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| Original file line number | Diff line number | Diff line change |
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| #!/usr/bin/env python | ||
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| """ | ||
| 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 time | ||
| from enum import Enum | ||
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| class PanelType(Enum): | ||
| SERVO_OUT = (0, "Servo Out", "Servo") | ||
| RC_IN = (1, "RC In", "RC") | ||
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| 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 | ||
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| class RCPanel(wx.Panel): | ||
| def __init__(self, parent, panelType=PanelType.RC_IN): | ||
| super().__init__(parent) | ||
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| self.rc_labels = [] | ||
| self.rc_gauges = [] | ||
| self.rc_sizers = [] | ||
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| self.panelType = panelType | ||
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| 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) | ||
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| def create_rc_widgets(self, num_channels): | ||
| 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))) | ||
| 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) | ||
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| def update_gauges(self, msg): | ||
| # Update the gauges based on the relevant mavlink packet info | ||
| 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) | ||
| gauge.SetValue(value) | ||
| gauge.Refresh() | ||
| elif msg.get_type() == 'SERVO_OUTPUT_RAW' and self.panelType == PanelType.SERVO_OUT: | ||
| value = getattr(msg, 'servo{0}_raw'.format(i+1), 0) | ||
| gauge.SetValue(value) | ||
| gauge.Refresh() | ||
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| 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() | ||
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| self.child_pipe_recv = child_pipe_recv | ||
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| # 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) | ||
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| def on_timer(self, event): | ||
| '''Main Loop.''' | ||
| while self.child_pipe_recv.poll(): | ||
| msg = self.child_pipe_recv.recv() | ||
| if msg: | ||
| self.panel.update_gauges(msg) | ||
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| def on_close(self, event): | ||
| self.Destroy() | ||
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| 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() | ||
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| 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 | ||
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| 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() | ||
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| def is_alive(self): | ||
| '''check if child is still going''' | ||
| return self.child.is_alive() | ||
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| def processPacket(self, m): | ||
| '''Send mavlink packet onwards to panel''' | ||
| self.parent_pipe_send.send(m) | ||
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| if __name__ == "__main__": | ||
| # test the console | ||
| multiproc.freeze_support() | ||
| rc_gui = RCStatus() | ||
| while rc_gui.is_alive(): | ||
| print('test') | ||
| time.sleep(0.5) |
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