mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-24 05:45:59 +08:00
Fix Python tools - file name consistency - compile master without warnings - airframe fix (#3388)
This commit is contained in:
Christophe De Wagter
committed by
GitHub
GitHub
parent
fa1eeeb98f
commit
d7c50a262b
@@ -77,14 +77,14 @@ class EscMessage(object):
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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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return str(round(self.temperature ,1)) + "C"
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return str(round(self.temperature ,0)) + "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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return str(round(self.temperature_dev, 1)) + "C"
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return str(round(self.temperature_dev, 0)) + "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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@@ -106,7 +106,7 @@ class EscMessage(object):
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class INDIMessage(object):
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def __init__(self, msg):
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self.u = np.array(msg['u'], dtype=np.float)
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self.u = np.array(msg['u'], dtype=float)
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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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@@ -123,6 +123,205 @@ class INDIMessage(object):
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else:
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return 0.5
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class RWStatusMessage(object):
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def __init__(self, msg):
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self.state = int(msg['state'])
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self.nav_state = int(msg['state'])
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self.status = int(msg['status'])
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self.meas_skew_angle = float(msg['meas_skew_angle'])
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self.sp_skew_angle = float(msg['sp_skew_angle'])
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self.nav_airspeed = float(msg['nav_airspeed'])
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self.min_airspeed = float(msg['min_airspeed'])
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self.max_airspeed = float(msg['max_airspeed'])
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# Unpack the status bitfields
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if self.status & (0x1 << 0):
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self.skew_angle_valid = True
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else:
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self.skew_angle_valid = False
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if self.status & (0x1 << 1):
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self.hover_motors_enabled = True
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else:
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self.hover_motors_enabled = False
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if self.status & (0x1 << 2):
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self.hover_motors_idle = True
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else:
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self.hover_motors_idle = False
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if self.status & (0x1 << 3):
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self.hover_motors_running = True
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else:
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self.hover_motors_running = False
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if self.status & (0x1 << 4):
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self.pusher_motor_running = True
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else:
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self.pusher_motor_running = False
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if self.status & (0x1 << 5):
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self.skew_forced = True
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else:
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self.skew_forced = False
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def get_state(self):
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states = ['FORCE_HOVER', 'REQ_HOVER', 'FORCE_FW', 'REQ_FW', 'FREE']
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return states[self.state]
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def get_nav_state(self):
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states = ['FORCE_HOVER', 'REQ_HOVER', 'FORCE_FW', 'REQ_FW', 'FREE']
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return states[self.nav_state]
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class AIRDATAMessage(object):
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def __init__(self, msg):
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self.airspeed = float(msg['airspeed'])
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self.tas = float(msg['tas'])
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class IMUHEATERMessage(object):
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def __init__(self, msg):
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self.meas_temp = msg['meas_temp']
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# <message name="POWER_DEVICE" id="19">
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# <field name="node_id" type="uint8"/>
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# <field name="circuit" type="uint8"/>
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# <field name="current" type="float"/>
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# <field name="voltage" type="float"/>
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# </message>
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class PowerList(object):
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def __init__(self):
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self.power = {}
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class POWERDEVICEMessage(object):
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def __init__(self, msg):
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self.node_id = int(msg['node_id'])
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self.circuit = int(msg['circuit'])
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self.current = float(msg['current'])
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self.voltage = float(msg['voltage'])
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class FUELCELLMessage(object):
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def __init__(self, msg):
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self.pressure = msg['pressure']
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self.press_reg = float(msg['press_reg'])
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self.volt_bat = float(msg['volt_bat'])
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self.power_out = float(msg['power_out'])
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self.power_cell = float(msg['power_cell'])
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self.power_batt = float(msg['power_batt'])
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self.state = int(msg['state'])
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self.error = int(msg['error'])
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self.suberror = int(msg['suberror'])
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states = ['FCPM off', 'Starting', 'Running', 'Stopping', 'Go to sleep']
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self.state_str = '?'
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if self.state < len(states):
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self.state_str = states[self.state]
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if self.error == 0:
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self.error_str = 'No error'
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elif self.error == 1:
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self.error_str = 'Minor internal'
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elif self.error == 4:
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self.error_str = 'Reconditioning needed'
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elif self.error == 6:
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self.error_str = 'Auto recondition active'
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elif self.error == 7:
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self.error_str = 'Reconditioning active'
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elif self.error == 8:
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self.error_str = 'Recovery mode active'
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elif self.error == 12:
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self.error_str = 'Tank pressure low'
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elif self.error == 14:
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self.error_str = 'Battery voltage low'
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elif self.error == 20:
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self.error_str = 'Reduced power'
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elif self.error == 25:
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self.error_str = 'SPM lost'
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elif self.error == 30:
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self.error_str = 'Tank empty'
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elif self.error == 32:
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self.error_str = 'Start denied'
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elif self.error == 34:
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self.error_str = 'FC off - recovery required'
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elif self.error == 36:
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self.error_str = 'FC off - system error'
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elif self.error == 40:
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self.error_str = 'Battery critical'
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else:
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self.error_str = 'Unknown error'
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if self.suberror == 0:
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self.suberror_str = 'No context'
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elif self.suberror == 1:
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self.suberror_str = 'SPM1'
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elif self.suberror == 2:
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self.suberror_str = 'SPM2'
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elif self.suberror == 3:
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self.suberror_str = 'SPM1 AND SPM2'
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elif self.suberror == 4:
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self.suberror_str = 'ALL SPM LOST'
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elif self.suberror == 5:
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self.suberror_str = 'Inlet pressure low'
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elif self.suberror == 6:
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self.suberror_str = 'Inlet pressure high'
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elif self.suberror == 7:
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self.suberror_str = 'Tank pressure low'
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elif self.suberror == 8:
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self.suberror_str = 'Tank pressure high'
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elif self.suberror == 9:
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self.suberror_str = 'Stack voltage low'
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elif self.suberror == 10:
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self.suberror_str = 'Internal tests (INT ERR)'
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elif self.suberror == 11:
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self.suberror_str = 'Stack temperature high (STK HT)'
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elif self.suberror == 12:
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self.suberror_str = 'Stack temperature low (STK LT)'
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elif self.suberror == 13:
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self.suberror_str = 'Reconditioning active'
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elif self.suberror == 14:
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self.suberror_str = 'Reconditioning complete'
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elif self.suberror == 15:
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self.suberror_str = 'Thermal management'
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elif self.suberror == 16:
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self.suberror_str = 'Start faults'
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elif self.suberror == 17:
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self.suberror_str = 'LPI missing'
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elif self.suberror == 254:
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self.suberror_str = 'Complete flight - contact support'
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elif self.suberror == 255:
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self.suberror_str = 'Stop using unit - contact support'
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else:
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self.suberror_str = 'Unknown suberror'
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class PowerList(object):
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def __init__(self):
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self.power = []
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def fill_from_power_msg(self, power):
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added = False
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for i in range(len(self.power)):
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if self.power[i].node_id == power.node_id and self.power[i].circuit == power.circuit:
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self.power[i] = power
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added = True
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break
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if not added:
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self.power.append(power)
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def get_frontbat(self):
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for i in range(len(self.power)):
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if self.power[i].node_id == 14 and self.power[i].circuit == 0:
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return self.power[i]
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return None
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def get_backbat(self):
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for i in range(len(self.power)):
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if self.power[i].node_id == 6 and self.power[i].circuit == 0:
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return self.power[i]
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return None
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def get_backmot(self):
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for i in range(len(self.power)):
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if self.power[i].node_id == 6 and self.power[i].circuit == 1:
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return self.power[i]
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return None
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class MotorList(object):
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def __init__(self):
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self.mot = []
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@@ -154,6 +353,27 @@ class RotWingFrame(wx.Frame):
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if msg.name == "STAB_ATTITUDE":
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self.indi = INDIMessage(msg)
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wx.CallAfter(self.update)
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if msg.name =="ROTATING_WING_STATE":
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self.rw_status = RWStatusMessage(msg)
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wx.CallAfter(self.update)
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if msg.name == "AIR_DATA":
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self.air_data = AIRDATAMessage(msg)
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wx.CallAfter(self.update)
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if msg.name == "IMU_HEATER":
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self.imu_heater = IMUHEATERMessage(msg)
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wx.CallAfter(self.update)
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if msg.name == "FUELCELL":
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self.fuelcell = FUELCELLMessage(msg)
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wx.CallAfter(self.update)
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if msg.name == "POWER_DEVICE":
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self.powermessage = POWERDEVICEMessage(msg)
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self.powers.fill_from_power_msg(self.powermessage)
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wx.CallAfter(self.update)
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def update(self):
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self.Refresh()
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@@ -228,8 +448,107 @@ class RotWingFrame(wx.Frame):
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# Back Wing
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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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# Draw rotwing status
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self.stat = int(0.10*w)
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if hasattr(self, 'rw_status'):
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line = int(20.0 / 800.0 * h)
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dc.SetBrush(wx.Brush(wx.Colour(200,200,100)))
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dc.DrawRectangle(int(5), int(5),int(0.29*w), int(0.20*h))
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dc.DrawText("State: " + self.rw_status.get_state() + " [NAV: " + self.rw_status.get_nav_state() +"]", 10, int(0.5*line))
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if self.rw_status.skew_angle_valid:
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if abs(self.rw_status.meas_skew_angle - self.rw_status.sp_skew_angle) < 10:
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dc.SetTextForeground(wx.Colour(0, 0, 0))
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else:
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dc.SetTextForeground(wx.Colour(139, 64, 0))
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dc.DrawText("Rotation: " + str(round(self.rw_status.meas_skew_angle, 1)) + " (SP: " + str(round(self.rw_status.sp_skew_angle, 1)) + ")", 10, int(1.5*line))
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else:
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dc.SetTextForeground(wx.Colour(255, 0, 0))
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dc.DrawText("Rotation: " + str(round(self.rw_status.meas_skew_angle, 1)) + " (SP: " + str(round(self.rw_status.sp_skew_angle, 1)) + ")", 10, int(1.5*line))
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dc.SetTextForeground(wx.Colour(0, 0, 0))
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dc.DrawText("Hover motors: ", 10, int(2.5*line))
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lbw = dc.GetTextExtent("Hover Motors: ").width
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if self.rw_status.hover_motors_running:
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dc.SetTextForeground(wx.Colour(0, 0, 0))
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dc.DrawText("running ", 10 + lbw, int(2.5*line))
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lbw += dc.GetTextExtent("running ").width
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else:
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dc.SetTextForeground(wx.Colour(255, 0, 0))
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dc.DrawText("stopped ", 10 + lbw, int(2.5*line))
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lbw += dc.GetTextExtent("stopped ").width
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if self.rw_status.hover_motors_idle:
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dc.SetTextForeground(wx.Colour(0, 0, 0))
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dc.DrawText("idle ", 10 + lbw, int(2.5*line))
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lbw += dc.GetTextExtent("idle ").width
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if self.rw_status.hover_motors_enabled:
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dc.SetTextForeground(wx.Colour(0, 0, 0))
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dc.DrawText("(Enabled)", 10 + lbw, int(2.5*line))
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else:
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dc.SetTextForeground(wx.Colour(255, 0, 0))
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dc.DrawText("(Disabled)", 10 + lbw, int(2.5*line))
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dc.SetTextForeground(wx.Colour(0, 0, 0))
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dc.DrawText("Pusher motor: ", 10, int(3.5*line))
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lbw = dc.GetTextExtent("Pusher motor: ").width
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if self.rw_status.pusher_motor_running:
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dc.SetTextForeground(wx.Colour(0, 0, 0))
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dc.DrawText("running", 10 + lbw, int(3.5*line))
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else:
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dc.SetTextForeground(wx.Colour(255, 0, 0))
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dc.DrawText("stopped", 10 + lbw, int(3.5*line))
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dc.SetTextForeground(wx.Colour(0, 0, 0))
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dc.DrawText("Nav airspeed: " + str(round(self.rw_status.nav_airspeed,1 )) + " [min: " + str(round(self.rw_status.min_airspeed,1 )) + ", max:" + str(round(self.rw_status.max_airspeed,1 )) + "]", 10, int(4.5*line))
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if hasattr(self, 'air_data'):
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dc.DrawText("Meas airspeed: " + str(round(self.air_data.airspeed,1 )) + " (TAS: " + str(round(self.air_data.tas,1 )) + ")", 10, int(5.5*line))
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#self.StatusBox(dc, 5, 5, 0, 0, self.rw_status.get_state(), 1, 1)
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dc.SetTextForeground(wx.Colour(0, 0, 0))
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dc.DrawText("Force Skew: ", 10, int(6.5*line))
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lbw = dc.GetTextExtent("Force Skew: ").width
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if self.rw_status.skew_forced:
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dc.SetTextForeground(wx.Colour(255, 0, 0))
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dc.DrawText("(Enabled)", 10 + lbw, int(6.5*line))
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else:
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dc.SetTextForeground(wx.Colour(0, 0, 0))
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dc.DrawText("(Disabled)", 10 + lbw, int(6.5*line))
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if hasattr(self, 'imu_heater'):
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imu_temp = float(self.imu_heater.meas_temp)
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if imu_temp < 65.0:
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dc.SetTextForeground(wx.Colour(0, 0, 0))
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dc.DrawText("Meas IMU temp: " + str(round(imu_temp, 0)), 10, int(7.5*line))
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elif imu_temp < 85.0:
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dc.SetTextForeground(wx.Colour(139, 64, 0))
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dc.DrawText("Meas IMU temp: " + str(round(imu_temp, 0)), 10, int(7.5*line))
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else:
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dc.SetTextForeground(wx.Colour(255, 0, 0))
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dc.DrawText("Meas IMU temp: " + str(round(imu_temp, 0)), 10, int(7.5*line))
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if self.powers.get_backbat() != None:
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dc.DrawText("Back Bat: " + str(round(self.powers.get_backbat().current*self.powers.get_backbat().voltage, 1)) + "W (" + str(round(self.powers.get_backbat().voltage, 1)) + "V, " + str(round(self.powers.get_backbat().current, 1)) + "A)", 10, int(8.5*line))
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if self.powers.get_frontbat() != None:
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dc.DrawText("Front Bat: " + str(round(self.powers.get_frontbat().current*self.powers.get_frontbat().voltage, 1)) + "W (" + str(round(self.powers.get_frontbat().voltage, 1)) + "V, " + str(round(self.powers.get_frontbat().current, 1)) + "A)", 10, int(9.5*line))
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if self.powers.get_backmot() != None:
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dc.DrawText("Back Mot: " + str(round(self.powers.get_backmot().current*self.powers.get_backmot().voltage, 1)) + "W (" + str(round(self.powers.get_backmot().voltage, 1)) + "V, " + str(round(self.powers.get_backmot().current, 1)) + "A)", 10, int(10.5*line))
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if hasattr(self, 'fuelcell'):
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dc.SetBrush(wx.Brush(wx.Colour(200,200,200)))
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line = int(20.0 / 800.0 * h)
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dc.SetTextForeground(wx.Colour(0, 0, 0))
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dc.DrawRoundedRectangle(int(0.7*w), int(5),int(0.29*w), int(0.18*h), int(0.05*h))
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dc.DrawText("FuelCell state: ["+str(self.fuelcell.state)+"] " + self.fuelcell.state_str, int(0.75*w+5), int(0.5*line))
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dc.DrawText("Cylinder press: " + str(self.fuelcell.pressure) + "% Reg="+str(self.fuelcell.press_reg)+"Bar", int(0.75*w+5), int(1.5*line))
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dc.DrawText("Output: " + str(self.fuelcell.power_out) + " Watt", int(0.75*w+5), int(2.5*line))
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dc.DrawText("SPM: " + str(self.fuelcell.power_cell) + " Watt, p=" + str(round(float(self.fuelcell.pressure)*3.630,1)) + " Bar", int(0.75*w+5), int(3.5*line))
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dc.DrawText("Battery: " + str(self.fuelcell.power_batt) + " Watt, " + str(self.fuelcell.volt_bat) + " Volt", int(0.75*w+5), int(4.5*line))
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dc.DrawText("Error: ["+str(self.fuelcell.error)+"] " + self.fuelcell.error_str, int(0.75*w+5), int(5.5*line))
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dc.DrawText("Sub-error: ["+str(self.fuelcell.suberror)+"] " + self.fuelcell.suberror_str, int(0.75*w+5), int(6.5*line))
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# Motors
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w1 = 0.03
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w2 = 0.18
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w3 = 0.31
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@@ -238,10 +557,10 @@ class RotWingFrame(wx.Frame):
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mw = 0.1
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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
|
||||
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
|
||||
(0.5-0.5*mw-0.05,w4), # pusher CAN1
|
||||
(0.5-dw-mw-0.05,w4+0.05), (0.5+dw-0.05,w4+0.05), # tail CAN1
|
||||
(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
|
||||
(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
|
||||
(0.5-0.5*mw+0.05,w4), # pusher CAN2
|
||||
(0.5-dw-mw+0.05,w4+0.05), (0.5+dw+0.05,w4+0.05), # Tail CAN2
|
||||
(0.0, 0.75), (0.1, 0.75), (0.2, 0.75), (0.3, 0.75), (0.4, 0.75), # extra
|
||||
@@ -318,6 +637,7 @@ class RotWingFrame(wx.Frame):
|
||||
#self.SetIcon(ico)
|
||||
|
||||
self.motors = MotorList()
|
||||
self.powers = PowerList()
|
||||
|
||||
self.interface = IvyMessagesInterface("rotwingframe")
|
||||
self.interface.subscribe(self.message_recv)
|
||||
|
||||
Reference in New Issue
Block a user