Instructor station, initial commit

Author: AndKe

MAVProxy/modules/lib/mp_instructor.py

@@ -0,0 +1,335 @@
+#!/usr/bin/env python
+
+"""
+  MAVProxy instructor station, UI runs in a child process
+  André Kjellstrup @ NORCE
+"""
+
+from MAVProxy.modules.lib import mp_util
+from MAVProxy.modules.lib import multiproc
+from MAVProxy.modules.lib.wx_loader import wx
+
+
+class CheckboxItemState:
+    def __init__(self, name, state):
+        self.name = name
+        self.state = state
+
+
+class InstructorUI:
+    """
+    Instructor UI for MAVProxy
+    """
+    def __init__(self, title='Instructor Station'):
+        self.title = title
+        self.menu_callback = None
+        self.pipe_to_gui, self.gui_pipe = multiproc.Pipe()
+        self.close_event = multiproc.Event()
+        self.close_event.clear()
+        self.child = multiproc.Process(target=self.child_task)
+        self.child.start()
+
+    def child_task(self):
+        """child process - this holds all the GUI elements"""
+        mp_util.child_close_fds()
+        from MAVProxy.modules.lib.wx_loader import wx
+
+        app = wx.App(False)
+        app.frame = InstructorFrame(self.gui_pipe, state=self, title=self.title)
+        app.frame.Show()
+        app.MainLoop()
+
+    def close(self):
+        """close the UI"""
+        self.close_event.set()
+        if self.is_alive():
+            self.child.join(2)
+            print("closed")
+
+    def is_alive(self):
+        """check if child is still going"""
+        return self.child.is_alive()
+
+    def set_check(self, name, state):
+        """set a status value"""
+        if self.child.is_alive():
+            self.pipe_to_gui.send(CheckboxItemState(name, state))
+
+
+class InstructorFrame(wx.Frame):
+    """ The main frame of the console"""
+
+    def __init__(self, gui_pipe,  state, title):
+        self.state = state
+        self.gui_pipe = gui_pipe
+        wx.Frame.__init__(self, None, title=title, size=(500, 650), style=wx.DEFAULT_FRAME_STYLE ^ wx.RESIZE_BORDER)
+
+
+        self.panel = wx.Panel(self)
+        self.nb = wx.Choicebook(self.panel, wx.ID_ANY)
+
+        # create the tabs
+        self.createWidgets()
+
+        # assign events to the buttons on the tabs
+        self.createActions()
+
+        # add in the pipe from MAVProxy
+        self.timer = wx.Timer(self)
+        # self.Bind(wx.EVT_TIMER, self.on_timer, self.timer)
+        # self.Bind(wx.EVT_TIMER, self.on_timer, self.timer)
+        self.Bind(wx.EVT_TIMER, lambda evt, notebook=self.nb: self.on_timer(evt, notebook), self.timer)
+        self.timer.Start(100)
+
+        # finally, put the notebook in a sizer for the panel to manage
+        # the layout
+        sizer = wx.BoxSizer()
+        sizer.Add(self.nb, 1, wx.EXPAND)
+        self.panel.SetSizer(sizer)
+
+        self.Show(True)
+        self.pending = []
+
+
+
+    # create controls on form - labels, buttons, etc
+    def createWidgets(self):
+
+        # create the panels for the tabs
+
+        PanelCommon = wx.Panel(self.nb)
+        boxCommon = wx.BoxSizer(wx.VERTICAL)
+        PanelCommon.SetAutoLayout(True)
+        PanelCommon.SetSizer(boxCommon)
+        PanelCommon.Layout()
+
+
+        PanelPlane = wx.Panel(self.nb)
+        boxPlane = wx.BoxSizer(wx.VERTICAL)
+        PanelPlane.SetAutoLayout(True)
+        PanelPlane.SetSizer(boxPlane)
+        PanelPlane.Layout()
+
+        PanelCopter = wx.Panel(self.nb)
+        boxCopter = wx.BoxSizer(wx.VERTICAL)
+        PanelCopter.SetAutoLayout(True)
+        PanelCopter.SetSizer(boxCopter)
+        PanelCopter.Layout()
+
+
+        # add the data to the individual tabs
+
+        'Common failures'
+
+        self.Dis_GNSS_Fix_Checkbox = wx.CheckBox(PanelCommon, wx.ID_ANY, "Disable GNSS FIX")
+        boxCommon.Add(self.Dis_GNSS_Fix_Checkbox)
+
+        boxCommon.Add(wx.StaticLine(PanelCommon, -1), 0, wx.EXPAND | wx.TOP | wx.BOTTOM, 10)
+        boxCommon.Add(wx.StaticText(PanelCommon, wx.ID_ANY, 'Voltage drop rate mv/s:', wx.DefaultPosition, wx.DefaultSize, style=wx.ALIGN_RIGHT))
+
+        self.VoltageSlider = wx.Slider(PanelCommon, wx.ID_ANY, 100, 10, 200, wx.DefaultPosition, (250, -1),
+                                       wx.SL_AUTOTICKS | wx.SL_HORIZONTAL | wx.SL_LABELS)
+        boxCommon.Add(self.VoltageSlider)
+
+        self.Voltage_Drop_Checkbox = wx.CheckBox(PanelCommon, wx.ID_ANY, "Voltage dropping")
+        boxCommon.Add(self.Voltage_Drop_Checkbox)
+
+        boxCommon.Add(wx.StaticLine(PanelCommon, -1), 0, wx.EXPAND | wx.TOP | wx.BOTTOM, 10)
+
+        self.FailsafeButton = wx.Button(PanelCommon, wx.ID_ANY, "Trigger FailSafe")
+        boxCommon.Add(self.FailsafeButton)
+
+        boxCommon.Add(wx.StaticLine(PanelCommon, -1), 0, wx.EXPAND | wx.TOP | wx.BOTTOM, 10)
+
+        self.GCS_Comm_Loss_Checkbox = wx.CheckBox(PanelCommon, wx.ID_ANY, "GCS Comm loss")
+        # disCheckbox.Enable(False)
+        boxCommon.Add(self.GCS_Comm_Loss_Checkbox)
+
+        boxCommon.Add(wx.StaticLine(PanelCommon, -1), 0, wx.EXPAND | wx.TOP | wx.BOTTOM, 10)
+        boxCommon.Add(wx.StaticText(PanelCommon, wx.ID_ANY, 'Wind Direction:', wx.DefaultPosition, wx.DefaultSize,style=wx.ALIGN_RIGHT))
+
+        self.Wind_Dir_Slider = wx.Slider(PanelCommon, wx.ID_ANY, 0, 0, 359, wx.DefaultPosition, (250, -1),
+                                         wx.SL_AUTOTICKS | wx.SL_HORIZONTAL | wx.SL_LABELS)
+        boxCommon.Add(self.Wind_Dir_Slider)
+
+        boxCommon.Add(wx.StaticText(PanelCommon, wx.ID_ANY, 'Wind Velocity (m/s):', wx.DefaultPosition, wx.DefaultSize,style=wx.ALIGN_RIGHT))
+        self.Wind_Vel_Slider = wx.Slider(PanelCommon, wx.ID_ANY, 0, 0, 50, wx.DefaultPosition, (250, -1),
+                                       wx.SL_AUTOTICKS | wx.SL_HORIZONTAL | wx.SL_LABELS)
+        boxCommon.Add(self.Wind_Vel_Slider)
+
+        boxCommon.Add(wx.StaticText(PanelCommon, wx.ID_ANY, 'Turbulence:', wx.DefaultPosition, wx.DefaultSize,
+                                    style=wx.ALIGN_RIGHT))
+        self.Wind_Turb_Slider = wx.Slider(PanelCommon, wx.ID_ANY, 0, 0, 10, wx.DefaultPosition, (250, -1),
+                                         wx.SL_AUTOTICKS | wx.SL_HORIZONTAL | wx.SL_LABELS)
+        boxCommon.Add(self.Wind_Turb_Slider)
+
+
+        'Plane specific failures'
+
+        self.Pitot_Fail_Low_Checkbox = wx.CheckBox(PanelPlane, wx.ID_ANY, "Pitot stuck at no speed")
+        boxPlane.Add(self.Pitot_Fail_Low_Checkbox)
+
+        self.Pitot_Fail_High_Checkbox = wx.CheckBox(PanelPlane, wx.ID_ANY, "Pitot stuck at high speed")
+        boxPlane.Add(self.Pitot_Fail_High_Checkbox)
+
+        self.Arspd_Offset_Slider = wx.Slider(PanelPlane, wx.ID_ANY, 2013, 1500, 2500, wx.DefaultPosition, (250, -1),
+                                       wx.SL_AUTOTICKS | wx.SL_HORIZONTAL | wx.SL_LABELS)
+        boxPlane.Add(self.Arspd_Offset_Slider)
+
+        boxPlane.Add(wx.StaticLine(PanelPlane, -1), 0, wx.EXPAND | wx.TOP | wx.BOTTOM, 10)
+
+        boxPlane.Add(wx.StaticText(PanelPlane, wx.ID_ANY, 'Thrust reduction:', wx.DefaultPosition, wx.DefaultSize,
+                                    style=wx.ALIGN_RIGHT))
+        self.Plane_Thrust_Slider = wx.Slider(PanelPlane, wx.ID_ANY, 0, 0, 1000, wx.DefaultPosition, (250, -1),
+                                             wx.SL_AUTOTICKS | wx.SL_HORIZONTAL | wx.SL_LABELS)
+        boxPlane.Add(self.Plane_Thrust_Slider)
+
+        boxPlane.Add(wx.StaticText(PanelPlane, wx.ID_ANY, 'Thrust reduction + current increase:', wx.DefaultPosition, wx.DefaultSize,
+                                   style=wx.ALIGN_RIGHT))
+
+        self.Plane_Thrust_Curr_Slider = wx.Slider(PanelPlane, wx.ID_ANY, 0, 0, 1000, wx.DefaultPosition, (250, -1),
+                                             wx.SL_AUTOTICKS | wx.SL_HORIZONTAL | wx.SL_LABELS)
+        boxPlane.Add(self.Plane_Thrust_Curr_Slider)
+
+        'Copter specific failures'
+
+        boxCopter.Add(wx.StaticText(PanelCopter, wx.ID_ANY, 'Thrust reduction:', wx.DefaultPosition, wx.DefaultSize, style=wx.ALIGN_RIGHT))
+
+        self.Copter_Thrust_Slider = wx.Slider(PanelCopter, wx.ID_ANY, 0, 0, 400, wx.DefaultPosition, (250, -1),
+                                             wx.SL_AUTOTICKS | wx.SL_HORIZONTAL | wx.SL_LABELS)
+        boxCopter.Add(self.Copter_Thrust_Slider)
+
+        boxCopter.Add(wx.StaticLine(PanelCopter, -1), 0, wx.EXPAND | wx.TOP | wx.BOTTOM, 10)
+
+        self.CopterResetButton = wx.Button(PanelCopter, wx.ID_ANY, "Reset Parameters")
+        boxCopter.Add(self.CopterResetButton)
+
+        # and add in the tabs
+        self.nb.AddPage(PanelCommon, "Common (Copter/Plane) Failures")
+        self.nb.AddPage(PanelPlane, "Plane specific Failures")
+        self.nb.AddPage(PanelCopter, "Copter specific Failures")
+
+
+
+
+    # Create the actions for the buttons
+    def createActions(self):
+        # Common tab:
+        self.Bind(wx.EVT_CHECKBOX, self.dis_gnss, self.Dis_GNSS_Fix_Checkbox)
+        #self.Bind(wx.EVT_CHECKBOX, self.sendevent("Voltage", 20), self.Voltage_Drop_Checkbox)   #  WHY  trigged once?
+        self.Bind(wx.EVT_CHECKBOX, self.volt_drop, self.Voltage_Drop_Checkbox)
+        self.Bind(wx.EVT_CHECKBOX, self.gcs_comm_loss, self.GCS_Comm_Loss_Checkbox)
+        self.Bind(wx.EVT_SCROLL_CHANGED, self.volt_drop_rate, self.VoltageSlider)
+        self.Bind(wx.EVT_BUTTON, self.setmode, self.FailsafeButton)
+        self.Bind(wx.EVT_SCROLL_CHANGED, self.wind_dir, self.Wind_Dir_Slider)
+        self.Bind(wx.EVT_SCROLL_CHANGED, self.wind_vel, self.Wind_Vel_Slider)
+        self.Bind(wx.EVT_SCROLL_CHANGED, self.wind_turbulence, self.Wind_Turb_Slider)
+        # Plane tab:
+        self.Bind(wx.EVT_CHECKBOX, self.pitot_fail_low, self.Pitot_Fail_Low_Checkbox)
+        self.Bind(wx.EVT_CHECKBOX, self.pitot_fail_high, self.Pitot_Fail_High_Checkbox)
+        self.Bind(wx.EVT_SCROLL_CHANGED, self.arspd_offset, self.Arspd_Offset_Slider)
+        self.Bind(wx.EVT_SCROLL_CHANGED, self.plane_thrust_loss, self.Plane_Thrust_Slider)
+        self.Bind(wx.EVT_SCROLL_CHANGED, self.plane_thrust_loss_curr, self.Plane_Thrust_Curr_Slider)
+        # Copter tab:
+        self.Bind(wx.EVT_SCROLL_CHANGED, self.copter_thrust_loss, self.Copter_Thrust_Slider)
+        self.Bind(wx.EVT_BUTTON, self.copter_reset, self.CopterResetButton)
+
+    # Common actions
+    def dis_gnss(self, event):
+        self.gui_pipe.send(["dis_gnss", self.Dis_GNSS_Fix_Checkbox.Value])
+
+    def volt_drop_rate(self, event):
+        self.gui_pipe.send(["volt_drop_rate", self.VoltageSlider.Value / 1000])
+
+    def volt_drop(self, event):
+        self.gui_pipe.send(["volt_drop", self.Voltage_Drop_Checkbox.Value])
+
+    def gcs_comm_loss(self, event):
+        self.gui_pipe.send(["gcs_comm_loss", self.GCS_Comm_Loss_Checkbox.Value])
+
+    def setmode(self, event):
+        self.gui_pipe.send(["setmode", 10])
+    def on_gnss_Button_ok(self, event):
+        self.gui_pipe.send("ok")
+
+    def wind_dir(self, event):
+        self.gui_pipe.send(["wind_dir", self.Wind_Dir_Slider.Value])
+
+    def wind_vel(self, event):
+        self.gui_pipe.send(["wind_vel", self.Wind_Vel_Slider.Value])
+
+
+    def wind_turbulence(self, event):
+        self.gui_pipe.send(["wind_turbulence", self.Wind_Turb_Slider.Value])
+
+    # Plane actions
+
+    def pitot_fail_low(self, event):
+        self.gui_pipe.send(["pitot_fail_low", self.Pitot_Fail_Low_Checkbox.Value])
+
+    def pitot_fail_high(self, event):
+        self.gui_pipe.send(["pitot_fail_high", self.Pitot_Fail_High_Checkbox.Value])
+
+    def arspd_offset(self, event):
+        self.gui_pipe.send(["arspd_offset", self.Arspd_Offset_Slider.Value])
+
+    def plane_thrust_loss(self, event):
+        self.gui_pipe.send(["plane_thrust_loss", self.Plane_Thrust_Slider.Value])
+
+    def plane_thrust_loss_curr(self, event):
+        self.gui_pipe.send(["plane_thrust_loss_curr", self.Plane_Thrust_Curr_Slider.Value])
+
+        # Copter actions
+
+    def copter_thrust_loss(self, event):
+        self.gui_pipe.send(["copter_thrust_loss", self.Copter_Thrust_Slider.Value])
+
+    def copter_reset (self, event):
+        self.gui_pipe.send(["copter_reset", 0])
+
+    def sendevent(self, event, text, value=0):
+        self.gui_pipe.send([text, value])
+
+
+
+
+    #do a final check of the current panel and move to the next
+    def on_Button( self, event):
+        win = (event.GetEventObject()).GetParent()
+        for widget in win.GetChildren():
+            if type(widget) is wx.CheckBox and widget.IsChecked() == 0:
+                dlg = wx.MessageDialog(win, "Not all items checked", "Error", wx.OK | wx.ICON_WARNING)
+                dlg.ShowModal()
+                dlg.Destroy()
+                return
+        # all checked, go to next panel.
+        win.GetParent().AdvanceSelection()
+
+
+    # Receive messages from MAVProxy module and process them
+    def on_timer(self, event, notebook):
+        state = self.state
+        win = notebook.GetPage(notebook.GetSelection())
+        if state.close_event.wait(0.001):
+            self.timer.Stop()
+            self.Destroy()
+            return
+        while state.gui_pipe.poll():
+            obj = state.gui_pipe.recv()
+            if isinstance(obj, CheckboxItemState):
+                # go through each item in the current tab and (un)check as needed
+                # print(obj.name + ", " + str(obj.state))
+                for widget in win.GetChildren():
+                    if type(widget) is wx.CheckBox and widget.GetLabel() == obj.name:
+                        widget.SetValue(obj.state)
+
+
+if __name__ == "__main__":
+    # test the console
+    import time
+
+    instructor = InstructorUI()
+
+    # example auto-tick in second tab page
+    while instructor.is_alive():
+        time.sleep(0.5)