Modules: grapher layout and file export fixed for Windows

.github/workflows/windows_build.yml

@@ -50,6 +50,7 @@ jobs:
           $wc.DownloadFile('https://autotest.ardupilot.org/Parameters/ArduPlane/apm.pdef.xml', 'Parameters\ArduPlane.xml')
           $wc.DownloadFile('https://autotest.ardupilot.org/Parameters/ArduSub/apm.pdef.xml', 'Parameters\ArduSub.xml')
           $wc.DownloadFile('https://autotest.ardupilot.org/Parameters/AntennaTracker/apm.pdef.xml', 'Parameters\AntennaTracker.xml')
+          $wc.DownloadFile('https://autotest.ardupilot.org/Parameters/Heli/apm.pdef.xml', 'Parameters\Heli.xml')
       - name: Build installer
         run: |
           cd  windows

MAVProxy/MAVProxyWinLAN.bat

@@ -1,4 +1,4 @@
 cd ..\
-python setup.py build install --user
-python .\MAVProxy\mavproxy.py --master=0.0.0.0:14550 --console
+python.exe -m pip install --upgrade build . --user
+python.exe .\MAVProxy\mavproxy.py --master=0.0.0.0:14550 --console
 pause

MAVProxy/MAVProxyWinUSB.bat

@@ -1,4 +1,4 @@
 cd ..\
-python setup.py build install --user
-python .\MAVProxy\mavproxy.py --console
+python.exe -m pip install --upgrade build . --user
+python.exe .\MAVProxy\mavproxy.py --console
 pause

MAVProxy/modules/lib/grapher.py

@@ -8,12 +8,15 @@
 import sys, struct, time, os, datetime, platform
 import math, re
 import matplotlib
-if platform.system() != "Darwin" and os.getenv("MPLBACKEND") is None:
+if platform.system() == "Windows":
+    # wxAgg doesn't properly show the graph values in the lower right on Windows
+    matplotlib.use('TkAgg')
+elif platform.system() != "Darwin" and os.getenv("MPLBACKEND") is None:
     # on MacOS we can't set WxAgg here as it conflicts with the MacOS version
     matplotlib.use('WXAgg')
 from math import *
 from pymavlink.mavextra import *
-import pylab
+import matplotlib.pyplot as plt
 from pymavlink import mavutil
 import threading
 import numpy as np
@@ -266,8 +269,8 @@ def button_click(self, event):
     def plotit(self, x, y, fields, colors=[], title=None, interactive=True):
         '''plot a set of graphs using date for x axis'''
         if interactive:
-            pylab.ion()
-        self.fig = pylab.figure(num=1, figsize=(12,6))
+            plt.ion()
+        self.fig = plt.figure(num=1, figsize=(12,6))
         self.ax1 = self.fig.gca()
         self.ax2 = None
         for i in range(0, len(fields)):
@@ -287,6 +290,8 @@ def plotit(self, x, y, fields, colors=[], title=None, interactive=True):
             self.fig.canvas.mpl_connect('draw_event', self.draw_event)
             self.fig.canvas.mpl_connect('close_event', self.close_event)
         self.fig.canvas.mpl_connect('button_press_event', self.button_click)
+        self.fig.canvas.get_default_filename = lambda: ''.join("graph" if self.title is None else
+                                                               (x if x.isalnum() else '_' for x in self.title)) + '.png'
         empty = True
         ax1_labels = []
         ax2_labels = []
@@ -379,7 +384,7 @@ def plotit(self, x, y, fields, colors=[], title=None, interactive=True):
             empty = False
 
         if self.grid:
-            pylab.grid()
+            plt.grid()
 
         if self.show_flightmode != 0:
             alpha = 0.3
@@ -401,7 +406,7 @@ def plotit(self, x, y, fields, colors=[], title=None, interactive=True):
             return
 
         if title is not None:
-            pylab.title(title)
+            plt.title(title)
         else:
             title = fields[0]
         if self.fig.canvas.manager is not None:
@@ -417,10 +422,10 @@ def plotit(self, x, y, fields, colors=[], title=None, interactive=True):
                                                              label=mode, alpha=alpha*1.5))
             labels = [patch.get_label() for patch in mode_patches]
             if ax1_labels != [] and self.show_flightmode != 2:
-                patches_legend = matplotlib.pyplot.legend(mode_patches, labels, loc=self.legend_flightmode)
+                patches_legend = plt.legend(mode_patches, labels, loc=self.legend_flightmode)
                 self.fig.gca().add_artist(patches_legend)
             else:
-                pylab.legend(mode_patches, labels)
+                plt.legend(mode_patches, labels)
 
         if ax1_labels != []:
             self.ax1.legend(ax1_labels,loc=self.legend)
@@ -674,16 +679,16 @@ def show(self, lenmavlist, block=True, xlim_pipe=None, output=None):
                 self.xlim_t.start()
 
         if output is None:
-            pylab.draw()
-            pylab.show(block=block)
+            plt.draw()
+            plt.show(block=block)
         elif output.endswith(".html"):
             import mpld3
             html = mpld3.fig_to_html(self.fig)
             f_out = open(output, 'w')
             f_out.write(html)
             f_out.close()
         else:
-            pylab.savefig(output, bbox_inches='tight', dpi=200)
+            plt.savefig(output, bbox_inches='tight', dpi=200)
 
 if __name__ == "__main__":
     from argparse import ArgumentParser

MAVProxy/modules/lib/magfit.py

@@ -7,7 +7,7 @@
 from MAVProxy.modules.lib import wx_processguard
 from MAVProxy.modules.lib.wx_loader import wx
 
-import sys, time, os, math, copy
+import sys, time, os, math, copy, platform
 
 from pymavlink import mavutil
 from pymavlink import mavextra
@@ -18,6 +18,8 @@
 from MAVProxy.modules.lib.multiproc_util import MPDataLogChildTask
 
 import matplotlib
+if platform.system() == "Windows":
+    matplotlib.use('wxagg')
 import matplotlib.pyplot as pyplot
 import numpy
 import datetime

MAVProxy/modules/lib/param_help.py

@@ -13,7 +13,7 @@ def __init__(self):
     def param_help_download(self):
         '''download XML files for parameters'''
         files = []
-        for vehicle in ['Rover', 'ArduCopter', 'ArduPlane', 'ArduSub', 'AntennaTracker', 'Blimp']:
+        for vehicle in ['Rover', 'ArduCopter', 'ArduPlane', 'ArduSub', 'AntennaTracker', 'Blimp', 'Heli']:
             url = 'http://autotest.ardupilot.org/Parameters/%s/apm.pdef.xml.gz' % vehicle
             path = mp_util.dot_mavproxy("%s.xml" % vehicle)
             files.append((url, path))

MAVProxy/modules/mavproxy_paramedit/param_editor_frame.py

@@ -544,7 +544,7 @@ def ParamChanged(self, event):  # wxGlade: ParamEditor.<event_handler>
     def param_help_download(self):
         '''download XML files for parameters'''
         files = []
-        for vehicle in ['APMrover2', 'ArduCopter', 'ArduPlane', 'ArduSub', 'AntennaTracker']:
+        for vehicle in ['APMrover2', 'ArduCopter', 'ArduPlane', 'ArduSub', 'AntennaTracker', 'Heli']:
             url = 'http://autotest.ardupilot.org/Parameters/%s/apm.pdef.xml' % vehicle
             path = mp_util.dot_mavproxy("%s.xml" % vehicle)
             files.append((url, path))

MAVProxy/tools/MAVExplorer.bat

@@ -1,4 +1,4 @@
 cd ..\..\
-python setup.py build install --user
-python .\MAVProxy\tools\MAVExplorer.py
+python.exe -m pip install --upgrade build . --user
+python.exe .\MAVProxy\tools\MAVExplorer.py
 pause

MAVProxy/tools/MAVExplorer.py

@@ -347,7 +347,8 @@ def load_graphs():
             continue
         # skip parameter files.  They specify an encoding, and under
         # Python3 this leads to a warning from etree
-        if os.path.basename(file) in ["ArduSub.xml", "ArduPlane.xml", "APMrover2.xml", "ArduCopter.xml", "AntennaTracker.xml", "Blimp.xml", "Rover.xml"]:
+        if os.path.basename(file) in ["ArduSub.xml", "ArduPlane.xml", "APMrover2.xml", "ArduCopter.xml",
+                                      "AntennaTracker.xml", "Blimp.xml", "Rover.xml", "Heli.xml"]:
             continue
         graphs = load_graph_xml(open(file).read(), file)
         if graphs:

windows/MAVProxyWinBuild.bat

@@ -58,6 +58,7 @@ powershell.exe "Start-BitsTransfer -Source 'http://autotest.ardupilot.org/Parame
 powershell.exe "Start-BitsTransfer -Source 'http://autotest.ardupilot.org/Parameters/ArduPlane/apm.pdef.xml' -Destination 'Parameters\ArduPlane.xml'"
 powershell.exe "Start-BitsTransfer -Source 'http://autotest.ardupilot.org/Parameters/ArduSub/apm.pdef.xml' -Destination 'Parameters\ArduSub.xml'"
 powershell.exe "Start-BitsTransfer -Source 'http://autotest.ardupilot.org/Parameters/AntennaTracker/apm.pdef.xml' -Destination 'Parameters\AntennaTracker.xml'"
+powershell.exe "Start-BitsTransfer -Source 'http://autotest.ardupilot.org/Parameters/Heli/apm.pdef.xml' -Destination 'Parameters\Heli.xml'"
 
 rem -----Build the Installer-----
 cd .\windows

windows/mavproxy.spec

@@ -36,7 +36,7 @@ MAVExpAny = Analysis(['.\\tools\\MAVExplorer.py'],
              datas= [ ('tools\\graphs\\*.*', 'MAVProxy\\tools\\graphs' ) ],
              hookspath=None,
              runtime_hooks=None,
-             excludes= ['sphinx', 'docutils', 'alabaster', 'FixTk', 'tcl', 'tk', '_tkinter', 'tkinter', 'Tkinter'])
+             excludes= ['sphinx', 'docutils', 'alabaster', 'FixTk', 'tcl', 'tk', 'Tkinter'])
 MAVPicViewerAny = Analysis(['.\\tools\\mavpicviewer\\mavpicviewer.py'],
              pathex=[os.path.abspath('.')],
              # for some unknown reason these hidden imports don't pull in