class PlotPanel(wx.Panel):
"""
The PlotPanel
"""
def __init__(self,
parent,
name=None,
color=None,
dpi=None,
n_axes=1,
**kwargs):
# initialize Panel
if 'id' not in iter(kwargs.keys()):
kwargs['id'] = wx.ID_ANY
if 'style' not in iter(kwargs.keys()):
kwargs['style'] = wx.NO_FULL_REPAINT_ON_RESIZE
wx.Panel.__init__(self, parent, **kwargs)
self.SetMinSize((100, 40))
# The logging logger instance.
loggerName = __name__ + "." + self.__class__.__name__
self.logger = logging.getLogger(loggerName)
# The name of the plot panel.
self.name = name
# initialize matplotlib stuff
self.figure = mpl.figure.Figure(None, dpi=dpi, facecolor='white')
self.canvas = FigureCanvas(self, -1, self.figure)
# The axes.
self._axes = []
axes_height = 1 / n_axes
for k in range(n_axes):
self._axes.append(
self.figure.add_axes([0, k * axes_height, 1, axes_height]))
self.canvas.SetMinSize((30, 10))
self.SetBackgroundColour('white')
# The axes backgrounds for blit animation.
self.blit_backgrounds = []
# Add the canvas to the sizer.
self.sizer = wx.BoxSizer(wx.VERTICAL)
self.sizer.Add(self.canvas, 1, wx.EXPAND)
self.SetSizer(self.sizer)
self.canvas.Bind(wx.EVT_SET_FOCUS, self.on_set_focus)
self.Bind(wx.EVT_SET_FOCUS, self.on_set_focus2)
self.canvas.Bind(wx.EVT_KEY_DOWN, self.on_key_down)
self.Bind(wx.EVT_KEY_DOWN, self.on_key_down)
self.canvas.Bind(wx.EVT_KEY_UP, self.on_key_up)
self.Bind(wx.EVT_KEY_UP, self.on_key_up)
self.Bind(wx.EVT_LEFT_DOWN, self.on_left_down)
self.canvas.Bind(wx.EVT_LEFT_DOWN, self.on_left_down)
@property
def axes(self):
''' The axes of the panel.
If only one axis is present, return the axes, otherwise return a list of axes.
'''
if len(self._axes) == 1:
return self._axes[0]
else:
return self._axes
def on_wx_xlick(self, event):
self.logger.debug("on_wx_xlick in plot_panel %s. event: %s", self.name,
event)
def on_set_focus(self, event):
self.logger.debug("on_set_focus in plot_panel %s. event: %s",
self.name, event)
self.logger.debug("Event should propagate: %s",
event.ShouldPropagate())
#event.ResumePropagation(1)
event.Skip()
def on_set_focus2(self, event):
self.logger.debug("on_set_focus2 in plot_panel %s. event: %s",
self.name, event)
def on_key_down(self, event):
self.logger.debug("on_key_down in plot_panel %s. event: %s", self.name,
event)
event.ResumePropagation(1)
event.Skip()
def on_key_up(self, event):
self.logger.debug("on_key_up in plot_panel %s. event: %s", self.name,
event)
event.ResumePropagation(1)
event.Skip()
def on_left_down(self, event):
self.logger.debug("on_left_down in plot_panel %s. event: %s",
self.name, event)
event.ResumePropagation(30)
event.Skip()
def set_color(self, rgbtuple=None):
''' Set figure and canvas colours to be the same.
'''
if rgbtuple is None:
rgbtuple = wx.SystemSettings.GetColour(wx.SYS_COLOUR_BTNFACE).Get()
clr = [c / 255. for c in rgbtuple]
self.figure.set_facecolor(clr)
self.figure.set_edgecolor(clr)
self.canvas.SetBackgroundColour(wx.Colour(*rgbtuple))
self.canvas.Refresh()
def set_n_axes(self, n_axes):
''' Set the number of axes provided by the plot panel.
'''
# Delete the existing axes.
for cur_ax in self._axes:
self.figure.delaxes(cur_ax)
self._axes = []
# Create the new number of axes.
axes_height = old_div(1, n_axes)
for k in range(n_axes):
self._axes.append(
self.figure.add_axes([0, k * axes_height, 1, axes_height]))
def draw(self):
''' Draw the canvas to make the changes visible.
'''
self.canvas.draw()
def save_blit_background(self):
''' Save the axes background for animation.
'''
self.blit_backgrounds = []
for cur_axes in self._axes:
self.blit_backgrounds.append(
self.canvas.copy_from_bbox(cur_axes.bbox))
def restore_blit_background(self):
''' Restore the axes background for animation.
'''
for k, cur_bg in enumerate(self.blit_backgrounds):
self.canvas.restore_region(cur_bg, bbox=self._axes[k].bbox)
def draw_blit_artists(self, artists):
''' Draw the artist for animation.
'''
for cur_artist in artists:
for cur_line_artist in cur_artist.line_artist:
cur_line_artist.axes.draw_artist(cur_line_artist)
for cur_text_artist in cur_artist.text_artist:
cur_text_artist.axes.draw_artist(cur_text_artist)
def update_display(self):
''' Update the display of the docking frame.
'''
assert False, 'The update_display method must be defined!'
class ParticleMotionFrame(wx.Frame):
'''
'''
def __init__(self,
parent=None,
id=wx.ID_ANY,
title='particle motion',
size=(600, 600),
dpi=90):
''' Initialize the instance.
'''
wx.Frame.__init__(self,
parent=parent,
id=id,
title=title,
pos=wx.DefaultPosition,
style=wx.DEFAULT_FRAME_STYLE)
self.SetMinSize(size)
# initialize matplotlib stuff
self.figure = mpl.figure.Figure(None, dpi=dpi, facecolor='white')
self.canvas = FigureCanvas(self, -1, self.figure)
#self.grid = axesgrid.AxesGrid(self.figure, 111,
# nrows_ncols = (2, 2),
# axes_pad = 0,
# label_mode = "1")
self.axes = {}
self.axes['xy'] = self.figure.add_subplot(111)
self.axes['xy'].set_aspect('equal')
self.divider = axesgrid.make_axes_locatable(self.axes['xy'])
self.axes['yz'] = self.divider.append_axes("right",
size="100%",
pad=0,
sharey=self.axes['xy'])
self.axes['xz'] = self.divider.append_axes("bottom",
size="100%",
pad=0,
sharex=self.axes['xy'])
self.annotate_axes()
self.canvas.SetMinSize((30, 10))
self.SetBackgroundColour('white')
# Add the canvas to the sizer.
self.sizer = wx.BoxSizer(wx.VERTICAL)
self.sizer.Add(self.canvas, 1, wx.EXPAND)
self.SetSizer(self.sizer)
# The particle motion lines.
self.lines = {}
self.lines['xy'] = None
self.lines['xz'] = None
self.lines['yz'] = None
# The particle motion start markers.
self.start_markers = {}
self.start_markers['xy'] = None
self.start_markers['xz'] = None
self.start_markers['yz'] = None
# The feature annotation.
self.feature_text = None
def annotate_axes(self):
''' Annotate the axes.
'''
self.axes['xy'].set_xlabel('x')
self.axes['xy'].set_ylabel('y')
self.axes['xy'].xaxis.set_label_position('top')
self.axes['xy'].xaxis.set_tick_params(labeltop=False,
labelbottom=False)
self.axes['xz'].set_xlabel('x')
self.axes['xz'].set_ylabel('z')
self.axes['yz'].set_xlabel('z')
self.axes['yz'].set_ylabel('y')
self.axes['yz'].get_xaxis().set_label_position('top')
self.axes['yz'].get_yaxis().set_label_position('right')
self.axes['yz'].xaxis.set_tick_params(labeltop=False,
labelbottom=False)
self.axes['yz'].yaxis.set_tick_params(labelleft=False, labelright=True)
def clear_axes(self):
''' Clear all plots in the axes.
'''
for cur_key, cur_axes in self.axes.items():
if self.lines[cur_key] is not None:
cur_axes.lines.remove(self.lines[cur_key])
del self.lines[cur_key]
self.lines[cur_key] = None
if self.start_markers[cur_key] is not None:
cur_axes.lines.remove(self.start_markers[cur_key])
del self.start_markers[cur_key]
self.start_markers[cur_key] = None
def plot_xy(self, x_data, y_data, start_marker=False):
''' Plot the xy particle motion.
'''
self.plot(x=x_data, y=y_data, mode='xy', start_marker=start_marker)
def plot_xz(self, x_data, z_data, start_marker=False):
''' Plot the xy particle motion.
'''
self.plot(x=x_data, y=z_data, mode='xz', start_marker=start_marker)
def plot_yz(self, y_data, z_data, start_marker=False):
''' Plot the xy particle motion.
'''
self.plot(x=z_data, y=y_data, mode='yz', start_marker=start_marker)
def plot(self, x, y, mode, start_marker=False):
''' Plot data in the corresponding axes.
'''
cur_axes = self.axes[mode]
cur_line = self.lines[mode]
if cur_line is None:
cur_lines = cur_axes.plot(x, y, 'k')
self.lines[mode] = cur_lines[0]
else:
cur_line.set_xdata(x)
cur_line.set_ydata(y)
if start_marker:
cur_lines = cur_axes.plot(x[0], y[0], 'ro')
self.start_markers[mode] = cur_lines[0]
def set_feature_annotation(self, features):
'''
'''
if self.feature_text is not None:
self.axes['xz'].texts.remove(self.feature_text)
azimuth = np.rad2deg(features['azimuth'])
if azimuth < 0:
azimuth = azimuth + 180
msg = "Polarization features:\n\n"
msg += "polarization strength: %f" % features['pol_strength'] + '\n'
msg += "ellipticity: %f" % features['ellipticity'] + '\n'
msg += "apparent azimuth: %f / %f" % (azimuth, azimuth + 180) + "\n"
msg += "apparent incidence: %f" % np.rad2deg(
features['incidence']) + "\n"
self.feature_text = self.axes['xz'].text(
1.1,
0.95,
msg,
verticalalignment='top',
horizontalalignment='left',
transform=self.axes['xz'].transAxes,
size=10)
def set_axes_limits(self):
''' Adjust the axes limits.
'''
max_amp = []
for cur_line in self.lines.values():
cur_x_max = np.max(np.abs(cur_line.get_xdata()))
cur_y_max = np.max(np.abs(cur_line.get_ydata()))
max_amp.append(np.max([cur_x_max, cur_y_max]))
max_amp = np.max(max_amp)
for cur_axes in self.axes.values():
cur_axes.set_xlim((-max_amp, max_amp))
cur_axes.set_ylim((-max_amp, max_amp))
class PlotPanel(wx.Panel):
"""
The PlotPanel
"""
def __init__(self, parent, name=None, color=None, dpi=None, **kwargs):
# initialize Panel
if 'id' not in kwargs.keys():
kwargs['id'] = wx.ID_ANY
if 'style' not in kwargs.keys():
kwargs['style'] = wx.NO_FULL_REPAINT_ON_RESIZE
wx.Panel.__init__(self, parent, **kwargs)
self.SetMinSize((100, 40))
# The logging logger instance.
loggerName = __name__ + "." + self.__class__.__name__
self.logger = logging.getLogger(loggerName)
# The name of the plot panel.
self.name = name
# initialize matplotlib stuff
self.figure = mpl.figure.Figure(None, dpi=dpi, facecolor='white')
self.canvas = FigureCanvas(self, -1, self.figure)
self.axes = self.figure.add_axes([0, 0, 1, 1])
self.canvas.SetMinSize((30, 10))
self.SetBackgroundColour('white')
# Add the canvas to the sizer.
self.sizer = wx.BoxSizer(wx.VERTICAL)
self.sizer.Add(self.canvas, 1, wx.EXPAND)
self.SetSizer(self.sizer)
self.canvas.Bind(wx.EVT_SET_FOCUS, self.on_set_focus)
self.Bind(wx.EVT_SET_FOCUS, self.on_set_focus2)
self.canvas.Bind(wx.EVT_KEY_DOWN, self.on_key_down)
self.Bind(wx.EVT_KEY_DOWN, self.on_key_down)
self.canvas.Bind(wx.EVT_KEY_UP, self.on_key_up)
self.Bind(wx.EVT_KEY_UP, self.on_key_up)
self.Bind(wx.EVT_LEFT_DOWN, self.on_left_down)
self.canvas.Bind(wx.EVT_LEFT_DOWN, self.on_left_down)
def on_wx_xlick(self, event):
self.logger.debug("on_wx_xlick in plot_panel %s. event: %s", self.name,
event)
def on_set_focus(self, event):
self.logger.debug("on_set_focus in plot_panel %s. event: %s",
self.name, event)
self.logger.debug("Event should propagate: %s",
event.ShouldPropagate())
#event.ResumePropagation(1)
event.Skip()
def on_set_focus2(self, event):
self.logger.debug("on_set_focus2 in plot_panel %s. event: %s",
self.name, event)
def on_key_down(self, event):
self.logger.debug("on_key_down in plot_panel %s. event: %s", self.name,
event)
event.ResumePropagation(1)
event.Skip()
def on_key_up(self, event):
self.logger.debug("on_key_up in plot_panel %s. event: %s", self.name,
event)
event.ResumePropagation(1)
event.Skip()
def on_left_down(self, event):
self.logger.debug("on_left_down in plot_panel %s. event: %s",
self.name, event)
event.ResumePropagation(30)
event.Skip()
def set_color(self, rgbtuple=None):
''' Set figure and canvas colours to be the same.
'''
if rgbtuple is None:
rgbtuple = wx.SystemSettings.GetColour(wx.SYS_COLOUR_BTNFACE).Get()
clr = [c / 255. for c in rgbtuple]
self.figure.set_facecolor(clr)
self.figure.set_edgecolor(clr)
self.canvas.SetBackgroundColour(wx.Colour(*rgbtuple))
self.canvas.Refresh()
def draw(self):
''' Draw the canvas to make the changes visible.
'''
self.canvas.draw()
def update_display(self):
''' Update the display of the docking frame.
'''
assert False, 'The update_display method must be defined!'
class MagcalPanel(wx.Panel):
_status_markup_strings = {
mavlink.MAG_CAL_NOT_STARTED: 'Not started',
mavlink.MAG_CAL_WAITING_TO_START: 'Waiting to start',
mavlink.MAG_CAL_RUNNING_STEP_ONE: 'Step one',
mavlink.MAG_CAL_RUNNING_STEP_TWO: 'Step two',
mavlink.MAG_CAL_SUCCESS: '<span color="blue">Success</span>',
mavlink.MAG_CAL_FAILED: '<span color="red">Failed</span>',
}
_empty_color = '#7ea6ce'
_filled_color = '#4680b9'
def __init__(self, *k, **kw):
super(MagcalPanel, self).__init__(*k, **kw)
facecolor = self.GetBackgroundColour().GetAsString(wx.C2S_HTML_SYNTAX)
fig = plt.figure(facecolor=facecolor, figsize=(1, 1))
self._canvas = FigureCanvas(self, wx.ID_ANY, fig)
self._canvas.SetMinSize((300, 300))
self._id_text = wx.StaticText(self, wx.ID_ANY)
self._status_text = wx.StaticText(self, wx.ID_ANY)
self._completion_pct_text = wx.StaticText(self, wx.ID_ANY)
sizer = wx.BoxSizer(wx.VERTICAL)
sizer.Add(self._id_text)
sizer.Add(self._status_text)
sizer.Add(self._completion_pct_text)
sizer.Add(self._canvas, proportion=1, flag=wx.EXPAND)
self.SetSizer(sizer)
ax = fig.add_subplot(111, axis_bgcolor=facecolor, projection='3d')
self.configure_plot(ax)
def configure_plot(self, ax):
extra = .5
lim = grid.radius + extra
ax.set_xlim3d(-lim, lim)
ax.set_ylim3d(-lim, lim)
ax.set_zlim3d(-lim, lim)
ax.set_xlabel('x')
ax.set_ylabel('y')
ax.set_zlabel('z')
ax.invert_zaxis()
ax.invert_xaxis()
ax.set_aspect('equal')
self._polygons_collection = Poly3DCollection(
grid.sections_triangles,
edgecolors='#386694',
)
ax.add_collection3d(self._polygons_collection)
def update_status_from_mavlink(self, m):
status_string = self._status_markup_strings.get(m.cal_status, '???')
self._status_text.SetLabelMarkup('<b>Status:</b> %s' % status_string, )
def mavlink_magcal_report(self, m):
self.update_status_from_mavlink(m)
self._completion_pct_text.SetLabel('')
def mavlink_magcal_progress(self, m):
facecolors = []
for i, mask in enumerate(m.completion_mask):
for j in range(8):
section = i * 8 + j
if mask & 1 << j:
facecolor = self._filled_color
else:
facecolor = self._empty_color
facecolors.append(facecolor)
self._polygons_collection.set_facecolors(facecolors)
self._canvas.draw()
self._id_text.SetLabelMarkup('<b>Compass id:</b> %d' % m.compass_id)
self._completion_pct_text.SetLabelMarkup('<b>Completion:</b> %d%%' %
m.completion_pct)
self.update_status_from_mavlink(m)
_legend_panel = None
@staticmethod
def legend_panel(*k, **kw):
if MagcalPanel._legend_panel:
return MagcalPanel._legend_panel
p = MagcalPanel._legend_panel = wx.Panel(*k, **kw)
sizer = wx.BoxSizer(wx.HORIZONTAL)
p.SetSizer(sizer)
marker = wx.Panel(p, wx.ID_ANY, size=(10, 10))
marker.SetBackgroundColour(MagcalPanel._empty_color)
sizer.Add(marker, flag=wx.ALIGN_CENTER)
text = wx.StaticText(p, wx.ID_ANY)
text.SetLabel('Sections not hit')
sizer.Add(text, border=4, flag=wx.ALIGN_CENTER | wx.LEFT)
marker = wx.Panel(p, wx.ID_ANY, size=(10, 10))
marker.SetBackgroundColour(MagcalPanel._filled_color)
sizer.Add(marker, border=10, flag=wx.ALIGN_CENTER | wx.LEFT)
text = wx.StaticText(p, wx.ID_ANY)
text.SetLabel('Sections hit')
sizer.Add(text, border=4, flag=wx.ALIGN_CENTER | wx.LEFT)
return p
