idx int64 0 251k | question stringlengths 53 3.53k | target stringlengths 5 1.23k | len_question int64 20 893 | len_target int64 3 238 |
|---|---|---|---|---|
229,600 | def createWPText ( self ) : 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' ) ] ) | Creates the text for the current and final waypoint and the distance to the new waypoint . | 144 | 20 |
229,601 | def updateWPText ( self ) : 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 ) ) | Updates the current waypoint and distance to it . | 197 | 11 |
229,602 | def createWPPointer ( self ) : self . headingWPTri = patches . RegularPolygon ( ( 0.0 , 0.55 ) , 3 , 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' ) ] ) | Creates the waypoint pointer relative to current heading . | 165 | 11 |
229,603 | def adjustWPPointer ( self ) : 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 ) ) | Adjust the position and orientation of the waypoint pointer . | 182 | 11 |
229,604 | def createAltHistoryPlot ( self ) : 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 ) | Creates the altitude history plot . | 298 | 7 |
229,605 | def updateAltHistory ( self ) : 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 ) | Updates the altitude history plot . | 510 | 7 |
229,606 | def on_idle ( self , event ) : # 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 ) | To adjust text and positions on rescaling the window when resized . | 239 | 14 |
229,607 | def on_timer ( self , event ) : 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 ( ) | Main Loop . | 709 | 3 |
229,608 | def on_KeyPress ( self , event ) : 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 ( ) | To adjust the distance between pitch markers . | 444 | 8 |
229,609 | def fenceloader ( self ) : 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 ] | fence loader by sysid | 70 | 6 |
229,610 | def mavlink_packet ( self , m ) : if m . get_type ( ) == "FENCE_STATUS" : self . last_fence_breach = m . breach_time self . last_fence_status = m . breach_status 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" ) 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" ) 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' ) | handle and incoming mavlink packet | 473 | 7 |
229,611 | def load_fence ( self , filename ) : 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 ( ) | load fence points from a file | 120 | 6 |
229,612 | def list_fence ( self , filename ) : 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 ) ) : p = self . fetch_fence_point ( i ) if p is None : return 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 | list fence points optionally saving to a file | 342 | 8 |
229,613 | def poll ( self ) : if self . out_queue . qsize ( ) <= 0 : 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 . qsize ( ) == 0 : return None evt = self . out_queue . get ( ) return evt | check for events returning one event | 97 | 6 |
229,614 | def find_object ( self , key , layers ) : 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 | find an object to be modified | 62 | 6 |
229,615 | def add_object ( self , obj ) : 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 ( ) ) | add an object to a layer | 138 | 6 |
229,616 | def set_ground_width ( self , ground_width ) : state = self . state state . ground_width = ground_width state . panel . re_center ( state . width / 2 , state . height / 2 , state . lat , state . lon ) | set ground width of view | 57 | 5 |
229,617 | def show_popup ( self , selected , pos ) : state = self . state if selected . popup_menu is not None : import copy popup_menu = selected . popup_menu if state . default_popup is not None and state . default_popup . combine : popup_menu = copy . deepcopy ( popup_menu ) popup_menu . add ( MPMenuSeparator ( ) ) popup_menu . combine ( state . default_popup . popup ) wx_menu = popup_menu . wx_menu ( ) state . frame . PopupMenu ( wx_menu , pos ) | show popup menu for an object | 131 | 6 |
229,618 | def cmd_watch ( args ) : if len ( args ) == 0 : mpstate . status . watch = None return mpstate . status . watch = args print ( "Watching %s" % mpstate . status . watch ) | watch a mavlink packet pattern | 49 | 7 |
229,619 | def load_module ( modname , quiet = False , * * kwargs ) : modpaths = [ 'MAVProxy.modules.mavproxy_%s' % modname , modname ] for ( m , pm ) in mpstate . modules : if m . name == modname and not modname 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 : import traceback print ( traceback . format_exc ( ) ) 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 | load a module | 346 | 3 |
229,620 | def process_mavlink ( slave ) : try : buf = slave . recv ( ) except socket . error : return try : global mavversion 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 if mpstate . settings . mavfwd and not mpstate . status . setup_mode : for m in msgs : mpstate . master ( ) . write ( 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 | process packets from MAVLink slaves forwarding to the master | 252 | 11 |
229,621 | def log_writer ( ) : while True : 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 ( ) | log writing thread | 167 | 3 |
229,622 | def main_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 : if master . port . inWaiting ( ) > 0 : process_master ( master ) 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 : rin . append ( m . fd ) for sysid in mpstate . sysid_outputs : m = mpstate . sysid_outputs [ sysid ] rin . append ( m . fd ) if rin == [ ] : time . sleep ( 0.0001 ) continue for fd in mpstate . select_extra : 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 ) | main processing loop | 782 | 3 |
229,623 | def set_mav_version ( mav10 , mav20 , autoProtocol , mavversionArg ) : # 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 == True or mav20 == True ) and autoProtocol == True : print ( "Error: Can't have [--mav10, --mav20] and --auto-protocol both True" ) sys . exit ( 1 ) if mav10 == True and mav20 == True : print ( "Error: Can't have --mav10 and --mav20 both True" ) sys . exit ( 1 ) if mavversionArg is not None and ( mav10 == True or mav20 == True or autoProtocol == True ) : 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 == True : os . environ [ 'MAVLINK09' ] = '1' mavversion = "1" else : os . environ [ 'MAVLINK20' ] = '1' mavversion = "2" | Set the Mavlink version based on commandline options | 336 | 11 |
229,624 | def mav_param ( self ) : compid = self . settings . target_component if compid == 0 : compid = 1 sysid = ( self . settings . target_system , compid ) if not sysid in self . mav_param_by_sysid : self . mav_param_by_sysid [ sysid ] = mavparm . MAVParmDict ( ) return self . mav_param_by_sysid [ sysid ] | map mav_param onto the current target system parameters | 105 | 11 |
229,625 | def get_wx_window_layout ( wx_window ) : dsize = wx . DisplaySize ( ) pos = wx_window . GetPosition ( ) size = wx_window . GetSize ( ) name = wx_window . GetTitle ( ) return WinLayout ( name , pos , size , dsize ) | get a WinLayout for a wx window | 71 | 9 |
229,626 | def set_wx_window_layout ( wx_window , layout ) : try : wx_window . SetSize ( layout . size ) wx_window . SetPosition ( layout . pos ) except Exception as ex : print ( ex ) | set a WinLayout for a wx window | 52 | 9 |
229,627 | def set_layout ( wlayout , callback ) : 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 ) | set window layout | 141 | 3 |
229,628 | def layout_filename ( fallback ) : global display_size global vehiclename ( dw , dh ) = display_size if 'HOME' in os . environ : dirname = os . path . join ( os . environ [ 'HOME' ] , ".mavproxy" ) if not os . path . exists ( dirname ) : try : os . mkdir ( dirname ) except Exception : pass elif 'LOCALAPPDATA' in os . environ : dirname = os . path . join ( os . environ [ 'LOCALAPPDATA' ] , "MAVProxy" ) else : return None 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 ) ) | get location of layout file | 220 | 5 |
229,629 | def save_layout ( vehname ) : 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 ) | save window layout | 173 | 3 |
229,630 | def load_layout ( vehname ) : 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 ) | load window layout | 185 | 3 |
229,631 | def on_apply ( self , event ) : 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 ) | called on apply | 124 | 3 |
229,632 | def on_save ( self , event ) : 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 ( ) ) | called on save button | 95 | 4 |
229,633 | def on_load ( self , event ) : 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 ( ) if isinstance ( value , str ) or isinstance ( value , unicode ) : ctrl . SetValue ( str ( setting . value ) ) else : ctrl . SetValue ( setting . value ) | called on load button | 173 | 4 |
229,634 | def add_text ( self , setting , width = 300 , height = 100 , multiline = False ) : 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 ) | add a text input line | 126 | 5 |
229,635 | def add_choice ( self , setting , choices ) : 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 ) | add a choice input line | 103 | 5 |
229,636 | def add_intspin ( self , setting ) : 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 ) | add a spin control | 81 | 4 |
229,637 | def add_floatspin ( self , setting ) : 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 ) | add a floating point spin control | 142 | 6 |
229,638 | def draw_path ( self , gc , path , transform , rgbFace = None ) : 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 ) | Draw the path | 307 | 3 |
229,639 | def draw_mathtext ( self , gc , x , y , s , prop , angle ) : 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 ) | Draw the math text using matplotlib . mathtext | 178 | 11 |
229,640 | def draw_text ( self , gc , x , y , s , prop , angle , ismath = False , mtext = None ) : 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 ) | Render the text | 350 | 3 |
229,641 | def _get_agg_font ( self , prop ) : 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 | Get the font for text instance t cacheing for efficiency | 187 | 11 |
229,642 | def draw ( self ) : 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 ( ) | Draw the figure using the renderer | 91 | 7 |
229,643 | def vehicle_type_string ( self , hb ) : if hb . type == mavutil . mavlink . MAV_TYPE_FIXED_WING : 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" return "UNKNOWN(%u)" % hb . type | return vehicle type string from a heartbeat | 330 | 7 |
229,644 | def update_vehicle_menu ( self ) : 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 ) | update menu for new vehicles | 247 | 5 |
229,645 | def add_new_vehicle ( self , hb ) : 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 ( ) | add a new vehicle | 96 | 4 |
229,646 | def say_espeak ( self , text , priority = 'important' ) : from espeak import espeak if self . settings . speech_voice : espeak . set_voice ( self . settings . speech_voice ) espeak . synth ( text ) | speak some text using espeak | 54 | 6 |
229,647 | def cmd_long ( self , args ) : if len ( args ) < 1 : print ( "Usage: long <command> [arg1] [arg2]..." ) return command = None if args [ 0 ] . isdigit ( ) : command = int ( args [ 0 ] ) else : try : command = eval ( "mavutil.mavlink." + args [ 0 ] ) except AttributeError as e : try : command = eval ( "mavutil.mavlink.MAV_CMD_" + args [ 0 ] ) except AttributeError as e : pass if command is None : print ( "Unknown command long ({0})" . format ( args [ 0 ] ) ) return 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 ) | execute supplied command long | 229 | 4 |
229,648 | def cmd_command_int ( self , args ) : if len ( args ) != 11 : print ( "num args{0}" . format ( 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 if args [ 0 ] . isdigit ( ) : frame = int ( args [ 0 ] ) else : try : # attempt to allow MAV_FRAME_GLOBAL for frame frame = eval ( "mavutil.mavlink." + args [ 0 ] ) except AttributeError as e : try : # attempt to allow GLOBAL for frame frame = eval ( "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 = eval ( "mavutil.mavlink." + args [ 1 ] ) except AttributeError as e : try : # let "command_int ... DO_SET_HOME" work command = eval ( "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 ) | execute supplied command_int | 547 | 5 |
229,649 | def cmd_sensors ( self , args ) : 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 ) ) | show key sensors | 217 | 3 |
229,650 | def cmd_reverse_lookup ( command_name ) : for key , value in miss_cmds . items ( ) : if ( value . upper ( ) == command_name . upper ( ) ) : return key return 0 | returns 0 if key not found | 48 | 7 |
229,651 | def make_column_label ( command_name , description , default ) : for ( pattern , label ) in description_map : if fnmatch . fnmatch ( description , pattern ) : return label return default | try to work out a reasonable column name from parameter description | 43 | 11 |
229,652 | def get_column_labels ( command_name ) : 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 | return dictionary of column labels if available | 105 | 7 |
229,653 | def find_connection ( self ) : 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 | find an antenna tracker connection if possible | 85 | 7 |
229,654 | def cmd_tracker ( self , args ) : usage = "usage: tracker <start|set|arm|disarm|level|param|mode|position> [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 ) | tracker command parser | 273 | 4 |
229,655 | def cmd_tracker_position ( self , args ) : 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 ] ) | tracker manual positioning commands | 158 | 5 |
229,656 | def cmd_tracker_calpress ( self , args ) : connection = self . find_connection ( ) if not connection : print ( "No antenna tracker found" ) return connection . calibrate_pressure ( ) | calibrate barometer on tracker | 45 | 7 |
229,657 | def mavlink_packet ( self , m ) : 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 ) | handle an incoming mavlink packet from the master vehicle . Relay it to the tracker if it is a GLOBAL_POSITION_INT | 83 | 30 |
229,658 | def cmd_legend ( self , args ) : 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 | setup legend for graphs | 142 | 4 |
229,659 | def cmd_gimbal_mode ( self , args ) : if len ( args ) != 1 : print ( "usage: gimbal mode <GPS|MAVLink>" ) return if 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 ) | control gimbal mode | 210 | 5 |
229,660 | def cmd_gimbal_roi ( self , args ) : latlon = None try : latlon = self . module ( 'map' ) . click_position except Exception : print ( "No map available" ) return if latlon is None : print ( "No map click position available" ) return self . master . mav . mount_control_send ( self . target_system , self . target_component , latlon [ 0 ] * 1e7 , latlon [ 1 ] * 1e7 , 0 , # altitude zero for now 0 ) | control roi position | 119 | 4 |
229,661 | def cmd_gimbal_roi_vel ( self , args ) : 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 ] try : latlon = self . module ( 'map' ) . click_position except Exception : print ( "No map available" ) return 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 ] ) ) | control roi position and velocity | 385 | 6 |
229,662 | def cmd_gimbal_rate ( self , args ) : 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_control_send ( self . target_system , mavutil . mavlink . MAV_COMP_ID_GIMBAL , radians ( roll ) , radians ( pitch ) , radians ( yaw ) ) | control gimbal rate | 135 | 5 |
229,663 | def cmd_gimbal_point ( self , args ) : 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 . mount_control_send ( self . target_system , self . target_component , pitch * 100 , roll * 100 , yaw * 100 , 0 ) | control gimbal pointing | 114 | 5 |
229,664 | def cmd_gimbal_status ( self , args ) : master = self . master if 'GIMBAL_REPORT' in master . messages : print ( master . messages [ 'GIMBAL_REPORT' ] ) else : print ( "No GIMBAL_REPORT messages" ) | show gimbal status | 67 | 5 |
229,665 | def draw ( self , img , pixmapper , bounds ) : 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 | draw legend on the image | 86 | 5 |
229,666 | def draw ( self , img , pixmapper , bounds ) : 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 | draw the thumbnail on the image | 175 | 6 |
229,667 | def cmd_terrain ( self , args ) : usage = "usage: terrain <set|status|check>" 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 : ] ) elif args [ 0 ] == "check" : self . cmd_terrain_check ( args [ 1 : ] ) else : print ( usage ) | terrain command parser | 135 | 4 |
229,668 | def cmd_terrain_check ( self , args ) : if len ( args ) >= 2 : latlon = ( float ( args [ 0 ] ) , float ( args [ 1 ] ) ) else : try : latlon = self . module ( 'map' ) . click_position except Exception : print ( "No map available" ) return 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 ) | check a piece of terrain data | 150 | 6 |
229,669 | def idle_task ( self ) : if self . current_request is None : return if time . time ( ) - self . last_send_time < 0.2 : # limit to 5 per second return self . send_terrain_data ( ) | called when idle | 54 | 3 |
229,670 | def unknown_command ( self , args ) : 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 | handle mode switch by mode name as command | 63 | 8 |
229,671 | def cmd_guided ( self , args ) : if len ( args ) != 1 and len ( args ) != 3 : print ( "Usage: guided ALTITUDE | guided LAT LON ALTITUDE" ) return if len ( args ) == 3 : latitude = float ( args [ 0 ] ) longitude = float ( args [ 1 ] ) altitude = float ( args [ 2 ] ) latlon = ( latitude , longitude ) else : try : latlon = self . module ( 'map' ) . click_position except Exception : print ( "No map available" ) return if latlon is None : print ( "No map click position available" ) return altitude = float ( args [ 0 ] ) print ( "Guided %s %s" % ( str ( latlon ) , str ( altitude ) ) ) self . master . mav . mission_item_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 , latlon [ 0 ] , latlon [ 1 ] , altitude ) | set GUIDED target | 268 | 5 |
229,672 | def check_sim_in ( self ) : 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 | check for FDM packets from runsim | 375 | 8 |
229,673 | def check_sim_out ( self ) : 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 | check if we should send new servos to flightgear | 187 | 11 |
229,674 | def check_apm_out ( self ) : 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 ) | check if we should send new data to the APM | 80 | 11 |
229,675 | def convert_body_frame ( self , phi , theta , phiDot , thetaDot , psiDot ) : 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 ) | convert a set of roll rates from earth frame to body frame | 124 | 13 |
229,676 | def append ( self , v ) : 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 ( ) | add a new setting | 164 | 4 |
229,677 | def get ( self , name ) : if not name in self . _vars : raise AttributeError setting = self . _vars [ name ] return setting . value | get a setting | 36 | 3 |
229,678 | def command ( self , args ) : if len ( args ) == 0 : self . show_all ( ) 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 ] ) | control options from cmdline | 93 | 5 |
229,679 | def all_checks_enabled ( self ) : arming_mask = int ( self . get_mav_param ( "ARMING_CHECK" , 0 ) ) if arming_mask == 1 : return True for bit in arming_masks . values ( ) : if not arming_mask & bit and bit != 1 : return False return True | returns true if the UAV is skipping any arming checks | 72 | 12 |
229,680 | def handle_px4_param_value ( self , m ) : 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 | special handling for the px4 style of PARAM_VALUE | 541 | 13 |
229,681 | def param_help_download ( self ) : files = [ ] for vehicle in [ 'APMrover2' , 'ArduCopter' , 'ArduPlane' , 'ArduSub' , 'AntennaTracker' ] : url = 'http://autotest.ardupilot.org/Parameters/%s/apm.pdef.xml' % vehicle path = mp_util . dot_mavproxy ( "%s.xml" % vehicle ) files . append ( ( url , path ) ) url = 'http://autotest.ardupilot.org/%s-defaults.parm' % vehicle if vehicle != 'AntennaTracker' : # defaults not generated for AntennaTracker ATM path = mp_util . dot_mavproxy ( "%s-defaults.parm" % vehicle ) files . append ( ( url , path ) ) try : child = multiproc . Process ( target = mp_util . download_files , args = ( files , ) ) child . start ( ) except Exception as e : print ( e ) | download XML files for parameters | 231 | 5 |
229,682 | def param_help_tree ( self ) : if self . xml_filepath is not None : print ( "param: using xml_filepath=%s" % self . xml_filepath ) path = self . xml_filepath else : if self . vehicle_name is None : print ( "Unknown vehicle type" ) return None path = mp_util . dot_mavproxy ( "%s.xml" % self . vehicle_name ) if not os . path . exists ( path ) : print ( "Please run 'param download' first (vehicle_name=%s)" % self . vehicle_name ) return None if not os . path . exists ( path ) : 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 return htree | return a help tree a map between a parameter and its metadata . May return None if help is not available | 282 | 21 |
229,683 | def param_apropos ( self , args ) : if len ( args ) == 0 : print ( "Usage: param apropos keyword" ) return htree = self . param_help_tree ( ) if htree is None : return contains = { } for keyword in args : for param in htree . keys ( ) : if str ( htree [ param ] ) . find ( keyword ) != - 1 : contains [ param ] = True for param in contains . keys ( ) : print ( "%s" % ( param , ) ) | search parameter help for a keyword list those parameters | 115 | 9 |
229,684 | def get_component_id_list ( self , system_id ) : ret = [ ] for ( s , c ) in self . mpstate . mav_param_by_sysid . keys ( ) : if s == system_id : ret . append ( c ) return ret | get list of component IDs with parameters for a given system ID | 61 | 12 |
229,685 | def get_sysid ( self ) : component = self . target_component if component == 0 : component = 1 return ( self . target_system , component ) | get sysid tuple to use for parameters | 34 | 8 |
229,686 | def parse_args ( self , args = None , values = None ) : q = multiproc . Queue ( ) p = multiproc . Process ( target = self . _parse_args , args = ( q , args , values ) ) p . start ( ) ret = q . get ( ) p . join ( ) return ret | multiprocessing wrapper around _parse_args | 70 | 11 |
229,687 | def _parse_args ( self , q , args , values ) : 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 ) ) | This is the heart of it all - overrides optparse . OptionParser . parse_args | 347 | 19 |
229,688 | def distance_from ( self , lat , lon ) : lat1 = self . pkt [ 'I105' ] [ 'Lat' ] [ 'val' ] lon1 = self . pkt [ 'I105' ] [ 'Lon' ] [ 'val' ] return mp_util . gps_distance ( lat1 , lon1 , lat , lon ) | get distance from a point | 83 | 5 |
229,689 | def randpos ( self ) : self . setpos ( gen_settings . home_lat , gen_settings . home_lon ) self . move ( random . uniform ( 0 , 360 ) , random . uniform ( 0 , gen_settings . region_width ) ) | random initial position | 56 | 3 |
229,690 | def ground_height ( self ) : lat = self . pkt [ 'I105' ] [ 'Lat' ] [ 'val' ] lon = self . pkt [ 'I105' ] [ 'Lon' ] [ 'val' ] global ElevationMap ret = ElevationMap . GetElevation ( lat , lon ) ret -= gen_settings . wgs84_to_AMSL return ret * 3.2807 | return height above ground in feet | 95 | 6 |
229,691 | def move ( self , bearing , 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 ) | move position by bearing and distance | 92 | 6 |
229,692 | def update ( self , deltat = 1.0 ) : 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 ( ) | fly a square circuit | 118 | 4 |
229,693 | def update ( self , deltat = 1.0 ) : 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 ( ) | fly circles then dive | 205 | 4 |
229,694 | def update ( self , deltat = 1.0 ) : 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 ( ) | fly in long curves | 91 | 4 |
229,695 | def update ( self , deltat = 1.0 ) : DNFZ . update ( self , deltat ) self . lifetime -= deltat if self . lifetime <= 0 : self . randpos ( ) self . lifetime = random . uniform ( 300 , 600 ) | straight lines with short life | 58 | 5 |
229,696 | def cmd_dropobject ( self , obj ) : latlon = self . module ( 'map' ) . click_position 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 ) | drop an object on the map | 86 | 6 |
229,697 | def cmd_genobstacles ( self , args ) : usage = "usage: genobstacles <start|stop|restart|clearall|status|set>" 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 . module ( 'map' ) . click_position 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 ( ) ) elif args [ 0 ] == "dropeagle" : self . cmd_dropobject ( BirdOfPrey ( ) ) elif args [ 0 ] == "dropbird" : self . cmd_dropobject ( BirdMigrating ( ) ) elif args [ 0 ] == "dropplane" : self . cmd_dropobject ( Aircraft ( ) ) elif args [ 0 ] == "clearall" : self . clearall ( ) else : print ( usage ) | genobstacles command parser | 430 | 6 |
229,698 | def start ( self ) : 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 ( random . uniform ( 10 , 100 ) , 2000.0 ) ) # some birds of prey for i in range ( gen_settings . num_bird_prey ) : self . aircraft . append ( BirdOfPrey ( ) ) # some migrating birds for i in range ( gen_settings . num_bird_migratory ) : self . aircraft . append ( BirdMigrating ( ) ) # some weather systems for i in range ( gen_settings . num_weather ) : self . aircraft . append ( Weather ( ) ) print ( "Started on port %u" % gen_settings . port ) | start sending packets | 276 | 3 |
229,699 | def mavlink_packet ( self , m ) : 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 ) | trigger sends from ATTITUDE packets | 296 | 8 |
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