added confirm command and allow for labels in live graphs

MAVProxy/mavproxy.py

@@ -72,6 +72,7 @@
 
 #The MAVLink version being used (None, "1.0", "2.0")
 mavversion = None
+mpstate = None
 
 class MPStatus(object):
     '''hold status information about the mavproxy'''
@@ -1326,8 +1327,8 @@ def set_mav_version(mav10, mav20, autoProtocol, mavversionArg):
     mpstate.command_map = command_map
     mpstate.continue_mode = opts.continue_mode
     # queues for logging
-    mpstate.logqueue = Queue.Queue()
-    mpstate.logqueue_raw = Queue.Queue()
+    mpstate.logqueue = multiproc.Queue()
+    mpstate.logqueue_raw = multiproc.Queue()
 
 
     if opts.speech:
@@ -1425,7 +1426,7 @@ def quit_handler(signum = None, frame = None):
     heartbeat_period = mavutil.periodic_event(1)
     heartbeat_check_period = mavutil.periodic_event(0.33)
 
-    mpstate.input_queue = Queue.Queue()
+    mpstate.input_queue = multiproc.Queue()
     mpstate.input_count = 0
     mpstate.empty_input_count = 0
     if opts.setup:

MAVProxy/modules/lib/live_graph.py

@@ -26,8 +26,10 @@ def __init__(self,
                  timespan=20.0,
                  tickresolution=0.2,
                  colors=[ 'red', 'green', 'blue', 'orange', 'olive', 'cyan', 'magenta', 'brown',
-                          'violet', 'purple', 'grey', 'black']):
+                          'violet', 'purple', 'grey', 'black'],
+                 labels=None):
         self.fields = fields
+        self.labels = labels
         self.colors = colors
         self.title  = title
         self.timespan = timespan
@@ -79,10 +81,11 @@ def is_alive(self):
     import time, math
     import live_graph
     livegraph = live_graph.LiveGraph(['sin(t)', 'cos(t)', 'sin(t+1)',
-                           'cos(t+1)', 'sin(t+2)', 'cos(t+2)',
-                           'cos(t+1)', 'sin(t+2)', 'cos(t+2)', 'x'],
-                          timespan=30,
-                          title='Graph Test')
+                                      'cos(t+1)', 'sin(t+2)', 'cos(t+2)',
+                                      'cos(t+1)', 'sin(t+2)', 'cos(t+2)', 'x'],
+                                      timespan=30,
+                                      title='Graph Test',
+                                      labels=['a','b','c','d'])
     while livegraph.is_alive():
         t = time.time()
         livegraph.add_values([math.sin(t), math.cos(t),

MAVProxy/modules/lib/live_graph_ui.py

@@ -84,12 +84,19 @@ def init_plot(self):
             max_y = min_y = 0
         else:
             max_y = min_y = self.data[0][0]
+        num_labels = 0 if not self.state.labels else len(self.state.labels)
+        labels = []
         for i in range(len(self.data)):
+            if i < num_labels and self.state.labels[i] is not None:
+                label = self.state.labels[i]
+            else:
+                label = self.state.fields[i]
+            labels.append(label)
             p = self.axes.plot(
                 self.data[i],
                 linewidth=1,
                 color=self.state.colors[i],
-                label=self.state.fields[i],
+                label=label
                 )[0]
             self.plot_data.append(p)
             if len(self.data[i]) != 0:
@@ -101,7 +108,7 @@ def init_plot(self):
         self.axes.set_xbound(lower=self.xdata[0], upper=0)
         if min_y == max_y:
             self.axes.set_ybound(min_y, max_y+0.1)
-        self.axes.legend(self.state.fields, loc='upper left', bbox_to_anchor=(0, 1.1))
+        self.axes.legend(labels, loc='upper left', bbox_to_anchor=(0, 1.1))
 
     def draw_plot(self):
         """ Redraws the plot

MAVProxy/modules/lib/mp_menu.py

@@ -351,6 +351,26 @@ def call(self):
             return None
         return dlg.GetValue()
 
+class MPMenuConfirmDialog(object):
+    '''used to create a confirmation dialog'''
+    def __init__(self, title='Confirmation', message='', callback=None, args=None):
+        self.title = title
+        self.message = message
+        self.callback = callback
+        self.args = args
+        t = multiproc.Process(target=self.thread)
+        t.start()
+
+    def thread(self):
+        mp_util.child_close_fds()
+        from MAVProxy.modules.lib import wx_processguard
+        from MAVProxy.modules.lib.wx_loader import wx
+        app = wx.App(False)
+        dlg = wx.MessageDialog(None, self.title, self.message, wx.YES|wx.NO)
+        ret = dlg.ShowModal()
+        if ret == wx.ID_YES and self.callback is not None:
+            self.callback(self.args)
+
 class MPMenuChildMessageDialog(object):
     '''used to create a message dialog in a child process'''
     def __init__(self, title='Information', message='', font_size=18):

MAVProxy/modules/mavproxy_console.py

@@ -134,7 +134,7 @@ def cmd_menu_add(self, args):
         if len(args) < 2:
             print("Usage: console menu add MenuPath command")
             return
-        menupath = args[0].split(':')
+        menupath = args[0].strip('"').split(':')
         name = menupath[-1]
         cmd = '# ' + ' '.join(args[1:])
         self.menu.add_to_submenu(menupath[:-1], MPMenuItem(name, name, cmd))

MAVProxy/modules/mavproxy_graph.py

@@ -114,12 +114,24 @@ def __init__(self, state, fields):
         print("Adding graph: %s" % self.fields)
 
         fields = [ self.pretty_print_fieldname(x) for x in fields ]
+        labels = []
+        for i in range(len(fields)):
+            f = fields[i]
+            f1 = f.find("<")
+            f2 = f.find(">")
+            if f1 > 0 and f2 > f1:
+                labels.append(f[f1+1:f2])
+                fields[i] = f[:f1]
+            else:
+                labels.append(None)
 
+        self.fields = fields[:]
         self.values = [None] * len(self.fields)
         self.livegraph = live_graph.LiveGraph(fields,
                                               timespan=state.timespan,
                                               tickresolution=state.tickresolution,
-                                              title=self.fields[0])
+                                              title=fields[0] if labels[0] is None else labels[0],
+                                              labels=labels)
 
     def pretty_print_fieldname(self, fieldname):
         if fieldname in self.state.legend:

MAVProxy/modules/mavproxy_mode.py

@@ -5,12 +5,14 @@
 from pymavlink import mavutil
 
 from MAVProxy.modules.lib import mp_module
+from MAVProxy.modules.lib import mp_util
 
 class ModeModule(mp_module.MPModule):
     def __init__(self, mpstate):
         super(ModeModule, self).__init__(mpstate, "mode", public=True)
         self.add_command('mode', self.cmd_mode, "mode change", self.available_modes())
         self.add_command('guided', self.cmd_guided, "fly to a clicked location on map")
+        self.add_command('confirm', self.cmd_confirm, "confirm a command")
 
     def cmd_mode(self, args):
         '''set arbitrary mode'''
@@ -31,6 +33,19 @@ def cmd_mode(self, args):
             modenum = mode_mapping[mode]
         self.master.set_mode(modenum)
 
+    def cmd_confirm(self, args):
+        '''confirm a command'''
+        if len(args) < 2:
+            print('Usage: confirm "Question to display" command <arguments>')
+            return
+        question = args[0].strip('"')
+        command = ' '.join(args[1:])
+        if not mp_util.has_wxpython:
+            print("No UI available for confirm")
+            return
+        from MAVProxy.modules.lib import mp_menu
+        mp_menu.MPMenuConfirmDialog(question, callback=self.mpstate.functions.process_stdin, args=command)
+
     def available_modes(self):
         if self.master is None:
             print('No mode mapping available')