idx int64 0 63k | question stringlengths 61 4.03k | target stringlengths 6 1.23k |
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41,500 | def find_manifests ( self ) : 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 | locate manifests and return filepaths thereof |
41,501 | def cmd_fw_manifest_purge ( self ) : for filepath in self . find_manifests ( ) : os . unlink ( filepath ) self . manifests_parse ( ) | remove all downloaded manifests |
41,502 | def cmd_fw_manifest ( self , args ) : 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 ] == "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 ( ) ) | cmd handler for manipulating manifests |
41,503 | def manifest_parse ( self , path ) : print ( "fw: parsing manifests" ) content = open ( path ) . read ( ) return json . loads ( content ) | parse manifest at path return JSON object |
41,504 | def manifest_path_is_old ( self , path ) : mtime = os . path . getmtime ( path ) return ( time . time ( ) - mtime ) > 24 * 60 * 60 | return true if path is more than a day old |
41,505 | def manifests_parse ( self ) : self . manifests = [ ] for manifest_path in self . find_manifests ( ) : if self . manifest_path_is_old ( manifest_path ) : print ( "fw: Manifest (%s) is old; consider '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 ) | parse manifests present on system |
41,506 | def make_safe_filename_from_url ( self , url ) : r = re . compile ( "([^a-zA-Z0-9_.-])" ) filename = r . sub ( lambda m : "%" + str ( hex ( ord ( str ( m . group ( 1 ) ) ) ) ) . upper ( ) , url ) return filename | return a version of url safe for use as a filename |
41,507 | def manifest_download ( self ) : if self . downloaders_lock . acquire ( False ) : if len ( self . downloaders ) : self . downloaders_lock . release ( ) return for url in [ 'http://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" ) | download manifest files |
41,508 | def colour_for_point ( mlog , point , instance , options ) : global colour_expression_exceptions , colour_source_max , colour_source_min source = getattr ( options , "colour_source" , "flightmode" ) if source == "flightmode" : return colour_for_point_flightmode ( mlog , point , instance , options ) 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 > 100 : print ( "Too many exceptions processing (%s): %s" % ( source , str_e ) ) sys . exit ( 1 ) colour_expression_exceptions [ str_e ] += 1 v = 0 if v is None : v = 0 elif 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 if v < colour_source_min : colour_source_min = v if v > colour_source_max : colour_source_max = v r = 255 g = 255 b = v return ( b , b , b ) | indicate a colour to be used to plot point |
41,509 | def mavlink_to_json ( msg ) : ret = '\"%s\": {' % msg . _type for fieldname in msg . _fieldnames : data = getattr ( msg , fieldname ) ret += '\"%s\" : \"%s\", ' % ( fieldname , data ) ret = ret [ 0 : - 2 ] + '}' return ret | Translate mavlink python messages in json string |
41,510 | def mpstatus_to_json ( status ) : 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 | Translate MPStatus in json string |
41,511 | def set_ip_port ( self , ip , port ) : self . address = ip self . port = port self . stop ( ) self . start ( ) | set ip and port |
41,512 | def request ( self , arg = None ) : 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 not arg : return json . dumps ( status_dict ) 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 ) | Deal with requests |
41,513 | def power_status_update ( self , POWER_STATUS ) : 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 : 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 ) | update POWER_STATUS warnings level |
41,514 | def valid_starter_settings ( self ) : 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 | check starter settings |
41,515 | def cmd_gasheli ( self , args ) : usage = "Usage: gasheli <start|stop|set>" 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 ) | gas help commands |
41,516 | def wploader ( self ) : if self . target_system not in self . wploader_by_sysid : self . wploader_by_sysid [ self . target_system ] = mavwp . MAVWPLoader ( ) return self . wploader_by_sysid [ self . target_system ] | per - sysid wploader |
41,517 | def send_wp_requests ( self , wps = None ) : if wps is None : wps = self . missing_wps_to_request ( ) tnow = time . time ( ) for seq in wps : self . wp_requested [ seq ] = tnow self . master . waypoint_request_send ( seq ) | send some more WP requests |
41,518 | def wp_status ( self ) : 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 ) ) ) | show status of wp download |
41,519 | def wp_slope ( self ) : 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 | show slope of waypoints |
41,520 | def save_waypoints_csv ( self , filename ) : try : 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 ) ) | save waypoints to a file in a human readable CSV file |
41,521 | def get_home ( self ) : 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 | get home location |
41,522 | def nofly_add ( self ) : try : latlon = self . module ( 'map' ) . click_position except Exception : print ( "No position chosen" ) return loader = self . wploader ( center_lat , center_lon ) = latlon points = [ ] points . append ( mp_util . gps_offset ( center_lat , center_lon , - 25 , 25 ) ) points . append ( mp_util . gps_offset ( center_lat , center_lon , 25 , 25 ) ) points . append ( mp_util . gps_offset ( center_lat , center_lon , 25 , - 25 ) ) points . append ( mp_util . gps_offset ( center_lat , center_lon , - 25 , - 25 ) ) start_idx = loader . count ( ) for p in points : wp = mavutil . mavlink . MAVLink_mission_item_message ( 0 , 0 , 0 , 0 , mavutil . mavlink . MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION , 0 , 1 , 4 , 0 , 0 , 0 , p [ 0 ] , p [ 1 ] , 0 ) loader . add ( wp ) self . loading_waypoints = True self . loading_waypoint_lasttime = time . time ( ) self . master . mav . mission_write_partial_list_send ( self . target_system , self . target_component , start_idx , start_idx + 4 ) print ( "Added nofly zone" ) | add a square flight exclusion zone |
41,523 | def cmd_wp_changealt ( self , args ) : if len ( args ) < 2 : print ( "usage: wp changealt WPNUM NEWALT <NUMWP>" ) 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 . wploader . is_location_command ( wp . command ) : 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 ) ) | handle wp change target alt of multiple waypoints |
41,524 | def cmd_wp_remove ( self , args ) : 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 ) 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 ) | handle wp remove |
41,525 | def cmd_wp_undo ( self ) : 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 | handle wp undo |
41,526 | def csv_line ( self , line ) : self . csv_sep = "," return self . csv_sep . join ( [ '"' + str ( x ) + '"' for x in line ] ) | turn a list of values into a CSV line |
41,527 | def savecsv ( self , filename ) : 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 ) : 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 ( ) | save waypoints to a file in human - readable CSV file |
41,528 | def list_joysticks ( ) : print ( 'Available joysticks:' ) print ( ) for jid in range ( pygame . joystick . get_count ( ) ) : j = pygame . joystick . Joystick ( jid ) print ( '({}) {}' . format ( jid , j . get_name ( ) ) ) | Print a list of available joysticks |
41,529 | def select_joystick ( ) : 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 | Allow user to select a joystick from a menu |
41,530 | def select ( versions , optionsRequired = False ) : if type ( versions ) == str : versions = [ versions ] global _selected if _selected is not None : for ver in versions : if _selected . Score ( _wxPackageInfo ( ver ) , optionsRequired ) > 0 : return raise VersionError ( "A previously selected wx version does not match the new request." ) if sys . modules . has_key ( 'wx' ) or sys . modules . has_key ( 'wxPython' ) : raise AlreadyImportedError ( "wxversion.select() must be called before wxPython is 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 ) path64 = re . sub ( '/lib/' , '/lib64/' , bestMatch . pathname ) if os . path . isdir ( path64 ) : sys . path . insert ( 0 , path64 ) _selected = bestMatch | 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 . |
41,531 | def ensureMinimal ( minVersion , optionsRequired = False ) : assert type ( minVersion ) == str 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 ) defaultPath = _find_default ( ) if defaultPath : defv = _wxPackageInfo ( defaultPath , True ) if defv >= minv and minv . CheckOptions ( defv , optionsRequired ) : bestMatch = defv if bestMatch is None : installed = _find_installed ( ) for inst in installed : if inst >= minv and minv . CheckOptions ( inst , optionsRequired ) : bestMatch = inst break if bestMatch is None : if _EM_DEBUG : 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 ) path64 = re . sub ( '/lib/' , '/lib64/' , bestMatch . pathname ) if os . path . isdir ( path64 ) : sys . path . insert ( 0 , path64 ) global _selected _selected = bestMatch | 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 . |
41,532 | def checkInstalled ( versions , optionsRequired = False ) : if type ( versions ) == str : versions = [ versions ] installed = _find_installed ( ) bestMatch = _get_best_match ( installed , versions , optionsRequired ) return bestMatch is not None | 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 . |
41,533 | def getInstalled ( ) : installed = _find_installed ( ) return [ os . path . basename ( p . pathname ) [ 3 : ] for p in installed ] | Returns a list of strings representing the installed wxPython versions that are found on the system . |
41,534 | def flightmode_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 | return mapping of flight mode to colours |
41,535 | def cmd_fft ( args ) : from MAVProxy . modules . lib import mav_fft if len ( args ) > 0 : condition = args [ 0 ] else : condition = None child = multiproc . Process ( target = mav_fft . mavfft_display , args = [ mestate . filename , condition ] ) child . start ( ) | display fft from log |
41,536 | def cmd_save ( args ) : 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 ( ) | save a graph |
41,537 | def cmd_loadfile ( args ) : 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' : fileargs = fileargs . replace ( "\\" , "/" ) loadfile ( fileargs . strip ( '"' ) ) | callback from menu to load a log file |
41,538 | def cmd_port ( self , args ) : 'handle port selection' if len ( args ) != 1 : print ( "Usage: port <number>" ) 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 ) ) | handle port selection |
41,539 | def RunScript ( self , 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 | 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 . |
41,540 | def ppp_read ( self , ppp_fd ) : buf = os . read ( ppp_fd , 100 ) if len ( buf ) == 0 : self . stop_ppp_link ( ) return print ( "ppp packet len=%u" % len ( buf ) ) master = self . master master . mav . ppp_send ( len ( buf ) , buf ) | called from main select loop in mavproxy when the pppd child sends us some data |
41,541 | def start_ppp_link ( self ) : 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 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 self . mpself . select_extra [ self . ppp_fd ] = ( self . ppp_read , self . ppp_fd ) | startup the link |
41,542 | def stop_ppp_link ( self ) : 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" ) | stop the link |
41,543 | def cmd_ppp ( self , args ) : usage = "ppp <command|start|stop>" 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 ) ) | set ppp parameters and start link |
41,544 | def module_matching ( self , name ) : 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 | Find a list of modules matching a wildcard pattern |
41,545 | def get_time ( self ) : 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 | get time using ATTITUDE . time_boot_ms if in SITL with SIM_SPEEDUP ! = 1 |
41,546 | def dist_string ( self , val_meters ) : 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 | return a distance as a string |
41,547 | def speed_convert_units ( self , val_ms ) : 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 | return a speed in configured units |
41,548 | def set_prompt ( self , prompt ) : if prompt and self . settings . vehicle_name : prompt = self . settings . vehicle_name + ':' + prompt self . mpstate . rl . set_prompt ( prompt ) | set prompt for command line |
41,549 | def link_label ( link ) : if hasattr ( link , 'label' ) : label = link . label else : label = str ( link . linknum + 1 ) return label | return a link label as a string |
41,550 | def is_primary_vehicle ( self , msg ) : sysid = msg . get_srcSystem ( ) if self . target_system == 0 or self . target_system == sysid : return True return False | see if a msg is from our primary vehicle |
41,551 | def next_flightmode_colour ( self ) : 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 | allocate a colour to be used for a flight mode |
41,552 | def flightmode_colour ( self , flightmode ) : if flightmode not in self . flightmode_colourmap : self . flightmode_colourmap [ flightmode ] = self . next_flightmode_colour ( ) return self . flightmode_colourmap [ flightmode ] | return colour to be used for rendering a flight mode background |
41,553 | def setup_xrange ( self , xrange ) : if self . xaxis : return xrange *= 24 * 60 * 60 interval = 1 intervals = [ 1 , 2 , 5 , 10 , 15 , 30 , 60 , 120 , 240 , 300 , 600 , 900 , 1800 , 3600 , 7200 , 5 * 3600 , 10 * 3600 , 24 * 3600 ] for interval in intervals : if xrange / interval < 12 : break self . locator = matplotlib . dates . SecondLocator ( interval = interval ) self . ax1 . xaxis . set_major_locator ( self . locator ) | setup plotting ticks on x axis |
41,554 | def xlim_changed ( self , axsubplot ) : xrange = axsubplot . get_xbound ( ) xlim = axsubplot . get_xlim ( ) self . setup_xrange ( xrange [ 1 ] - xrange [ 0 ] ) if self . draw_events == 0 : return if self . xlim_pipe is not None and axsubplot == self . ax1 and xlim != self . xlim : self . xlim = xlim self . xlim_pipe [ 1 ] . send ( xlim ) | called when x limits are changed |
41,555 | def timestamp_to_days ( self , timestamp ) : if self . tday_base is None : try : self . tday_base = matplotlib . dates . date2num ( datetime . datetime . fromtimestamp ( timestamp + self . timeshift ) ) self . tday_basetime = timestamp except ValueError : return 0 sec_to_days = 1.0 / ( 60 * 60 * 24 ) return self . tday_base + ( timestamp - self . tday_basetime ) * sec_to_days | convert log timestamp to days |
41,556 | def xlim_change_check ( self , idx ) : if not self . xlim_pipe [ 1 ] . poll ( ) : return xlim = self . xlim_pipe [ 1 ] . recv ( ) if xlim is None : return if self . ax1 is not None and xlim != self . xlim : self . xlim = xlim self . fig . canvas . toolbar . push_current ( ) self . ax1 . set_xlim ( xlim ) self . ani . event_source . _on_timer ( ) | handle xlim change requests from queue |
41,557 | def cmd_lockup_autopilot ( self , args ) : if len ( args ) > 0 and args [ 0 ] == 'IREALLYMEANIT' : print ( "Sending lockup command" ) 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 , 93 , 0 , 0 , 0 ) else : print ( "Invalid lockup command" ) | lockup autopilot for watchdog testing |
41,558 | def cmd_gethome ( self , args ) : 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 ) | get home position |
41,559 | def cmd_led ( self , args ) : if len ( args ) < 3 : print ( "Usage: led RED GREEN BLUE <RATE>" ) 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 ) | send LED pattern as override |
41,560 | def cmd_oreoled ( self , args ) : if len ( args ) < 4 : print ( "Usage: oreoled LEDNUM RED GREEN BLUE <RATE>" ) 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 ) | send LED pattern as override using OreoLED conventions |
41,561 | def cmd_playtune ( self , args ) : 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 ) | send PLAY_TUNE message |
41,562 | def cmd_devid ( self , args ) : for p in self . mav_param . keys ( ) : if p . startswith ( 'COMPASS_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 ) | decode device IDs from parameters |
41,563 | def add_menu ( self , 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 ) ) | add to the default popup menu |
41,564 | def colour_for_wp ( self , wp_num ) : wp = self . module ( 'wp' ) . wploader . wp ( wp_num ) command = wp . command return self . _colour_for_wp_command . get ( command , ( 0 , 255 , 0 ) ) | return a tuple describing the colour a waypoint should appear on the map |
41,565 | def label_for_waypoint ( self , wp_num ) : 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 ] + ")" | return the label the waypoint which should appear on the map |
41,566 | def remove_mission_nofly ( self , key , selection_index ) : if not self . validate_nofly ( ) : print ( "NoFly invalid" ) return print ( "NoFly valid" ) idx = self . selection_index_to_idx ( key , selection_index ) wploader = self . module ( 'wp' ) . wploader if idx < 0 or idx >= wploader . count ( ) : print ( "Invalid wp number %u" % idx ) return wp = wploader . wp ( idx ) if wp . command != mavutil . mavlink . MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION : print ( "Not an exclusion point (%u)" % idx ) return tmp_idx = idx while tmp_idx > 0 : tmp = wploader . wp ( tmp_idx - 1 ) if ( tmp . command != wp . command or tmp . param1 != wp . param1 ) : break tmp_idx -= 1 start_idx_to_delete = idx - ( ( idx - tmp_idx ) % int ( wp . param1 ) ) for i in range ( int ( start_idx_to_delete + wp . param1 ) - 1 , start_idx_to_delete - 1 , - 1 ) : print ( "Removing at %u" % i ) deadun = wploader . wp ( i ) wploader . remove ( deadun ) self . module ( 'wp' ) . send_all_waypoints ( ) | remove a mission nofly polygon |
41,567 | def handle_menu_event ( self , obj ) : 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 == 'popupMissionRemoveNoFly' : self . remove_mission_nofly ( 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 == 'popupFenceRemove' : self . remove_fencepoint ( 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 == 'showPosition' : self . show_position ( ) | handle a popup menu event from the map |
41,568 | def map_callback ( self , obj ) : 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 . click_position = obj . latlon self . click_time = time . time ( ) 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 . click_position = obj . latlon self . click_time = time . time ( ) 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 . click_position = obj . latlon self . click_time = time . time ( ) 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 . rightIsDown and self . moving_fencepoint is not None : print ( "Cancelled fence move" ) self . moving_fencepoint = None return elif obj . event . leftIsDown : if time . time ( ) - self . click_time > 0.1 : self . click_position = obj . latlon self . click_time = time . time ( ) self . drawing_update ( ) if self . module ( 'misseditor' ) is not None : self . module ( 'misseditor' ) . update_map_click_position ( self . click_position ) if obj . event . rightIsDown : if self . draw_callback is not None : self . drawing_end ( ) return if time . time ( ) - self . click_time > 0.1 : self . click_position = obj . latlon self . click_time = time . time ( ) | called when an event happens on the slipmap |
41,569 | def drawing_end ( self ) : 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' ) ) | end line drawing |
41,570 | def draw_lines ( self , callback ) : from MAVProxy . modules . mavproxy_map import mp_slipmap self . draw_callback = callback self . draw_line = [ ] self . map . add_object ( mp_slipmap . SlipDefaultPopup ( None ) ) | draw a series of connected lines on the map calling callback when done |
41,571 | def cmd_set_originpos ( self , args ) : ( lat , lon ) = ( self . click_position [ 0 ] , self . click_position [ 1 ] ) print ( "Setting origin to: " , lat , lon ) self . master . mav . set_gps_global_origin_send ( self . settings . target_system , lat * 10000000 , lon * 10000000 , 0 * 1000 ) | called when user selects Set Origin on map |
41,572 | def cmd_center ( self , args ) : if len ( args ) < 3 : print ( "map center LAT LON" ) return lat = float ( args [ 1 ] ) lon = float ( args [ 2 ] ) self . map . set_center ( lat , lon ) | control center of view |
41,573 | def cmd_follow ( self , args ) : if len ( args ) < 2 : print ( "map follow 0|1" ) return follow = int ( args [ 1 ] ) self . map . set_follow ( follow ) | control following of vehicle |
41,574 | def set_secondary_vehicle_position ( self , m ) : 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 alt = self . ElevationMap . 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 ) ) | show 2nd vehicle on map |
41,575 | def cmd_param ( self , args ) : usage = "Usage: kml <clear | load (filename) | layers | toggle (layername) | fence (layername)>" 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 <filename>" ) 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 ] == "fence" : self . fencekml ( args [ 1 ] ) else : print ( usage ) return | control kml reading |
41,576 | def cmd_snap_wp ( self , args ) : 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 ( ) | snap waypoints to KML |
41,577 | def cmd_snap_fence ( self , args ) : threshold = 10.0 if len ( args ) > 0 : threshold = float ( args [ 0 ] ) fencemod = self . module ( 'fence' ) loader = fencemod . fenceloader changed = False for i in range ( 0 , loader . count ( ) ) : fp = loader . point ( i ) lat = fp . lat lon = fp . lng 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 best [ 0 ] != lat or best [ 1 ] != lon : loader . move ( i , best [ 0 ] , best [ 1 ] ) print ( "Snapping fence point %u to %f %f" % ( i , best [ 0 ] , best [ 1 ] ) ) changed = True elif best is not None : if best_dist <= ( threshold + 1 ) * 3 : print ( "Not snapping fence point %u dist %.1f" % ( i , best_dist ) ) if changed : fencemod . send_fence ( ) | snap fence to KML |
41,578 | def fencekml ( self , layername ) : if layername . startswith ( '"' ) and layername . endswith ( '"' ) : layername = layername [ 1 : - 1 ] for layer in self . allayers : if layer . key == layername : self . fenceloader . clear ( ) if len ( layer . points ) < 3 : return self . fenceloader . target_system = self . target_system self . fenceloader . target_component = self . target_component bounds = mp_util . polygon_bounds ( layer . points ) ( lat , lon , width , height ) = bounds center = ( lat + width / 2 , lon + height / 2 ) self . fenceloader . add_latlon ( center [ 0 ] , center [ 1 ] ) for lat , lon in layer . points : self . fenceloader . add_latlon ( lat , lon ) self . send_fence ( ) | set a layer as the geofence |
41,579 | def togglekml ( self , layername ) : if layername . startswith ( '"' ) and layername . endswith ( '"' ) : layername = layername [ 1 : - 1 ] if layername in self . curlayers : for layer in self . curlayers : if layer == layername : self . mpstate . map . remove_object ( layer ) self . curlayers . remove ( layername ) if layername in self . curtextlayers : for clayer in self . curtextlayers : if clayer == layername : self . mpstate . map . remove_object ( clayer ) self . curtextlayers . remove ( clayer ) else : for layer in self . allayers : if layer . key == layername : self . mpstate . map . add_object ( layer ) self . curlayers . append ( layername ) for alayer in self . alltextlayers : if alayer . key == layername : self . mpstate . map . add_object ( alayer ) self . curtextlayers . append ( layername ) self . menu_needs_refreshing = True | toggle the display of a kml |
41,580 | def clearkml ( self ) : for layer in self . curlayers : self . mpstate . map . remove_object ( layer ) for layer in self . curtextlayers : self . mpstate . map . remove_object ( layer ) self . allayers = [ ] self . curlayers = [ ] self . alltextlayers = [ ] self . curtextlayers = [ ] self . menu_needs_refreshing = True | Clear the kmls from the map |
41,581 | def loadkml ( self , filename ) : nodes = self . readkmz ( filename ) self . snap_points = [ ] for n in nodes : point = self . readObject ( n ) if self . mpstate . map is not None and point [ 0 ] == 'Polygon' : self . snap_points . extend ( point [ 2 ] ) newcolour = ( random . randint ( 0 , 255 ) , 0 , random . randint ( 0 , 255 ) ) curpoly = mp_slipmap . SlipPolygon ( point [ 1 ] , point [ 2 ] , layer = 2 , linewidth = 2 , colour = newcolour ) self . mpstate . map . add_object ( curpoly ) self . allayers . append ( curpoly ) self . curlayers . append ( point [ 1 ] ) if self . mpstate . map is not None and point [ 0 ] == 'Point' : icon = self . mpstate . map . icon ( 'barrell.png' ) curpoint = mp_slipmap . SlipIcon ( point [ 1 ] , latlon = ( point [ 2 ] [ 0 ] [ 0 ] , point [ 2 ] [ 0 ] [ 1 ] ) , layer = 3 , img = icon , rotation = 0 , follow = False ) curtext = mp_slipmap . SlipLabel ( point [ 1 ] , point = ( point [ 2 ] [ 0 ] [ 0 ] , point [ 2 ] [ 0 ] [ 1 ] ) , layer = 4 , label = point [ 1 ] , colour = ( 0 , 255 , 255 ) ) self . mpstate . map . add_object ( curpoint ) self . mpstate . map . add_object ( curtext ) self . allayers . append ( curpoint ) self . alltextlayers . append ( curtext ) self . curlayers . append ( point [ 1 ] ) self . curtextlayers . append ( point [ 1 ] ) self . menu_needs_refreshing = True | Load a kml from file and put it on the map |
41,582 | def idle_task ( self ) : if not self . menu_needs_refreshing : return 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 ) if mp_util . has_wxpython and self . menu_added_map : 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 isinstance ( layer , mp_slipmap . SlipPolygon ) : self . menu_fence . items . append ( MPMenuItem ( layer . key , layer . key , '# kml fence \"' + layer . key + '\"' ) ) if layer . key in self . curlayers and layer . key [ - 5 : ] != "-text" : self . menu . items . append ( MPMenuCheckbox ( layer . key , layer . key , '# kml toggle \"' + layer . key + '\"' , checked = True ) ) elif layer . key [ - 5 : ] != "-text" : self . menu . items . append ( MPMenuCheckbox ( layer . key , layer . key , '# kml toggle \"' + layer . key + '\"' , checked = False ) ) self . module ( 'map' ) . add_menu ( self . menu ) self . menu_needs_refreshing = False | handle GUI elements |
41,583 | def readkmz ( self , filename ) : filename . strip ( '"' ) if filename [ - 4 : ] == '.kml' : fo = open ( filename , "r" ) fstring = fo . read ( ) fo . close ( ) elif filename [ - 4 : ] == '.kmz' : zip = ZipFile ( filename ) for z in zip . filelist : if z . filename [ - 4 : ] == '.kml' : fstring = zip . read ( z ) break else : raise Exception ( "Could not find kml file in %s" % filename ) else : raise Exception ( "Is not a valid kml or kmz file in %s" % filename ) kmlstring = parseString ( fstring ) nodes = kmlstring . getElementsByTagName ( 'Placemark' ) return nodes | reads in a kmz file and returns xml nodes |
41,584 | def cmd_asterix ( self , args ) : usage = "usage: asterix <set|start|stop|restart|status>" 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 ) | asterix command parser |
41,585 | def start_listener ( 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 . bind ( ( '' , self . asterix_settings . port ) ) self . sock . setblocking ( False ) print ( "Started on port %u" % self . asterix_settings . port ) | start listening for packets |
41,586 | def stop_listener ( self ) : if self . sock is not None : self . sock . close ( ) self . sock = None self . tracks = { } | stop listening for packets |
41,587 | def set_secondary_vehicle_position ( self , m ) : 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 ) | store second vehicle position for filtering purposes |
41,588 | def could_collide_hor ( self , vpos , adsb_pkt ) : 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 | return true if vehicle could come within filter_dist_xy meters of adsb vehicle in timeout seconds |
41,589 | def could_collide_ver ( self , vpos , adsb_pkt ) : 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 : return True if vtype == 4 : return True 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 | return true if vehicle could come within filter_dist_z meters of adsb vehicle in timeout seconds |
41,590 | def mavlink_packet ( self , m ) : if m . get_type ( ) == 'GLOBAL_POSITION_INT' : if abs ( m . lat ) < 1000 and abs ( m . lon ) < 1000 : return self . vehicle_pos = VehiclePos ( m ) | get time from mavlink ATTITUDE |
41,591 | def complete_serial_ports ( self , text ) : ports = mavutil . auto_detect_serial ( preferred_list = preferred_ports ) return [ p . device for p in ports ] | return list of serial ports |
41,592 | def complete_links ( self , text ) : 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 ) ) | return list of links |
41,593 | def cmd_link_attributes ( self , args ) : link = args [ 0 ] attributes = args [ 1 ] print ( "Setting link %s attributes (%s)" % ( link , attributes ) ) self . link_attributes ( link , attributes ) | change optional link attributes |
41,594 | def find_link ( self , device ) : 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 | find a device based on number name or label |
41,595 | def cmd_link_remove ( self , args ) : 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 ) for j in range ( len ( self . mpstate . mav_master ) ) : conn = self . mpstate . mav_master [ j ] conn . linknum = j | remove an link |
41,596 | def master_send_callback ( self , m , master ) : if self . status . watch is not None : for msg_type in self . status . watch : if fnmatch . fnmatch ( m . get_type ( ) . upper ( ) , msg_type . upper ( ) ) : self . mpstate . console . writeln ( '> ' + str ( m ) ) break mtype = m . get_type ( ) if mtype != 'BAD_DATA' and self . mpstate . logqueue : usec = self . get_usec ( ) usec = ( usec & ~ 3 ) | 3 self . mpstate . logqueue . put ( bytearray ( struct . pack ( '>Q' , usec ) + m . get_msgbuf ( ) ) ) | called on sending a message |
41,597 | def handle_msec_timestamp ( self , m , master ) : if m . get_type ( ) == 'GLOBAL_POSITION_INT' : return msec = m . time_boot_ms if msec + 30000 < master . highest_msec : self . say ( 'Time has wrapped' ) print ( 'Time has wrapped' , msec , master . highest_msec ) self . status . highest_msec = msec for mm in self . mpstate . mav_master : mm . link_delayed = False mm . highest_msec = msec return master . highest_msec = msec if msec > self . status . highest_msec : self . status . highest_msec = msec if msec < self . status . highest_msec and len ( self . mpstate . mav_master ) > 1 and self . mpstate . settings . checkdelay : master . link_delayed = True else : master . link_delayed = False | special handling for MAVLink packets with a time_boot_ms field |
41,598 | def report_altitude ( self , altitude ) : master = self . master if getattr ( self . console , 'ElevationMap' , None ) is not None 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 . console . ElevationMap . 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 ) ) self . say ( "height %u" % rounded_alt , priority = 'notification' ) | possibly report a new altitude |
41,599 | def cmd_vehicle ( self , args ) : 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 ] ) 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 self . mpstate . settings . link = best_link + 1 print ( "Set vehicle %s (link %u)" % ( args [ 0 ] , best_link + 1 ) ) | handle vehicle commands |
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