mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-30 11:37:06 +08:00
Rotwing show both CAN bus messages... (#3263)
This commit is contained in:
Christophe De Wagter
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GitHub
GitHub
parent
15d8a63956
commit
d0f97e143d
@@ -42,6 +42,7 @@ BARH = 140
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class EscMessage(object):
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def __init__(self, msg):
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self.id = int(msg['motor_id'])
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self.node_id = int(msg['node_id'])
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self.amp = float(msg['amps'])
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self.rpm = float(msg['rpm'])
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self.volt_b = float(msg['bat_volts'])
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@@ -74,15 +75,15 @@ class EscMessage(object):
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return self.volt_b / (6*4.2)
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def get_temp(self):
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if self.temperature < -200:
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return "xxx"
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#if self.temperature < -200:
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# return "xxx"
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return str(round(self.temperature ,1)) + "C"
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def get_temp_perc(self):
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return self.temperature / 120.0
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def get_temp_dev(self):
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if self.temperature_dev < -200:
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return "xxx"
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#if self.temperature_dev < -200:
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# return "xxx"
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return str(round(self.temperature_dev, 1)) + "C"
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def get_temp_dev_perc(self):
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return self.temperature_dev / 120.0
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@@ -110,6 +111,9 @@ class INDIMessage(object):
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def get_u(self, id):
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return str(round(self.u[id], 0)) + " PPRZ"
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def get_len(self):
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return len(self.u)
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def get_u_perc(self, id):
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return self.u[id] / 9600.
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@@ -125,6 +129,13 @@ class MotorList(object):
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def fill_from_esc_msg(self, esc):
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added = False
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# Some corrections for the big one:
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if esc.id == 13:
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esc.id = 1
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if esc.temperature < -50:
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esc.temperature += 273.15
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if esc.temperature_dev < -50:
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esc.temperature_dev += 273.15
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for i in range(len(self.mot)):
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if self.mot[i].id == esc.id:
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self.mot[i] = esc
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@@ -210,43 +221,73 @@ class RotWingFrame(wx.Frame):
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dc.SetPen(wx.Pen(wx.Colour(0,0,0)))
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dc.SetBrush(wx.Brush(wx.Colour(240,240,220)))
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# Fuselage
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dc.DrawRoundedRectangle(int(0.475*w), int(0.05*h),int(0.05*w), int(0.75*h), int(0.015*w))
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dc.DrawRoundedRectangle(int(0.425*w), int(0.05*h),int(0.15*w), int(0.4*h), int(0.05*w))
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# Front Wing
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#dc.DrawRectangle(int(0.05*w), int(0.25*h),int(0.9*w), int(0.15*h))
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dc.DrawRectangle(int(0.05*w), int(0.25*h),int(0.9*w), int(0.15*h))
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# Back Wing
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#dc.DrawRectangle(int(0.01*w), int(0.65*h),int(0.98*w), int(0.15*h))
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dc.DrawRectangle(int(0.25*w), int(0.65*h),int(0.5*w), int(0.1*h))
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# Motors
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self.stat = int(0.10*w)
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dc.SetBrush(wx.Brush(wx.Colour(200,200,100)))
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w1 = 0.03
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w2 = 0.2
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w3 = 0.37
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w4 = 0.54
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dw = 0.11
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w2 = 0.18
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w3 = 0.31
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w4 = 0.52
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dw = 0.17
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mw = 0.1
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mh = 0.15
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mm = [(0.5-0.5*mw,w1), (0.5+dw,w2), (0.5-0.5*mw,w3), (0.5-dw-mw,w2), (0.5-0.5*mw,w4)]
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for m in mm:
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dc.DrawRectangle(int(m[0]*w), int(m[1]*h),int(mw*w), int(mh*h))
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mh = 0.2
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mm = [(0.5-0.5*mw-0.05,w1), (0.5+dw-0.05+0.1,w2), (0.5-0.5*mw-0.05,w3), (0.5-dw-mw-0.05-0.1,w2), # hover CAN1: front right back left
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(0.5-0.5*mw-0.05,w4), # pusher CAN1
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(0.5-dw-mw-0.05,w4+0.05), (0.5+dw-0.05,w4+0.05), # tail CAN1
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(0.5-0.5*mw+0.05,w1), (0.5+dw+0.05+0.1,w2), (0.5-0.5*mw+0.05,w3), (0.5-dw-mw+0.05-0.1,w2), # hover CAN2
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(0.5-0.5*mw+0.05,w4), # pusher CAN2
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(0.5-dw-mw+0.05,w4+0.05), (0.5+dw+0.05,w4+0.05), # Tail CAN2
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(0.0, 0.75), (0.1, 0.75), (0.2, 0.75), (0.3, 0.75), (0.4, 0.75), # extra
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(0.5, 0.75), (0.6, 0.75), (0.7, 0.75), (0.8, 0.75), (0.9, 0.75),
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]
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mot_ids = [ 0, 1, 2, 3, # hover CAN1
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4, # pusher CAN1
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6, 7, # elevator/rudder CAN1
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12,13,14,15, # hover CAN2
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16, # pusher CAN2
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18, 19, # tail CAN2
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5, 8, 9, 10, 11, # Extra's at the bottoms
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17, 20, 21, 22, 23
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]
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for m in self.motors.mot:
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if m.id>4:
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mot_id = m.id
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# Drawing ID
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if not (mot_id in mot_ids):
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continue
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mo_co = mm[m.id]
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draw_id = mot_ids.index(mot_id)
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if draw_id >= len(mm):
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continue
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mo_co = mm[draw_id]
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#print(m.id, mo_co)
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dx = int(mo_co[0]*w)
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dy = int(mo_co[1]*h)
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dc.SetBrush(wx.Brush(wx.Colour(200,200,100)))
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dc.DrawRectangle( int((mo_co[0]+0.001)*w), int((mo_co[1]+0.001)*h),int((mw-0.002)*w), int((mh-0.002)*h) )
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self.StatusBox(dc, dx, dy, 0, 0, m.get_volt(), m.get_volt_perc(), 1)
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self.StatusBox(dc, dx, dy, 1, 0, m.get_current(), m.get_current_perc(), 1)
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self.StatusBox(dc, dx, dy, 2, 0, m.get_rpm(), m.get_rpm_perc(), m.get_rpm_color())
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self.StatusBox(dc, dx, dy, 3, 0, m.get_temp(), m.get_temp_perc(), m.get_temp_color())
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self.StatusBox(dc, dx, dy, 4, 0, m.get_temp_dev(), m.get_temp_dev_perc(), m.get_temp_dev_color())
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try:
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indi_id = m.id
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if m.id == 4:
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self.StatusBox(dc, dx, dy, 5, 0, self.indi.get_u(8), self.indi.get_u_perc(8), self.indi.get_u_color(8))
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else:
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self.StatusBox(dc, dx, dy, 5, 0, self.indi.get_u(m.id), self.indi.get_u_perc(m.id), self.indi.get_u_color(m.id))
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indi_id=8
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if indi_id < self.indi.get_len():
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self.StatusBox(dc, dx, dy, 5, 0, self.indi.get_u(indi_id), self.indi.get_u_perc(indi_id), self.indi.get_u_color(indi_id))
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except:
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pass
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