class AT_GraphingGUI(object):
'''
Graphs the flight path in real time.
Note: Run from the command line: python3.5 -m aero_tracker.gui.at_graphing_gui
'''
CONF_DIR = 'conf'
LOG_DIR = 'log'
CONF_FILE_NAME = 'at_gui.conf'
GUI_NAME = 'AeroTracker Flight Path'
LOG_FILE_NAME = 'at_graph.log'
RESULT_LOG_FILE_NAME = 'at_graph_results.log'
_params = None
_log = AT_Logging
__rslt_data_queue = None
_graph_figure = None
_graph_axis = None
_flight_path = None
_annimation = None
_colors = None
_background = None
_use_blit = False
@property
def log_file(self):
rval = os.path.normpath(AT_GraphingGUI.get_base_dir() + os.sep +
self.LOG_DIR + os.sep + self.LOG_FILE_NAME)
print('Using log file: ', rval)
return rval
@property
def result_log_file(self):
rval = os.path.normpath(AT_GraphingGUI.get_base_dir() + os.sep +
self.LOG_DIR + os.sep +
self.RESULT_LOG_FILE_NAME)
print('Using log file: ', rval)
return rval
@property
def conf_file(self):
rval = os.path.normpath(AT_GraphingGUI.get_base_dir() + os.sep +
self.CONF_DIR + os.sep + self.CONF_FILE_NAME)
return rval
@staticmethod
def get_conf_file():
rval = os.path.normpath(AT_GraphingGUI.get_base_dir() + os.sep +
AT_GraphingGUI.CONF_DIR + os.sep +
AT_GraphingGUI.CONF_FILE_NAME)
print('Using conf file: ', rval)
return rval
@staticmethod
def get_base_dir():
rval = os.getcwd()
if (rval.endswith('gui')):
rval = rval[:-17]
elif (rval.endswith('aerotracker' + os.sep + 'aero_tracker')):
rval = rval[:-13]
return rval
def on_data_handler(self, sender, **kwargs):
'''
target_id = kwargs['target_id']
target_index = kwargs['target_index']
'''
# target_id = kwargs['target_id']
# target_index = kwargs['target_index']
# self._log.log2(msg1='Data Arrived for target:', msg2=str(target_id), caller=self, msgty=AT_Logging.MSG_TYPE_DEBUG)
return
def on_cut_handler(self, sender, **kwargs):
'''
target_id
target_index
num_cuts
'''
print('Cut - Target: ' + kwargs['target_id'])
return
def on_turn_apex_handler(self, sender, **kwargs):
'''
target_id
target_index
lap_number
turn_apex
'''
trn_apex = kwargs['turn_apex']
# print('Turn Apex = ' + "%.2f" % float(kwargs['turn_apex']) + \
# ' lap #: ' + kwargs['lap_number'] + \
# ' target: '+ kwargs['target_id'])
print('Turn Apex = ' + "%.2f" % (trn_apex[2]) + \
' lap #: ' + str(kwargs['lap_number']) + \
' target: '+ kwargs['target_id'])
return
def init_flight_path(self):
self._flight_path, = self._graph_axis.plot([0.0, 0.1], [0.0, 0.1],
[0.0, 0.1],
linewidth=2.0,
color='b')
return self._flight_path,
def update_flight_path(self, num):
'''
Updates the animated flight path curve. This is called by the graph is real-time
to get a data point for a specific interval number.
'''
try:
gx = self.__rslt_data_queue.graph_x(target_index=0)
gy = self.__rslt_data_queue.graph_y(target_index=0)
gz = self.__rslt_data_queue.graph_z(target_index=0)
except Exception as ex:
return self._flight_path
self._flight_path.set_data(gx, gy)
self._flight_path.set_3d_properties(gz)
# self._flight_path.set_data(self._lap_x, self._lap_y)
# self._flight_path.set_3d_properties(self._lap_z)
#redraw
try:
if (self._use_blit):
self._graph_figure.canvas.restore_region(self._background)
self._graph_axis.draw_artist(self._flight_path)
self._graph_figure.canvas.blit(self._graph_axis.bbox)
else:
plt.draw()
except Exception as ex:
print(ex)
raise ex
return self._flight_path,
def _plot_pole(self):
'''
Plots the pole on the graph.
'''
x = np.linspace(0, 0, 2)
y = np.linspace(0, 0, 2)
z = np.linspace(0, 50, 2)
self._graph_axis.plot(x, y, z, label='Pole', linewidth=3.0, color='r')
return
def cleanUp(self):
if (self.__rslt_data_queue != None):
self.__rslt_data_queue.stop()
return
def __init__(self, params):
self._params = params
self._log = AT_Logging(params=self._params, log_file=self.log_file)
self.__rslt_data_queue = AT_ResultDataQueue(
self._params, self.GUI_NAME, log_file=self.result_log_file)
#Set even handlers
self._log.log2(msg1='Registering event handlers',
msg2='',
caller=self,
msgty=AT_Logging.MSG_TYPE_DEBUG)
self.__rslt_data_queue.on_data.register(self.on_data_handler)
self.__rslt_data_queue.on_turn_apex.register(self.on_turn_apex_handler)
self.__rslt_data_queue.on_cut.register(self.on_cut_handler)
self.__rslt_data_queue.start()
self._init_new_graph()
#Save the background buffer
self._background = self._graph_figure.canvas.copy_from_bbox(
self._graph_axis.bbox)
self._log.log2(msg1='Fully started',
msg2='',
caller=self,
msgty=AT_Logging.MSG_TYPE_DEBUG)
return
def __del__(self):
self.cleanUp()
return
def _init_new_graph(self):
'''
Executes before the run cycle starts.
'''
self._log.log2(msg1='Creating new graph',
msg2='',
caller=self,
msgty=AT_Logging.MSG_TYPE_DEBUG)
self._graph_figure = plt.figure()
# self._graph_axis = self._graph_figure.add_subplot(1,1,1)
# self._graph_axis = p3.Axes3D(self._graph_figure)
self._graph_axis = self._graph_figure.gca(projection='3d')
# Setting the axes properties
self._graph_axis.set_xlim3d([-100.0, 100.0])
self._graph_axis.set_xlabel('X')
self._graph_axis.set_ylim3d([-100.0, 100.0])
self._graph_axis.set_ylabel('Y')
self._graph_axis.set_zlim3d([0.0, 100.0])
self._graph_axis.set_zlabel('Z')
self._graph_axis.set_title('3D Flight Path')
num_colors = 3
self._colors = iter(plt.cm.rainbow(np.linspace(0, 1, num_colors)))
# self._colors = iter(matplotlib.cm.rainbow(np.linspace(0,1,num_colors)))
#Draw the pole
self._plot_pole()
self._annimation = animation.FuncAnimation(
self._graph_figure,
self.update_flight_path,
frames=200,
init_func=self.init_flight_path,
interval=20,
blit=self._use_blit)
# plt.draw()
plt.show(block=False)
return
class AT_GUI_Base(object):
'''
Standard base functionality for all AeroTracker front-end components.
'''
CONF_DIR = 'conf'
LOG_DIR = 'log'
CONF_FILE_NAME = 'at_gui.conf'
LOG_FILE_NAME = 'at_graph.log'
RESULT_LOG_FILE_NAME = 'at_graph_results.log'
SOURCE_DIRECTORY = 'aero_tracker'
GLADE_DIR = 'glade'
_params = AT_ResultListenerParams
_glade_bldr = Gtk.Builder()
_window_id = 'window_id'
_glade_file = 'glad.glade'
_min_window_height = 600
_min_window_width = 800
_rslt_data_queue = AT_ResultDataQueue
_pole_to_cluster = typing.List
_cluster_to_pole = typing.Dict
@property
def glade_bldr(self):
return self._glade_bldr
@property
def params(self):
return self._params
@property
def log_file(self):
rval = os.path.normpath(AT_GUI_Base.get_base_dir() + os.sep +
self.LOG_DIR + os.sep + self.LOG_FILE_NAME)
print('Using log file: ', rval)
return rval
@property
def result_log_file(self):
rval = os.path.normpath(AT_GUI_Base.get_base_dir() + os.sep +
self.LOG_DIR + os.sep +
self.RESULT_LOG_FILE_NAME)
print('Using log file: ', rval)
return rval
@property
def conf_file(self):
rval = os.path.normpath(AT_GUI_Base.get_base_dir() + os.sep +
self.CONF_DIR + os.sep + self.CONF_FILE_NAME)
return rval
@staticmethod
def get_conf_file():
rval = os.path.normpath(AT_GUI_Base.get_base_dir() + os.sep +
AT_GUI_Base.CONF_DIR + os.sep +
AT_GUI_Base.CONF_FILE_NAME)
print('Using conf file: ', rval)
return rval
@staticmethod
def get_base_dir():
rval = os.getcwd()
if (rval.endswith('gui')):
rval = rval[:-17]
elif (rval.endswith('aerotracker' + os.sep + 'aero_tracker')):
rval = rval[:-13]
return rval
'''
Events Section
'''
def on_window_delete(self, *args):
'''
Standard event handler for main window delete.
'''
self._rslt_data_queue.stop()
Gtk.main_quit(*args)
def on_window_show(self, *args):
'''
Standard event handler for main window delete.
'''
return
def on_data_handler(self, sender, **kwargs):
'''
cluster_id = kwargs['cluster_id']
target_id = kwargs['target_id']
target_index = kwargs['target_index']
'''
# target_id = kwargs['target_id']
# target_index = kwargs['target_index']
# self._log.log2(msg1='Data Arrived for target:', msg2=str(target_id), caller=self, msgty=AT_Logging.MSG_TYPE_DEBUG)
return
def on_cut_handler(self, sender, **kwargs):
'''
target_id
target_index
num_cuts
'''
print('Cut - Target: ' + kwargs['target_id'])
return
def on_turn_apex_handler(self, sender, **kwargs):
'''
target_id
target_index
lap_number
turn_apex
'''
trn_apex = kwargs['turn_apex']
# print('Turn Apex = ' + "%.2f" % float(kwargs['turn_apex']) + \
# ' lap #: ' + kwargs['lap_number'] + \
# ' target: '+ kwargs['target_id'])
print('Turn Apex = ' + "%.2f" % (trn_apex[2]) + \
' lap #: ' + str(kwargs['lap_number']) + \
' cluster: ' + kwargs['cluster_id'] + \
' target: '+ kwargs['target_id'])
return
def get_gui_object(self, object_id: str):
return self.glade_bldr.get_object(object_id)
def get_pole_from_cluster(self, cluster_id):
return self._cluster_to_pole[cluster_id]
def get_cluster_for_pole(self, pole_num):
indx = pole_num - 1
return self._pole_to_cluster[indx]
def _load_glade(self):
self.glade_bldr.add_from_file(self._glade_file_path())
self.glade_bldr.connect_signals(self)
# window.set_size_request(self._min_window_width,self._min_window_height)
return
def _glade_file_path(self) -> str:
rval = os.path.normpath(AT_GUI_Base.get_base_dir() + os.sep +
self.SOURCE_DIRECTORY + os.sep +
self.GLADE_DIR + os.sep + self._glade_file)
return rval
def __init__(self,
gui_name: str,
window_id: str,
glade_file: str,
min_window_height=600,
min_window_width=800):
'''
Constructor
'''
self._min_window_width = min_window_width
self._min_window_height = min_window_height
self._window_id = window_id
self._glade_file = glade_file
self._load_glade()
self._params = AT_ResultListenerParams(self.get_conf_file())
self._log = AT_Logging(params=self._params, log_file=self.log_file)
self._rslt_data_queue = AT_ResultDataQueue(
self._params, gui_name, log_file=self.result_log_file)
#Set even handlers
self._log.log2(msg1='Registering event handlers',
msg2='',
caller=self,
msgty=AT_Logging.MSG_TYPE_DEBUG)
self._rslt_data_queue.on_data.register(self.on_data_handler)
self._rslt_data_queue.on_turn_apex.register(self.on_turn_apex_handler)
self._rslt_data_queue.on_cut.register(self.on_cut_handler)
self._rslt_data_queue.start()
self._load_pole_to_cluster()
#Save the background buffer
# self._background = self._graph_figure.canvas.copy_from_bbox(self._graph_axis.bbox)
self._log.log2(msg1='Fully started',
msg2='',
caller=self,
msgty=AT_Logging.MSG_TYPE_DEBUG)
return
def _load_pole_to_cluster(self):
self._cluster_to_pole = {'SP': 1, 'NP': 2}
self._pole_to_cluster = ['SP', 'NP']
return
class AT_DirectoryMPManagerServer(mp.Process):
'''
Multiprocessing Manager server Process.
'''
_params = None
_directory_store = None #single instance of data for the directory server
_manager = None
_manager_server = None
_manager_port = 0
_log = None
# _directory_initializer = None #process to set startup values in the directory store once started
@property
def manager_port(self):
return self._manager_port
def run(self):
# super().run()
self._log.log(msg1='Manager process started',
caller=self,
msgty=AT_Logging.MSG_TYPE_INFO)
self._serve_queue_manager(self._params.server_name, self._manager_port)
self._log.log(msg1='Manager process exiting',
caller=self,
msgty=AT_Logging.MSG_TYPE_INFO)
time.sleep(1)
return
def __init__(self, params):
'''
Constructor
'''
super().__init__()
self._params = params
self._setup_directory_store()
self._log = AT_Logging(self._params)
self.daemon = True
# self._directory_initializer = dir_initializer
return
def __del__(self):
self.stop()
def stop(self):
if (self._manager_server != None):
self._manager_server.stop()
return
def _setup_directory_store(self):
self._directory_store = AT_DirectoryStore(self._log, self._params)
AT_DirectoryMPManager.register(typeid='get_instance',
callable=lambda: self._directory_store)
self._manager_port = self._params.port
return
def _serve_queue_manager(self, client_address, port):
tries = 0
mgr_connected = False
saddrstr = client_address + ':' + str(port)
while ((not mgr_connected) and (tries < 10)):
try:
self._manager = AT_DirectoryMPManager(address=(client_address, port), \
authkey=bytearray(self._params.manager_auth_key,'ascii'))
self._log.log(msg1='Getting manager server ready to start',
caller=self,
msgty=AT_Logging.MSG_TYPE_DEBUG)
self._manager_server = self._manager.get_server()
mgr_connected = True
except Exception as ex:
self._log.log2(msg1='Error opening manager port:',
msg2=str(ex),
caller=self,
msgty=AT_Logging.MSG_TYPE_DEBUG)
tries += 1
if (not mgr_connected):
self._log.log1(
msg1='Critical error opening manager port. Quitting.',
caller=self,
msgty=AT_Logging.MSG_TYPE_ERROR)
self.stop()
raise AT_Exception(source=self,
method='_serve_queue_manager',
message='Critical error opening Manager port',
details=str(port))
self._log.log3(msg1='Manger configured and about to start waiting for connections', \
msg2='At:', msg3=saddrstr, caller=self, msgty=AT_Logging.MSG_TYPE_DEBUG)
self._manager_server.serve_forever()
return
class ResultListenerBase(object):
'''
Result Listener Base class.
'''
@property
def listener_name(self) -> str:
raise Exception("Must redefine in inheriting class")
return
@property
def params(self):
return self._params
@property
def handler_class(self):
raise Exception("Must redefine in inheriting class")
return
_params = None
_log = None
_client_data_port = 0
_host_address = ""
_socket_srvr = None
_rslt_queue = None
_rl_thread = None
_log_file = '/var/log/aerotracker/at_results.log'
def start(self):
#Serve and listen for incoming connections
self._rl_thread.start()
# self._socket_srvr.serve_forever()
return
def close(self):
if (self._rl_thread != None):
self._rl_thread.stop()
return
def __init__(self, params, rslt_queue, log_file):
'''
Constructor
'''
self._log_file = log_file
self._params = params
self._log = AT_Logging(params=self._params, log_file=log_file)
self._rslt_queue = rslt_queue
self._host_address = self._get_local_interface_address()
self._set_dir_store(host_address=self._host_address,
port=self._params.port)
self._open_listening_port(self._host_address)
self._register_as_result_listener(host_address=self._host_address,
port=self._client_data_port)
self._rl_thread = AT_ResultListenerThread(
rslt_lstner_socket_server=self._socket_srvr,
params=self.params,
log_file=log_file)
return
def __del__(self):
self.close()
return
def _set_dir_store(self, host_address, port):
self._log.log2(msg1='Connecting to Directory Server:',
msg2=host_address + ':' + str(port),
caller=self,
msgty=AT_Logging.MSG_TYPE_INFO)
dirsvr_client = AT_DirectoryServerClient(
server_name=self._params.server_name,
port=self._params.port,
auth_key=self._params.manager_auth_key,
log=self._log)
self._dir_store = dirsvr_client.get_dirctory_store()
return
def _register_as_result_listener(self, host_address, port):
self._log.log2(msg1='Registering as result listener:',
msg2=host_address + ':' + str(port),
caller=self,
msgty=AT_Logging.MSG_TYPE_INFO)
self._dir_store.add_result_data_listener(
listener_name=self.listener_name, address=host_address, port=port)
return
def _open_listening_port(self, server_address):
#Start up a local multiprocessing manager server for use by the incoming sockets
#to this data processing worker. This has to be started before the socket listeners
#in oder to get thh generated address and port
self._log.log(msg1='Starting to open a listening port:',
caller=self,
msgty=AT_Logging.MSG_TYPE_INFO)
connected = False
tries = 0
data_port = self._params.port + 1 #port to start trying at
while ((not connected) and (tries < 10)):
try:
self._socket_srvr = AT_ResultListenerSocketServer((self._dir_store), server_address=(server_address, data_port), \
RequestHandlerClass=self.handler_class,
params=self._params,
terminator=AT_Protocol.DATA_TERMINATOR)
self._socket_srvr.set_listener_address(server_address)
self._socket_srvr.set_listener_port(data_port)
self._socket_srvr.set_result_queue(self._rslt_queue)
self._socket_srvr.log_file = self._log_file
connected = True
except Exception as ex:
tries += 1
data_port += 1
if (connected):
self._client_data_port = data_port
self._log.log2(msg1='Successfully opened listening port on:',
msg2=server_address + ':' + str(data_port),
caller=self,
msgty=AT_Logging.MSG_TYPE_INFO)
else:
data_port = 0
raise Exception("Could not open listening port for client.")
return data_port
def _get_local_interface_address(self):
try:
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
s.connect((self._params.server_name, self._params.port))
addr = s.getsockname()[0]
s.close()
except Exception as ex:
self.log.log2(msg1='Could not connect to directory server:',
msg2=str(ex),
caller=self,
msgty=AT_Logging.MSG_TYPE_ERROR)
raise ex
return addr
