxy.modules.lib import grapher from MAVProxy.modules.lib import kmlread def create_map(title): '''create map object''' def pixel_coords(latlon, ground_width=0, mt=None, topleft=None, width=None): '''return pixel coordinates in the map image for a (lat,lon)''' (lat, lon) = (latlon[0], latlon[1]) return mt.coord_to_pixel(topleft[0], topleft[1], width, ground_width, lat, lon) def create_imagefile(options, filename, latlon, ground_width, path_objs, mission_obj, fence_obj, kml_objects, width=600, height=600, used_flightmodes=[], mav_type=None, ): '''create path and mission as an image file''' mt = mp_tile.MPTile(service=options.service) map_img = mt.area_to_image(latlon[0], latlon[1], width, height, ground_width) while mt.tiles_pending() > 0: print("Waiting on %u tiles" % mt.tiles_pending()) time.sleep(1) map_img = mt.area_to_image(latlon[0], latlon[1], width, height, ground_width) # a function to convert from (lat,lon) to (px,py) on the map pixmapper = functools.partial(pixel_coords, ground_width=ground_width, mt=mt, topleft=latlon, width=width) for path_obj in path_objs: path_obj.draw(map_img, pixmapper, None) if mission_obj is not None: for m in mission_obj: m.draw(map_img, pixmapper, None) if fence_obj is not None: fence_obj.draw(map_img, pixmapper, None) if kml_objects is not None: for obj in kml_objects: print(obj) try: obj.draw(map_img, pixmapper, None) except Exception: pass if (options is not None and mav_type is not None and options.colour_source == "flightmode"): tuples = [(mode, colour_for_flightmode(mav_type, mode)) for mode in used_flightmodes.keys()] legend = mp_slipmap.SlipFlightModeLegend("legend", tuples) legend.draw(map_img, pixmapper, None) map_img = cv2.cvtColor(map_img, cv2.COLOR_BGR2RGB) cv2.imwrite(filename, map_img) map_colours = [ (255, 0, 0), # noqa:E241,E201 ( 0, 255, 0), # noqa:E241,E201 ( 0, 0, 255), # noqa:E241,E201 (127, 0, 0), # noqa:E241,E201 ( 0, 127, 0), # noqa:E241,E201 # ( 0, 0, 127), # noqa:E241,E201 (255, 255, 0), # noqa:E241,E201 (255, 0, 255), # noqa:E241,E201 ( 0, 255, 255), # noqa:E241,E201 (127, 127, 0), # noqa:E241,E201 (127, 0, 127), # noqa:E241,E201 ( 0, 127, 127), # noqa:E241,E201 (255, 191, 0), # noqa:E241,E201 (255, 0, 191), # noqa:E241,E201 (255, 191, 191), # noqa:E241,E201 (191, 255, 0), # noqa:E241,E201 (191, 0, 255), # noqa:E241,E201 (191, 255, 255), # noqa:E241,E201 ( 0, 255, 191), # noqa:E241,E201 ( 0, 191, 255), # noqa:E241,E201 ( 0, 255, 255), # noqa:E241,E201 ] colour_map_copter = {} colour_map_plane = {} colour_map_rover = {} colour_map_tracker = {} colour_map_submarine = {} colour_map_blimp = {} for mytuple in ( (mavutil.mode_mapping_apm.values(), colour_map_plane), (mavutil.mode_mapping_acm.values(), colour_map_copter), (mavutil.mode_mapping_rover.values(), colour_map_rover), (mavutil.mode_mapping_tracker.values(), colour_map_tracker), (mavutil.mode_mapping_sub.values(), colour_map_submarine), (mavutil.mode_mapping_blimp.values(), colour_map_blimp), ): (mode_names, colour_map) = mytuple i = 0 for mode_name in mode_names: colour_map[mode_name] = map_colours[i] i += 1 if i >= len(map_colours): print("Warning: reusing colours!") i = 0 colour_map["UNKNOWN"] = (0, 0, 0) def colourmap_for_mav_type(mav_type): # swiped from "def mode_mapping_byname(mav_type):" in mavutil map = None if mav_type in [mavutil.mavlink.MAV_TYPE_QUADROTOR, mavutil.mavlink.MAV_TYPE_HELICOPTER, mavutil.mavlink.MAV_TYPE_HEXAROTOR, mavutil.mavlink.MAV_TYPE_OCTOROTOR, mavutil.mavlink.MAV_TYPE_COAXIAL, mavutil.mavlink.MAV_TYPE_TRICOPTER]: map = colour_map_copter if mav_type in [mavutil.mavlink.MAV_TYPE_FIXED_WING, mavutil.mavlink.MAV_TYPE_VTOL_DUOROTOR, mavutil.mavlink.MAV_TYPE_VTOL_QUADROTOR, mavutil.mavlink.MAV_TYPE_VTOL_TILTROTOR]: map = colour_map_plane if mav_type in [mavutil.mavlink.MAV_TYPE_GROUND_ROVER, mavutil.mavlink.MAV_TYPE_SURFACE_BOAT]: map = colour_map_rover if mav_type == mavutil.mavlink.MAV_TYPE_ANTENNA_TRACKER: map = colour_map_tracker if mav_type == mavutil.mavlink.MAV_TYPE_SUBMARINE: map = colour_map_submarine if mav_type == mavutil.mavlink.MAV_TYPE_AIRSHIP: map = colour_map_blimp if map is None: print("No colormap for mav_type=%u" % (mav_type,)) # we probably don't have a valid mode map, so returning # anything but the empty map here is probably pointless: map = colour_map_plane return map def display_waypoints(wploader, map): '''display the waypoints''' mission_list = wploader.view_list() polygons = wploader.polygon_list() map.add_object(mp_slipmap.SlipClearLayer('Mission')) for k in range(len(polygons)): p = polygons[k] if len(p) > 1: map.add_object(mp_slipmap.SlipPolygon( 'mission %u' % k, p, layer='Mission', linewidth=2, colour=(255, 255, 255), )) labeled_wps = {} for i in range(len(mission_list)): next_list = mission_list[i] for j in range(len(next_list)): # label already printed for this wp? if (next_list[j] not in labeled_wps): map.add_object(mp_slipmap.SlipLabel( 'miss_cmd %u/%u' % (i, j), polygons[i][j], str(next_list[j]), 'Mission', colour=(0, 255, 255), )) labeled_wps[next_list[j]] = (i, j) colour_expression_exceptions = dict() colour_source_min = 255 colour_source_max = 0 colour_over_255 = 0 def colour_for_point(mlog, point, instance, options): global colour_source_max, colour_source_min, colour_over_255 '''indicate a colour to be used to plot point''' source = getattr(options, "colour_source", "flightmode") if source == "flightmode": return colour_for_point_flightmode(mlog, point, instance, options) elif source == "type": return colour_for_point_type(mlog, point, instance, options) # evaluate source as an expression which should return a # number in the range 0..255 try: v = eval(source, globals(), mlog.messages) except Exception as e: str_e = str(e) try: count = colour_expression_exceptions[str_e] except KeyError: colour_expression_exceptions[str_e] = 0 count = 0 if count > 10000: print("Too many exceptions processing (%s): %s" % (source, str_e)) sys.exit(1) colour_expression_exceptions[str_e] += 1 v = 0 # we don't use evaluate_expression as we want the exceptions... # v = mavutil.evaluate_expression(source, mlog.messages) if v is None: return v if isinstance(v, str): print("colour expression returned a string: %s" % v) sys.exit(1) elif v < 0: print("colour expression returned %d (< 0)" % v) v = 0 elif v > 255: print("colour expression returned %d (> 255)" % v) v = 255 colour_over_255 += 1 if v < colour_source_min: colour_source_min = v if v > colour_source_max: colour_source_max = v b = v return (b, b, b) def colour_for_point_flightmode(mlog, point, instance, options): return colour_for_flightmode(getattr(mlog, 'mav_type', None), getattr(mlog, 'flightmode', ''), instance) def colour_for_flightmode(mav_type, fmode, instance=0): colourmap = colourmap_for_mav_type(mav_type) if fmode in colourmap: colour = colourmap[fmode] else: print("No entry in colourmap for %s" % (str(fmode))) colour = colourmap['UNKNOWN'] (r, g, b) = colour (r, g, b) = (r+instance*80, g+instance*50, b+instance*70) if r > 255: r = 205 if g > 255: g = 205 if g < 0: g = 0 if b > 255: b = 205 colour = (r, g, b) return colour def colour_for_point_type(mlog, point, instance, options): return map_colours[instance] def message_to_latlon(type, m, is_expression=False): '''convert a message to a lat/lon''' if type in ['GPS', 'GPS2'] and not is_expression: status = getattr(m, 'Status', None) nsats = getattr(m, 'NSats', None) # prevent mapping when no fix if status is None: status = getattr(m, 'FixType', None) if status is None: return None if nsats is None: nsats = 0 if status < 2 and nsats < 5: return None # flash log lat = m.Lat lng = getattr(m, 'Lng', None) if lng is None: lng = getattr(m, 'Lon', None) if lng is None: return None return lat, lng if hasattr(m, 'Lat') and hasattr(m, 'Lng'): return m.Lat, m.Lng if hasattr(m, 'Lat') and hasattr(m, 'Lon'): return m.Lat, m.Lon if hasattr(m, 'PN') and hasattr(m, 'PE'): pos = mavextra.ekf1_pos(m) if pos is None: return None return pos[0], pos[1] if hasattr(m, 'lat') and hasattr(m, 'lon'): return m.lat*1.0e-7, m.lon*1.0e-7 if hasattr(m, 'lat') and hasattr(m, 'lng'): return m.lat*1.0e-7, m.lng*1.0e-7 if hasattr(m, 'latitude') and hasattr(m, 'longitude'): return m.latitude*1.0e-7, m.longitude*1.0e-7 return None class PosExpression: '''object repesenting a map expression, with the types that we need to look for in the log''' def __init__(self, expression): self.expression = expression re_caps = re.compile('[A-Z_][A-Z0-9_]+') caps = set(re.findall(re_caps, expression)) self.recv_match_types = caps def __repr__(self): return "Expression(%s,%s)" % (self.expression, self.recv_match_types) def pos_expressions(type_list): '''return a list of PosExpression objects for a type list''' ret = [] for t in type_list: ret.append(PosExpression(t)) return ret def mavflightview_mav(mlog, options=None, flightmode_selections=[]): '''create a map for a log file''' wp = mavwp.MAVWPLoader() if options.mission is not None: wp.load(options.mission) fen = mavwp.MAVFenceLoader() if options.fence is not None: fen.load(options.fence) all_false = True for s in flightmode_selections: if s: all_false = False idx = 0 path = [] expressions = [] if options.types is not None: if options.types.find(':'): type_list = options.types.split(':') else: type_list = options.types.split(',') expressions.extend(pos_expressions(type_list)) else: expressions.extend(pos_expressions(['POS', 'GLOBAL_POSITION_INT', 'CMD'])) if options.rawgps or options.dualgps: expressions.extend(pos_expressions(['GPS', 'GPS_RAW_INT'])) if options.rawgps2 or options.dualgps: expressions.extend(pos_expressions(['GPS2_RAW', 'GPS2'])) if options.ekf: expressions.extend(pos_expressions(['EKF1', 'GPS'])) if options.nkf: expressions.extend(pos_expressions(['NKF1', 'GPS'])) if options.ahr2: expressions.extend(pos_expressions(['AHR2', 'AHRS2', 'GPS'])) # find the union of message types we need from the log for all expressions recv_match_types = set() for e in expressions: recv_match_types.update(set(e.recv_match_types)) colour_source = getattr(options, "colour_source") if colour_source is not None: # stolen from mavgraph.py re_caps = re.compile('[A-Z_][A-Z0-9_]+') caps = set(re.findall(re_caps, colour_source)) recv_match_types.update(caps) print("Looking for types %s" % str(list(recv_match_types))) last_timestamps = {} used_flightmodes = {} mlog.rewind() while True: try: m = mlog.recv_match(type=recv_match_types) if m is None: break except Exception: break type = m.get_type() if type in ['MISSION_ITEM', 'MISSION_ITEM_INT']: try: new_m = m if type == 'MISSION_ITEM_INT': # create a MISSION_ITEM from MISSION_ITEM_INT new_m = mavutil.mavlink.MAVLink_mission_item_message( 0, 0, m.seq, m.frame, m.command, m.current, m.autocontinue, m.param1, m.param2, m.param3, m.param4, m.x / 1.0e7, m.y / 1.0e7, m.z ) while new_m.seq > wp.count(): print("Adding dummy WP %u" % wp.count()) wp.set(new_m, wp.count()) wp.set(new_m, m.seq) except Exception as e: print("Exception: %s" % str(e)) pass continue elif type == 'CMD': if options.mission is None: m = mavutil.mavlink.MAVLink_mission_item_message( 0, 0, m.CNum, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, m.CId, 0, # current 1, # autocontinue m.Prm1, m.Prm2, m.Prm3, m.Prm4, m.Lat, m.Lng, m.Alt ) try: while m.seq > wp.count(): print("Adding dummy WP %u" % wp.count()) wp.set(m, wp.count()) wp.set(m, m.seq) except Exception: pass continue if not mlog.check_condition(options.condition): continue if options.mode is not None and mlog.flightmode.lower() != options.mode.lower(): continue if not all_false and len(flightmode_selections) > 0 and idx < len(options._flightmodes) and m._timestamp >= options._flightmodes[idx][2]: # noqa:E501 idx += 1 elif (idx < len(flightmode_selections) and flightmode_selections[idx]) or all_false or len(flightmode_selections) == 0: used_flightmodes[mlog.flightmode] = 1 for instance in range(len(expressions)): expression = expressions[instance] if type not in expression.recv_match_types: continue # evaluate the expression is_expression = (type != expression.expression) if not is_expression: # this is a simple type as an expression v = m else: # we need to evaluate the expression to produce an object try: v = mavutil.evaluate_expression(expression.expression, mlog.messages) except Exception: continue if v is None: continue latlng = message_to_latlon(type, v, is_expression) if latlng is None: continue lat, lng = latlng while len(path) <= instance: path.append([]) # only plot thing we have a valid-looking location for: if abs(lat) <= 0.01 and abs(lng) <= 0.01: continue colour = colour_for_point(mlog, (lat, lng), instance, options) if colour is None: continue tdays = grapher.timestamp_to_days(m._timestamp) point = (lat, lng, colour, tdays) if options.rate == 0 or expression.expression not in last_timestamps or m._timestamp - last_timestamps[expression.expression] > 1.0/options.rate: # noqa:E501 last_timestamps[expression.expression] = m._timestamp path[instance].append(point) # remove any empty paths and construct instances array paths2 = [] instances = {} for instance in range(len(expressions)): if instance >= len(path): break if len(path[instance]) == 0: continue paths2.append(path[instance]) instances[expressions[instance].expression] = instance path = paths2 if len(path) == 0: print("No points to plot") return None return [path, wp, fen, used_flightmodes, getattr(mlog, 'mav_type', None), instances] def mavflightview_show(path, wp, fen, used_flightmodes, mav_type, options, instances, title=None, timelim_pipe=None, show_waypoints=True, ): if not title: title = 'MAVFlightView' boundary_path = [] for p in path[0]: boundary_path.append((p[0], p[1])) fence = fen.polygon() if options.fencebounds: for p in fence: boundary_path.append((p[0], p[1])) bounds = mp_util.polygon_bounds(boundary_path) (lat, lon) = (bounds[0]+bounds[2], bounds[1]) (lat, lon) = mp_util.gps_newpos(lat, lon, -45, 50) ground_width = mp_util.gps_distance(lat, lon, lat-bounds[2], lon+bounds[3]) while (mp_util.gps_distance(lat, lon, bounds[0], bounds[1]) >= ground_width-20 or mp_util.gps_distance(lat, lon, lat, bounds[1]+bounds[3]) >= ground_width-20): ground_width += 10 path_objs = [] for i in range(len(path)): if len(path[i]) != 0: path_objs.append(mp_slipmap.SlipPolygon( 'FlightPath[%u]-%s' % (i, title), path[i], layer='FlightPath', linewidth=2, showlines=(not getattr(options, "no_show_lines", False)), colour=(255, 0, 180))) plist = [] if options.show_waypoints: plist = wp.polygon_list() mission_obj = None if len(plist) > 0: mission_obj = [] for i in range(len(plist)): mission_obj.append(mp_slipmap.SlipPolygon( 'Mission-%s-%u' % (title, i), plist[i], layer='Mission', linewidth=2, colour=(255, 255, 255), )) else: mission_obj = None if len(fence) > 1: fence_obj = mp_slipmap.SlipPolygon('Fence-%s' % title, fen.polygon(), layer='Fence', linewidth=2, colour=(0, 255, 0)) else: fence_obj = None kml = getattr(options, 'kml', None) if kml is not None: kml_objects = load_kml(kml) else: kml_objects = None if options.imagefile: create_imagefile(options, options.imagefile, (lat, lon), ground_width, path_objs, mission_obj, fence_obj, kml_objects, used_flightmodes=used_flightmodes, mav_type=mav_type) # noqa:E501 else: global multi_map if options.multi and multi_map is not None: map = multi_map else: map = mp_slipmap.MPSlipMap(title=title, service=options.service, elevation="SRTM3", width=600, height=600, ground_width=ground_width, lat=lat, lon=lon, debug=options.debug, show_flightmode_legend=options.show_flightmode_legend, timelim_pipe=timelim_pipe) if options.multi: multi_map = map for path_obj in path_objs: map.add_object(path_obj) if mission_obj is not None: display_waypoints(wp, map) if fence_obj is not None: map.add_object(fence_obj) if kml_objects is not None: for obj in kml_objects: map.add_object(obj) for flag in options.flag: a = flag.split(',') lat = a[0] lon = a[1] icon = 'flag.png' if len(a) > 2: icon = a[2] + '.png' icon = map.icon(icon) map.add_object(mp_slipmap.SlipIcon( 'icon - %s' % str(flag), (float(lat), float(lon)), icon, layer=3, rotation=0, follow=False, )) if options.colour_source == "flightmode": tuples = [(mode, colour_for_flightmode(mav_type, mode)) for mode in used_flightmodes.keys()] map.add_object(mp_slipmap.SlipFlightModeLegend("legend", tuples)) elif options.colour_source == "type": tuples = [(t, map_colours[instances[t]]) for t in instances.keys()] map.add_object(mp_slipmap.SlipFlightModeLegend("legend", tuples)) else: print("colour-source: min=%f max=%f over-255=%u" % (colour_source_min, colour_source_max, colour_over_255)) def load_kml(kml): '''load a kml overlay, return list of map objects''' print("Loading kml %s" % kml) nodes = kmlread.readkmz(kml) ret = [] for n in nodes: try: point = kmlread.readObject(n) except Exception: continue if isinstance(point, kmlread.Polygon): newcolour = (random.randint(0, 255), 0, random.randint(0, 255)) curpoly = mp_slipmap.SlipPolygon(point.name, point.vertexes, layer=2, linewidth=2, colour=newcolour) ret.append(curpoly) if isinstance(point, kmlread.Point): icon = mp_tile.mp_icon('barrell.png') curpoint = mp_slipmap.SlipIcon( point.name, latlon=point.latlon, layer=3, img=icon, rotation=0, follow=False, ) curtext = mp_slipmap.SlipLabel( point.name, point=point.latlon, layer=4, label=point.name, colour=(0, 255, 255), ) ret.append(curpoint) ret.append(curtext) return ret def mavflightview(filename, options): print("Loading %s ..." % filename) mlog = mavutil.mavlink_connection(filename) stuff = mavflightview_mav(mlog, options) if stuff is None: return [path, wp, fen, used_flightmodes, mav_type, instances] = stuff mavflightview_show(path, wp, fen, used_flightmodes, mav_type, options, instances, title=filename) class mavflightview_options(object): def __init__(self): self.service = "MicrosoftHyb" self.mode = None self.condition = None self.mission = None self.fence = None self.fencebounds = False self.imagefile = None self.flag = [] self.rawgps = False self.rawgps2 = False self.dualgps = False self.ekf = False self.nkf = False self.ahr2 = False self.debug = False self.multi = False self.types = None self.ekf_sample = 1 self.rate = 0 self._flightmodes = [] self.colour_source = 'flightmode' self.show_waypoints = True if __name__ == "__main__": multiproc.freeze_support() from optparse import OptionParser parser = OptionParser("mavflightview.py [options]") parser.add_option("--service", default="MicrosoftSat", help="tile service") parser.add_option("--mode", default=None, help="flight mode") parser.add_option("--condition", default=None, help="conditional check on log") parser.add_option("--mission", default=None, help="mission file (defaults to logged mission)") parser.add_option("--fence", default=None, help="fence file") parser.add_option("--fencebounds", action='store_true', help="use fence boundary for zoom") parser.add_option("--imagefile", default=None, help="output to image file") parser.add_option("--flag", default=[], type='str', action='append', help="flag positions") parser.add_option("--rawgps", action='store_true', default=False, help="use GPS_RAW_INT") parser.add_option("--rawgps2", action='store_true', default=False, help="use GPS2_RAW") parser.add_option("--dualgps", action='store_true', default=False, help="use GPS_RAW_INT and GPS2_RAW") parser.add_option("--ekf", action='store_true', default=False, help="use EKF1 pos") parser.add_option("--nkf", action='store_true', default=False, help="use NKF1 pos") parser.add_option("--ahr2", action='store_true', default=False, help="use AHR2 pos") parser.add_option("--debug", action='store_true', default=False, help="show debug info") parser.add_option("--multi", action='store_true', default=False, help="show multiple flights on one map") parser.add_option("--types", default=None, help="types of position messages to show") parser.add_option("--rate", type='int', default=0, help="maximum message rate to display (0 means all points)") parser.add_option("--colour-source", type="str", default="flightmode", help="expression with range 0f..255f used for point colour") # noqa:E501 parser.add_option("--no-flightmode-legend", action="store_false", default=True, dest="show_flightmode_legend", help="hide legend for colour used for flight modes") # noqa:E501 parser.add_option("--kml", default=None, help="add kml overlay") parser.add_option("--hide-waypoints", dest='show_waypoints', action='store_false', help="do not show waypoints", default=True) # noqa:E501 parser.add_option("--no-show-lines", action="store_true", default=False) (opts, args) = parser.parse_args() try: import faulthandler import signal try: faulthandler.register(signal.SIGUSR1) except AttributeError: pass except ImportError: pass if len(args) < 1: print("Usage: mavflightview.py [options] ") sys.exit(1) if opts.multi: multi_map = None random.seed(1) for f in args: mavflightview(f, opts) MAVProxy-1.8.74/MAVProxy/tools/mavpicviewer/000077500000000000000000000000001504324515000206255ustar00rootroot00000000000000MAVProxy-1.8.74/MAVProxy/tools/mavpicviewer/mavpicviewer.bat000066400000000000000000000001561504324515000240200ustar00rootroot00000000000000cd ..\..\ python setup.py build install --user python .\MAVProxy\tools\mavpicviewer\mavpicviewer.py pause MAVProxy-1.8.74/MAVProxy/tools/mavpicviewer/mavpicviewer.py000066400000000000000000000020071504324515000236770ustar00rootroot00000000000000#!/usr/bin/env python3 ''' MAV Picture Viewer Quick and efficient reviewing of images taken from a drone AP_FLAKE8_CLEAN ''' import os from argparse import ArgumentParser from MAVProxy.modules.lib import multiproc import mavpicviewer_image import mavpicviewer_mosaic prefix_str = "mavpicviewer: " # main function if __name__ == "__main__": multiproc.freeze_support() parser = ArgumentParser(description=__doc__) parser.add_argument("filepath", nargs='?', default=".", help="filename or directory holding images") args = parser.parse_args() # check destination directory exists if not os.path.exists(args.filepath): exit(prefix_str + "invalid destination directory") # create queue for interprocess communication mosaic_to_image_comm, image_to_mosaic_comm = multiproc.Pipe() # create image viewer mavpicviewer_image.mavpicviewer_image(args.filepath, image_to_mosaic_comm) # create mosaic mavpicviewer_mosaic.mavpicviewer_mosaic(args.filepath, mosaic_to_image_comm) MAVProxy-1.8.74/MAVProxy/tools/mavpicviewer/mavpicviewer_image.py000066400000000000000000000607251504324515000250540ustar00rootroot00000000000000#!/usr/bin/env python3 ''' MAV Picture Viewer Quick and efficient reviewing of images taken from a drone AP_FLAKE8_CLEAN ''' from threading import Thread import cv2 import time import os import piexif import re import mavpicviewer_shared as mpv from MAVProxy.modules.lib import mp_util from MAVProxy.modules.lib import mp_elevation if mp_util.has_wxpython: from MAVProxy.modules.lib.wx_loader import wx from MAVProxy.modules.lib.mp_menu import MPMenuTop from MAVProxy.modules.lib.mp_menu import MPMenuItem from MAVProxy.modules.lib.mp_menu import MPMenuSubMenu from MAVProxy.modules.lib.mp_image import MPImage from MAVProxy.modules.mavproxy_map import mp_slipmap from MAVProxy.modules.lib import camera_projection prefix_str = "mavpicviewer_image: " class mavpicviewer_image: """handle camera view image""" def __init__(self, folderpath, comm_pipe=None): # init current filenumber and filelist self.filenumber = 0 self.filelist = {} self.open_folder(folderpath) # record reference to communication queue self.comm_pipe = comm_pipe # load elevation data self.terrain_source = "SRTM3" self.terrain_offline = 0 self.elevation_model = mp_elevation.ElevationModel(self.terrain_source) # POIs indexed by filenumber self.poi_dict = {} self.poi_start_pos = None # init image exif data self.lat = None self.lon = None self.alt_amsl = None self.terr_alt = None self.temp_max = None self.temp_max_pos = mpv.Pos(None, None) self.temp_min = None self.temp_min_pos = mpv.Pos(None, None) self.temp_highlight_size = 20 self.temp_highlight_active = True # create menu (this is added to im in update_image) self.menu = None if mp_util.has_wxpython: self.menu = MPMenuTop([MPMenuSubMenu('&File', items=[MPMenuItem('&Save\tCtrl+S'), MPMenuItem('&Clear POI\tCtrl+C', returnkey='clearpoi'), MPMenuItem('&Next Image\tCtrl+N', returnkey='nextimage'), MPMenuItem('&Prev Image\tCtrl+P', returnkey='previmage'), MPMenuItem('&Temp Highlight\tCtrl+T', returnkey='temphighlight'), MPMenuItem('&Quit\tCtrl+Q', 'Quit', returnkey='quit')])]) # create image viewer self.im = MPImage(title="image viewer", mouse_events=True, mouse_movement_events=True, key_events=True, can_drag=False, can_zoom=True, auto_size=False, auto_fit=True) if self.im is not None: self.im.set_menu(self.menu) # check if image viewer was created if self.im is None: print(prefix_str + "failed to create image viewer") return self.update_image() # set camera parameters with default FOV self.update_camera_settings(25) # hard-code mount angles self.roll = 0 self.pitch = -90 self.yaw = 0 # initialise map self.sm = self.sm = mp_slipmap.MPSlipMap(elevation=self.terrain_source) self.update_map() # exit variable self.exit_requested = False self.thread = Thread(target=self.mavpicviewer_image_loop, name='mavpicviewer_image_loop') self.thread.daemon = False self.thread.start() # main loop def mavpicviewer_image_loop(self): """main thread""" while not self.exit_requested: if self.im is None: break time.sleep(0.25) self.check_events() # handle messages from the comm pipe if self.comm_pipe is not None: # print contents of the queue while self.comm_pipe.poll(): self.handle_comm_object(self.comm_pipe.recv()) # handle an object received on the communication pipe def handle_comm_object(self, obj): """process an object received on the communication pipe""" if isinstance(obj, mpv.SetFilelist): self.filelist = obj.filelist self.poi_clear_all() self.update_image() self.update_map() elif isinstance(obj, mpv.SetFilenumber): self.set_filenumber(obj.filenumber, False) elif isinstance(obj, mpv.SetFOV): self.set_fov(obj.fov) elif isinstance(obj, mpv.SetYaw): self.set_yaw(obj.yaw) elif isinstance(obj, mpv.ClearAllPOI): self.poi_clear_all() elif isinstance(obj, mpv.GetTempForAllImages): self.send_all_temperatures() elif isinstance(obj, mpv.Close): self.close(False) # send a communication object to the image viewer def send_comm_object(self, obj): """send a communication object to the image viewer""" if self.comm_pipe is not None: self.comm_pipe.send(obj) # open folder def open_folder(self, folderpath): """open folder""" filelist = mpv.get_file_list(folderpath, ['jpg', 'jpeg']) if filelist is None or not filelist: filelist = {} print(prefix_str + "no files found") self.set_file_list(filelist) # update filelist dictionary which holds the filepaths for all images def set_file_list(self, filelist): # sanity check filelist if filelist is None: print(prefix_str + "set_file_list: invalid filelist") return self.filelist = filelist # set window title def set_title(self, title): """set image title""" if self.im is None: return self.im.set_title(title) # set FOV def set_fov(self, fov_deg): """set image FOV""" self.update_camera_settings(fov_deg) self.update_map() # set Yaw def set_yaw(self, yaw_deg): """set image yaw""" self.yaw = yaw_deg self.update_map() # process window events def check_events(self): """check for image events""" if self.im is None: return if not self.im.is_alive(): self.im = None return for event in self.im.events(): if isinstance(event, MPMenuItem): if event.returnkey == "fitWindow": self.im.fit_to_window() elif event.returnkey == "fullSize": self.im.full_size() elif event.returnkey == "clearpoi": self.cmd_clear_poi() elif event.returnkey == "nextimage": self.cmd_nextimage() elif event.returnkey == "previmage": self.cmd_previmage() elif event.returnkey == "temphighlight": self.temp_highlight_active = not self.temp_highlight_active self.update_image() elif event.returnkey == "quit": self.close() continue if event.ClassName == "wxMouseEvent": if event.X is not None and event.Y is not None: if event.leftIsDown: self.poi_capture_start(event.X, event.Y) else: self.poi_capture_done(event.X, event.Y) else: # if no X,Y coordinates then probably outside of window self.poi_cancel() if event.ClassName == "wxKeyEvent": keycode = event.KeyCode if keycode == wx.WXK_LEFT: self.cmd_previmage() elif keycode == wx.WXK_RIGHT: self.cmd_nextimage() # start capturing POI rectangle around part of image def poi_capture_start(self, X, Y): """handle user request to start capturing box around part of image""" if self.poi_start_pos is None: self.poi_start_pos = mpv.Pos(X, Y) # complete capturing box around part of image def poi_capture_done(self, X, Y): """handle user request to complete capturing box around part of image""" if self.poi_start_pos is not None: # exit if mouse has not moved a sufficient distance if abs(X - self.poi_start_pos.X) <= 5 or abs(Y - self.poi_start_pos.Y) <= 5: self.poi_start_pos = None return # calculate location of each corner lat1, lon1, alt1 = self.get_latlonalt(self.poi_start_pos.X, self.poi_start_pos.Y) lat2, lon2, alt2 = self.get_latlonalt(X, Y) if lat1 is None or lat2 is None: print(prefix_str + "POI capture failed") return # add POI object to dictionary poi = mpv.POI(self.poi_start_pos, mpv.Pos(X, Y), mpv.Loc(lat1, lon1, alt1), mpv.Loc(lat2, lon2, alt2)) self.poi_dict[self.filenumber] = poi self.send_comm_object(mpv.SetPOI(self.filenumber, poi)) self.poi_start_pos = None # update image self.update_image() # add retangle to map self.add_rectangle_to_map(self.filename, lat1, lon1, lat2, lon2) # camcel capturing box around part of image. should be called if mouse leaves window, next image is loaded, etc def poi_cancel(self): self.poi_start_pos = None # clear all POI points from dictionary and map and current image def poi_clear_all(self): self.poi_cancel() update_image_required = False for filenumber in self.poi_dict.keys(): filename = self.filelist[filenumber] if filename is not None: self.remove_rectangle_from_map(filename) if self.filenumber == filenumber: update_image_required = True self.poi_dict.clear() if update_image_required: self.update_image() # clear poi from current image def cmd_clear_poi(self): self.poi_cancel() if self.filenumber in self.poi_dict.keys(): self.poi_dict.pop(self.filenumber) self.update_image() self.remove_rectangle_from_map(self.filename) self.send_comm_object(mpv.ClearPOI(self.filenumber)) # update current image to next image def cmd_nextimage(self): self.set_filenumber(self.filenumber + 1) # update current image to previous image def cmd_previmage(self): self.set_filenumber(self.filenumber - 1) # close image viewer def close(self, notify_mosaic=True): self.exit_requested = True if self.im is not None: self.im.terminate() if self.sm is not None: self.sm.close() if notify_mosaic: self.send_comm_object(mpv.Close()) # image select callback def set_filenumber(self, filenumber, notify_mosaic=True): if filenumber < 0: print(prefix_str + "already at first image") return if filenumber >= len(self.filelist): print(prefix_str + "already at last image %d" % self.filenumber) return self.filenumber = filenumber self.update_image() self.update_map() if notify_mosaic: self.send_comm_object(mpv.SetFilenumber(self.filenumber)) # update the displayed image # should be called if filenumber is changed def update_image(self): # sanity check filelist if self.filelist is None or len(self.filelist) == 0: print(prefix_str + "no files found") return # check filenumber is within range if self.filenumber < 0 or self.filenumber >= len(self.filelist): print(prefix_str + "invalid filenumber %d" % self.filenumber) return # update filename self.filename = self.filelist[self.filenumber] base_filename = os.path.basename(self.filename) # check file exists if not os.path.exists(self.filename): print(prefix_str + "%s not found" % self.filename) return # check image viewer has been created if self.im is None: print(prefix_str + "image viewer not created") return # set title to filename title_str = base_filename + " (" + str(self.filenumber+1) + " of " + str(len(self.filelist)) + ")" self.set_title(title_str) # load image from file image = cv2.imread(self.filename) # check image loaded if image is None: print(prefix_str + "failed to load image %s" % self.filename) return # load exif data self.lat, self.lon, self.alt_amsl, self.terr_alt, \ self.temp_max, self.temp_max_pos.X, self.temp_max_pos.Y, \ self.temp_min, self.temp_min_pos.X, self.temp_min_pos.Y = self.get_exif_loc_and_temp(self.filename) # use pixel darkness to find temp max position. This seems to produce a better result than the built-in exif data # use exif min/max temp (if available) to calculate the range if True: tmax_ovr = self.temp_max tmin_ovr = self.temp_min else: tmax_ovr = None tmin_ovr = None self.temp_max, self.temp_max_pos.X, self.temp_max_pos.Y = self.get_temp_from_pixel_darkness(image, tmax_ovr, tmin_ovr) # add POI rectangles to image if self.filenumber in self.poi_dict.keys(): poi = self.poi_dict.get(self.filenumber) cv2.rectangle(image, (poi.pos1.X, poi.pos1.Y), (poi.pos2.X, poi.pos2.Y), mpv.RGB_RED, 2) # add temperature rectangle to image if self.temp_highlight_active: if self.temp_max is not None and self.temp_max_pos.X is not None and self.temp_max_pos.Y is not None: top_left = (self.temp_max_pos.X-self.temp_highlight_size, self.temp_max_pos.Y-self.temp_highlight_size) bottom_right = (self.temp_max_pos.X+self.temp_highlight_size, self.temp_max_pos.Y+self.temp_highlight_size) cv2.rectangle(image, top_left, bottom_right, mpv.RGB_YELLOW, 2) # update image and colormap self.im.set_image(image) self.im.set_colormap("None") # send exif data to mosaic self.send_comm_object(mpv.SetImageLoc(self.filenumber, mpv.Loc(self.lat, self.lon, self.alt_amsl, self.terr_alt))) self.send_comm_object(mpv.SetTempAndPos(self.filenumber, self.temp_max, self.temp_max_pos.X, self.temp_max_pos.Y)) # update camera settings def update_camera_settings(self, FOV): if self.im is None: print(prefix_str + "failed to update camera settings because image is not set") return # set camera parameters (hard-coded for Siyi ZT6) self.cam1_params = camera_projection.CameraParams(xresolution=640, yresolution=512, FOV=FOV) self.cam1_projection = camera_projection.CameraProjection(self.cam1_params, self.elevation_model, self.terrain_source) # update the displayed map with polygon # should be called if filenumber is changed def update_map(self): # check image location if self.lat is None or self.lon is None or self.alt_amsl is None: print(prefix_str + "failed to update map because lat, lon or alt not set") return # check image attitude if self.roll is None or self.pitch is None or self.yaw is None: print(prefix_str + "failed to update map because roll, pitch or yaw not set") return # create and display map if self.sm is None: self.sm = mp_slipmap.MPSlipMap(lat=self.lat, lon=self.lon, elevation=self.terrain_source) if self.sm is None: print(prefix_str + "failed to create map") return # update map center if self.sm is not None: self.sm.set_center(self.lat, self.lon) # calculate image outline polygon for map try: projection1 = self.cam1_projection.get_projection(self.lat, self.lon, self.alt_amsl, self.roll, self.pitch, self.yaw) if projection1 is not None and self.sm is not None: self.sm.add_object(mp_slipmap.SlipPolygon('projection1', projection1, layer=1, linewidth=2, colour=mpv.RGB_GREEN)) else: print(prefix_str + "failed to add projection to map") except ArithmeticError as e: print(prefix_str + "failed to add projection to map due to arithmetic error: " + str(e)) # add a rectangle specified by two locations to the map def add_rectangle_to_map(self, name, lat1, lon1, lat2, lon2): if self.sm is not None: rect = [(lat1, lon1), (lat1, lon2), (lat2, lon2), (lat2, lon1), (lat1, lon1)] self.sm.add_object(mp_slipmap.SlipPolygon(name, rect, layer=1, linewidth=2, colour=mpv.RGB_RED)) # remove a rectangle from the map def remove_rectangle_from_map(self, name): if self.sm is not None: self.sm.remove_object(name) # get location (e.g lat, lon, alt, terr_alt) and temperature (max, pixe pos X, pixel pos Y) from image's exif tags def get_exif_loc_and_temp(self, filename): """get latitude, longitude, altitude and terrain_alt from exif tags""" exif_dict = piexif.load(filename) if piexif.GPSIFD.GPSLatitudeRef in exif_dict["GPS"]: lat_ns = exif_dict["GPS"][piexif.GPSIFD.GPSLatitudeRef] lat = self.dms_to_decimal(exif_dict["GPS"][piexif.GPSIFD.GPSLatitude][0], exif_dict["GPS"][piexif.GPSIFD.GPSLatitude][1], exif_dict["GPS"][piexif.GPSIFD.GPSLatitude][2], lat_ns) lon_ew = exif_dict["GPS"][piexif.GPSIFD.GPSLongitudeRef] lon = self.dms_to_decimal(exif_dict["GPS"][piexif.GPSIFD.GPSLongitude][0], exif_dict["GPS"][piexif.GPSIFD.GPSLongitude][1], exif_dict["GPS"][piexif.GPSIFD.GPSLongitude][2], lon_ew) alt = float(exif_dict["GPS"][piexif.GPSIFD.GPSAltitude][0])/float(exif_dict["GPS"][piexif.GPSIFD.GPSAltitude][1]) terr_alt = self.elevation_model.GetElevation(lat, lon) if terr_alt is None: print("WARNING: failed terrain lookup for %f %f" % (lat, lon)) terr_alt = 0 else: lat = 0 lon = 0 alt = 0 terr_alt = 0 # get comment temp_max = None temp_max_x = None temp_max_y = None temp_min = None temp_min_x = None temp_min_y = None if piexif.ExifIFD.UserComment in exif_dict["Exif"]: comment_bytes = exif_dict["Exif"][piexif.ExifIFD.UserComment] comment_str = comment_bytes.decode("utf-8") temp_max, temp_max_x, temp_max_y, temp_min, temp_min_x, temp_min_y = self.get_temp_from_comment(comment_str) return lat, lon, alt, terr_alt, temp_max, temp_max_x, temp_max_y, temp_min, temp_min_x, temp_min_y # collect and send all temperatures to mosaic def send_all_temperatures(self): for filenumber in range(len(self.filelist)): filename = self.filelist[filenumber] if filename is not None: # load exif data lat, lon, alt_amsl, terr_alt, \ temp_max, temp_max_pos_X, temp_max_pos_Y, \ temp_min, temp_min_pos_X, temp_min_pos_Y = self.get_exif_loc_and_temp(filename) # send exif data to mosaic self.send_comm_object(mpv.SetTempAndPos(filenumber, temp_max, temp_max_pos_X, temp_max_pos_Y)) def dms_to_decimal(self, degrees, minutes, seconds, sign=b' '): """Convert degrees, minutes, seconds into decimal degrees. >>> dms_to_decimal((10, 1), (10, 1), (10, 1)) 10.169444444444444 >>> dms_to_decimal((8, 1), (9, 1), (10, 1), 'S') -8.152777777777779 """ return (-1 if sign in b'SWsw' else 1) * ( float(degrees[0])/float(degrees[1]) + float(minutes[0])/float(minutes[1]) / 60.0 + float(seconds[0])/float(seconds[1]) / 3600.0 ) def get_latlonalt(self, pixel_x, pixel_y): ''' get ground lat/lon given vehicle orientation, camera orientation and slant range pixel_x and pixel_y are in image pixel coordinates with 0,0 at the top left ''' if self.cam1_params is None: print("picviewer: failed to calc lat,lon because camera params not set") return None return self.cam1_projection.get_latlonalt_for_pixel(int(pixel_x), int(pixel_y), self.lat, self.lon, self.alt_amsl, self.roll, self.pitch, self.yaw) # get temperature from a comment string # on success returns three values, temp max, X and Y pixel coordinates # on failure all values are None def get_temp_from_comment(self, comment_str): """ Extracts the maximum temperature and the corresponding pixel from the given comment string. Parameters: comment (str): A string containing temperature and pixel data like "max:26.85(76,304);min:21.85(422,187)" Returns: tuple: A tuple containing the max temperature (float) and the pixel coordinates (tuple of integers). """ # initialise values temp_max = None temp_max_x = None temp_max_y = None temp_min = None temp_min_x = None temp_min_y = None # Use regular expression to extract max temperature and the pixel coordinates max_temp_pattern = r"max:([\d\.]+)\((\d+),(\d+)\)" match = re.search(max_temp_pattern, comment_str) if match: # Extract the max temperature and pixel coordinates temp_max = float(match.group(1)) temp_max_x = int(match.group(2)) temp_max_y = int(match.group(3)) # extract min temperature and pixel coordinates min_temp_pattern = r"min:([\d\.]+)\((\d+),(\d+)\)?" match = re.search(min_temp_pattern, comment_str) if match: # Extract the max temperature and pixel coordinates temp_min = float(match.group(1)) temp_min_x = int(match.group(2)) temp_min_y = int(match.group(3)) return temp_max, temp_max_x, temp_max_y, temp_min, temp_min_x, temp_min_y # get temperature from an image's pixel darkness (assume black is hot) # on success returns three values, temp max, X and Y pixel coordinates # on failure all values are None def get_temp_from_pixel_darkness(self, cv2_image, temp_max_override=None, temp_min_override=None): # print image's darkest and brightest pixel values using minMaxLoc grey_image = cv2.cvtColor(cv2_image, cv2.COLOR_BGR2GRAY) minVal, maxVal, minLoc, maxLoc = cv2.minMaxLoc(grey_image) # convert pixel brightness to a temperature in the range 0C to 100C # To-Do: expose these to the user as settings # Siyi ZT6 should be -20 ~ +150 # Xacti CX-GB250 should be -50 to +150 black_temp = 100 white_temp = 0 if temp_max_override is not None: black_temp = temp_max_override if temp_min_override is not None: white_temp = temp_min_override temp_max = self.linear_interpolate(black_temp, white_temp, minVal, 0, 255) # convert min value into a temperature return temp_max, minLoc[0], minLoc[1] # linear interpolate function def linear_interpolate(self, low_output, high_output, var_value, var_low, var_high): # support either polarity if var_low > var_high: temp = var_low var_low = var_high var_high = temp temp = low_output low_output = high_output high_output = temp if var_value <= var_low: return low_output if var_value >= var_high: return high_output p = (var_value - var_low) / (var_high - var_low) return low_output + p * (high_output - low_output) MAVProxy-1.8.74/MAVProxy/tools/mavpicviewer/mavpicviewer_mosaic.py000066400000000000000000000436261504324515000252460ustar00rootroot00000000000000#!/usr/bin/env python3 ''' MAV Picture Viewer Mosaic window showing all images AP_FLAKE8_CLEAN ''' import os from argparse import ArgumentParser from math import ceil import wx.lib.scrolledpanel as scrolled from MAVProxy.modules.lib import multiproc from MAVProxy.modules.lib import mp_util import mavpicviewer_shared as mpv from mavpicviewer_settings import mavpicviewer_settings import mavpicviewer_image if mp_util.has_wxpython: from MAVProxy.modules.lib.wx_loader import wx prefix_str = "mavpicviewer_mosaic: " class mavpicviewer_mosaic: """displays a mosaic of images""" def __init__(self, folderpath, comm_pipe=None): # keep reference to callbacks self.image_comm_pipe = comm_pipe # init current filenumber and filelist self.filenumber = 0 self.filelist = {} self.update_file_list(folderpath) # init dictionary of POI and panels for all images self.poi_dict = {} # init dictionary of image locations self.image_loc_dict = {} # init dictionary of image temperatures self.image_temp_dict = {} self.image_temp_dict_sorted = {} # hardcoded thumbnail image size and number of columns self.thumb_size = 100 self.thumb_columns = 5 self.thumb_rows = ceil(len(self.filelist) / self.thumb_columns) # create window self.app = wx.App() # create frame self.frame = wx.Frame(None, size=(565, 310)) self.frame.SetBackgroundColour(wx.SystemSettings.GetColour(wx.SYS_COLOUR_WINDOW)) self.update_title() # add settings window self.mavpicviewer_settings = mavpicviewer_settings(self.settings_changed_cb) # add menu self.menu = wx.Menu() self.menu.Append(1, "Open Folder", "Open a Folder of images") self.frame.Bind(wx.EVT_MENU, self.menu_open_folder, id=1) self.menu.Append(2, "Show All", "Show all images") self.frame.Bind(wx.EVT_MENU, self.menu_display_all_images, id=2) self.menu.Append(3, "Show POI", "Show images with POI") self.frame.Bind(wx.EVT_MENU, self.menu_display_poi_images, id=3) self.menu.Append(4, "Sort by Temp", "Sort images by Temp (max first)") self.frame.Bind(wx.EVT_MENU, self.menu_sort_by_temp, id=4) self.menu.Append(5, "Settings", "Settings") self.frame.Bind(wx.EVT_MENU, self.mavpicviewer_settings.show_settings_window, id=5) self.menu.Append(6, "Clear All POI", "Clear POI from all images") self.frame.Bind(wx.EVT_MENU, self.menu_clear_all_poi, id=6) self.menu.Append(7, "Quit", "Quit") self.frame.Bind(wx.EVT_MENU, self.menu_quit, id=7) self.menu_bar = wx.MenuBar() self.menu_bar.Append(self.menu, "Menu") self.frame.SetMenuBar(self.menu_bar) # add bindings for arrow keys self.frame.Bind(wx.EVT_CHAR_HOOK, self.on_key) # add binding for Close window self.frame.Bind(wx.EVT_CLOSE, self.menu_quit) # add a timer for redrawing timer_hz = 10 self.queue_processing_timer = wx.Timer(self.frame) self.frame.Bind(wx.EVT_TIMER, self.handle_timer_event, self.queue_processing_timer) self.queue_processing_timer.Start(int(1000/timer_hz)) # add a read-only status text box self.text_status = wx.TextCtrl(self.frame, id=-1, size=(600, 60), style=wx.TE_READONLY | wx.TE_MULTILINE | wx.TE_RICH) # add a scrolled panel self.scrolled_panel = scrolled.ScrolledPanel(self.frame, -1, size=(600, 600), style=wx.TAB_TRAVERSAL) self.scrolled_panel_sizer = wx.GridSizer(cols=5, hgap=5, vgap=5) # dictionary of panels for all images (used to turn on/off highlighting) self.panel_dict = {} self.update_panel_dict() self.scrolled_panel.SetSizer(self.scrolled_panel_sizer) self.scrolled_panel.SetupScrolling(scroll_x=True, scroll_y=True) # add a vertical and horizontal sizers self.vert_sizer = wx.BoxSizer(wx.VERTICAL) self.horiz_sizer = wx.BoxSizer(wx.HORIZONTAL) # set size hints and add sizer to frame self.vert_sizer.Add(self.text_status, proportion=0, flag=wx.EXPAND, border=5) self.vert_sizer.Add(self.scrolled_panel, proportion=0, flag=wx.EXPAND | wx.ALL, border=5) self.vert_sizer.Add(self.horiz_sizer, proportion=0, flag=wx.EXPAND) self.frame.SetSizer(self.vert_sizer) # display all images and update layout self.display_all_images() # set focus on the status text box self.text_status.SetFocus() # set filenumber to init highlighting self.set_filenunmber(0) # show frame self.frame.Show() # this does not return until the window is Closed self.app.MainLoop() # update panel dictionary def update_panel_dict(self): # clear entries from panel dictionary self.panel_dict.clear() # create panel for each image for i in range(len(self.filelist)): # create a panel for each image (this allows us to set a background colour) panel = wx.Panel(self.scrolled_panel, -1, size=(104, 104)) # create an image for each panel img_path = self.filelist[i] wx_image = wx.Image(img_path, wx.BITMAP_TYPE_ANY).Scale(100, 100) image = wx.StaticBitmap(panel, i, wx.Bitmap(wx_image)) # bind event for left mouse button click image.Bind(wx.EVT_LEFT_DOWN, self.on_image_click) # create a box sizer to center the image within the panel sizer = wx.BoxSizer(wx.VERTICAL) sizer.Add(image, 0, wx.ALIGN_CENTER | wx.ALL, 2) panel.SetSizer(sizer) # add panel to dictionary self.panel_dict[i] = panel # process menu events def menu_open_folder(self, event): """process menu events""" dlg = wx.DirDialog(self.frame, "Choose a directory:", style=wx.DD_DEFAULT_STYLE) folder_path = None if dlg.ShowModal() == wx.ID_OK: folder_path = dlg.GetPath() dlg.Destroy() if folder_path is not None: wx.CallAfter(self.open_folder, folder_path) # menuy event handler for display all images def menu_display_all_images(self, event): """menu event handler for display all images""" wx.CallAfter(self.display_all_images) # display POI images only def menu_display_poi_images(self, event): """display POI images only""" wx.CallAfter(self.display_all_images, poi_only=True) # sort images by temperature def menu_sort_by_temp(self, event): """sort images by temperature""" wx.CallAfter(self.sort_images_by_temperature) # clear all POI def menu_clear_all_poi(self, event): """clear all POI""" for filenumber in list(self.poi_dict.keys()): self.clear_image_poi(filenumber) self.send_comm_object(mpv.ClearAllPOI()) # process menu quit event def menu_quit(self, event, notify_image_viewer=True): """process menu quit event""" if notify_image_viewer: # send Close command to image viewer self.send_comm_object(mpv.Close()) # Close frame and exit main loop self.app.ExitMainLoop() # handle timer event. used to consume messages from the comm pipe def handle_timer_event(self, event): """handle timer event""" if self.image_comm_pipe is not None: while self.image_comm_pipe.poll(): wx.CallAfter(self.handle_comm_object, self.image_comm_pipe.recv()) # handle an object received on the communication pipe def handle_comm_object(self, obj): """process an object received on the communication pipe""" if isinstance(obj, mpv.SetFilenumber): self.set_filenunmber(obj.filenumber, False) elif isinstance(obj, mpv.Close): self.menu_quit(None, False) elif isinstance(obj, mpv.SetImageLoc): self.image_loc_dict[obj.filenumber] = obj.loc self.update_status_text() elif isinstance(obj, mpv.SetPOI): self.set_image_poi(obj.filenumber, obj.poi) self.update_status_text() elif isinstance(obj, mpv.ClearPOI): self.clear_image_poi(obj.filenumber) elif isinstance(obj, mpv.SetTempAndPos): if obj.temp_max is not None: self.image_temp_dict[obj.filenumber] = mpv.TempAndPos(obj.temp_max, obj.temp_pos_x, obj.temp_pos_y) self.update_status_text() # send a communication object to the image viewer def send_comm_object(self, obj): """send a communication object to the image viewer""" if self.image_comm_pipe is not None: self.image_comm_pipe.send(obj) # set window title def set_title(self, title): """set image title""" self.frame.SetTitle(title) # update title def update_title(self): """update title""" title_str = f"PicViewer Mosaic ({self.filenumber+1} of {len(self.filelist)})" self.set_title(title_str) # update status text def update_status_text(self): """update status text""" status_text = "" # add image location if self.filenumber in self.image_loc_dict: loc = self.image_loc_dict[self.filenumber] alt_above_terr = int(loc.alt - loc.terr_alt) status_text = f"Camera: lat:{loc.lat:.7f} lon:{loc.lon:.7f} alt:{loc.alt:.0f} alt_above_terr:{alt_above_terr}\n" # calculate average poi lat,lon,alt if self.filenumber in self.poi_dict: poi = self.poi_dict[self.filenumber] if poi is not None: loc_avg = mpv.Loc((poi.loc1.lat + poi.loc2.lat) / 2, (poi.loc1.lon + poi.loc2.lon) / 2, (poi.loc1.alt + poi.loc2.alt) / 2) status_text = status_text + f"POI: lat:{loc_avg.lat:.7f} lon:{loc_avg.lon:.7f} alt:{loc_avg.alt:.0f}\n" # add image temperature if self.filenumber in self.image_temp_dict: tap = self.image_temp_dict[self.filenumber] status_text = status_text + f"Temp: {tap.temp_max:.1f}C at ({tap.temp_pos_x}, {tap.temp_pos_y})" self.text_status.SetValue(status_text) # update filelist dictionary which holds the filepaths for all images def update_file_list(self, folderpath): filelist = mpv.get_file_list(folderpath, ['jpg', 'jpeg']) if filelist is None or not filelist: filelist = {} print(prefix_str + "no files found") self.filelist = filelist # open folder def open_folder(self, folderpath): # get list of files in folder self.update_file_list(folderpath) # reset current filenumber self.filenumber = 0 # clear poi dictionary self.poi_dict.clear() # clear image location dictionary self.image_loc_dict.clear() # update panel dictionary self.update_panel_dict() # display all images self.display_all_images() # notify image viewer self.send_comm_object(mpv.SetFilelist(self.filelist)) # set image poi def set_image_poi(self, filenumber, poi): """set image poi""" print(f"set_image_poi: {filenumber} {poi.loc1.lat} {poi.loc1.lon} {poi.loc1.alt}") self.poi_dict[filenumber] = poi self.update_status_text() # clear image poi def clear_image_poi(self, filenumber): """set image poi""" if filenumber in self.poi_dict: del self.poi_dict[filenumber] if filenumber == self.filenumber: self.update_status_text() self.update_highlighting(filenumber) # process key events def on_key(self, event): """process key events""" keycode = event.GetKeyCode() if keycode == wx.WXK_LEFT: wx.CallAfter(self.set_filenunmber, self.filenumber-1) elif keycode == wx.WXK_RIGHT: wx.CallAfter(self.set_filenunmber, self.filenumber+1) elif keycode == wx.WXK_UP: wx.CallAfter(self.set_filenunmber, self.filenumber-5) elif keycode == wx.WXK_DOWN: wx.CallAfter(self.set_filenunmber, self.filenumber+5) # process window events def on_image_click(self, event): """process image click event""" wx.CallAfter(self.set_filenunmber, event.GetId()) # set filenumber and update display def set_filenunmber(self, filenumber, notify_image_viewer=True): """set filenumber""" num_files = len(self.filelist) if filenumber < 0 or filenumber >= len(self.filelist): print(prefix_str + "ignoring invalid filenumber %d (>%d)" % (filenumber, num_files-1)) return # record previous filenumber prev_filenumber = self.filenumber # set current filenumber self.filenumber = filenumber # update highlighting for previous and current image self.update_highlighting(prev_filenumber) self.update_highlighting(self.filenumber) # scroll into view self.scroll_to_be_visible(self.filenumber) # update title and status text self.update_title() self.update_status_text() # notify image viewer self.send_comm_object(mpv.SetFilenumber(self.filenumber)) # update highlighting for an image def update_highlighting(self, filenumber): """update highlighting for an image""" # return immediately if invalid filenumber if filenumber < 0 or filenumber >= len(self.filelist): return # get panel for filenumber panel = self.panel_dict[filenumber] if panel is None: return # get highlight colour background_colour = wx.WHITE if filenumber == self.filenumber: # green for current image background_colour = wx.GREEN elif filenumber in self.poi_dict: # red for images with POI background_colour = wx.RED # set background colour panel.SetBackgroundColour(background_colour) # refresh panel panel.Refresh() panel.Update() panel.Layout() # scroll to be visible def scroll_to_be_visible(self, filenumber): """scroll image to be visible""" panel = self.panel_dict[self.filenumber] if panel is not None: self.scrolled_panel.ScrollChildIntoView(panel) # display all images def display_all_images(self, poi_only=False, sort_by_temp=False): """display all images""" # detach and hide all panels for p in self.scrolled_panel_sizer.GetChildren(): panel = p.GetWindow() self.scrolled_panel_sizer.Detach(panel) panel.Hide() # create list of filenumbers (either the full list or the sorted by temperature list) if sort_by_temp: filenumber_list = list(self.image_temp_dict_sorted.keys()) else: filenumber_list = list(range(len(self.filelist))) # add panels to scrolled panel sizer for i in filenumber_list: # check if we should only display POI images if poi_only is True and i not in self.poi_dict: continue panel = self.panel_dict[i] if panel is not None: self.scrolled_panel_sizer.Add(panel, proportion=0, flag=wx.ALL, border=2, userData=i) panel.Show() # update frame layout self.frame.Layout() # set filenumber and update display def hide_image(self, filenumber): # sanity check filenumber num_files = len(self.filelist) if filenumber < 0 or filenumber >= len(self.filelist): print("picviewer mosaic: ignoring invalid filenumber %d (>%d)" % (filenumber, num_files-1)) return # hide image panel = self.scrolled_panel_sizer.GetItem(self.filenumber).GetWindow() self.scrolled_panel_sizer.Detach(panel) self.scrolled_panel_sizer.Layout() # handle settings changes callback # this is called by the settings window when a setting is changed def settings_changed_cb(self, name, value): """handle settings changes callback""" if name == "FOV": self.send_comm_object(mpv.SetFOV(float(value))) if name == "YAW": self.send_comm_object(mpv.SetYaw(float(value))) # sort images by temperature def sort_images_by_temperature(self): """sort images by temperature (max temp first)""" # print warning if not all images have temperature data if len(self.image_temp_dict) != len(self.filelist): print(prefix_str + "only %d (of %d) images have temp" % (len(self.image_temp_dict), len(self.filelist))) # request temperatures from image viewer self.send_comm_object(mpv.GetTempForAllImages()) # update dictionary of images sorted by temperature self.image_temp_dict_sorted = dict(sorted(self.image_temp_dict.items(), key=lambda item: item[1].temp_max, reverse=True)) # display all images sorted by temperature self.display_all_images(sort_by_temp=True) # main function if __name__ == "__main__": multiproc.freeze_support() parser = ArgumentParser(description=__doc__) parser.add_argument("filepath", nargs='?', default=".", help="filename or directory holding images") args = parser.parse_args() # check destination directory exists if not os.path.exists(args.filepath): exit(prefix_str + "invalid destination directory") # create queue for interprocess communication mosaic_to_image_comm, image_to_mosaic_comm = multiproc.Pipe() # create image viewer filelist = mpv.get_file_list(args.filepath, ['jpg', 'jpeg']) mavpicviewer_image.mavpicviewer_image(filelist, image_to_mosaic_comm) # create mosaic mavpicviewer_mosaic(args.filepath, mosaic_to_image_comm) MAVProxy-1.8.74/MAVProxy/tools/mavpicviewer/mavpicviewer_settings.py000066400000000000000000000054441504324515000256270ustar00rootroot00000000000000#!/usr/bin/env python3 ''' MAV Picture Viewer Settings Window User configuration of Settings AP_FLAKE8_CLEAN ''' from MAVProxy.modules.lib import mp_util if mp_util.has_wxpython: from MAVProxy.modules.lib.wx_loader import wx class mavpicviewer_settings: """window to capture picviewer settings""" def __init__(self, settings_changed_cb): # add settings window self.settings_frame = wx.Frame(None, title="Settings", size=(300, 80)) # add FOV input box and self.settings_fov_text = wx.StaticText(self.settings_frame, id=-1, label="FOV", pos=(10, 10)) self.settings_fov_input = wx.TextCtrl(self.settings_frame, id=-1, pos=(50, 10), size=(100, -1), style=wx.TE_PROCESS_ENTER) # add Set FOV button self.settings_set_button = wx.Button(self.settings_frame, id=-1, label="Set FOV", pos=(200, 10), size=(75, 25)) self.settings_frame.Bind(wx.EVT_BUTTON, self.settings_set_button_click, self.settings_set_button) self.settings_frame.Bind(wx.EVT_TEXT_ENTER, self.settings_set_button_click, self.settings_fov_input) # add Yaw input box self.settings_yaw_text = wx.StaticText(self.settings_frame, id=-1, label="Yaw", pos=(10, 40)) self.settings_yaw_input = wx.TextCtrl(self.settings_frame, id=-1, pos=(50, 40), size=(100, -1), style=wx.TE_PROCESS_ENTER) # add Set Yaw button self.settings_setyaw_button = wx.Button(self.settings_frame, id=-1, label="Set YAW", pos=(200, 40), size=(75, 25)) self.settings_frame.Bind(wx.EVT_BUTTON, self.settings_setyaw_button_click, self.settings_setyaw_button) self.settings_frame.Bind(wx.EVT_TEXT_ENTER, self.settings_setyaw_button_click, self.settings_yaw_input) # handle close event self.settings_frame.Bind(wx.EVT_CLOSE, self.settings_close_button_click) # record callback function self.settings_changed_cb = settings_changed_cb # show settings window def show_settings_window(self, event): """show settings window""" self.settings_frame.Show() # settings window event handlers def settings_set_button_click(self, event): """settings window event handlers""" self.settings_changed_cb("FOV", self.settings_fov_input.GetValue()) self.settings_frame.Hide() def settings_setyaw_button_click(self, event): """settings window event handlers""" self.settings_changed_cb("YAW", self.settings_yaw_input.GetValue()) print("YAW set to: ", self.settings_yaw_input.GetValue()) self.settings_frame.Hide() # close/hide settings window def settings_close_button_click(self, event): """settings window event handlers""" self.settings_frame.Hide() MAVProxy-1.8.74/MAVProxy/tools/mavpicviewer/mavpicviewer_shared.py000066400000000000000000000057771504324515000252460ustar00rootroot00000000000000#!/usr/bin/env python3 ''' MAV Picture Viewer Shared Classes Quick and efficient reviewing of images taken from a drone AP_FLAKE8_CLEAN ''' import os # defintions for RGB colours RGB_YELLOW = (255, 255, 0) RGB_RED = (255, 0, 0) RGB_GREEN = (0, 255, 0) RGB_BLUE = (0, 0, 255) # Loc (aka Location) class holds lat, lon, alt class Loc: def __init__(self, lat, lon, alt, terr_alt=0): self.lat = lat self.lon = lon self.alt = alt self.terr_alt = terr_alt # Pos (aka Position) class holds X, Y pixel coordinates class Pos: def __init__(self, X, Y): self.X = X self.Y = Y # POI (aka Point of Interest) class holds two positions and two locations class POI: def __init__(self, pos1, pos2, loc1, loc2): self.pos1 = pos1 self.pos2 = pos2 self.loc1 = loc1 self.loc2 = loc2 # Tempclass holds Temp Max, X, Y pixel coordinates class TempAndPos: def __init__(self, temp_max, temp_pos_x, temp_pos_y): self.temp_max = temp_max self.temp_pos_x = temp_pos_x self.temp_pos_y = temp_pos_y # return an array of files for a given directory and extension def get_file_list(directory, extensions): '''return file list for a directory''' flist = [] for filename in os.listdir(directory): extension = filename.split('.')[-1] if extension.lower() in extensions: flist.append(os.path.join(directory, filename)) sorted_list = sorted(flist, key=str.lower) return sorted_list # communication objects for mosaic and image viewer # set the file list (a dictionary of paths to images) class SetFilelist: def __init__(self, filelist): self.filelist = filelist # set the current file number (aka current image being viewed) class SetFilenumber: def __init__(self, filenumber): self.filenumber = filenumber # set the FOV in degrees class SetFOV: def __init__(self, fov): self.fov = fov # set the Yaw in degrees class SetYaw: def __init__(self, yaw): self.yaw = yaw # close the application class Close: def __init__(self): pass # set the Image's location (lat, lon, alt, terr_alt) class SetImageLoc: def __init__(self, filenumber, loc): self.filenumber = filenumber self.loc = loc # set POI for the given filenumber class SetPOI: def __init__(self, filenumber, poi): self.filenumber = filenumber self.poi = poi # clear POI for the given filenumber class ClearPOI: def __init__(self, filenumber): self.filenumber = filenumber # clear ALL POIs for all images class ClearAllPOI: def __init__(self): pass # request temperatures from all images class GetTempForAllImages: def __init__(self): pass # set Temp data for the given filenumber class SetTempAndPos: def __init__(self, filenumber, temp_max, temp_pos_x, temp_pos_y): 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L[5 YxNPЍJx{Y'ѽh!;O}*m"(ִE0).{ưrǕŗ o*\H5ӯ)HM+E"LLqKL1Vc@c[+;Y77a|Y"FJa+X]=2.4.14 pyserial>=3.0 numpy MAVProxy-1.8.74/scripts/000077500000000000000000000000001504324515000147665ustar00rootroot00000000000000MAVProxy-1.8.74/scripts/run_flake8.py000077500000000000000000000035001504324515000173770ustar00rootroot00000000000000#!/usr/bin/env python3 """ Runs flake8 over Python files which contain a marker indicating they are clean, ensures that they actually are AP_FLAKE8_CLEAN """ import os import subprocess import sys import argparse os.environ['PYTHONUNBUFFERED'] = '1' class Flake8Checker(object): def __init__(self, basedirs): self.retcode = 0 self.files_to_check = [] self.basedirs = basedirs def progress(self, string): print("****** %s" % (string,)) def check(self): if len(self.files_to_check) == 0: return for path in self.files_to_check: self.progress("Checking (%s)" % path) ret = subprocess.run(["flake8", "--show-source"] + self.files_to_check, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, text=True) if ret.returncode != 0: self.progress("Flake8 check failed: (%s)" % (ret.stdout)) self.retcode = 1 def run(self): for basedir in self.basedirs: for (dirpath, dirnames, filenames) in os.walk(basedir): for filename in filenames: if os.path.splitext(filename)[1] != ".py": continue filepath = os.path.join(dirpath, filename) content = open(filepath).read() if "AP_FLAKE8_CLEAN" not in content: continue self.files_to_check.append(filepath) self.check() return self.retcode if __name__ == '__main__': parser = argparse.ArgumentParser(description='Check all Python files for flake8 cleanliness') parser.add_argument('DIRPATH', nargs="+", default=[], help='directory to recurse into') args = parser.parse_args() checker = Flake8Checker(args.DIRPATH) sys.exit(checker.run()) MAVProxy-1.8.74/setup.py000077500000000000000000000116041504324515000150160ustar00rootroot00000000000000from setuptools import setup import os, platform, sys version = "1.8.74" def package_files(directory): paths = [] for (path, directories, filenames) in os.walk(directory): for filename in filenames: paths.append(os.path.join('..', path, filename)) return paths package_data = ['modules/mavproxy_map/data/*.jpg', 'modules/mavproxy_map/data/*.png', 'modules/mavproxy_mmap/mmap_app/*', 'modules/mavproxy_joystick/joysticks/*.yml', 'modules/mavproxy_magical/data/*.mtl', 'modules/mavproxy_magical/data/*.obj', 'modules/mavproxy_fieldcheck/*.txt', 'tools/graphs/*.xml', ] package_data.extend(package_files('MAVProxy/modules/mavproxy_cesium/app')) # note that we do not include all the real dependencies here (like matplotlib etc) # as that breaks the pip install. It seems that pip is not smart enough to # use the system versions of these dependencies, so it tries to download and install # large numbers of modules like numpy etc which may be already installed requirements=['pymavlink>=2.4.14', 'pyserial>=3.0', 'numpy', 'pynmeagps'] if platform.system() == "Darwin": # on MacOS we can have a more complete requirements list requirements.extend(['billiard>=3.5.0', 'gnureadline', 'matplotlib', 'opencv-python', 'lxml', 'future', 'wxPython']) if platform.system() == "Windows" and sys.version_info >= (3, 0): # on Windows we can have a more complete requirements list requirements.extend(['prompt_toolkit']) requirements.append('requests') elif platform.system() == "Windows": requirements.extend(['pyreadline']) setup(name='MAVProxy', version=version, zip_safe=True, description='MAVProxy MAVLink ground station', long_description='''A MAVLink protocol proxy and ground station. MAVProxy is oriented towards command line operation, and is suitable for embedding in small autonomous vehicles or for using on ground control stations. It also features a number of graphical tools such as a slipmap for satellite mapping view of the vehicles location, and status console and several useful vehicle control modules. MAVProxy is extensible via a modules system - see the modules subdirectory for some example modules. MAVProxy was developed by CanberraUAV for use in the 2012 Outback Challenge, and includes a module for the CanberraUAV search and rescue system. See https://ardupilot.org/mavproxy/index.html for more information on how to use MAVProxy.''', url='https://github.com/ArduPilot/MAVProxy', author='Andrew Tridgell', author_email='andrew@tridgell.net', classifiers=[ 'Development Status :: 5 - Production/Stable', 'Environment :: Console', 'Intended Audience :: Science/Research', 'License :: OSI Approved :: GNU General Public License v3 (GPLv3)', 'Operating System :: OS Independent', 'Programming Language :: Python', 'Topic :: Scientific/Engineering'], license='GPLv3', packages=['MAVProxy', 'MAVProxy.modules', 'MAVProxy.modules.mavproxy_anufireproject', 'MAVProxy.modules.mavproxy_fieldcheck', 'MAVProxy.modules.mavproxy_map', 'MAVProxy.modules.mavproxy_mmap', 'MAVProxy.modules.mavproxy_misseditor', 'MAVProxy.modules.mavproxy_paramedit', 'MAVProxy.modules.mavproxy_smartcamera', 'MAVProxy.modules.mavproxy_cesium', 'MAVProxy.modules.mavproxy_joystick', 'MAVProxy.modules.mavproxy_magical', 'MAVProxy.modules.mavproxy_optitrack', 'MAVProxy.modules.mavproxy_nokov', 'MAVProxy.modules.mavproxy_SIYI', 'MAVProxy.modules.mavproxy_chat', 'MAVProxy.modules.lib', 'MAVProxy.modules.lib.ANUGA', 'MAVProxy.modules.lib.MacOS', 'MAVProxy.modules.lib.optparse_gui'], install_requires=requirements, extras_require={ 'cesium': ['tornado'], # restserver module 'server': ['flask'], 'recommended': ['flask', 'PyYAML', 'lxml', 'wxpython', 'pymonocypher', 'openai', 'paho-mqtt', 'piexif', 'pynmea2', 'Pygame', 'Pillow'] }, scripts=['MAVProxy/mavproxy.py', 'MAVProxy/tools/mavflightview.py', 'MAVProxy/tools/MAVExplorer.py', 'MAVProxy/tools/mavpicviewer/mavpicviewer.py', 'MAVProxy/modules/mavproxy_map/mp_slipmap.py', 'MAVProxy/modules/mavproxy_map/mp_tile.py'], package_data={'MAVProxy': package_data} ) MAVProxy-1.8.74/shortcuts/000077500000000000000000000000001504324515000153355ustar00rootroot00000000000000MAVProxy-1.8.74/shortcuts/ReadMe.md000066400000000000000000000020351504324515000170140ustar00rootroot00000000000000Installing Linux shortcuts for MAVPRoxy and MAVExplorer with icons 1. Copy the .desktop files to the .local/share/applications directory in your home directory. You may need to use CRTL-H to see the .local directory in your file manager. 2. Copy the .png icon files to the .icon directory in your home directory. 3. Open the Software search page (Show Applications button on launcher bar) 4. Find either MAVProxy or MAVExplorer and add to favorites to have them in the launch bar 5. If you rather have a desktop shortcut, copy the appropriate desktop file to the Desktop. You may be asked to verify that this is a trusted application, if so, do so. Notes: the MAVProxy shortcut will store its data files (mav.param, mav.tlog, etc.) in a directory called MAVProxy_data n the home directory, if it exists, or the home directory if it does not...you can edit the mavproxy.desktop to change the directory if you wish. If you place a copy of the mavexplorer.desktop file on the desktop, you can drag and drop a log file onto it and it will open using it. 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NǫʭQ̮u\vR#YVͮf{+^TrίίίЯ̩ίίίίίί%[ ..\windows\version.txt @echo on rem -----Download parameter files----- cd ..\ mkdir Parameters powershell.exe "Start-BitsTransfer -Source 'http://autotest.ardupilot.org/Parameters/Rover/apm.pdef.xml' -Destination 'Parameters\Rover.xml'" powershell.exe "Start-BitsTransfer -Source 'http://autotest.ardupilot.org/Parameters/Copter/apm.pdef.xml' -Destination 'Parameters\Copter.xml'" powershell.exe "Start-BitsTransfer -Source 'http://autotest.ardupilot.org/Parameters/Plane/apm.pdef.xml' -Destination 'Parameters\Plane.xml'" powershell.exe "Start-BitsTransfer -Source 'http://autotest.ardupilot.org/Parameters/Sub/apm.pdef.xml' -Destination 'Parameters\Sub.xml'" powershell.exe "Start-BitsTransfer -Source 'http://autotest.ardupilot.org/Parameters/AntennaTracker/apm.pdef.xml' -Destination 'Parameters\AntennaTracker.xml'" powershell.exe "Start-BitsTransfer -Source 'http://autotest.ardupilot.org/Parameters/Heli/apm.pdef.xml' -Destination 'Parameters\Heli.xml'" powershell.exe "Start-BitsTransfer -Source 'http://autotest.ardupilot.org/Parameters/Blimp/apm.pdef.xml' -Destination 'Parameters\Blimp.xml'" rem -----Build the Installer----- cd .\windows rem Newer Inno Setup versions do not require a -compile flag, please add it if you have an old version "%INNOSETUP%\ISCC.exe" /dMyAppVersion=%VERSION% mavproxy.iss pause MAVProxy-1.8.74/windows/Startup Examples/000077500000000000000000000000001504324515000201725ustar00rootroot00000000000000MAVProxy-1.8.74/windows/Startup Examples/MAVProxyLogput.bat000066400000000000000000000003671504324515000235500ustar00rootroot00000000000000rem This demonstrates saving the logfile (tlog) to a specific directory rem In this case all logs will be saved to the user's Documents/Test1 folder mavproxy.exe --master=0.0.0.0:14550 --state-basedir=%USERPROFILE%\Documents --aircraft=Test1 pauseMAVProxy-1.8.74/windows/Startup Examples/MAVProxyMultiOutput.bat000066400000000000000000000004411504324515000246020ustar00rootroot00000000000000rem This demonstrates multiple TCP and UDP outputs from MAVProxy rem It will send a mavlink stream to the first connection to this computer's rem IP address and UDP port 15000 and TCP port 16000 mavproxy.exe --master=0.0.0.0:14550 --out=udpin:0.0.0.0:15000 --out=tcpin:0.0.0.0:16000 pause MAVProxy-1.8.74/windows/mavinit.scr000066400000000000000000000220631504324515000171540ustar00rootroot00000000000000set moddebug 2 module load help @graph timespan 30 @alias add minscore remote camera set minscore @alias add minscore2 remote camera set minscore2 @alias add movejoe wp movemulti 22 15 27 @alias add joedropdist wp param 22 2 @alias add wpedit module load misseditor @alias add terminate param set AFS_TERMINATE @alias add termaction param set AFS_TERM_ACTION @alias add drop servo set 8 1500 @alias add hold servo set 8 900 @alias add bdrop servo set 8 1500 @alias add bhold servo set 8 1000 @alias add drop2 servo set 6 1050 @alias add hold2 servo set 6 1480 @alias add odroidpower relay set 0 @alias add neutral2 servo set 12 1500 @alias add ekf param set AHRS_EKF_USE @alias add gpsdisable param set SIM_GPS_DISABLE @alias add bb status gps* scaled* raw* @alias add g graph @alias add grc3 g RC_CHANNELS_RAW.chan3_raw SERVO_OUTPUT_RAW.servo3_raw @alias add grc25 g RC_CHANNELS_RAW.chan2_raw SERVO_OUTPUT_RAW.servo2_raw SERVO_OUTPUT_RAW.servo5_raw @alias add gflaperon g SERVO_OUTPUT_RAW.servo1_raw SERVO_OUTPUT_RAW.servo7_raw SERVO_OUTPUT_RAW.servo8_raw @alias add gtracker g wrap_360(degrees(ATTITUDE.yaw)) NAV_CONTROLLER_OUTPUT.target_bearing degrees(ATTITUDE.pitch) NAV_CONTROLLER_OUTPUT.nav_pitch @alias add gtrackerror g angle_diff(degrees(ATTITUDE.yaw),NAV_CONTROLLER_OUTPUT.target_bearing) angle_diff(degrees(ATTITUDE.pitch),NAV_CONTROLLER_OUTPUT.nav_pitch) @alias add gaccel g RAW_IMU.xacc*9.81*0.001 RAW_IMU.yacc*9.81*0.001 RAW_IMU.zacc*9.81*0.001 gravity(RAW_IMU) @alias add gaccelcmp g RAW_IMU.xacc*9.81*0.001 RAW_IMU.yacc*9.81*0.001 RAW_IMU.zacc*9.81*0.001 SCALED_IMU2.xacc*9.81*0.001 SCALED_IMU2.yacc*9.81*0.001 SCALED_IMU2.zacc*9.81*0.001 @alias add gaccelcmp3 g RAW_IMU.xacc*9.81*0.001 RAW_IMU.yacc*9.81*0.001 RAW_IMU.zacc*9.81*0.001 SCALED_IMU2.xacc*9.81*0.001 SCALED_IMU2.yacc*9.81*0.001 SCALED_IMU2.zacc*9.81*0.001 SCALED_IMU3.xacc*9.81*0.001 SCALED_IMU3.yacc*9.81*0.001 SCALED_IMU3.zacc*9.81*0.001 @alias add gaccelcmp3x g RAW_IMU.xacc*9.81*0.001 SCALED_IMU2.xacc*9.81*0.001 SCALED_IMU3.xacc*9.81*0.001 @alias add gaccelcmp3y g RAW_IMU.yacc*9.81*0.001 SCALED_IMU2.yacc*9.81*0.001 SCALED_IMU3.yacc*9.81*0.001 @alias add gaccelcmp3z g RAW_IMU.zacc*9.81*0.001 SCALED_IMU2.zacc*9.81*0.001 SCALED_IMU3.zacc*9.81*0.001 @alias add gaccel2 g SCALED_IMU2.xacc*9.81*0.001 SCALED_IMU2.yacc*9.81*0.001 SCALED_IMU2.zacc*9.81*0.001 gravity(SCALED_IMU2) @alias add gaccel3 g SCALED_IMU3.xacc*9.81*0.001 SCALED_IMU3.yacc*9.81*0.001 SCALED_IMU3.zacc*9.81*0.001 gravity(SCALED_IMU3) @alias add gaccelxy g RAW_IMU.xacc*9.81*0.001 RAW_IMU.yacc*9.81*0.001 @alias add gaccelz_filter g RAW_IMU.zacc*9.81*0.001 lowpass(RAW_IMU.zacc*9.81*0.001,"z",0.9) @alias add ggyro g degrees(RAW_IMU.xgyro*0.001) degrees(RAW_IMU.ygyro*0.001) degrees(RAW_IMU.zgyro*0.001) @alias add ggyrocmp g degrees(RAW_IMU.xgyro*0.001) degrees(RAW_IMU.ygyro*0.001) degrees(RAW_IMU.zgyro*0.001) degrees(SCALED_IMU2.xgyro*0.001) degrees(SCALED_IMU2.ygyro*0.001) degrees(SCALED_IMU2.zgyro*0.001) @alias add ggyrocmp3 g degrees(RAW_IMU.xgyro*0.001) degrees(RAW_IMU.ygyro*0.001) degrees(RAW_IMU.zgyro*0.001) degrees(SCALED_IMU2.xgyro*0.001) degrees(SCALED_IMU2.ygyro*0.001) degrees(SCALED_IMU2.zgyro*0.001) degrees(SCALED_IMU3.xgyro*0.001) degrees(SCALED_IMU3.ygyro*0.001) degrees(SCALED_IMU3.zgyro*0.001) @alias add ggyro2 g degrees(SCALED_IMU2.xgyro*0.001) degrees(SCALED_IMU2.ygyro*0.001) degrees(SCALED_IMU2.zgyro*0.001) @alias add ggyro_earth g earth_gyro(RAW_IMU,ATTITUDE).x earth_gyro(RAW_IMU,ATTITUDE).y earth_gyro(RAW_IMU,ATTITUDE).z @alias add grp g degrees(ATTITUDE.roll) degrees(ATTITUDE.pitch) @alias add grpsim g degrees(ATTITUDE.roll) degrees(ATTITUDE.pitch) degrees(SIMSTATE.roll) degrees(SIMSTATE.pitch) @alias add ignitioncut rc 7 1000 @alias add ignitionon rc 7 2000 @alias add gsim g degrees(ATTITUDE.roll) degrees(ATTITUDE.pitch) degrees(ATTITUDE.yaw) degrees(SIMSTATE.roll) degrees(SIMSTATE.pitch) degrees(SIMSTATE.yaw) @alias add gsimahrs2 g degrees(AHRS2.roll) degrees(AHRS2.pitch) degrees(AHRS2.yaw) degrees(SIMSTATE.roll) degrees(SIMSTATE.pitch) degrees(SIMSTATE.yaw) @alias add gahrs2 g degrees(AHRS2.roll) degrees(AHRS2.pitch) degrees(AHRS2.yaw) degrees(ATTITUDE.roll) degrees(ATTITUDE.pitch) degrees(ATTITUDE.yaw) @alias add gahrs2rp g degrees(AHRS2.roll) degrees(AHRS2.pitch) degrees(ATTITUDE.roll) degrees(ATTITUDE.pitch) @alias add gahrs3 g degrees(AHRS3.roll) degrees(AHRS3.pitch) degrees(AHRS3.yaw) degrees(ATTITUDE.roll) degrees(ATTITUDE.pitch) degrees(ATTITUDE.yaw) @alias add gahrs2rp g degrees(AHRS2.roll) degrees(AHRS2.pitch) degrees(ATTITUDE.roll) degrees(ATTITUDE.pitch) @alias add gahrsanuroll g degrees(ATTITUDE.roll) degrees(AHRS2.roll) degrees(AHRS3.roll) @alias add gahrsanupitch g degrees(ATTITUDE.pitch) degrees(AHRS2.pitch) degrees(AHRS3.pitch) @alias add gcmppitch g degrees(SIMSTATE.pitch) degrees(ATTITUDE.pitch) degrees(AHRS2.pitch) @alias add gcmproll g degrees(SIMSTATE.roll) degrees(ATTITUDE.roll) degrees(AHRS2.roll) @alias add grollp g NAV_CONTROLLER_OUTPUT.nav_roll-degrees(ATTITUDE.roll) (SERVO_OUTPUT_RAW.servo1_raw-MAV.params['RC1_TRIM'])*0.1 @alias add gradio g RADIO.rssi RADIO.noise RADIO.remrssi RADIO.remnoise @alias add gbatt g SYS_STATUS.current_battery @alias add gnavroll g NAV_CONTROLLER_OUTPUT.nav_roll-degrees(ATTITUDE.roll) (SERVO_OUTPUT_RAW.servo1_raw-MAV.params['RC1_TRIM'])*0.1 @alias add gcontrol g RC_CHANNELS_RAW.chan1_raw RC_CHANNELS_RAW.chan2_raw SERVO_OUTPUT_RAW.servo1_raw SERVO_OUTPUT_RAW.servo2_raw @alias add gmag g RAW_IMU.xmag RAW_IMU.ymag RAW_IMU.zmag mag_field(RAW_IMU) @alias add gmagcmp g RAW_IMU.xmag RAW_IMU.ymag RAW_IMU.zmag SCALED_IMU2.xmag SCALED_IMU2.ymag SCALED_IMU2.zmag @alias add gmag2 g SCALED_IMU2.xmag SCALED_IMU2.ymag SCALED_IMU2.zmag mag_field(SCALED_IMU2) @alias add gmag3 g SCALED_IMU3.xmag SCALED_IMU3.ymag SCALED_IMU3.zmag mag_field(SCALED_IMU3) @alias add gmagfield g mag_field(RAW_IMU) @alias add gmagofs g SENSOR_OFFSETS.mag_ofs_x SENSOR_OFFSETS.mag_ofs_y SENSOR_OFFSETS.mag_ofs_z @alias add gservo g SERVO_OUTPUT_RAW.servo1_raw SERVO_OUTPUT_RAW.servo2_raw SERVO_OUTPUT_RAW.servo3_raw SERVO_OUTPUT_RAW.servo4_raw @alias add gservo12 g SERVO_OUTPUT_RAW.servo1_raw SERVO_OUTPUT_RAW.servo2_raw @alias add gthr g VFR_HUD.throttle @alias add ggs g VFR_HUD.groundspeed @alias add grc g RC_CHANNELS_RAW.chan1_raw RC_CHANNELS_RAW.chan2_raw RC_CHANNELS_RAW.chan3_raw RC_CHANNELS_RAW.chan4_raw RC_CHANNELS_RAW.chan5_raw RC_CHANNELS_RAW.chan6_raw RC_CHANNELS_RAW.chan7_raw RC_CHANNELS_RAW.chan8_raw @alias add grc4 g RC_CHANNELS_RAW.chan1_raw RC_CHANNELS_RAW.chan2_raw RC_CHANNELS_RAW.chan3_raw RC_CHANNELS_RAW.chan4_raw @alias add grc12 g RC_CHANNELS_RAW.chan1_raw RC_CHANNELS_RAW.chan2_raw @alias add galt g GLOBAL_POSITION_INT.relative_alt*0.001 altitude(SCALED_PRESSURE) @alias add gpress g SCALED_PRESSURE.press_abs @alias add gclimb g lowpass(delta(altitude(SCALED_PRESSURE),"a"),"a2",0.9) VFR_HUD.climb GLOBAL_POSITION_INT.vz*0.01 @alias add gvz g GLOBAL_POSITION_INT.vz*0.01 @alias add ghead g VFR_HUD.heading mag_heading(RAW_IMU,ATTITUDE) @alias add gnavrp g NAV_CONTROLLER_OUTPUT.nav_roll NAV_CONTROLLER_OUTPUT.nav_pitch degrees(ATTITUDE.roll) degrees(ATTITUDE.pitch) @alias add gspeed g VFR_HUD.groundspeed @alias add gthr g VFR_HUD.throttle @alias add galterr g NAV_CONTROLLER_OUTPUT.alt_error @alias add gtargetalt g GLOBAL_POSITION_INT.relative_alt*0.001+NAV_CONTROLLER_OUTPUT.alt_error @alias add gthrpitch g VFR_HUD.throttle NAV_CONTROLLER_OUTPUT.nav_pitch @alias add gsteer g NAV_CONTROLLER_OUTPUT.nav_roll NAV_CONTROLLER_OUTPUT.nav_pitch @alias add gspeed g VFR_HUD.airspeed VFR_HUD.groundspeed @alias add ggpst g min(abs(diff(GPS_RAW_INT.time_usec*1.0e-6,"d")),3) @alias add gload g SYS_STATUS.load @alias add grate g 1000.0/diff(ATTITUDE.time_boot_ms,"a") @alias add ggpsrate g 1.0e6/diff(GPS_RAW_INT.time_usec,"g") @alias add grange g rangefinder_roll(RANGEFINDER,ATTITUDE,maxdist=39.5) GLOBAL_POSITION_INT.relative_alt*0.001 @alias add grangealt g RANGEFINDER.distance GLOBAL_POSITION_INT.relative_alt*0.001 @alias add grangev g RANGEFINDER.voltage @alias add gahrserr g AHRS.error_rp AHRS.error_yaw @alias add gage g GPS2_RAW.dgps_age @alias add gomega g degrees(AHRS.omegaIx) degrees(AHRS.omegaIy) degrees(AHRS.omegaIz) @alias add gtakeoff graph VFR_HUD.airspeed NAV_CONTROLLER_OUTPUT.nav_pitch NAV_CONTROLLER_OUTPUT.alt_error NAV_CONTROLLER_OUTPUT.aspd_error*0.01 @alias add ggimbal g degrees(GIMBAL_REPORT.joint_yaw) degrees(GIMBAL_REPORT.joint_roll) degrees(GIMBAL_REPORT.joint_pitch) @alias add grpy312 g degrees(euler312(ATTITUDE).x) degrees(euler312(ATTITUDE).y) degrees(euler312(ATTITUDE).z) @alias add gimutime g RAW_IMU.time_usec*1.0e-6 @alias add gekf g EKF_STATUS_REPORT.velocity_variance EKF_STATUS_REPORT.pos_horiz_variance EKF_STATUS_REPORT.pos_vert_variance EKF_STATUS_REPORT.compass_variance @alias add gsimgyro g degrees(SIMSTATE.xgyro) degrees(SIMSTATE.ygyro) degrees(SIMSTATE.zgyro) degrees(RAW_IMU.xgyro*0.001) degrees(RAW_IMU.ygyro*0.001) degrees(RAW_IMU.zgyro*0.001) @alias add gsimaccel g SIMSTATE.xacc SIMSTATE.yacc SIMSTATE.zacc RAW_IMU.xacc*9.81*0.001 RAW_IMU.yacc*9.81*0.001 RAW_IMU.zacc*9.81*0.001 @alias add gspeedup g lowpass(delta(RAW_IMU.time_usec*1.0e-6,"i"),"l",0.9) @alias add gysim g degrees(SIMSTATE.yaw) degrees(ATTITUDE.yaw) MAVProxy-1.8.74/windows/mavpicviewer.ico000066400000000000000000004216561504324515000202040ustar00rootroot00000000000000 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A,@*>)<)<*<+<*<+=+=*=)?+A,A*@+?+?*>*>*<47j/3ÁBQןP՜O֜OӛNӚM՝O٠Q٠PڡQTTRQQPOOPPQݤQԛNԛNՙM֖LՔJҐGыCЋD՞U|b[%14 ?4=(/lpޮǚřؗ˜ęۭah&/+A2F8cDU۟؊۹iԢUҘLӔIӕIךLݞNߟOߞNޜNMNߠOޠOߠOߞOݝNܞN۝NٚLؖKՓIՏH֐IԓJӕKӗLԗLіKϕJכLNғGf:m97m88o89o8:p99s::u=:v=;v<@}CBG@G?F=H;S8v?IݜKӐHґHԓIՓIԕJՕJ֔JԔJԕJՕJזKؕJؔIוIזJՔIӒGԑGӑGЎFЌEыEҋEӌFЍGѐIҘOק[rS+A$68A3 =)2dnݮʜęęח–Ù–ęۭko*4& =4F"<2 =|o~zxvtpnmmjghjmoqqqpooppty}{unkllnpqrsssrrrsttsrrsw{{yywwwwwxyyyyxz|}ڀڀ~||~ր܆gY*1.=;D-90 6qvᰠʝƚŚĘė——–ƙ۬C> 62B1A"6=>vgۚ|z|||}}|{zyyzz{{{}΍h`:;(69B8D&7J@٭ȚŘƚƙřʖ–Ö×ը͛r?Y/ 91?9F/ A 639hKTrÌ}|||||{{zzzzz||||}ŠnX6H05*88 @@E8A8 :wL[ΠէĘĘ××řؗęØʡڨpzQ$I0=8C:D4B(;#71D<C7 ;\+Lޯˡ——Ø———MAVProxy-1.8.74/windows/mavproxy.iss000066400000000000000000000161021504324515000173760ustar00rootroot00000000000000; Script generated by the Inno Setup Script Wizard. ; SEE THE DOCUMENTATION FOR DETAILS ON CREATING INNO SETUP SCRIPT FILES! ; This file should be run from MAVProxyWinBuild.bat #define MyAppName "MAVProxy" ; Note MyAppVersion is defined in MAVProxyWinBuild.bat ; #define MyAppVersion {code:GetVersion} #define MyAppPublisher "Andrew Tridgell" #define MyAppURL "https://ardupilot.org/mavproxy/index.html" #define MyAppExeName "mavproxy.exe" [Setup] ; NOTE: The value of AppId uniquely identifies this application. ; Do not use the same AppId value in installers for other applications. ; (To generate a new GUID, click Tools | Generate GUID inside the IDE.) AppId={{D81B9EDA-1357-462E-96E4-B47372709F7C} AppName={#MyAppName} AppVersion={#MyAppVersion} ;AppVerName={#MyAppName} {#MyAppVersion} AppPublisher={#MyAppPublisher} AppPublisherURL={#MyAppURL} AppSupportURL={#MyAppURL} AppUpdatesURL={#MyAppURL} DefaultDirName={pf}\{#MyAppName} DefaultGroupName={#MyAppName} LicenseFile=..\COPYING.txt OutputBaseFilename=MAVProxySetup-{#MyAppVersion} Compression=lzma SolidCompression=yes ChangesEnvironment=yes [InstallDelete] Type: filesandordirs; Name: {pf}\{#MyAppName} [Languages] Name: "english"; MessagesFile: "compiler:Default.isl" [Tasks] Name: "desktopicon"; Description: "{cm:CreateDesktopIcon}"; GroupDescription: "{cm:AdditionalIcons}"; Flags: unchecked [Files] Source: "..\MAVProxy\dist\mavproxy\mavproxy.exe"; DestDir: "{app}"; Flags: ignoreversion Source: "..\MAVProxy\dist\mavproxy\*"; DestDir: "{app}"; Flags: ignoreversion recursesubdirs createallsubdirs Source: "..\MAVProxy\dist\MAVExplorer\MAVExplorer.exe"; DestDir: "{app}"; Flags: ignoreversion Source: "..\MAVProxy\dist\MAVExplorer\*"; DestDir: "{app}"; Flags: ignoreversion recursesubdirs createallsubdirs Source: "..\MAVProxy\dist\mavpicviewer\mavpicviewer.exe"; DestDir: "{app}"; Flags: ignoreversion Source: "..\MAVProxy\dist\mavpicviewer\*"; DestDir: "{app}"; Flags: ignoreversion recursesubdirs createallsubdirs ; NOTE: Don't use "Flags: ignoreversion" on any shared system files Source: "..\Parameters\*"; DestDir: "{localappdata}\.mavproxy"; Flags: ignoreversion Source: "..\windows\mavinit.scr"; DestDir: "{localappdata}\.mavproxy"; Flags: ignoreversion Source: "..\windows\version.txt"; DestDir: "{localappdata}\.mavproxy"; Flags: ignoreversion Source: "..\windows\MAVProxy.ico"; DestDir: "{app}"; Flags: ignoreversion Source: "..\windows\MAVExplorer.ico"; DestDir: "{app}"; Flags: ignoreversion Source: "..\windows\mavpicviewer.ico"; DestDir: "{app}"; Flags: ignoreversion Source: "..\windows\Startup Examples\MAVProxyLogput.bat"; DestDir: "{app}\Examples"; Flags: ignoreversion Source: "..\windows\Startup Examples\MAVProxyMultiOutput.bat"; DestDir: "{app}\Examples"; Flags: ignoreversion [Icons] Name: "{group}\{#MyAppName} (No GUI)"; Filename: "{app}\{#MyAppExeName}"; WorkingDir: "{commondocs}"; IconFilename: "{app}\MAVProxy.ico" Name: "{group}\MAVExplorer"; Filename: "{app}\MAVExplorer.exe"; WorkingDir: "{commondocs}"; IconFilename: "{app}\MAVExplorer.ico" Name: "{group}\MAVPicViewer"; Filename: "{app}\mavpicviewer.exe"; WorkingDir: "{commondocs}"; IconFilename: "{app}\mavpicviewer.ico" Name: "{commondesktop}\{#MyAppName}"; Filename: "{app}\{#MyAppExeName}"; Parameters: "--map --console --load-module=graph"; WorkingDir: "{commondocs}"; Tasks: desktopicon; IconFilename: "{app}\MAVProxy.ico" Name: "{commondesktop}\MAVExplorer"; Filename: "{app}\MAVExplorer.exe"; WorkingDir: "{commondocs}"; Tasks: desktopicon; IconFilename: "{app}\MAVExplorer.ico" Name: "{commondesktop}\MAVPicViewer"; Filename: "{app}\mavpicviewer.exe"; WorkingDir: "{commondocs}"; Tasks: desktopicon; IconFilename: "{app}\mavpicviewer.ico" Name: "{group}\Documentation"; Filename: "https://ardupilot.org/mavproxy/index.html" Name: "{group}\Startup Examples"; Filename: "{app}\Examples" Name: "{group}\Ardupilot MAVProxy Forum"; Filename: "http://discuss.ardupilot.org/c/ground-control-software/mavproxy" Name: "{group}\{#MyAppName}"; Filename: "{app}\{#MyAppExeName}"; Parameters: "--map --console --load-module=graph"; WorkingDir: "{commondocs}"; IconFilename: "{app}\MAVProxy.ico" [Run] Filename: "{app}\{#MyAppExeName}"; Description: "{cm:LaunchProgram,{#StringChange(MyAppName, '&', '&&')}}"; Flags: nowait postinstall skipifsilent [Registry] Root: HKLM; Subkey: "SYSTEM\CurrentControlSet\Control\Session Manager\Environment"; \ ValueType: expandsz; ValueName: "PATH"; ValueData: "{olddata};{app}"; \ Check: NeedsAddPath('{app}') Root: HKLM; Subkey: "SYSTEM\CurrentControlSet\Control\Session Manager\Environment"; ValueName: "PATH"; ValueData: "{app}"; Flags: uninsdeletevalue [Code] function NeedsAddPath(Param: string): boolean; var OrigPath: string; begin if not RegQueryStringValue( HKEY_LOCAL_MACHINE, 'SYSTEM\CurrentControlSet\Control\Session Manager\Environment', 'Path', OrigPath) then begin Result := True; exit; end; { look for the path with leading and trailing semicolon } { Pos() returns 0 if not found } Result := (Pos(';' + UpperCase(Param) + ';', ';' + UpperCase(OrigPath) + ';') = 0) and (Pos(';' + UpperCase(Param) + '\;', ';' + UpperCase(OrigPath) + ';') = 0); end; var Paths: string; const EnvironmentKey = 'SYSTEM\CurrentControlSet\Control\Session Manager\Environment'; SMTO_ABORTIFHUNG = 2; WM_WININICHANGE = $001A; WM_SETTINGCHANGE = WM_WININICHANGE; type WPARAM = UINT_PTR; LPARAM = INT_PTR; LRESULT = INT_PTR; function SendTextMessageTimeout(hWnd: HWND; Msg: UINT; wParam: WPARAM; lParam: PAnsiChar; fuFlags: UINT; uTimeout: UINT; out lpdwResult: DWORD): LRESULT; external 'SendMessageTimeoutA@user32.dll stdcall'; procedure SaveOldPath(); begin if not RegQueryStringValue(HKEY_LOCAL_MACHINE, EnvironmentKey, 'Path', Paths) then begin Log('PATH not found'); end else begin Log(Format('Old Path saved as [%s]', [Paths])); end; end; procedure RemovePath(Path: string); var P: Integer; begin Log(Format('Prepare to remove from Old PATH [%s]', [Paths])); P := Pos(';' + Uppercase(Path) + ';', ';' + Uppercase(Paths) + ';'); if P = 0 then begin Log(Format('Path [%s] not found in PATH', [Path])); end else begin Delete(Paths, P - 1, Length(Path) + 1); Log(Format('Path [%s] removed from PATH => [%s]', [Path, Paths])); if RegWriteExpandStringValue(HKEY_LOCAL_MACHINE, EnvironmentKey, 'Path', Paths) then begin Log('PATH written'); end else begin Log('Error writing PATH'); end; end; end; procedure RefreshEnvironment; var S: AnsiString; MsgResult: DWORD; begin S := 'Environment'; SendTextMessageTimeout(HWND_BROADCAST, WM_SETTINGCHANGE, 0, PAnsiChar(S), SMTO_ABORTIFHUNG, 5000, MsgResult); end; procedure CurUninstallStepChanged(CurUninstallStep: TUninstallStep); begin if CurUninstallStep = usUninstall then begin SaveOldPath(); end; if CurUninstallStep = usPostUninstall then begin RemovePath(ExpandConstant('{app}')); RefreshEnvironment(); end; end; MAVProxy-1.8.74/windows/mavproxy.spec000077500000000000000000000122631504324515000175410ustar00rootroot00000000000000# -*- mode: python -*- # spec file for pyinstaller to build mavproxy for windows from PyInstaller.utils.hooks import collect_submodules, collect_data_files MAVProxyAny = Analysis(['mavproxy.py'], pathex=[os.path.abspath('.')], # for some unknown reason these hidden imports don't pull in # all the needed pieces, so we also import them in mavproxy.py hiddenimports=['cv2', 'wx', 'pylab', 'numpy', 'dateutil', 'matplotlib', 'HTMLParser', 'wx.grid', 'wx._grid', 'prompt_toolkit', 'wx.lib.agw.genericmessagedialog', 'wx.lib.wordwrap', 'wx.lib.buttons', 'wx.lib.embeddedimage', 'wx.lib.imageutils', 'wx.lib.agw.aquabutton', 'wx.lib.agw.gradientbutton', 'six','packaging', 'packaging.version', 'packaging.specifiers', 'requests', 'future', ] + collect_submodules('MAVProxy.modules') + collect_submodules('pymavlink') + collect_submodules('yaml') + collect_submodules('pygame'), datas= [ ('modules\\mavproxy_map\\data\\*.*', 'MAVProxy\\modules\\mavproxy_map\\data' ), ('modules\\mavproxy_joystick\\joysticks\\*.*', 'MAVProxy\\modules\\mavproxy_joystick\\joysticks' )], hookspath=None, runtime_hooks=None, excludes= ['sphinx', 'docutils', 'alabaster', 'FixTk', 'tcl', 'tk', '_tkinter', 'tkinter', 'Tkinter']) MAVExpAny = Analysis(['.\\tools\\MAVExplorer.py'], pathex=[os.path.abspath('.')], # for some unknown reason these hidden imports don't pull in # all the needed pieces, so we also import them in mavproxy.py hiddenimports=['cv2', 'wx', 'pylab', 'numpy', 'dateutil', 'matplotlib', 'requests', 'prompt_toolkit', 'HTMLParser', 'wx.grid', 'wx._grid', 'wx.lib.agw.genericmessagedialog', 'wx.lib.wordwrap', 'wx.lib.buttons', 'wx.lib.embeddedimage', 'wx.lib.imageutils', 'wx.lib.agw.aquabutton', 'wx.lib.agw.gradientbutton', 'FileDialog', 'Dialog', ] + collect_submodules('pymavlink'), datas= [ ('tools\\graphs\\*.*', 'MAVProxy\\tools\\graphs' ) ], hookspath=None, runtime_hooks=None, excludes= ['sphinx', 'docutils', 'alabaster', 'FixTk', 'tcl', 'tk', 'Tkinter']) MAVPicViewerAny = Analysis(['.\\tools\\mavpicviewer\\mavpicviewer.py'], pathex=[os.path.abspath('.')], # for some unknown reason these hidden imports don't pull in # all the needed pieces, so we also import them in mavproxy.py hiddenimports=['cv2', 'wx', 'numpy', 'dateutil', 'wx.lib.agw.genericmessagedialog', 'wx.lib.wordwrap', 'wx.lib.buttons', 'wx.lib.embeddedimage', 'wx.lib.imageutils', 'wx.lib.agw.aquabutton', 'wx.lib.agw.gradientbutton', 'FileDialog', 'Dialog', ] + collect_submodules('pymavlink'), datas= [], hookspath=None, runtime_hooks=None, excludes= ['sphinx', 'docutils', 'alabaster', 'FixTk', 'tcl', 'tk', '_tkinter', 'tkinter', 'Tkinter']) # MERGE( (MAVProxyAny, 'mavproxy', 'mavproxy'), (MAVExpAny, 'MAVExplorer', 'MAVExplorer'), (MAVPicViewerAny, 'mavpicviewer', 'mavpicviewer') ) MAVProxy_pyz = PYZ(MAVProxyAny.pure) MAVProxy_exe = EXE(MAVProxy_pyz, MAVProxyAny.scripts, exclude_binaries=True, name='mavproxy.exe', debug=False, strip=None, upx=True, console=True ) MAVProxy_coll = COLLECT(MAVProxy_exe, MAVProxyAny.binaries, MAVProxyAny.zipfiles, MAVProxyAny.datas, strip=None, upx=True, name='mavproxy') MAVExp_pyz = PYZ(MAVExpAny.pure) MAVExp_exe = EXE(MAVExp_pyz, MAVExpAny.scripts, exclude_binaries=True, name='MAVExplorer.exe', debug=False, strip=None, upx=True, console=True ) MAVExp_coll = COLLECT(MAVExp_exe, MAVExpAny.binaries, MAVExpAny.zipfiles, MAVExpAny.datas, strip=None, upx=True, name='MAVExplorer') MAVPicViewer_pyz = PYZ(MAVPicViewerAny.pure) MAVPicViewer_exe = EXE(MAVPicViewer_pyz, MAVPicViewerAny.scripts, exclude_binaries=True, name='mavpicviewer.exe', debug=False, strip=None, upx=True, console=True ) MAVPicViewer_coll = COLLECT(MAVPicViewer_exe, MAVPicViewerAny.binaries, MAVPicViewerAny.zipfiles, MAVPicViewerAny.datas, strip=None, upx=True, name='mavpicviewer') MAVProxy-1.8.74/windows/returnVersion.py000066400000000000000000000007171504324515000202350ustar00rootroot00000000000000# This script reads the setup.py and returns the current version number # Used as part of building the WIndows setup file (MAVProxyWinBuild.bat) # It assumes there is a line like this: # version = "12344" # glob supports Unix style pathname extensions with open("../setup.py") as f: searchlines = f.readlines() for i, line in enumerate(searchlines): if "version = " in line: print(line[11:len(line)-2]) break

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Please see https://ardupilot.org/mavproxy/index.html for more information This ground station was developed as part of the CanberraUAV OBC team entry License ------- MAVProxy is released under the GNU General Public License v3 or later Maintainers ----------- The best way to discuss MAVProxy with the maintainers is to join the mavproxy channel on ArduPilot discord at https://ardupilot.org/discord Lead Developers: Andrew Tridgell and Peter Barker Windows Maintainer: Stephen Dade MacOS Maintainer: Rhys Mainwaring MAVProxy-1.8.74/docs/000077500000000000000000000000001504324515000142275ustar00rootroot00000000000000MAVProxy-1.8.74/docs/JOYSTICKS.md000066400000000000000000000122121504324515000161310ustar00rootroot00000000000000MAVProxy has a flexible joystick driver that lets you map your joystick to RC channels using configuration files written in [YAML][] syntax. [yaml]: https://en.wikipedia.org/wiki/YAML ## File format A joystick definition be located either inside the `MAVProxy` python module, or in your `.mavproxy` directory (normally `$HOME/.mavproxy`) in the `joysticks` directory. A minimal joystick definition might look like this: description: This is a sample joystick definition. match: - ACME Joystick Company* controls: # map axis id 2 to rc channel 1 - channel: 1 type: axis id: 2 # map axis id 3 to rc channel 2 - channel: 2 type: axis id: 3 # map axis id 1 to rc channel 3 - channel: 3 type: axis id: 1 invert: true # map axis id 0 to rc channel 4 - channel: 4 type: axis id: 0 The configuration file is made up of the following sections. ### description This section is a simple string describing the module. It will be displayed in the output of `joystick status` when the given joystick definition is active. description: This is a description. You can take advantage of YAML block constructs for longer descriptions, like this: description: > This is a much longer description. It may contain many lines and even multiple paragraphs, although if you're trying to put documentation into the description maybe you should find a better place for it. ### match This is a list of [fnmatch][] patterns that will be matched against device names. The first definition found with a match will be selected as the active joystick definition. For example, given a `match` section like this: match: - ACME Joystick Co* - Widget Ltd* The definition would be selected for a device identified as a "ACME Joystick Company Funpad 3000" or for a device identified as a "Widget Ltd Joy-o-tron". [fnmatch]: https://docs.python.org/2/library/fnmatch.html ### controls This is the section that maps joystick inputs to rc channels. It consists of a list of control definitions of the form: - channel: type: (axis|button|multibutton|hat) id: ...zero or more type-specific parameters... For example: - channel: 1 type: axis id: 1 See "Control types" for more information. ## Control types All the control types will accept the following additional parameters: - `inlow`, `inhigh` -- these define the input range of the control. Default to `-1` and `1`, respectively. - `outlow`, `outhigh` -- these define the output range of the rc channel. Default to `1000` and `2000`, respectively. ### axis An `axis` control uses the value of `inlow`, `inhigh`, `outlow`, and `outhigh` to scale input values read from the controller to rc channel overrides provided to mavproxy. Example: - channel: 1 type: axis id: 1 ### button A `button` acts like a momentary switch. When pressed, the corresponding channel value is set to `outhigh`; when released, the value is set to `outlow`. Example: - channel: 1 type: button id: 1 ### toggle A `toggle` button acts like a toggle or rotary switch. Initially, the value of the corresponding channel is set to the first value in the `values` list; when the push button `id` is pressed consecutively, the values of this list are cycled with each press/release. After the last value, the iteration will start over and the first value is set again. Example: - channel: 1 type: toggle id: 2 values: - 1000 - 2000 This example will set the value of channel 1 to 1000 initially. When button 2 is pressed, it will be set to 2000. When button 2 is pressed again, 1000 will be set again (and so on). Example 2: - channel: 1 type: toggle id: 2 values: - 1000 - 1500 - 2000 This example will set the value of channel 1 to 1000 initially. After each button press, value will be set to * 1500 * 2000 * 1000 * 1500 * ... ### multibutton A `multibutton` maps multiple buttons to the same channel like a multiple-position switch. When a button is pressed, the channel is set to the corresponding value. When a button is released, no changes is made to the channel. Example: - channel: 5 type: multibutton buttons: - id: 0 value: 1200 - id: 1 value: 1300 - id: 2 value: 1400 - id: 3 value: 1500 ### hat A `hat` maps one axis of a hat as if it were a toggle switch. When the axis goes negative, the corresponding channel value is set to `outputlow`. When the axis goes positive, the value is set to `outputhigh`. No change is made when the axis returns to 0. Example: - channel: 7 type: hat id: 0 axis: x - channel: 8 type: hat id: 0 axis: y ## Creating new joystick definitions The `joystick` module includes a simple script to help you identify controls on your joystick. Run it like this: python -m MAVProxy.modules.mavproxy_joystick.findjoy And then follow the prompts. 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