def __init__(self, parent = None):
""" Initializes the main window, the plot, signals & slots and class global variables """
QMainWindow.__init__(self, parent)
self.setupUi(self)
self.plot = DataPlot(self.framePlot)
self.plot.resize(640, 350)
# Signals & Slots
# ----------------
# Buttons:
self.connect(self.ButtonLoadFile, SIGNAL("clicked()"),self.selectFile)
self.connect(self.ButtonLoadVideo, SIGNAL("clicked()"),self.selectVideo)
self.connect(self.ButtonQuit, SIGNAL("clicked()"), self.closeFile)
self.connect(self.InfoButton, SIGNAL("clicked()"), self.infoPopup)
self.connect(self.ButtonDisableVideo, SIGNAL("clicked()"), self.disableVideo)
self.connect(self.ButtonEnableVideo, SIGNAL("clicked()"), self.enableVideo)
self.connect(self.ButtonPlay, SIGNAL("clicked()"), self.playVideo)
self.connect(self.ButtonPause, SIGNAL("clicked()"), self.pauseVideo)
# SpinBox & Slider:
self.connect(self.horizontalSlider, SIGNAL("valueChanged(int)"), self.spinBoxFrame.setValue)
self.connect(self.spinBoxFrame, SIGNAL("valueChanged(int)"), self.horizontalSlider.setValue)
self.connect(self.spinBoxFrame, SIGNAL("valueChanged(int)"), self.readFramesForPlot)
self.connect(self.spinBoxFrame, SIGNAL("valueChanged(int)"), self.getTime)
self.connect(self.spinBoxFrame, SIGNAL("valueChanged(int)"), self.readFrame)
self.connect(self.spinBoxFrame, SIGNAL("valueChanged(int)"), self.showVideoFrame)
# ComboBox:
self.connect(self.comboSelectData, SIGNAL("currentIndexChanged(const QString&)"), self.plot.setTitle)
self.connect(self.comboSelectData, SIGNAL("currentIndexChanged(int)"), self.selectionChanged)
#DEBUG
#self.connect(self.TestButton, SIGNAL("clicked()"), self.debugFunction)
# Variables
self.fh=0 # file handler
self.offset=0
self.selectedFrame=0
self.selectedSlot=0
self.lastFrame=-1
self.elapsedTime=0
self.toggle="A"
self.videoMode=0
class MainWindow(QMainWindow, Ui_MainWindow):
def __init__(self, parent = None):
""" Initializes the main window, the plot, signals & slots and class global variables """
QMainWindow.__init__(self, parent)
self.setupUi(self)
self.plot = DataPlot(self.framePlot)
self.plot.resize(640, 350)
# Signals & Slots
# ----------------
# Buttons:
self.connect(self.ButtonLoadFile, SIGNAL("clicked()"),self.selectFile)
self.connect(self.ButtonLoadVideo, SIGNAL("clicked()"),self.selectVideo)
self.connect(self.ButtonQuit, SIGNAL("clicked()"), self.closeFile)
self.connect(self.InfoButton, SIGNAL("clicked()"), self.infoPopup)
self.connect(self.ButtonDisableVideo, SIGNAL("clicked()"), self.disableVideo)
self.connect(self.ButtonEnableVideo, SIGNAL("clicked()"), self.enableVideo)
self.connect(self.ButtonPlay, SIGNAL("clicked()"), self.playVideo)
self.connect(self.ButtonPause, SIGNAL("clicked()"), self.pauseVideo)
# SpinBox & Slider:
self.connect(self.horizontalSlider, SIGNAL("valueChanged(int)"), self.spinBoxFrame.setValue)
self.connect(self.spinBoxFrame, SIGNAL("valueChanged(int)"), self.horizontalSlider.setValue)
self.connect(self.spinBoxFrame, SIGNAL("valueChanged(int)"), self.readFramesForPlot)
self.connect(self.spinBoxFrame, SIGNAL("valueChanged(int)"), self.getTime)
self.connect(self.spinBoxFrame, SIGNAL("valueChanged(int)"), self.readFrame)
self.connect(self.spinBoxFrame, SIGNAL("valueChanged(int)"), self.showVideoFrame)
# ComboBox:
self.connect(self.comboSelectData, SIGNAL("currentIndexChanged(const QString&)"), self.plot.setTitle)
self.connect(self.comboSelectData, SIGNAL("currentIndexChanged(int)"), self.selectionChanged)
#DEBUG
#self.connect(self.TestButton, SIGNAL("clicked()"), self.debugFunction)
# Variables
self.fh=0 # file handler
self.offset=0
self.selectedFrame=0
self.selectedSlot=0
self.lastFrame=-1
self.elapsedTime=0
self.toggle="A"
self.videoMode=0
def debugFunction(self):
print "Start Timer"
self.startTimer(80)
def playVideo(self):
""" Starts the video player and initializes the first two sets of frames
The following frames are pre processed by the timerEvent """
import os,time
self.toggle = "A"
self.ButtonPlay.setEnabled(0)
self.ButtonLoadVideo.setEnabled(0)
self.ButtonPause.setEnabled(1)
self.ButtonDisableVideo.setEnabled(0)
self.spinBoxFrame.setEnabled(0)
self.horizontalSlider.setEnabled(0)
# Process message
self.labelFrame.setPixmap(QPixmap())
self.labelFrame.setText(QtGui.QApplication.translate("MainWindow", "<html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\">\n"
"p, li { white-space: pre-wrap; }\n"
"</style></head><body style=\" font-family:\'MS Shell Dlg 2\'; font-size:8.25pt; font-weight:400; font-style:normal;\">\n"
"<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;\"><span style=\" font-size:29pt; font-weight:600; color:#ffa500;\"> Please wait ... processing.</span></p></body></html>", None, QtGui.QApplication.UnicodeUTF8))
self.repaint()
# Processing (1st set)
argList = ["-an","-i","\"".join(("",self.videofile,"")),"-ss",self.elapsedTime,"-t","00:00:01","-r","30","-y","-s","640x480","frameshots/videoA%d.jpg"]
os.waitpid(os.spawnv(os.P_NOWAIT,FFMPEG, argList), 0)
# Processing (2nd set)
seektime=time.strftime("%H:%M:%S",time.gmtime((self.selectedFrame+30) / FPS))
argList = ["-an","-i","\"".join(("",self.videofile,"")),"-ss",seektime,"-t","00:00:01","-r","30","-y","-s","640x480","frameshots/videoB%d.jpg"]
os.spawnv(os.P_NOWAIT,FFMPEG, argList)
#Start timer
self.timerID = self.startTimer(80) # Timer for the video player; time in ms; 80 is the current maxiumum due to the time ffmpeg needs for processing
print "Start Timer: %i" % self.timerID
def pauseVideo(self):
print "Kill Timer: %i" % self.timerID
self.killTimer(self.timerID)
self.ButtonPlay.setEnabled(1)
self.ButtonPause.setEnabled(0)
self.ButtonLoadVideo.setEnabled(1)
self.ButtonDisableVideo.setEnabled(1)
self.spinBoxFrame.setEnabled(1)
self.horizontalSlider.setEnabled(1)
def timerEvent(self, e):
""" Timer for the video player
Current max. speed is 80ms; ffmpeg isn't fast enough for processing """
if self.labelFrame.isEnabled() and self.selectedFrame <= self.maxFrames-1:
# Pre processing:
if self.selectedFrame%FPS == 1:
import os,time
seektime=time.strftime("%H:%M:%S",time.gmtime((self.selectedFrame+30) / FPS))
if self.toggle=="A":
argList = ["-an","-i","\"".join(("",self.videofile,"")),"-ss",seektime,"-t","00:00:01","-r","30","-y","-s","640x480","frameshots/videoB%d.jpg"]
else: # self.toggle="B"
argList = ["-an","-i","\"".join(("",self.videofile,"")),"-ss",seektime,"-t","00:00:01","-r","30","-y","-s","640x480","frameshots/videoA%d.jpg"]
os.spawnv(os.P_NOWAIT,FFMPEG, argList)
# Show image:
image = (self.selectedFrame % FPS) + 1
if self.toggle=="A":
pixmap = QPixmap("frameshots/videoA%i.jpg" % image)
else: # self.toggle="B"
pixmap = QPixmap("frameshots/videoB%i.jpg" % image)
self.labelFrame.setPixmap(pixmap)
self.spinBoxFrame.setValue(self.selectedFrame)
self.readFramesForPlot(self.selectedFrame)
if self.selectedFrame%30==29:
if self.toggle=="A":
self.toggle="B"
else:
self.toggle="A"
self.selectedFrame=self.selectedFrame+1
else:
self.pauseVideo()
pixmap = QPixmap("images/logo_chrome.png")
self.labelFrame.setPixmap(pixmap)
def disableVideo(self):
self.frameImage.setEnabled(0)
self.labelFrame.setEnabled(0)
self.ButtonDisableVideo.setEnabled(0)
self.ButtonEnableVideo.setEnabled(1)
self.ButtonPlay.setEnabled(0)
self.horizontalSlider.setTracking(1)
pixmap = QPixmap("images/logo_chrome.png")
self.labelFrame.setPixmap(pixmap)
def enableVideo(self):
if QFile.exists(self.videofile):
self.lineEditVideo.setText(self.videofile)
self.ButtonEnableVideo.setEnabled(0)
self.ButtonDisableVideo.setEnabled(1)
self.ButtonPlay.setEnabled(1)
self.frameImage.setEnabled(1)
self.labelFrame.setEnabled(1)
self.showVideoFrame(self.selectedFrame)
self.horizontalSlider.setTracking(0)
def showVideoFrame(self,frame):
""" Shows the corresponding video frame to the selected frame number
Needs some time for processing after each new second """
if self.labelFrame.isEnabled() and self.ButtonPlay.isEnabled():
diff = (self.selectedFrame%FPS - self.lastFrame%FPS) * self.sign(self.selectedFrame - self.lastFrame) # Are we moving upwards or downwards?
if diff < 0 or abs(self.selectedFrame-self.lastFrame)>FPS-1:
import os
# Show "processing..." message
self.labelFrame.setPixmap(QPixmap())
self.labelFrame.setText(QtGui.QApplication.translate("MainWindow", "<html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\">\n"
"p, li { white-space: pre-wrap; }\n"
"</style></head><body style=\" font-family:\'MS Shell Dlg 2\'; font-size:8.25pt; font-weight:400; font-style:normal;\">\n"
"<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;\"><span style=\" font-size:29pt; font-weight:600; color:#ffa500;\"> Please wait ... processing.</span></p></body></html>", None, QtGui.QApplication.UnicodeUTF8))
self.repaint()
# Process video with ffmpeg
argList = ["-an","-i","\"".join(("",self.videofile,"")),"-ss",self.elapsedTime,"-t","00:00:01","-r","30","-y","-s","640x480","frameshots/video%d.jpg"]
os.waitpid(os.spawnv(os.P_NOWAIT,FFMPEG, argList), 0)
# Display image (frame)
image = (self.selectedFrame % FPS) + 1
pixmap = QPixmap("frameshots/video%i.jpg" % image)
self.labelFrame.setPixmap(pixmap)
self.lastFrame=self.selectedFrame
def readFrame(self,frame):
""" Reads a single dataset out of the .dat file and displays it on the form """
self.selectedFrame=frame
self.fh.seek(frame*DATASET)
tmp = struct.unpack(containerFormat,self.fh.read(DATASET)) # See http://docs.python.org/lib/module-struct.html
#CHANGE_IF_NEW_CAN_MESSAGE_ADDED, below
# ESP
if tmp[3]:
self.checkBoxESP.setCheckState(Qt.Checked)
else:
self.checkBoxESP.setCheckState(Qt.Unchecked)
# Suspension deflection
self.Front.setText(str(tmp[4]))
self.Rear.setText(str(tmp[5]))
# Clutch
self.ClutchStiffness.setText(str(tmp[6]))
self.ClutchValue.setText(str(tmp[7]))
# Motor Current
self.MotorCurrent.setText(str(tmp[8]))
# Wheelspeed
self.speed_car.setText(str(round(tmp[9],3)))
self.speed_FL.setText(str(round(tmp[10],3)))
self.speed_FR.setText(str(round(tmp[11],3)))
self.speed_RL.setText(str(round(tmp[12],3)))
self.speed_RR.setText(str(round(tmp[13],3)))
# Brake and ESP
self.lateral.setText(str(round(tmp[14],3)))
self.brake.setText(str(round(tmp[15],3)))
self.yaw.setText(str(round(tmp[16],3)))
# Steering
self.Torque.setText(str(round(tmp[17],3)))
self.Angle.setText(str(round(tmp[18],3)))
# Demanded steering torque
self.SteeringTorque.setText(str(round(tmp[19],3)))
# Engine
self.IntTorque.setText(str(round(tmp[20],3)))
self.TorqueLoss.setText(str(round(tmp[21],3)))
# Timestamp
self.diffBox.setText(str(abs(tmp[22]-int(self.timestampBox.displayText()))))
self.timestampBox.setText(str(tmp[22]))
# Stanford 0x501
self.model_version.setText(str(tmp[23]))
tmp_str = '_'.join([str(tmp[24]),str(tmp[25]),str(tmp[26]),str(tmp[27])])
tmp_str = ':'.join([tmp_str,str(tmp[28]),str(tmp[29])])
self.save_date.setText(tmp_str)
self.ddl_timestamp.setText(str(round(tmp[30],3)))
# Stanford 0x502
self.yawAngle.setText(str(round(tmp[31],3)))
self.yawRate.setText(str(round(tmp[32],3)))
self.rollAngle.setText(str(round(tmp[33],3)))
self.rollRate.setText(str(round(tmp[34],3)))
# Stanford 0x503
self.vx.setText(str(round(tmp[35],3)))
self.axCG.setText(str(round(tmp[36],3)))
self.vyCG.setText(str(round(tmp[37],3)))
self.ayCG.setText(str(round(tmp[38],3)))
# Stanford 0x504
self.PosE.setText(str(round(tmp[39],3)))
self.PosN.setText(str(round(tmp[40],3)))
# Stanford 0x505
self.sideslip.setText(str(round(tmp[41],3)))
self.rawIpitch.setText(str(round(tmp[42],3)))
self.rawIaz.setText(str(round(tmp[43],3)))
# Stanford 0x506
self.LRDuration.setText(str(round(tmp[44],3)))
self.RRDuration.setText(str(round(tmp[45],3)))
self.LFDuration.setText(str(round(tmp[46],3)))
self.RFDuration.setText(str(round(tmp[47],3)))
self.LeftTieRod.setText(str(round(tmp[48],3)))
self.RightTieRod.setText(str(round(tmp[49],3)))
# Stanford 0x507
self.led_status.setText(str(tmp[50]))
def readFramesForPlot(self, startFrame):
""" Reading data out of the .dat file and painting it to the plot """
import struct
# Special cases for the beginning and the end of the plot (dataset)
centerFrame=startFrame
if startFrame < 250:
centerFrame = 250
elif startFrame >= (self.maxFrames-250):
centerFrame = self.maxFrames-251
# Read data (-250..startFrame..+250 = 501 values)
for i in range(501):
self.fh.seek((i+centerFrame-250)*DATASET+2*4) #this is to find the frame count, currently offseting dummy + version variables, 2*4 bytes (frameCount is 3rd variable), CHANGE_IF_NEW_CAN_MESSAGE_ADDED
tmp = struct.unpack("i",self.fh.read(4))
self.plot.x[i] = float(tmp[0])
self.fh.seek((i+centerFrame-250)*DATASET + self.offset)
if self.selectedSlot <= 5: #first 6 variables are integers, all others are floats, CHANGE_IF_NEW_CAN_MESSAGE_ADDED
tmp = struct.unpack("i",self.fh.read(4))
else:
tmp = struct.unpack("f",self.fh.read(4))
self.plot.y[i] = tmp[0]
# Set the label showing the data value
# -> special cases for the beginning and the end of the dataset
label = self.plot.marker.label()
if startFrame < 250:
label.setText('%.3f' % self.plot.y[startFrame])
print self.plot.x[startFrame]
elif startFrame >= (self.maxFrames-250):
label.setText('%.3f' % self.plot.y[501-self.maxFrames+startFrame])
print self.plot.x[501-self.maxFrames+startFrame]
else:
label.setText('%.3f' % self.plot.y[250])
print self.plot.x[250]
self.plot.marker.setLabel(label)
# Prepare and plot the curve
self.plot.curveR.setData(self.plot.x, self.plot.y)
self.plot.marker.setValue(self.selectedFrame, 0)
self.plot.replot()
def selectionChanged(self, slot):
""" SLOT for changes in the combo box """
#print "Selected slot: %i" % slot # debug
self.selectedSlot=slot #slot, refers to the drop down menu for the plot starting from zero, see UI_Main.ui for organization
#drop down list does not contain dummy, version, frameCount, xPC "model" info, timestamp...basically anythign that isn't to be plotted.
# Set the offset for reading the dataset
# Exlcuding the timestamps, version number and other meta data
# Basic powertrain CAN signals
if slot in range(0,19): #range is the number of basic powertrain CAN signals, increment appropriately if you add a signal, CHANGE_IF_NEW_CAN_MESSAGE_ADDED
self.offset=(slot+3)*4 #ignore the first three variables (dummy, version, and frameCount), used for plotting y-axis, CHANGE_IF_NEW_CAN_MESSAGE_ADDED
# Stanford DDL signals
elif slot in range(19,38): #range of Stanford DDL signals, increment appropriately if you add a signal, CHANGE_IF_NEW_CAN_MESSAGE_ADDED
self.offset=(slot+13)*4 #CHANGE_IF_NEW_CAN_MESSAGE_ADDED
self.readFramesForPlot(self.selectedFrame)
def selectFile(self):
""" Opens a file select dialog and some basic setup """
if self.fh:
self.fh.close()
filename=unicode(QFileDialog.getOpenFileName(self, "Select File", ".", "CAN data file (*.dat)")) # opens file select dialog
self.lineEditFile.setText(filename)
self.openFile(filename)
import os
self.maxFrames = os.stat(filename)[6]/DATASET # get the maximum amount of frames; lastframe = maxFrames - 1
self.spinBoxFrame.setMaximum(self.maxFrames-1)
self.horizontalSlider.setMaximum(self.maxFrames-1)
self.getTime(0)
self.readFrame(0)
self.selectionChanged(0)
self.frameData.setEnabled(1)
self.frameSelect.setEnabled(1)
self.framePlot.setEnabled(1)
self.groupBoxVideo.setEnabled(1)
self.ButtonLoadVideo.setEnabled(1)
def openFile(self, filename):
""" Opens the file and creates a file handler """
import struct,sys
try:
self.fh = open(filename, "rb")
except IOError, e:
print "I/O error: %s" % e
else:
