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__init__.py
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'''
Cesium map module
Samuel Dudley
Jan 2016
'''
import os, json, time, sys, uuid, urllib2
from MAVProxy.modules.lib import mp_module
from MAVProxy.modules.lib import mp_settings
from pymavlink import mavutil
import threading, Queue
from app import cesium_web_server # the tornado web server
import webbrowser # open url's in browser window
from app.config import SERVER_INTERFACE, SERVER_PORT, MODULE_DEBUG, APP_DEBUG, APP_PREFIX
class CesiumModule(mp_module.MPModule):
def __init__(self, mpstate, **kwargs):
super(CesiumModule, self).__init__(mpstate, "cesium", "Cesium map module", public = True)
self.add_command('cesium', self.cmd_cesium, [""])
self.data_stream = ['NAV_CONTROLLER_OUTPUT', 'VFR_HUD',
'ATTITUDE', 'GLOBAL_POSITION_INT',
'SYS_STATUS', 'MISSION_CURRENT',
'STATUSTEXT', 'FENCE_STATUS', 'WIND']
self.main_counter = 0
self.message_queue = Queue.Queue()
self.wp_change_time = 0
self.fence_change_time = 0
self.rally_change_time = 0
self.flightmode = None
self.cesium_settings = mp_settings.MPSettings(
[ ('openbrowser', bool, False),
('debug', bool, MODULE_DEBUG)])
self.aircraft = {'lat':None, 'lon':None, 'alt_wgs84':None,
'roll':None, 'pitch':None, 'yaw':None}
self.pos_target = {'lat':None, 'lon':None, 'alt_wgs84':None}
self.fence = {}
self.mission = {}
self.server_thread = None
self.start_server()
if self.cesium_settings.openbrowser:
self.open_display_in_browser()
def start_server(self):
if self.main_counter == 0:
self.main_counter += 1
self.server_thread = threading.Thread(target=cesium_web_server.main, args = (self,))
self.server_thread.daemon = True
self.server_thread.start()
# log.startLogging(sys.stdout)
self.mpstate.console.writeln('MAVCesium display loaded at http://'+SERVER_INTERFACE+":"+SERVER_PORT+'/'+APP_PREFIX, fg='white', bg='blue')
else:
time.sleep(0.1)
def stop_server(self):
cesium_web_server.stop_tornado()
def open_display_in_browser(self):
if self.web_server_thread.isAlive():
url = 'http://'+SERVER_INTERFACE+":"+SERVER_PORT+'/'+APP_PREFIX
try:
browser_controller = webbrowser.get('google-chrome')
browser_controller.open_new_tab(url)
except:
webbrowser.open_new_tab(url)
def callback(self, data):
'''callback for data coming in from a websocket'''
self.message_queue.put_nowait(data)
def send_data(self, data, target = None):
'''push json data to the browser via a websocket'''
payload = json.dumps(data).encode('utf8')
cesium_web_server.websocket_send_message(payload)
# TODO: direct messages to individual websockets, e.g. new connections
def cmd_cesium(self, args):
'''cesium command parser'''
usage = "usage: cesium <restart> <count> <set> (CESIUMSETTING)"
if len(args) == 0:
print(usage)
return
if args[0] == "set":
self.cesium_settings.command(args[1:])
elif args[0] == "count":
print('%u connected' % int(len(cesium_web_server.live_web_sockets)))
elif args[0] == "restart":
self.restart()
else:
print(usage)
def send_defines(self, target = None):
'''get the current mav defines and send them'''
miss_cmds = {}
frame_enum = {0: "Abs", 3: "Rel", 10: "AGL"}
# auto-generate the list of mission commands
for cmd in mavutil.mavlink.enums['MAV_CMD']:
enum = mavutil.mavlink.enums['MAV_CMD'][cmd]
name = enum.name
name = name.replace('MAV_CMD_','')
if name == 'ENUM_END':
continue
miss_cmds[cmd] = name
self.defines = {}
self.defines['frame_enum'] = frame_enum
self.defines['mission_commands'] = miss_cmds
self.send_data({"defines":self.defines}, target = target)
def send_fence(self):
'''load and draw the fence in cesium'''
self.fence = {}
self.fence_points_to_send = self.mpstate.public_modules['fence'].fenceloader.points
for point in self.fence_points_to_send:
point_dict = point.to_dict()
idx = point_dict['idx']
del point_dict['idx']
if idx != 0: # dont include the return location
self.fence[idx] = point_dict
self.send_data({"fence_data":self.fence})
def send_mission(self):
'''load and draw the mission in cesium'''
self.mission = {}
self.mission_points_to_send = self.mpstate.public_modules['wp'].wploader.wpoints
for point in self.mission_points_to_send:
point_dict = point.to_dict()
seq = point_dict['seq']
del point_dict['seq']
self.mission[seq] = point_dict
self.send_data({"mission_data":self.mission})
def send_flightmode(self):
self.send_data({"flightmode":self.master.flightmode})
self.flightmode = self.master.flightmode
def restart(self):
'''restart the web server'''
self.stop_server()
self.start_server()
def mavlink_packet(self, m):
'''handle an incoming mavlink packet'''
if self.master.flightmode != self.flightmode:
self.send_flightmode()
if m.get_type() == 'POSITION_TARGET_GLOBAL_INT':
msg_dict = m.to_dict()
self.pos_target['lat']= msg_dict['lat_int']
self.pos_target['lon'] = msg_dict['lon_int']
self.pos_target['alt_wgs84'] = msg_dict['alt']
if None not in self.pos_target.values():
self.send_data({"pos_target_data":self.pos_target})
if m.get_type() in self.data_stream:
msg_dict = m.to_dict()
msg_dict['timestamp'] = m._timestamp
self.send_data({'mav_data':msg_dict})
# if the waypoints have changed, redisplay
last_wp_change = self.module('wp').wploader.last_change
if self.wp_change_time != last_wp_change and abs(time.time() - last_wp_change) > 1:
self.wp_change_time = last_wp_change
self.send_mission()
# this may have affected the landing lines from the rally points:
self.rally_change_time = time.time()
# if the fence has changed, redisplay
if self.fence_change_time != self.module('fence').fenceloader.last_change:
self.fence_change_time = self.module('fence').fenceloader.last_change
self.send_fence()
def idle_task(self):
'''called on idle'''
while not self.message_queue.empty():
payload = self.message_queue.get_nowait()
if self.cesium_settings.debug:
print payload
if 'new_connection' in payload.keys():
self.send_defines(target=payload['new_connection'])
self.send_fence()
self.send_mission()
self.send_flightmode()
elif 'mode_set' in payload.keys():
self.mpstate.functions.process_stdin('%s' % (payload['mode_set']))
elif 'wp_set' in payload.keys():
self.mpstate.functions.process_stdin('wp set %u' % int(payload['wp_set']))
elif 'wp_move' in payload.keys():
self.mpstate.functions.process_stdin('wp move %u %f %f' % (
int(payload['wp_move']['idx']),
float(payload['wp_move']['lat']),
float(payload['wp_move']['lon'])
)
)
elif 'wp_remove' in payload.keys():
self.mpstate.functions.process_stdin('wp remove %u' % int(payload['wp_remove']))
elif 'wp_list' in payload.keys():
self.mpstate.functions.process_stdin('wp list')
elif 'fence_list' in payload.keys():
self.mpstate.functions.process_stdin('fence list')
else:
pass
def unload(self):
'''unload module'''
# override the unload method
self.stop_server()
def init(mpstate, **kwargs):
'''initialise module'''
return CesiumModule(mpstate, **kwargs)