204 lines
8.8 KiB
Python
204 lines
8.8 KiB
Python
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#!/usr/bin/env python
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'''
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GUI to calculate telemetry data rate between vehicle and GCS
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Amilcar Lucas
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Karthik Desai
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Copyright IAV GmbH 2017
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Released under GNU GPL version 3 or later
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'''
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from future import standard_library
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standard_library.install_aliases()
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from builtins import str
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## Generate window for calculating the datasize
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from tkinter import Tk, Text, TOP, BOTH, X, Y, N, LEFT,RIGHT, CENTER, RIDGE, VERTICAL, END, IntVar, IntVar, Scrollbar
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from tkinter.ttk import Frame, Label, Entry, Combobox, Checkbutton
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# import MAVLink messages length dictionary
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# this file is generated by a script
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mavlink_message_lengths_dict = None # default if following lines fail
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mav_message_size = 'mavlink_messages_size.py'
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exec(compile(source=open(mav_message_size).read(), filename=mav_message_size, mode='exec'))
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# Please adapt this list to the vehicle you are using
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# These were done by looking at the GCS_MAVLINK_Copter::data_stream_send() function
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# in the ardupilot/ArduCopter/GCS_Mavlink.cpp file
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mavlink_streams_list = [
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# STREAM DEFAULT DEFAULT DEFAULT
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# NAME RATE MAVLINK CHECKBOX
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# [Hz] MESSAGE STATES
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("RAW_SENS", 0, [('RAW_IMU' , True),
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('SCALED_IMU2' , True),
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('SCALED_IMU3' , False),
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('SCALED_PRESSURE' , True),
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('SCALED_PRESSURE2' , True),
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('SCALED_PRESSURE3' , False),
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('SENSOR_OFFSETS' , True),
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('NONE' , False)]),
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("EXT_STAT", 1, [('SYS_STATUS' , True),
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('POWER_STATUS' , True),
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('MEMINFO' , True),
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('MISSION_CURRENT' , True),
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('GPS_RAW_INT' , True),
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('GPS_RTK' , False),
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('GPS2_RAW' , False),
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('GPS2_RTK' , False),
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('NAV_CONTROLLER_OUTPUT', True),
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('FENCE_STATUS' , False),
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('NONE' , False)]),
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("POSITION", 1, [('GLOBAL_POSITION_INT' , True),
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('LOCAL_POSITION_NED' , True),
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('NONE' , False)]),
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("RAW_CTRL", 0, [('RC_CHANNELS_SCALED' , True),
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('NONE' , False)]),
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("RC_CHAN", 0, [('SERVO_OUTPUT_RAW' , True),
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('RC_CHANNELS_RAW' , True),
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('RC_CHANNELS' , True),
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('NONE' , False)]),
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("EXTRA1", 2, [('ATTITUDE' , True),
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('SIMSTATE' , False),
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('AHRS2' , True),
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('PID_TUNING' , False), # TODO: this will be sent up to four times depending on the GCS_PID_MASK bit3~0 parameter
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('NONE' , False)]),
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("EXTRA2", 2, [('VFR_HUD' , True),
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('NONE' , False)]),
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("EXTRA3", 1, [('AHRS' , True),
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('HWSTATUS' , True),
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('SYSTEM_TIME' , True),
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('RANGEFINDER' , False),
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('DISTANCE_SENSOR' , False),
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('TERRAIN_REQUEST' , False),
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('BATTERY2' , False),
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('MOUNT_STATUS' , False),
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('OPTICAL_FLOW' , False),
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('GIMBAL_REPORT' , False),
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('MAG_CAL_REPORT' , False),
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('MAG_CAL_PROGRESS' , False),
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('EKF_STATUS_REPORT' , True),
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('VIBRATION' , True),
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('RPM' , True),
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('NONE' , False)]),
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# ("PARAMS", 8, [('PARAM_VALUE' , True),
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# ('NONE' ,False)]),
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("ADSB", 0, [('ADSB_VEHICLE' , True),
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('NONE' , False)]),
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("RTCM_INJ", 1, [('GPS_RTCM_DATA' , True),
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('NONE' , False)]),
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]
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class MainWindow(Frame):
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def __init__(self, parent):
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Frame.__init__(self, parent)
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self.parent = parent
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self.streamrate_name_array = {}
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self.streamrate_cb_array = {}
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self.streamDataRate_array = {}
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self.streamrate_edit_array = {}
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# you can change this one to make the GUI wider
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self.columns = 3
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self.initUI()
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self.parent.bind('<Return>', self.updateCombo)
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self.updateCombo()
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def updateCombo(self, event = None):
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totalBits = 0
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for frame_name in mavlink_streams_list:
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bits = 0
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for frame_boxes in frame_name[2]:
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temp = self.streamrate_name_array[frame_name[0]][frame_boxes[0]].get()
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if (self.streamrate_cb_array[frame_name[0]][frame_boxes[0]].get()):
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bits = bits + (8*mavlink_message_lengths_dict[temp]) # convert number of bytes to number of bits
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datarate = float(self.streamrate_edit_array[frame_name[0]].get())
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tempDataBits = int(bits * datarate)
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self.streamDataRate_array[frame_name[0]].config(text=str(tempDataBits)+" bits/s")
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totalBits = int(totalBits + tempDataBits)
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self.end_total_data_rate_label.config(text = "Total Data Rate is "+str(totalBits) + " bits/s")
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def initUI(self):
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self.parent.title("Calculate Mavlink UAV->GCS telemetry datarate")
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self.pack(fill=BOTH, expand=1)
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count = 0
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count_frame = 0
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count_row = 0
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for frame_name in mavlink_streams_list:
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child_frame = Frame(self,borderwidth = 2, relief = RIDGE)
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child_frame.grid(row = count_row, column = count_frame % self.columns)
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if(count_frame % self.columns == self.columns-1):
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count_row = count_row + 1
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count_frame = count_frame + 1
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frame_label = Label(child_frame, text = frame_name[0] + " message stream")
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frame_label.pack(side= TOP)
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self.streamrate_name_array[frame_name[0]] = {}
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self.streamrate_cb_array[frame_name[0]] = {}
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comboFrame = Frame(child_frame)
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comboFrame.pack(side = LEFT)
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for frame_boxes in frame_name[2] :
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comboframe = Frame(comboFrame)
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comboframe.pack(side = TOP)
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combo = Combobox(comboframe,values = tuple(mavlink_msg_temp for mavlink_msg_temp in mavlink_message_lengths_dict))
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combo.grid(row = count, column = 0)
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index = list(mavlink_message_lengths_dict.keys()).index(frame_boxes[0])
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combo.current(index)
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var = IntVar()
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if (frame_boxes[1]):
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var.set(1)
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else:
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var.set(0)
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checkbox = Checkbutton(comboframe,variable = var, command = self.updateCombo)
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checkbox.grid(row = count, column = 1)
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self.streamrate_name_array[frame_name[0]][frame_boxes[0]] = combo
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self.streamrate_cb_array[frame_name[0]][frame_boxes[0]] = var
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combo.bind("<<ComboboxSelected>>",self.updateCombo)
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count = count + 1
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streamrate_frame = Frame(child_frame)
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streamrate_frame.pack(side = TOP, anchor = CENTER)
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data_rate_label = Label(streamrate_frame, text="Stream Rate")
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data_rate_label.pack()
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self.data_rate_edit = Entry(streamrate_frame,width = 2)
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self.data_rate_edit.insert(0,frame_name[1])
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self.streamrate_edit_array[frame_name[0]] = self.data_rate_edit
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self.data_rate_edit.pack(side = LEFT, anchor = CENTER)
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unit_Label = Label(streamrate_frame, text="Hz")
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unit_Label.pack(side=RIGHT,anchor = CENTER)
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datarate_frame = Frame(child_frame)
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datarate_frame.pack(side = TOP, anchor = CENTER)
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total_data_rate_label = Label(datarate_frame, text="Data Rate")
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total_data_rate_label.pack(side=TOP,anchor = CENTER)
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self.total_data_rate_answer = Label(datarate_frame, text=" bits/s")
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self.total_data_rate_answer.pack(side=TOP,anchor = CENTER)
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self.streamDataRate_array[frame_name[0]] = self.total_data_rate_answer
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self.end_total_data_rate_label = Label(self.parent, text="Total Data Rate")
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self.end_total_data_rate_label.pack(side=TOP)
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def main():
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root = Tk()
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app = MainWindow(root)
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root.mainloop()
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if __name__ == '__main__':
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main()
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