def render_from_z_mask(z_buf_mask, context):
z_buf_mask = convert_deep_to_alpha(z_buf_mask)
# рисовать
qp = QPainter()
picture = QPicture()
qp.begin(picture)
for x in range(len(z_buf_mask)):
for y in range(len(z_buf_mask[0])):
# a = color_mask[x][y]
a = QColor(Qt.black)
a.setAlpha(z_buf_mask[x][y])
qp.setPen(a)
qp.drawPoint(x, y)
qp.end() # painting done
picture.save("drawing.pic") # save picture
picture = QPicture()
picture.load("drawing.pic") # load picture
qp = QPainter()
qp.begin(context) # paint in myImage
qp.drawPicture(0, 0, picture) # draw the picture at (0,0)
qp.end()
def get_icon(path: str) -> QPicture:
if path in _icons_loaded:
return _icons_loaded[path]
pic = QPicture()
pic.load(path)
_icons_loaded[path] = pic
return pic
def render_from_color_mask(color_mask, context):
qp = QPainter()
picture = QPicture()
qp.begin(picture)
for x in range(len(color_mask)):
for y in range(len(color_mask[0])):
a = color_mask[x][y]
qp.setPen(a)
qp.drawPoint(x, y)
qp.end() # painting done
picture.save("drawing.pic") # save picture
picture = QPicture()
picture.load("drawing.pic") # load picture
qp = QPainter()
qp.begin(context) # paint in myImage
qp.drawPicture(0, 0, picture) # draw the picture at (0,0)
qp.end()
class LogInspectorWindow(QMainWindow):
def __init__(self, configFilePath, parent=None):
super(LogInspectorWindow, self).__init__(parent)
self.initMatPlotLib()
self.configFilePath = configFilePath
folder = os.path.dirname(self.configFilePath)
if not os.path.exists(folder):
os.makedirs(folder)
if os.path.exists(self.configFilePath):
# config.yaml found. Read from file.
file = open(self.configFilePath, 'r')
self.config = yaml.safe_load(file)
file.close()
else:
# config.yaml not found. Create new file.
self.config = {}
self.config['logs_directory'] = os.path.join(
os.path.expanduser("~"), "Documents", "Inertial_Sense", "Logs")
self.config['directory'] = ""
self.config['serials'] = ["ALL"]
file = open(self.configFilePath, 'w')
yaml.dump(self.config, file)
file.close()
self.currently_selected = 'posNEDMap'
self.downsample = 5
self.plotargs = None
self.log = None
self.plotter = None
def initMatPlotLib(self):
self.figure = plt.figure()
self.canvas = FigureCanvas(self.figure)
self.toolbar = NavigationToolbar(self.canvas, self)
self.figure.subplots_adjust(left=0.05,
right=0.99,
bottom=0.05,
top=0.91,
wspace=0.2,
hspace=0.2)
def addButton(self, name, function, multithreaded=True, layout=None):
setattr(self, name + "button", QPushButton(name))
# if multithreaded:
# setattr(self, name+"buttonThread", Thread(target=function))
# getattr(self, name+"button").pressed.connect(self.startLoadingIndicator)
# getattr(self, name+"button").released.connect(getattr(self, name+"buttonThread").start)
# else:
getattr(self, name + "button").clicked.connect(function)
# getattr(self, name + "button").setMinimumWidth(220)
if layout is None:
if self.buttonLayoutRightCol.count(
) < self.buttonLayoutMiddleCol.count():
self.buttonLayoutRightCol.addWidget(
getattr(self, name + "button"))
elif self.buttonLayoutMiddleCol.count(
) < self.buttonLayoutLeftCol.count():
self.buttonLayoutMiddleCol.addWidget(
getattr(self, name + "button"))
else:
self.buttonLayoutLeftCol.addWidget(
getattr(self, name + "button"))
else:
layout.addWidget(getattr(self, name + "button"))
def updatePlot(self):
self.plot(self.currently_selected, self.plotargs)
def updateWindowTitle(self):
if np.shape(self.log.data[0, DID_DEV_INFO])[0] != 0:
info = self.log.data[0, DID_DEV_INFO][0]
infoStr = 'SN' + str(info[1]) + ', H:' + verArrayToString(
info[2]) + ', F:' + verArrayToString(
info[3]) + ' build ' + str(
info[4]) + ', ' + dateTimeArrayToString(
info[8], info[9]) + ', ' + info[10].decode('UTF-8')
self.setWindowTitle("LogInspector - " + infoStr)
def choose_directory(self):
log_dir = config['logs_directory']
directory = QFileDialog.getExistingDirectory(
parent=self, caption='Choose Log Directory', directory=log_dir)
if directory != '':
try:
self.load(directory)
except Exception as e:
msg = QMessageBox()
msg.setIcon(QMessageBox.Critical)
msg.setText("Unable to load log: " + e.__str__())
msg.setDetailedText(traceback.format_exc())
msg.exec()
def load(self, directory):
print("loading files from " + directory)
# if self.log is None:
self.log = Log()
self.log.load(directory)
print("done loading")
self.plotter = logPlot(False, False, 'svg', self.log)
self.plotter.setDownSample(self.downsample)
# str = ''
# if self.log.navMode:
# str += 'NAV '
# if self.log.rtk:
# str += 'RTK '
# if self.log.compassing:
# str += 'Comp '
# self.statusLabel.setText(str)
self.updatePlot()
self.updateWindowTitle()
self.stopLoadingIndicator()
def setupUi(self):
self.setObjectName("LogInspector")
self.setWindowTitle("LogInspector")
self.resize(1280, 900)
self.setWindowFlags(self.windowFlags() | QtCore.Qt.WindowSystemMenuHint
| QtCore.Qt.WindowMinMaxButtonsHint)
self.setWindowIcon(QIcon("assets/Magnifying_glass_icon.png"))
# MainWindow.showMaximized()
self.createFileTree()
self.createButtonColumn()
self.formatButtonColumn()
self.createBottomToolbar()
self.figureLayout = QVBoxLayout()
self.figureLayout.addWidget(self.canvas)
self.figureLayout.addLayout(self.toolLayout)
self.figureLayout.setStretchFactor(self.canvas, 1)
layout = QHBoxLayout()
layout.addLayout(self.controlLayout)
layout.addLayout(self.figureLayout)
layout.setStretch(1, 1)
widget = QWidget()
widget.setLayout(layout)
self.setCentralWidget(widget)
# self.resize(1280, 900)
self.resize(1450, 1000)
self.setAcceptDrops(True)
def createButtonColumn(self):
self.controlLayout = QVBoxLayout()
self.buttonLayoutLeftCol = QVBoxLayout()
self.buttonLayoutMiddleCol = QVBoxLayout()
self.buttonLayoutRightCol = QVBoxLayout()
self.addButton('Pos NED Map', lambda: self.plot('posNEDMap'))
self.addButton('Pos NED', lambda: self.plot('posNED'))
self.addButton('Pos LLA', lambda: self.plot('posLLA'))
self.addButton('GPS LLA', lambda: self.plot('llaGps'))
self.addButton('Vel NED', lambda: self.plot('velNED'))
self.addButton('Vel UVW', lambda: self.plot('velUVW'))
self.addButton('Attitude', lambda: self.plot('attitude'))
self.addButton('Heading', lambda: self.plot('heading'))
self.addButton('INS Status', lambda: self.plot('insStatus'))
self.addButton('HDW Status', lambda: self.plot('hdwStatus'))
self.addButton('GPS 1 Stats', lambda: self.plot('gpsStats'))
self.addButton('GPS 2 Stats', lambda: self.plot('gps2Stats'))
self.addButton('RTK Pos Stats', lambda: self.plot('rtkPosStats'))
self.addButton('RTK Cmp Stats', lambda: self.plot('rtkCmpStats'))
self.addButton('Flash Config', lambda: self.showFlashConfig())
self.addButton('Device Info', lambda: self.showDeviceInfo())
self.addButton('IMU PQR', lambda: self.plot('imuPQR'))
self.addButton('IMU Accel', lambda: self.plot('imuAcc'))
self.addButton('PSD PQR', lambda: self.plot('gyroPSD'))
self.addButton('PSD Accel', lambda: self.plot('accelPSD'))
self.addButton('Magnetometer', lambda: self.plot('magnetometer'))
self.addButton('Temp', lambda: self.plot('temp'))
def formatButtonColumn(self):
self.buttonLayoutLeftCol.setAlignment(QtCore.Qt.AlignTop)
self.buttonLayoutMiddleCol.setAlignment(QtCore.Qt.AlignTop)
self.buttonLayoutRightCol.setAlignment(QtCore.Qt.AlignTop)
self.buttonColumnLayout = QHBoxLayout()
self.buttonColumnLayout.addLayout(self.buttonLayoutLeftCol)
self.buttonColumnLayout.addLayout(self.buttonLayoutMiddleCol)
self.buttonColumnLayout.addLayout(self.buttonLayoutRightCol)
self.controlLayout.addLayout(self.buttonColumnLayout)
self.controlDirLayout = QHBoxLayout()
self.controlDirLayout.addWidget(self.dirLineEdit)
self.controlLayout.addLayout(self.controlDirLayout)
self.controlLayout.addWidget(self.fileTree)
# self.buttonLayout.addItem(QSpacerItem(20, 40, QSizePolicy.Minimum, QSizePolicy.Expanding))
# self.addButton('load', self.choose_directory, multithreaded=False)
def createBottomToolbar(self):
self.toolLayout = QHBoxLayout()
self.toolLayout.addWidget(self.toolbar)
self.loadingIndictator = QLabel()
self.loadingMovie = QMovie('assets/loader.gif')
self.emptyLoadingPicture = QPicture()
self.emptyLoadingPicture.load('assets/empty_loader.png')
self.stopLoadingIndicator()
self.toolLayout.addWidget(self.loadingIndictator)
self.toolLayout.addItem(
QSpacerItem(20, 40, QSizePolicy.Minimum, QSizePolicy.Expanding))
# self.toolLayout.addWidget(QSpacerItem(150, 10, QSizePolicy.Expanding))
self.copyImagePushButton = QPushButton()
# self.copyImagePushButton.setText("Copy")
# self.copyImagePushButton.setMinimumWidth(1)
# self.copyImagePushButton.style().standardIcon(QStyle.SP_DialogOpenButton)
self.copyImagePushButton.setIcon(self.style().standardIcon(
QStyle.SP_DialogSaveButton))
self.toolLayout.addWidget(self.copyImagePushButton)
self.copyImagePushButton.clicked.connect(self.copyPlotToClipboard)
downsampleLabel = QLabel()
downsampleLabel.setText("DS")
self.downSampleInput = QSpinBox()
self.downSampleInput.setValue(self.downsample)
self.toolLayout.addWidget(downsampleLabel)
self.toolLayout.addWidget(self.downSampleInput)
self.downSampleInput.valueChanged.connect(self.changeDownSample)
self.statusLabel = QLabel()
self.toolLayout.addWidget(self.statusLabel)
def changeDownSample(self, val):
self.downsample = val
self.plotter.setDownSample(self.downsample)
self.updatePlot()
def copyPlotToClipboard(self):
# pixmap = QPixmap.grabWidget(self.canvas)
# QApplication.clipboard().setPixmap(pixmap)
# pixmap.save('test.png')
# store the image in a buffer using savefig(), this has the
# advantage of applying all the default savefig parameters
# such as background color; those would be ignored if you simply
# grab the canvas using Qt
buf = io.BytesIO()
self.figure.savefig(buf)
QApplication.clipboard().setImage(QImage.fromData(buf.getvalue()))
buf.close()
def startLoadingIndicator(self):
self.loadingIndictator.setMovie(self.loadingMovie)
self.loadingMovie.start()
def dragEnterEvent(self, e):
if (e.mimeData().hasUrls()):
e.acceptProposedAction()
def dropEvent(self, e):
try:
directory = e.mimeData().urls()[0].toLocalFile()
self.load(directory)
except Exception as e:
self.showError(e)
def showError(self, e):
msg = QMessageBox()
msg.setIcon(QMessageBox.Critical)
msg.setText("Unable to load log: " + e.__str__())
msg.setDetailedText(traceback.format_exc())
msg.exec()
def createFileTree(self):
self.dirModel = QFileSystemModel()
self.dirModel.setRootPath(self.config["logs_directory"])
self.dirModel.setFilter(QtCore.QDir.Dirs | QtCore.QDir.NoDotAndDotDot)
self.dirLineEdit = QLineEdit()
self.dirLineEdit.setText(self.config["logs_directory"])
self.dirLineEdit.setFixedHeight(25)
self.dirLineEdit.returnPressed.connect(self.handleTreeDirChange)
self.fileTree = QTreeView()
self.fileTree.setModel(self.dirModel)
self.fileTree.setRootIndex(
self.dirModel.index(self.config['logs_directory']))
self.fileTree.setColumnHidden(1, True)
self.fileTree.setColumnHidden(2, True)
self.fileTree.setColumnHidden(3, True)
self.fileTree.setMinimumWidth(300)
self.fileTree.clicked.connect(self.handleTreeViewClick)
self.fileTree.setContextMenuPolicy(QtCore.Qt.CustomContextMenu)
self.fileTree.setSelectionMode(QAbstractItemView.SingleSelection)
self.fileTree.customContextMenuRequested.connect(
self.handleTreeViewRightClick)
# self.populateRMSCheck(self.config['logs_directory'])
def updateFileTree(self):
self.dirModel.setRootPath(self.config["logs_directory"])
self.fileTree.setRootIndex(
self.dirModel.index(self.config['logs_directory']))
def populateRMSCheck(self, directory):
for subdir in os.listdir(directory):
path = os.path.join(directory, subdir)
if os.path.isdir(path):
self.populateRMSCheck(path)
elif 'RMS' in subdir:
f = open(path)
rms_report = f.read()
p = re.compile(r'(?<=^PASS/FAIL).*\n', re.M)
line = re.search(p, rms_report).group()
failed = True if "FAIL" in line else False
if failed:
pass
else:
pass
def handleTreeDirChange(self):
self.config["logs_directory"] = self.dirLineEdit.text()
self.updateFileTree()
file = open(self.configFilePath, 'w')
yaml.dump(self.config, file)
file.close()
def handleTreeViewClick(self):
selected_directory = self.fileTree.model().filePath(
self.fileTree.selectedIndexes()[0])
for fname in os.listdir(selected_directory):
if fname.endswith('.dat'):
try:
self.load(selected_directory)
except Exception as e:
self.showError(e)
break
def handleTreeViewRightClick(self, event):
selected_directory = os.path.normpath(self.fileTree.model().filePath(
self.fileTree.selectedIndexes()[0]))
menu = QMenu(self)
copyAction = menu.addAction("Copy path")
nppActionHot = menu.addAction("Run NPP, HOT start")
nppActionCold = menu.addAction("Run NPP, COLD start")
nppActionFactory = menu.addAction("Run NPP, FACTORY start")
setDataInfoDirHotAction = menu.addAction(
"Set dataInfo.json directory, HOT start")
setDataInfoDirColdAction = menu.addAction(
"Set dataInfo.json directory, COLD start")
setDataInfoDirFactoryAction = menu.addAction(
"Set dataInfo.json directory, FACTORY start")
exploreAction = menu.addAction("Explore folder")
cleanFolderAction = menu.addAction("Clean folder")
deleteFolderAction = menu.addAction("Delete folder")
action = menu.exec_(self.fileTree.viewport().mapToGlobal(event))
if action == copyAction:
cb = QApplication.clipboard()
cb.clear(mode=cb.Clipboard)
cb.setText(selected_directory, mode=cb.Clipboard)
if action == nppActionHot:
cleanFolder(selected_directory)
setDataInformationDirectory(selected_directory,
startMode=START_MODE_HOT)
sys.path.insert(1, '../../../../python/src')
from supernpp.supernpp import SuperNPP
spp = SuperNPP(selected_directory, self.config['serials'])
spp.run()
if action == nppActionCold:
cleanFolder(selected_directory)
setDataInformationDirectory(selected_directory,
startMode=START_MODE_COLD)
sys.path.insert(1, '../../../../python/src')
from supernpp.supernpp import SuperNPP
spp = SuperNPP(selected_directory,
self.config['serials'],
startMode=START_MODE_COLD)
spp.run()
if action == nppActionFactory:
cleanFolder(selected_directory)
setDataInformationDirectory(selected_directory,
startMode=START_MODE_FACTORY)
sys.path.insert(1, '../../../../python/src')
from supernpp.supernpp import SuperNPP
spp = SuperNPP(selected_directory,
self.config['serials'],
startMode=START_MODE_FACTORY)
spp.run()
if action == setDataInfoDirHotAction:
setDataInformationDirectory(selected_directory,
startMode=START_MODE_HOT)
if action == setDataInfoDirColdAction:
setDataInformationDirectory(selected_directory,
startMode=START_MODE_COLD)
if action == setDataInfoDirFactoryAction:
setDataInformationDirectory(selected_directory,
startMode=START_MODE_FACTORY)
if action == exploreAction:
openFolderWithFileBrowser(selected_directory)
if action == cleanFolderAction:
cleanFolder(selected_directory)
if action == deleteFolderAction:
msg = QMessageBox(self)
msg.setIcon(QMessageBox.Question)
msg.setText("Are you sure you want to delete this folder?\n\n" +
selected_directory)
msg.setStandardButtons(QMessageBox.Yes | QMessageBox.No)
result = msg.exec()
if result == QMessageBox.Yes:
removeDirectory(selected_directory)
def stopLoadingIndicator(self):
self.loadingMovie.stop()
self.loadingIndictator.clear()
self.loadingIndictator.setPicture(self.emptyLoadingPicture)
def showDeviceInfo(self):
dlg = DeviceInfoDialog(self.log, self)
dlg.show()
dlg.exec_()
def showFlashConfig(self):
dlg = FlashConfigDialog(self.log, self)
dlg.show()
dlg.exec_()
def plot(self, func, args=None):
print("plotting " + func)
self.currently_selected = func
self.plotargs = args
self.figure.clear()
if hasattr(self, 'plotter'):
if args is not None:
getattr(self.plotter, func)(*args, self.figure)
else:
getattr(self.plotter, func)(self.figure)
self.canvas.draw()
self.stopLoadingIndicator()
print("done plotting")