mirror of https://github.com/ArduPilot/ardupilot
111 lines
3.7 KiB
Python
111 lines
3.7 KiB
Python
# Copyright (C) 2016 Intel Corporation. All rights reserved.
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#
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# This file is free software: you can redistribute it and/or modify it
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# under the terms of the GNU General Public License as published by the
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# Free Software Foundation, either version 3 of the License, or
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# (at your option) any later version.
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#
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# This file is distributed in the hope that it will be useful, but
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# WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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# See the GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License along
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# with this program. If not, see <http://www.gnu.org/licenses/>.
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'''
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This module shows the geodesic sections hit by the samples collected during
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compass calibration, and also some status data. The objective of this module is
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to provide a reference on how to interpret the field `completion_mask` from the
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MAG_CAL_PROGRESS mavlink message. That information can be used in order to
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guide the vehicle user during calibration.
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The plot shown by this module isn't very helpful to the end user, but it might
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help developers during development of internal calibration support in ground
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control stations.
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'''
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from MAVProxy.modules.lib import mp_module, mp_util
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import multiprocessing
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class MagcalGraph():
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def __init__(self):
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self.parent_pipe, self.child_pipe = multiprocessing.Pipe()
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self.ui_process = None
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self._last_mavlink_msgs = {}
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def start(self):
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if self.is_active():
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return
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if self.ui_process:
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self.ui_process.join()
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for l in self._last_mavlink_msgs.values():
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for m in l:
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if not m:
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continue
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self.parent_pipe.send(m)
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self.ui_process = multiprocessing.Process(target=self.ui_task)
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self.ui_process.start()
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def stop(self):
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if not self.is_active():
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return
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self.parent_pipe.send('close')
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self.ui_process.join()
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def ui_task(self):
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mp_util.child_close_fds()
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from MAVProxy.modules.lib import wx_processguard
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from MAVProxy.modules.lib.wx_loader import wx
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from lib.magcal_graph_ui import MagcalFrame
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app = wx.App(False)
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app.frame = MagcalFrame(self.child_pipe)
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app.frame.Show()
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app.MainLoop()
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def is_active(self):
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return self.ui_process is not None and self.ui_process.is_alive()
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def mavlink_packet(self, m):
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if m.compass_id not in self._last_mavlink_msgs:
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# Keep the two last messages so that, if one is the calibration
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# report message, the previous one is the last progress message.
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self._last_mavlink_msgs[m.compass_id] = [None, m]
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else:
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l = self._last_mavlink_msgs[m.compass_id]
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l[0] = l[1]
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l[1] = m
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if not self.is_active():
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return
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self.parent_pipe.send(m)
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class MagcalGraphModule(mp_module.MPModule):
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def __init__(self, mpstate):
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super(MagcalGraphModule, self).__init__(mpstate, 'magcal_graph')
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self.add_command(
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'magcal_graph',
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self.cmd_magcal_graph,
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'open a window to report magcal progress and plot geodesic ' +
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'sections hit by the collected data in real time',
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)
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self.graph = MagcalGraph()
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def cmd_magcal_graph(self, args):
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self.graph.start()
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def mavlink_packet(self, m):
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if m.get_type() not in ('MAG_CAL_PROGRESS', 'MAG_CAL_REPORT'):
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return
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self.graph.mavlink_packet(m)
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def unload(self):
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self.graph.stop()
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def init(mpstate):
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return MagcalGraphModule(mpstate)
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