forked from yuri-rage/ArduRover_Mower
/
min_monitor.py
381 lines (323 loc) · 16.2 KB
/
min_monitor.py
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# -*- coding: utf-8 -*-
"""
min_monitor.py
Creates an IronPython dialog to display select MAVLink messages
Tested under Windows 10, but should be Linux compatible
(assuming that IronPython sucks less at cross-compatibility than it does ease of coding...)
Derived from the example at https://github.com/ArduPilot/MissionPlanner/blob/master/Scripts/example10.py
-- Yuri - Jun 2021
"""
print('\n*** MAVLink MinMonitor ***\n')
print('Loading modules...')
from collections import OrderedDict
from os import getcwd, path
import clr
clr.AddReference('MAVLink')
clr.AddReference('System.Drawing')
clr.AddReference('System.Windows.Forms')
import MAVLink
from System import Char, Func, Array
from System.Windows.Forms import Application, Screen, Form, Keys, HorizontalAlignment, \
FlatStyle, BorderStyle, ComboBoxStyle, Button, Label, ListBox, TextBox, CheckBox, ComboBox, NumericUpDown
from System.Drawing import Point, Color
# ************************** USER DEFINABLE VALUES ************************** #
DEFAULT_NUM_MESSAGES = 5
CONFIG_FILENAME = 'min_monitor.cfg'
# *************************************************************************** #
SEVERITY = ['EMERGENCY: ', 'ALERT: ', 'CRITICAL: ', 'ERROR: ', 'WARNING: ', 'NOTICE: ', 'INFO: ', 'DEBUG: ']
class MPColor:
""" System.Drawing.Color is a sealed value type that disallows class inheritance
Dynamically creating MPColor attributes is a workaround for that """
def __init__(self):
pass
for attr in dir(Color):
setattr(MPColor, attr, getattr(Color, attr))
setattr(MPColor, 'MPDarkGray', Color.FromArgb(38, 39, 40))
setattr(MPColor, 'MPMediumGray', Color.FromArgb(53, 54, 55))
setattr(MPColor, 'MPLightGray', Color.FromArgb(68, 69, 70))
setattr(MPColor, 'MPGreen', Color.FromArgb(165, 203, 70))
CustomColor = MPColor()
class MinMonitorForm(Form):
def __init__(self):
self.received_messages = {}
self.msg_ids = {}
self.config = None
self.num_messages = DEFAULT_NUM_MESSAGES
if path.exists(CONFIG_FILENAME):
print('Reading config...')
self.config = open(CONFIG_FILENAME, 'r').readlines()
for x in range(len(self.config)):
self.config[x] = self.config[x].strip('\n')
self.num_messages = int(self.config[0].split(',')[0])
# we subscribe to every possible MAVLink message here
# super inefficient, but much easier to just collect 'em all!
for attr_name in dir(MAVLink.MAVLINK_MSG_ID):
if attr_name.upper() == attr_name:
attr = getattr(MAVLink.MAVLINK_MSG_ID, attr_name)
self.msg_ids[attr.value__] = attr
MAV.SubscribeToPacketType(attr, Func[MAVLink.MAVLinkMessage, bool](self.get_message_data))
MAV.OnPacketReceived += self.packet_handler
self.Text = 'MAVLink MinMonitor'
self.Location = Point(0, 0)
self.TopMost = True
self.BackColor = CustomColor.MPDarkGray
self.ForeColor = CustomColor.White
self.Shown += self.on_load
self.FormClosing += self.on_exit
self.margin = 5
start_x, start_y = 12, 10
self.msg_widgets = []
for x in range(self.num_messages):
cbo_msg_id = ComboBox()
cbo_msg_id.Width = 175
cbo_msg_id.DropDownStyle = ComboBoxStyle.DropDown
cbo_msg_id.FlatStyle = FlatStyle.Flat
cbo_msg_id.BackColor = CustomColor.MPLightGray
cbo_msg_id.ForeColor = CustomColor.White
cbo_msg_id.DataSource = self.received_messages.keys()
cbo_msg_id.MouseDown += self.update_message_ids
cbo_msg_id.SelectionChangeCommitted += self.update_datasource
cbo_msg_id.Text = ''
cbo_msg_dataframes = ComboBox()
cbo_msg_dataframes.Width = 120
cbo_msg_dataframes.DropDownStyle = ComboBoxStyle.DropDown
cbo_msg_dataframes.FlatStyle = FlatStyle.Flat
cbo_msg_dataframes.BackColor = CustomColor.MPLightGray
cbo_msg_dataframes.ForeColor = CustomColor.White
cbo_msg_dataframes.Text = ''
lbl_data = Label()
lbl_data.Text = 'NO DATA'
lbl_data.BackColor = CustomColor.MPMediumGray
lbl_data.Width = 120
lbl_data.Height = cbo_msg_id.Height - 5
txt_min = TextBox()
txt_min.Width = 75
txt_min.BorderStyle = BorderStyle.FixedSingle
txt_min.BackColor = CustomColor.MPLightGray
txt_min.ForeColor = CustomColor.White
txt_min.MaxLength = 10
txt_min.TextAlign = HorizontalAlignment.Center
txt_min.KeyPress += self.limit_to_decimal_digits
txt_max = TextBox()
txt_max.Width = 75
txt_max.BorderStyle = BorderStyle.FixedSingle
txt_max.BackColor = CustomColor.MPLightGray
txt_max.ForeColor = CustomColor.White
txt_max.MaxLength = 10
txt_max.TextAlign = HorizontalAlignment.Center
txt_max.KeyPress += self.limit_to_decimal_digits
txt_factor = TextBox()
txt_factor.Width = 75
txt_factor.BorderStyle = BorderStyle.FixedSingle
txt_factor.BackColor = CustomColor.MPLightGray
txt_factor.ForeColor = CustomColor.White
txt_factor.MaxLength = 10
txt_factor.TextAlign = HorizontalAlignment.Center
txt_factor.KeyPress += self.limit_to_decimal_digits
self.msg_widgets.append(OrderedDict([('cbo_msg_id', cbo_msg_id),
('cbo_msg_dataframes', cbo_msg_dataframes),
('lbl_data', lbl_data),
('txt_min', txt_min),
('txt_max', txt_max),
('txt_factor', txt_factor)]))
self.lbl_min = Label()
self.lbl_min.Text = 'Min'
self.lbl_min.BackColor = CustomColor.MPDarkGray
self.lbl_min.Width = self.msg_widgets[0]['txt_min'].Width
self.lbl_min.Height = self.msg_widgets[0]['txt_min'].Height - 5
self.lbl_max = Label()
self.lbl_max.Text = 'Max'
self.lbl_max.BackColor = CustomColor.MPDarkGray
self.lbl_max.Width = self.msg_widgets[0]['txt_max'].Width
self.lbl_max.Height = self.msg_widgets[0]['txt_max'].Height - 5
self.lbl_factor = Label()
self.lbl_factor.Text = 'Factor'
self.lbl_factor.BackColor = CustomColor.MPDarkGray
self.lbl_factor.Width = self.msg_widgets[0]['txt_factor'].Width
self.lbl_factor.Height = self.msg_widgets[0]['txt_factor'].Height - 5
self.lbl_num_messages = Label()
self.lbl_num_messages.Text = 'Number of messages to monitor (restart to take effect)'
self.lbl_num_messages.BackColor = CustomColor.MPDarkGray
self.lbl_num_messages.AutoSize = True
self.spn_num_messages = NumericUpDown()
self.spn_num_messages.Width = 40
self.spn_num_messages.BorderStyle = BorderStyle.FixedSingle
self.spn_num_messages.BackColor = CustomColor.MPLightGray
self.spn_num_messages.ForeColor = CustomColor.White
self.spn_num_messages.Value = self.num_messages
self.chk_hide_factors = CheckBox()
self.chk_hide_factors.FlatAppearance.BorderSize = 1
self.chk_hide_factors.FlatAppearance.BorderColor = CustomColor.MPLightGray
self.chk_hide_factors.Text = 'Hide threshold/scaling preferences'
self.chk_hide_factors.AutoSize = True
self.chk_sticky = CheckBox()
self.chk_sticky.FlatAppearance.BorderSize = 1
self.chk_sticky.FlatAppearance.BorderColor = CustomColor.MPLightGray
self.chk_sticky.Text = 'Always on top'
self.chk_sticky.AutoSize = True
self.lbl_status = Label()
self.lbl_status.Text = 'No messages received'
self.lbl_status.BackColor = CustomColor.MPMediumGray
self.lbl_status.Height = self.msg_widgets[0]['txt_min'].Height - 5
# pseudo-responsive form layout
x, y = start_x, start_y
max_x = 0
x = start_x + (self.msg_widgets[0]['cbo_msg_id'].Width +
self.msg_widgets[0]['cbo_msg_dataframes'].Width +
self.msg_widgets[0]['lbl_data'].Width) + self.margin * 4
x, y, x_extent = \
self.add_control_horizontal(self.lbl_min, x, y, self.margin)
x, y, x_extent = \
self.add_control_horizontal(self.lbl_max, x, y, self.margin)
x, y, x_extent = \
self.add_control_vertical(self.lbl_factor, x, y, self.margin)
for widget in self.msg_widgets:
x = start_x
for control in widget.items():
x, y, x_extent = self.add_control_horizontal(control[1], x, y, self.margin)
max_x = max([x_extent, max_x])
y += widget.items()[0][1].Height + self.margin
self.Width = max_x + self.margin * 4
self.WideWidth = self.Width
self.NarrowWidth = self.msg_widgets[0]['lbl_data'].Location.X + \
self.msg_widgets[0]['lbl_data'].Width + self.margin * 5
y += 20
x, y, x_extent = self.add_control_horizontal(self.spn_num_messages, start_x, y, self.margin)
x, y, x_extent = self.add_control_vertical(self.lbl_num_messages, x, y + 3, self.margin)
x, y, x_extent = self.add_control_vertical(self.chk_hide_factors, start_x + 3, y + 5, self.margin)
x, y, x_extent = self.add_control_vertical(self.chk_sticky, x, y, self.margin)
self.lbl_status.Width = self.Width - self.margin * 7
x, y, x_extent = self.add_control_vertical(self.lbl_status, start_x, y + 3, self.margin)
self.Height = y + self.lbl_status.Height + self.margin * 5
def configure_messages(self):
line_num = 1
for widget in self.msg_widgets:
line_index = 0
for control in widget.items():
if 'lbl' not in control[0]:
try:
control[1].Text = str(self.config[line_num].split(',')[line_index])
except IndexError:
pass
line_index += 1
line_num += 1
def update_message_ids(self, sender, event):
sender.DataSource = sorted(self.received_messages.keys())
def update_datasource(self, sender, event):
for widget in self.msg_widgets:
if widget['cbo_msg_id'] == sender:
widget['cbo_msg_dataframes'].DataSource = None
widget['cbo_msg_dataframes'].DataSource = sorted(self.received_messages[sender.SelectedItem].keys())
widget['cbo_msg_dataframes'].Text = ''
widget['lbl_data'].Text = 'NO DATA'
@staticmethod
def limit_to_decimal_digits(sender, event):
if not Char.IsDigit(event.KeyChar) and \
not Char.IsControl(event.KeyChar) and \
not event.KeyChar == '.' and \
not event.KeyChar == '-':
event.Handled = True
if event.KeyChar == '.' and '.' in sender.Text:
event.Handled = True
def set_sticky(self, sender, event):
if sender.Checked:
self.TopMost = True
return
self.TopMost = False
def toggle_width(self, sender, event):
self.lbl_min.Visible = not sender.Checked
self.lbl_max.Visible = not sender.Checked
self.lbl_factor.Visible = not sender.Checked
for widget in self.msg_widgets:
for control in widget.items():
if 'txt' in control[0]:
control[1].Visible = not sender.Checked
if sender.Checked:
self.Width = self.NarrowWidth
self.lbl_status.Width = self.Width - self.margin * 7
return
self.Width = self.WideWidth
self.lbl_status.Width = self.Width - self.margin * 7
def add_control_vertical(self, control, x, y, margin):
control.Location = Point(x, y)
self.Controls.Add(control)
return x, y + control.Height + margin, x + control.Width + margin
def add_control_horizontal(self, control, x, y, margin):
control.Location = Point(x, y)
self.Controls.Add(control)
return x + control.Width + margin, y, x + control.Width + margin
def display_message_data(self, message_name, msg_data):
for widget in self.msg_widgets:
if message_name == widget['cbo_msg_id'].Text:
data = msg_data[widget['cbo_msg_dataframes'].Text]
min, max, factor = None, None, 1.0
try:
min = float(widget['txt_min'].Text)
max = float(widget['txt_max'].Text)
except ValueError:
pass
try:
factor = float(widget['txt_factor'].Text)
except ValueError:
pass
if isinstance(data, Array):
data = bytes(data)
try:
data = float(data) * factor
widget['lbl_data'].Text = str(data)
if min <= data <= max:
widget['lbl_data'].BackColor = CustomColor.MPMediumGray
continue
if min is not None and max is not None:
widget['lbl_data'].BackColor = CustomColor.DarkRed
continue
widget['lbl_data'].BackColor = CustomColor.MPMediumGray
except ValueError:
pass
def get_message_data(self, message):
message_name = str(self.msg_ids[message.msgid])
msg_data = {}
for attr_name in dir(message.data):
attr = getattr(message.data, attr_name)
if not callable(attr) and '__' not in attr_name:
msg_data[attr_name] = getattr(message.data, attr_name)
self.received_messages[message_name] = msg_data
self.display_message_data(message_name, msg_data)
return True
def packet_handler(self, obj, message):
try:
if message.msgid == MAVLink.MAVLINK_MSG_ID.STATUSTEXT.value__:
self.lbl_status.Text = SEVERITY[message.data.severity] + str(bytes(message.data.text))
except Exception as inst:
print(inst) # not sure what situation would raise this, so leaving it for debugging
def on_load(self, sender, event):
self.chk_hide_factors.CheckedChanged += self.toggle_width
self.chk_sticky.CheckedChanged += self.set_sticky
if self.config is not None:
self.chk_hide_factors.Checked = bool(int(self.config[0].split(',')[1]))
self.chk_sticky.Checked = bool(int(self.config[0].split(',')[2]))
self.toggle_width(self.chk_hide_factors, None)
self.set_sticky(self.chk_sticky, None)
if self.config is not None:
self.configure_messages()
print('Running...')
def on_exit(self, sender, event):
for attr_name in dir(MAVLink.MAVLINK_MSG_ID):
if attr_name.upper() == attr_name:
attr = getattr(MAVLink.MAVLINK_MSG_ID, attr_name)
self.msg_ids[attr.value__] = attr
MAV.UnSubscribeToPacketType(attr)
print('Saving config: {}'.format(path.join(getcwd(), CONFIG_FILENAME)))
f = open(CONFIG_FILENAME, 'w')
f.write(str(self.spn_num_messages.Text) + ',')
f.write(str(int(self.chk_hide_factors.Checked)) + ',')
f.write(str(int(self.chk_sticky.Checked)) + ',\n')
for widget in self.msg_widgets:
for control in widget.items():
if 'lbl' not in control[0]:
f.write('{},'.format(control[1].Text))
f.write('\n')
f.close()
print('Loading interface...')
Application.Run(MinMonitorForm())
print('Done')