def service_popup_range_wrap(self):
self.popup = ServiceRange()
t = self.popup
t.setMax(20)
t.setMin(0)
t.setTitle(u"Проверка диапазона")
self.popup.show()
def service_popup_coord_rotation_wrap(self):
self.popup = ServiceRange(flag_line=2)
t = self.popup
t.line = QtGui.QDoubleSpinBox()
t.setTitle(u"Поворот базиса вокруг оси")
self.popup.current = QtGui.QLabel()
self.popup.main_layout.addWidget(self.popup.current)
self.popup.show()
def service_popup_acceleration_wrap(self):
self.popup = ServiceRange(flag_line=1)
t = self.popup
t.line = QtGui.QDoubleSpinBox()
t.setTitle(u"Проверка ускорения")
self.popup.current = QtGui.QLabel()
self.popup.main_layout.addWidget(self.popup.current)
self.popup.show()
def service_popup_angles_wrap(self):
self.popup = ServiceRange()
t = self.popup
t.setMax(15)
t.setMin(-10)
t.setTitle(u"Проверка углов")
self.popup.current = QtGui.QLabel()
self.popup.main_layout.addWidget(self.popup.current)
self.popup.show()
class MInterfaceWindow(QtGui.QMainWindow):
def __init__(self, geometry):
super(MInterfaceWindow, self).__init__()
f = open("gyro.txt", "w")
f.close()
#{"time": [], "accX": [], "accY": [], "accZ": [], "angvX": [], "angvY": [], "angvZ": []}
self.const_hard_data = 2000
self.const_reduced_data = 400
self.const_process_rate = 10
self.num_hard_data = 0
self.num_reduced_data = 0
self.num_record = 0
self.data_from_hard = np.zeros((2*self.const_hard_data, 7))
self.data_reduced = np.zeros((2*self.const_reduced_data, 7))
self.data_traj = np.zeros((2*self.const_hard_data, 7))
self.data_for_record = np.zeros((2*self.const_hard_data, 7))
self.flag = {"play run": 0, "hardware run": 0, "trajectory load": 0, "record run": 0, "new data": 0, "record_reset":0}
self.COMnum = '1'
self.started = 0
self.counter = 0
self.timer_period = 5
self.border_time = 10
self.popup = None
self.initUI()
self.setWindowTitle(u'EpiSim')
self.maxtime = 10
self.reduced_time0 = 0
locg = geometry
self.setGeometry(100, 100, 400, 400)
self.showMaximized()
def initUI(self):
self.timer = QtCore.QTimer(self)
self.connect(self.timer, QtCore.SIGNAL("timeout()"), self.updater)
self.timer.start(self.timer_period)
self.message = ""
centralWindow = QtGui.QWidget()
self.setCentralWidget(centralWindow)
main_layer = QtGui.QHBoxLayout() #right/left division
centralWindow.setLayout(main_layer)
number_parts = 2 #divide main window for "2" par
self.parts = []
splitter = QtGui.QSplitter(QtCore.Qt.Horizontal)
for x in range(number_parts):
self.parts.append(QtGui.QFrame(self))
for x in self.parts:
splitter.addWidget(x)
x.setFrameShape(QtGui.QFrame.StyledPanel)
main_layer.addWidget(splitter)
self.draw_bars()
self.draw_left_part()
self.draw_right_part()
return
def service_popup_range_wrap(self):
self.popup = ServiceRange()
t = self.popup
t.setMax(20)
t.setMin(0)
t.setTitle(u"Проверка диапазона")
self.popup.show()
def service_popup_angles_wrap(self):
self.popup = ServiceRange()
t = self.popup
t.setMax(15)
t.setMin(-10)
t.setTitle(u"Проверка углов")
self.popup.current = QtGui.QLabel()
self.popup.main_layout.addWidget(self.popup.current)
self.popup.show()
def service_popup_acceleration_wrap(self):
self.popup = ServiceRange(flag_line=1)
t = self.popup
t.line = QtGui.QDoubleSpinBox()
t.setTitle(u"Проверка ускорения")
self.popup.current = QtGui.QLabel()
self.popup.main_layout.addWidget(self.popup.current)
self.popup.show()
def service_popup_coord_rotation_wrap(self):
self.popup = ServiceRange(flag_line=2)
t = self.popup
t.line = QtGui.QDoubleSpinBox()
t.setTitle(u"Поворот базиса вокруг оси")
self.popup.current = QtGui.QLabel()
self.popup.main_layout.addWidget(self.popup.current)
self.popup.show()
def draw_bars(self):
self.statusBar().showMessage(u'Готов')#Запуск платформы по порту №'+str(self.COMnum))
mymenu = self.menuBar()
filemenu = mymenu.addMenu(u'Файл')
openAction = QtGui.QAction(QtGui.QIcon('exit.png'), u'Открыть файл', self)
openAction.triggered.connect(self.dialog_open_file)
filemenu.addAction(openAction)
saveAction = QtGui.QAction(QtGui.QIcon('exit.png'), u'Сохранить файл', self)
saveAction.triggered.connect(self.dialog_save_file)
filemenu.addAction(saveAction)
exitAction = QtGui.QAction(QtGui.QIcon('exit.png'), u'Выход', self)
exitAction.triggered.connect(self.close)
filemenu.addAction(exitAction)
servicemenu = mymenu.addMenu(u'Сервис')
serviceRange = QtGui.QAction(QtGui.QIcon('exit.png'), u'Проверка диапазона', self)
serviceRange.triggered.connect(self.service_popup_range_wrap)
servicemenu.addAction(serviceRange)
serviceAngles = QtGui.QAction(QtGui.QIcon('exit.png'), u'Проверка углов', self)
serviceAngles.triggered.connect(self.service_popup_angles_wrap)
servicemenu.addAction(serviceAngles)
serviceAcceleration = QtGui.QAction(QtGui.QIcon('exit.png'), u'Проверка ускорения', self)
serviceAcceleration.triggered.connect(self.service_popup_acceleration_wrap)
servicemenu.addAction(serviceAcceleration)
serviceRotation = QtGui.QAction(QtGui.QIcon('exit.png'), u'Повернуть систему координат', self)
serviceRotation.triggered.connect(self.service_popup_coord_rotation_wrap)
servicemenu.addAction(serviceRotation)
serviceInit = QtGui.QAction(QtGui.QIcon('exit.png'), u'Инициализация', self)
servicemenu.addAction(serviceInit)
return
def draw_left_part(self):
from Visual.RadioPlot import PlotElem
plotsbox = QtGui.QVBoxLayout()
self.plotX = PlotElem('X')
self.plotY = PlotElem('Y')
self.plotZ = PlotElem('Z')
plotsbox.addLayout(self.plotX)
plotsbox.addLayout(self.plotY)
plotsbox.addLayout(self.plotZ)
self.parts[0].setLayout(plotsbox)
def draw_right_part(self):
rightPart = QtGui.QVBoxLayout()
from pyqtgraph import PlotWidget
pl = PlotWidget()
self.plotU = pl.plot(pen=(255, 0, 0))
rightPart.addWidget(pl)
self.menuLayout = QtGui.QGridLayout()
temp = QtGui.QHBoxLayout()
templabel = QtGui.QLabel(u' COM порт № ')
self.text_COM_number = QtGui.QLineEdit()
temp.addWidget(templabel)
temp.addWidget(self.text_COM_number)
self.button_setCOM = QtGui.QPushButton(u'Выбрать')
self.button_setCOM.clicked.connect(self.button_setCOM_pressed)
temp.addWidget(self.button_setCOM)
temp.addStretch(1)
#self.menuLayout.addWidget(self.button_setCOM, 0, 1)#, alignment=1)
self.menuLayout.addLayout(temp,0,0)
temp = QtGui.QHBoxLayout()
self.button_hardware = QtGui.QPushButton(u'Старт платформы')
self.button_hardware.clicked.connect(self.button_hardware_pressed)
temp.addWidget(self.button_hardware)
#self.menuLayout.addWidget(self.button_hardware, 1, 0)#, alignment=1)
self.button_watch = QtGui.QPushButton(u'Начать просмотр')
self.button_watch.clicked.connect(self.button_watch_pressed)
temp.addWidget(self.button_watch)
self.button_record = QtGui.QPushButton(u' Начать запись ')
self.button_record.clicked.connect(self.button_record_pressed)
temp.addWidget(self.button_record)
temp.addStretch(1)
self.menuLayout.addLayout(temp, 1,0)#Widget(self.button_watch, 1, 1)#, alignment=1)
self.menuLayout.addLayout(self.build_parameters_menu(), 2, 0)
temp = QtGui.QHBoxLayout()
temp.insertSpacing(-1, 10)
self.string_message = QtGui.QLineEdit()
temp.addWidget(self.string_message)
self.button_send_string = QtGui.QPushButton(u'Отправить строку')
self.button_send_string.clicked.connect(self.button_send_string_pressed)
temp.addWidget(self.button_send_string)
temp.insertStretch(-1, 1)
self.menuLayout.addLayout(temp, 3, 0)#, alignment=1)
rightPart.addLayout(self.menuLayout)
self.parts[1].setLayout(rightPart)
def build_parameters_menu(self):
temp = QtGui.QGridLayout()
temp1 = QtGui.QLabel(u'A, mm, 0-20')
temp1.setAlignment(QtCore.Qt.AlignCenter)
temp.addWidget(temp1, 0, 0)
self.parameter_A = QtGui.QLineEdit()
temp.addWidget(self.parameter_A, 1,0)
temp1 = QtGui.QLabel(u't1')
temp1.setAlignment(QtCore.Qt.AlignCenter)
temp.addWidget(temp1, 0, 1)
self.parameter_t1 = QtGui.QLineEdit()
temp.addWidget(self.parameter_t1, 1, 1)
temp1 = QtGui.QLabel(u't2')
temp1.setAlignment(QtCore.Qt.AlignCenter)
temp.addWidget(temp1, 0, 2)
self.parameter_t2 = QtGui.QLineEdit()
temp.addWidget(self.parameter_t2, 1, 2)
temp1 = QtGui.QLabel(u't3')
temp1.setAlignment(QtCore.Qt.AlignCenter)
temp.addWidget(temp1, 0, 3)
self.parameter_t3 = QtGui.QLineEdit()
temp.addWidget(self.parameter_t3, 1, 3)
temp1 = QtGui.QLabel(u'T')
temp1.setAlignment(QtCore.Qt.AlignCenter)
temp.addWidget(temp1, 0, 4)
self.parameter_T = QtGui.QLineEdit()
temp.addWidget(self.parameter_T, 1, 4)
self.button_setMessage = QtGui.QPushButton(u'Установить сообшение')
self.button_setMessage.clicked.connect(self.button_setMessage_pressed)
temp.addWidget(self.button_setMessage, 0, 5)
self.button_sendMessage = QtGui.QPushButton(u'Отправить сообшение')
self.button_sendMessage.clicked.connect(self.button_sendMessage_pressed)
temp.addWidget(self.button_sendMessage, 1, 5)
temp.setContentsMargins(10,10,100,10)
return temp
def button_setMessage_pressed(self):
try:
A = float(self.parameter_A.text())
except:
self.statusBar().showMessage(u'Ошибка в параметре А')
return
try:
t1 = float(self.parameter_t1.text())
except:
self.statusBar().showMessage(u'Ошибка в параметре t1')
return
try:
t2 = float(self.parameter_t2.text())
except:
self.statusBar().showMessage(u'Ошибка в параметре t2')
return
try:
t3 = float(self.parameter_t3.text())
except:
self.statusBar().showMessage(u'Ошибка в параметре t3')
return
try:
T = float(self.parameter_T.text())
except:
self.statusBar().showMessage(u'Ошибка в параметре T')
return
p1 = int(A)
if p1<1: p1 = 1
p2 = int(t1/(p1*3.1875*10**(-5)))
if p2<1: p2 = 1
p3 = int(t2/(3.1875*10**(-5)))
if p3<1: p3 = 1
p4 = int(t3/(p1*3.1875*10**(-5)))
if p4<1: p4 = 1
p5 = int((T-t1-t2-t3)/(3.1875*10**(-4)))
if p5<1: p5 = 1
self.message = '! '+str(p1)+', '+str(p2)+', '+str(p3)+', '+str(p4)+', '+str(p5)+'='
self.statusBar().showMessage(self.message)
self.parameter_A.setText(str(p1))
self.parameter_t1.setText(str(round(p1*p2*3.1875/10**5, 3)))
self.parameter_t2.setText(str(round(p3*3.1875/10**5, 3)))
self.parameter_t3.setText(str(round(p1*p4*3.1875/10**5, 3)))
self.parameter_T.setText(str(round(t1 + t2 + t3 + p5*3.1875/10**4, 3)))
def button_setCOM_pressed(self):
s = self.text_COM_number.text()
if str(s)!= '':
self.COMnum = str(s)
self.statusBar().showMessage(u"Выбран порт № "+self.COMnum)
else:
self.statusBar().showMessage(u"Выбран порт по умолчанию - порт № "+self.COMnum)
return
def button_sendMessage_pressed(self):
if not self.flag["hardware run"]:
self.statusBar().showMessage(u'Перед отправкой сообщения необходимо подключиться к аппаратуре')
return
mess = self.message
if mess == "":
self.statusBar().showMessage(u'Нельзя отправить пустое сообщение')
return
self.statusBar().showMessage(u'Сообщение отправлено')
self.message = ""
hw.ComSend(self.com, mess)
def button_send_string_pressed(self):
if not self.flag["hardware run"]:
self.statusBar().showMessage(u'Перед отправкой строки необходимо подключиться к аппаратуре')
return
mess = str(self.string_message.text())
if mess == "":
self.statusBar().showMessage(u'Нельзя отправить пустую строку')
return
self.statusBar().showMessage(u'Строка отправлена')
print mess
hw.ComSend(self.com, mess)
def button_hardware_pressed(self):
if self.flag["hardware run"]:
self.button_hardware.setText(u'Старт платформы')
hw.FinishComPort(self.com)
self.flag["hardware run"] = 0
self.data_reduced = np.zeros(self.data_reduced.shape)
self.num_reduced_data = 0
else:
self.button_hardware.setText(u'Остановка платформы')
self.com = hw.StartComPort(num=self.COMnum)
self.flag["hardware run"] = 1
return
def button_watch_pressed(self):
if self.flag["hardware run"] == 0:
self.statusBar().showMessage(u'Сначала подключитесь к аппаратуре')
return
if self.flag["play run"]:
self.flag["play run"] = 0
self.button_watch.setText(u'Начать просмотр')
else:
self.flag["play run"] = 1
self.button_watch.setText(u'Остановить просмотр')
return
def button_record_pressed(self):
if self.flag["record run"]:
self.button_record.setText(u"Включить запись")
self.flag["record run"] = 0
self.flag["record_reset"] = 1
self.statusBar().showMessage(u"Запись остановлена. Сохраните файл")
return
if self.flag["hardware run"]==0:
self.statusBar().showMessage(u"Запись невозможна без подключения к аппаратуре")
return
if self.flag["play run"] == 0:
self.statusBar().showMessage(u"Запись невозможна без включения просмотра")
return
self.data_for_record = np.zeros(self.data_for_record.shape)
self.num_record = 0
self.flag["record run"] = 1
self.button_record.setText(u"Остановить запись")
return
def dialog_open_file(self):
curr_path = os.path.dirname('C:\\')
fname, _ = QtGui.QFileDialog.getOpenFileName(self, u'Открыть файл',
curr_path)
try:
f = open(fname, 'r')
except:
return
return
with f:
locflag = self.read_trajectory(file=f)
if locflag:
self.statusBar().showMessage(u'Данные получены')
self.flag["trajectory load"] = 1
else:
self.msgBox = QtGui.QMessageBox.information(self,"Open file error","Errors in trajectory, wasnt loaded")
return
def dialog_save_file(self):
fname, _ = QtGui.QFileDialog.getSaveFileName(self,u'Сохранить файл', os.path.dirname('C:\\'))#os.path.abspath(__file__)),"Text files (*.txt)")
data = self.data_for_record[0:self.num_record].copy()
data = np.around(data, decimals=3)
try:
f = open(fname, 'w')
except:
return
for line in data:
s = str(line)
s = s.strip("]")
s = s.strip("[")
s += '\n'
f.write(s)
f.close()
def updater(self):
if self.flag["hardware run"]:
self.hard_data_recieve()
self.counter += 1
if self.counter == self.const_process_rate:
self.processData()
if self.flag["play run"]:
self.data_draw()
if self.flag["trajectory load"]:
self.show_trajectory()
self.counter = 0
def read_trajectory(self, file):
return
traj = np.zeros((1000,7))#{"time": [], "accX": [], "accY": [], "accZ": [], "angvX": [], "angvY": [], "angvZ": []}
for line in file:
line = line.split('\n')[0]
if self.check_trajectory_data(line):
line = line.split(' ')
traj["time"].append(float(line[0]))
traj["accX"].append(float(line[1]))
traj["accY"].append(float(line[2]))
traj["accZ"].append(float(line[3]))
traj["angvX"].append(float(line[4]))
traj["angvY"].append(float(line[5]))
traj["angvZ"].append(float(line[6]))
else:
return 0
self.data_traj = traj
return 1
def check_trajectory_data(self, datum):
return 1
locd = datum.split(' ')
locd = locd.strip('[')
if len(locd) != 7: #7 parametrov razdelennih probelami
return 0
locd_int = []
for x in locd:
try:
locd_int.append(float(x)) #vse 7 - cifri
except:
return 0
if locd_int[0]<0: #vremya otrizatelnoye
return 0
return 1
def show_trajectory(self):
self.plotX.setData(data=self.data_traj, fl='t')
self.plotY.setData(data=self.data_traj, fl='t')
self.plotZ.setData(data=self.data_traj, fl='t')
return
def hard_data_recieve(self):
res = hw.ComListen(self.com)
if res[0] != 1:
return
res = res[1]
leng = len(res)
n = self.num_hard_data
if leng == 0:
return
try:
self.data_from_hard[n:(n+leng),:] = res
except:
print(leng, res.shape)
print(self.data_from_hard[n:(n+leng),:].shape,n, n+leng)
self.num_hard_data += leng
if self.flag["play run"]:
if self.num_reduced_data < self.const_reduced_data*1.5:
self.data_reduced[self.num_reduced_data] = res[0]
self.num_reduced_data += 1
self.flag["new data"] = 1
if self.flag["record run"]:
if self.num_reduced_data < len(self.data_for_record):
self.data_for_record[self.num_record] = res[0]
self.num_record += 1
else:
self.statusBar().showMessage(u'Слишком длинная траектория. Перезапустите или сохраните')#Запуск платформы по порту №'+str(self.COMnum))
def processData(self):
if not(self.flag["hardware run"]):
return
if self.num_hard_data > self.const_hard_data:
self.data_from_hard = processHardData(self.data_from_hard, self.const_hard_data, flagwrite=self.flag["record run"])
self.num_hard_data = 0
if self.num_hard_data > self.const_hard_data*2:
self.num_hard_data = 0
if (self.data_reduced[self.num_reduced_data-1][0] - self.data_reduced[0][0]) > self.border_time:
self.const_reduced_data = int(self.num_reduced_data - 1)
#self.data_reduced = self.data_reduced[0:self.const_reduced_data*2]
if self.num_reduced_data > self.const_reduced_data*1.5:
self.data_reduced = processHardData(self.data_reduced, self.const_reduced_data)
self.num_reduced_data = 0
if self.num_reduced_data > self.const_reduced_data:
t = int(self.const_reduced_data*0.9)
self.num_reduced_data = t
temp = self.data_reduced[self.const_reduced_data-t:]
self.data_reduced[:t-self.const_reduced_data] = temp
print(self.data_reduced[self.num_reduced_data,0] - self.data_reduced[0,0])
if self.data_reduced[self.num_reduced_data][0]- self.data_reduced[0,0] < 0.9*self.border_time:
self.const_reduced_data = int(1.1*self.const_reduced_data)
def data_draw(self):
if not self.flag["new data"]:
return
if not self.flag["play run"]:
return
n = self.num_reduced_data
if n<=2:
return
temp = np.copy(self.data_reduced[0:n-1])
temp[:,0] -= temp[0,0]
self.plotX.setData(data=temp)
self.plotY.setData(data=temp)
self.plotZ.setData(data=temp)
self.flag["new data"] = 0
if self.flag["record run"] or self.flag["record_reset"]:
n = self.num_record
temp = np.copy(self.data_for_record[0:n-1])
temp[:, 0] -= self.data_reduced[0,0]
self.plotX.setData(data=temp, fl='r')
self.plotY.setData(data=temp, fl='r')
self.plotZ.setData(data=temp, fl='r')
else:
if (self.data_for_record[0][0]<self.data_reduced[0][0]):
if (self.data_for_record[self.num_record-1][0]>self.data_reduced[0][0]):
self.flag["record_reset"] = 0
self.plotX.resetRecord()
self.plotY.resetRecord()
self.plotZ.resetRecord()
return
