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Mission Editor-extras #1332

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Mission Editor-extras #1332

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151 changes: 150 additions & 1 deletion MAVProxy/modules/mavproxy_misseditor/missionEditorFrame.py
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Original file line number Diff line number Diff line change
Expand Up @@ -202,6 +202,11 @@ def __init__(self, state, elemodel='SRTM3', *args, **kwds):
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.button_add_yaw_foreach = wx.Button(self, wx.ID_ANY, "Add Yaw for each wp")
self.button_delete_yaw = wx.Button(self, wx.ID_ANY, "Delete yaw")
self.button_change_wp_alt = wx.Button(self, wx.ID_ANY, "Change WP Altitude")
self.button_change_frame = wx.Button(self, wx.ID_ANY, "Change Frame")


self.__set_properties()
self.__do_layout()
Expand All @@ -225,6 +230,14 @@ def __init__(self, state, elemodel='SRTM3', *args, **kwds):
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)
self.Bind(wx.EVT_BUTTON, self.add_yaw_foreach_pushed, self.button_add_yaw_foreach)
self.Bind(wx.EVT_BUTTON, self.delete_yaw_pushed, self.button_delete_yaw)
self.Bind(wx.EVT_BUTTON, self.change_wp_alt_pushed, self.button_change_wp_alt)
self.Bind(wx.EVT_BUTTON, self.change_frame_pushed, self.button_change_frame)


##self.Bind(wx.EVT_BUTTON, self.delete_yaw_foreach_pushed, self.button_delete_yaw_foreach)

# end wxGlade

#use a timer to facilitate event an event handlers for events
Expand Down Expand Up @@ -359,6 +372,10 @@ def __do_layout(self):
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_16.Add(self.button_add_yaw_foreach, 0, 0, 0)
sizer_16.Add(self.button_delete_yaw, 0, 0, 0)
sizer_16.Add(self.button_change_wp_alt, 0, 0, 0)
sizer_16.Add(self.button_change_frame, 0, 0, 0)
sizer_3.Add(sizer_16, 0, wx.EXPAND, 0)
self.SetSizer(sizer_3)
self.Layout()
Expand Down Expand Up @@ -648,7 +665,6 @@ def add_wp_below_pushed(self, event): # wxGlade: MissionEditorFrame.<event_hand
self.fix_jumps(row_selected+1, 1)

event.Skip()

def split_pushed(self, event): # wxGlade: MissionEditorFrame.<event_handler>
row_selected = self.grid_mission.GetGridCursorRow()
if (row_selected < 2):
Expand Down Expand Up @@ -692,6 +708,139 @@ def split_pushed(self, event): # wxGlade: MissionEditorFrame.<event_handler>

event.Skip()

def add_yaw_foreach_pushed(self, event):
def on_cancel(ev):
frame.Close()

def on_ok(ev):
yaw = text_box.GetValue()
row_selected = self.grid_mission.GetGridCursorRow()
if row_selected +1 == self.grid_mission.GetNumberRows():
row_selected = 0
print(row_selected)
row_start = row_selected + 1
added_num = 0
while row_selected < self.grid_mission.GetNumberRows():
command = self.grid_mission.GetCellValue(row_selected, ME_COMMAND_COL)
if command in ["NAV_WAYPOINT"]:
self.grid_mission.InsertRows(row_selected)
self.prep_new_row(row_selected)
self.grid_mission.SelectRow(row_selected)
self.fix_jumps(row_selected, 1)
self.grid_mission.SetCellValue(row_selected, ME_COMMAND_COL, "CONDITION_YAW")
self.grid_mission.SetCellValue(row_selected, ME_P1_COL, yaw)
self.grid_mission.SetCellValue(row_selected, ME_ALT_COL, "0")
self.set_modified_state(True)
added_num += 1
row_selected += 1
row_selected += 1
wx.MessageBox(f"Starting with row {row_start} , \nadded {added_num} yaw commands.",
"Done", wx.OK | wx.ICON_INFORMATION)
frame.Close()

frame = wx.Frame(None, wx.ID_ANY, "Enter target heading (Yaw)", size=(500, 150))
dlg = wx.Panel(frame)
text_box = wx.TextCtrl(dlg,style = wx.TE_PROCESS_ENTER, value="90")
ok_button = wx.Button(dlg, wx.ID_OK, "OK")
cancel_button = wx.Button(dlg, wx.ID_CANCEL, "Cancel")
ok_button.Bind(wx.EVT_BUTTON, on_ok)
cancel_button.Bind(wx.EVT_BUTTON, on_cancel)
sizer = wx.BoxSizer(wx.VERTICAL)
sizer.Add(wx.StaticText(dlg,
label="Add CONDITION_YAW prior to each NAV_WAYPOINT in mission,\n"
"starting with first or selected row."),
0, wx.ALL, 5)
sizer.Add(text_box, 0, wx.ALIGN_CENTER)
button_sizer = wx.BoxSizer(wx.HORIZONTAL)
button_sizer.Add(ok_button, 0, wx.ALL, 5)
button_sizer.Add(cancel_button, 0, wx.ALL, 5)
text_box.Bind(wx.EVT_TEXT_ENTER, on_ok)
sizer.Add(button_sizer, 0, wx.CENTER)
dlg.SetSizer(sizer)
frame.Show()
event.Skip()

def delete_yaw_pushed(self, event):
row_selected = 0
while row_selected < self.grid_mission.GetNumberRows():
command = self.grid_mission.GetCellValue(row_selected, ME_COMMAND_COL)
if command in ["CONDITION_YAW"]:
self.grid_mission.DeleteRows(row_selected)
self.set_modified_state(True)
self.grid_mission.SelectRow(row_selected)
row_selected += 1
event.Skip()

def change_wp_alt_pushed(self, event):
def on_cancel(ev):
frame.Close()

def on_ok(ev):
alt_offset = text_box.GetValue()
row_selected = 0
while row_selected < self.grid_mission.GetNumberRows():
command = self.grid_mission.GetCellValue(row_selected, ME_COMMAND_COL)
if command in ["NAV_WAYPOINT", "NAV_SPLINE_WAYPOINT"]:
self.grid_mission.SetCellValue(row_selected, ME_ALT_COL, str(float(
self.grid_mission.GetCellValue(row_selected, ME_ALT_COL)) + float(alt_offset)))
row_selected += 1
self.set_modified_state(True)
frame.Close()

frame = wx.Frame(None, wx.ID_ANY, "Altitude Offset", size=(350, 150))
dlg = wx.Panel(frame)
text_box = wx.TextCtrl(dlg,style = wx.TE_PROCESS_ENTER, value="20")
ok_button = wx.Button(dlg, wx.ID_OK, "OK")
cancel_button = wx.Button(dlg, wx.ID_CANCEL, "Cancel")
ok_button.Bind(wx.EVT_BUTTON, on_ok)
cancel_button.Bind(wx.EVT_BUTTON, on_cancel)
sizer = wx.BoxSizer(wx.VERTICAL)
sizer.Add(wx.StaticText(dlg, label="Enter offset for all NAV_WAYPOINT and NAV_SPLINE_WAYPOINT"
" items. \n Enter altitude offset (+/- X meters)"), 0, wx.ALL, 5)
sizer.Add(text_box, 0, wx.ALIGN_CENTER)
button_sizer = wx.BoxSizer(wx.HORIZONTAL)
button_sizer.Add(ok_button, 0, wx.ALL, 5)
button_sizer.Add(cancel_button, 0, wx.ALL, 5)
text_box.Bind(wx.EVT_TEXT_ENTER, on_ok)
sizer.Add(button_sizer, 0, wx.CENTER)
dlg.SetSizer(sizer)
frame.Show()
event.Skip()

def change_frame_pushed(self, event):
def on_cancel(ev):
frame.Close()

def on_ok(ev):
new_frame = dropdown.GetValue()
row_selected = 0
while row_selected < self.grid_mission.GetNumberRows():
self.grid_mission.SetCellValue(row_selected, ME_FRAME_COL, new_frame)
row_selected += 1
self.set_modified_state(True)
frame.Close()

frame = wx.Frame(None, wx.ID_ANY, "Change Frame", size=(300, 180))
dlg = wx.Panel(frame)
frame_list = ["Abs", "Rel", "AGL"]
dropdown = wx.ComboBox(dlg, wx.ID_ANY, choices=frame_list, style=wx.CB_READONLY)
dropdown.SetSelection(0)
ok_button = wx.Button(dlg, wx.ID_OK, "OK")
cancel_button = wx.Button(dlg, wx.ID_CANCEL, "Cancel")
ok_button.Bind(wx.EVT_BUTTON, on_ok)
cancel_button.Bind(wx.EVT_BUTTON, on_cancel)
sizer = wx.BoxSizer(wx.VERTICAL)
sizer.Add(wx.StaticText(dlg, label="New frame will be applied to all mission items.\n"
" AGL may use Lidar if enabled."), 0, wx.ALL, 5)
sizer.Add(dropdown, 0, wx.ALL | wx.EXPAND, 5)
button_sizer = wx.BoxSizer(wx.HORIZONTAL)
button_sizer.Add(ok_button, 0, wx.ALL, 5)
button_sizer.Add(cancel_button, 0, wx.ALL, 5)
sizer.Add(button_sizer, 0, wx.CENTER)
dlg.SetSizer(sizer)
frame.Show()
event.Skip()

def save_wp_file_pushed(self, event): # wxGlade: MissionEditorFrame.<event_handler>
fd = wx.FileDialog(self, "Save Mission File", os.getcwd(),
os.path.basename(self.last_mission_file_path), "MissionFiles(*.txt.*.wp,*.waypoints)|*.txt;*.wp;*.waypoints",
Expand Down
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