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