class BusMonitorWidget(QGroupBox):
DEFAULT_PLOT_X_RANGE = 120
BUS_LOAD_PLOT_MAX_SAMPLES = 5000
def __init__(self, parent, node, iface_name):
super(BusMonitorWidget, self).__init__(parent)
self.setTitle('CAN bus activity (%s)' % iface_name.split(os.path.sep)[-1])
self._node = node
self._hook_handle = self._node.can_driver.add_io_hook(self._frame_hook)
self._columns = [
BasicTable.Column('Dir',
lambda e: (e[0].upper()),
searchable=False),
BasicTable.Column('Local Time', TimestampRenderer(), searchable=False),
BasicTable.Column('CAN ID',
lambda e: (('%0*X' % (8 if e[1].extended else 3, e[1].id)).rjust(8),
colorize_can_id(e[1]))),
BasicTable.Column('Data Hex',
lambda e: (' '.join(['%02X' % x for x in e[1].data]).ljust(3 * e[1].MAX_DATA_LENGTH),
colorize_transfer_id(e))),
BasicTable.Column('Data ASCII',
lambda e: (''.join([(chr(x) if 32 <= x <= 126 else '.') for x in e[1].data]),
colorize_transfer_id(e))),
BasicTable.Column('Src',
lambda e: render_node_id_with_color(e[1], 'src')),
BasicTable.Column('Dst',
lambda e: render_node_id_with_color(e[1], 'dst')),
BasicTable.Column('Data Type',
lambda e: render_data_type_with_color(e[1]),
resize_mode=QHeaderView.Stretch),
]
self._log_widget = RealtimeLogWidget(self, columns=self._columns, font=get_monospace_font(),
post_redraw_hook=self._redraw_hook)
self._log_widget.on_selection_changed = self._update_measurement_display
def flip_row_mark(row, col):
if col == 0:
item = self._log_widget.table.item(row, col)
if item.icon().isNull():
item.setIcon(get_icon('circle'))
flash(self, 'Row %d was marked, click again to unmark', row, duration=3)
else:
item.setIcon(QIcon())
self._log_widget.table.cellPressed.connect(flip_row_mark)
self._stat_update_timer = QTimer(self)
self._stat_update_timer.setSingleShot(False)
self._stat_update_timer.timeout.connect(self._update_stat)
self._stat_update_timer.start(500)
self._traffic_stat = TrafficStatCounter()
self._stat_frames_tx = QLabel('N/A', self)
self._stat_frames_rx = QLabel('N/A', self)
self._stat_traffic = QLabel('N/A', self)
self._load_plot = PlotWidget(background=(0, 0, 0))
self._load_plot.setRange(xRange=(0, self.DEFAULT_PLOT_X_RANGE), padding=0)
self._load_plot.setMaximumHeight(150)
self._load_plot.setMinimumHeight(100)
self._load_plot.setMinimumWidth(100)
self._load_plot.setSizePolicy(QSizePolicy.Minimum, QSizePolicy.Minimum)
self._load_plot.showGrid(x=True, y=True, alpha=0.4)
self._load_plot.setToolTip('Frames per second')
self._load_plot.getPlotItem().getViewBox().setMouseEnabled(x=True, y=False)
self._load_plot.enableAutoRange()
self._bus_load_plot = self._load_plot.plot(name='Frames per second', pen=mkPen(QColor(Qt.lightGray), width=1))
self._bus_load_samples = [], []
self._started_at_mono = time.monotonic()
layout = QVBoxLayout(self)
layout.addWidget(self._log_widget, 1)
stat_vars_layout = QGridLayout(self)
stat_layout_next_row = 0
def add_stat_row(label, value):
nonlocal stat_layout_next_row
stat_vars_layout.addWidget(QLabel(label, self), stat_layout_next_row, 0)
stat_vars_layout.addWidget(value, stat_layout_next_row, 1)
value.setMinimumWidth(75)
stat_layout_next_row += 1
add_stat_row('Frames transmitted:', self._stat_frames_tx)
add_stat_row('Frames received:', self._stat_frames_rx)
add_stat_row('Frames per second:', self._stat_traffic)
stat_vars_layout.setRowStretch(stat_layout_next_row, 1)
stat_layout = QHBoxLayout(self)
stat_layout.addLayout(stat_vars_layout)
stat_layout.addWidget(self._load_plot, 1)
layout.addLayout(stat_layout, 0)
self.setLayout(layout)
def close(self):
self._hook_handle.remove()
def _update_stat(self):
bus_load, ts_mono = self._traffic_stat.get_frames_per_second()
self._stat_traffic.setText(str(int(bus_load + 0.5)))
if len(self._bus_load_samples[0]) >= self.BUS_LOAD_PLOT_MAX_SAMPLES:
self._bus_load_samples[0].pop(0)
self._bus_load_samples[1].pop(0)
self._bus_load_samples[1].append(bus_load)
self._bus_load_samples[0].append(ts_mono - self._started_at_mono)
self._bus_load_plot.setData(*self._bus_load_samples)
(xmin, xmax), _ = self._load_plot.viewRange()
diff = xmax - xmin
xmax = self._bus_load_samples[0][-1]
xmin = self._bus_load_samples[0][-1] - diff
self._load_plot.setRange(xRange=(xmin, xmax), padding=0)
def _redraw_hook(self):
self._stat_frames_tx.setText(str(self._traffic_stat.tx))
self._stat_frames_rx.setText(str(self._traffic_stat.rx))
def _frame_hook(self, direction, frame):
self._traffic_stat.add_frame(direction, frame)
self._log_widget.add_item_async((direction, frame))
def _update_measurement_display(self, selected_rows_cols):
if not selected_rows_cols:
return
min_row = min([row for row, _ in selected_rows_cols])
max_row = max([row for row, _ in selected_rows_cols])
def get_row_ts(row):
return TimestampRenderer.parse_timestamp(self._log_widget.table.item(row, 1).text())
def get_load_str(num_frames, dt):
if dt >= 1e-6:
return 'average load %.1f FPS' % (num_frames / dt)
return 'average load is unknown'
if min_row == max_row:
num_frames = min_row
first_ts = get_row_ts(0)
current_ts = get_row_ts(min_row)
dt = current_ts - first_ts
flash(self, '%d frames from beginning, %.3f sec since first frame, %s',
num_frames, dt, get_load_str(num_frames, dt))
else:
num_frames = max_row - min_row + 1
first_ts = get_row_ts(min_row)
last_ts = get_row_ts(max_row)
dt = last_ts - first_ts
flash(self, '%d frames, timedelta %.6f sec, %s',
num_frames, dt, get_load_str(num_frames, dt))
class BusMonitorWidget(QGroupBox):
DEFAULT_PLOT_X_RANGE = 120
BUS_LOAD_PLOT_MAX_SAMPLES = 5000
def __init__(self, parent, node, iface_name):
super(BusMonitorWidget, self).__init__(parent)
self.setTitle('CAN bus activity (%s)' %
iface_name.split(os.path.sep)[-1])
self._node = node
self._hook_handle = self._node.can_driver.add_io_hook(self._frame_hook)
self._columns = [
BasicTable.Column('Dir',
lambda e: (e[0].upper()),
searchable=False),
BasicTable.Column('Local Time',
TimestampRenderer(),
searchable=False),
BasicTable.Column(
'CAN ID', lambda e:
(('%0*X' % (8 if e[1].extended else 3, e[1].id)).rjust(8),
colorize_can_id(e[1]))),
BasicTable.Column(
'Data Hex', lambda e:
(' '.join(['%02X' % x for x in e[1].data]).ljust(3 * e[
1].MAX_DATA_LENGTH), colorize_transfer_id(e))),
BasicTable.Column(
'Data ASCII', lambda e:
(''.join([(chr(x) if 32 <= x <= 126 else '.')
for x in e[1].data]), colorize_transfer_id(e))),
BasicTable.Column(
'Src', lambda e: render_node_id_with_color(e[1], 'src')),
BasicTable.Column(
'Dst', lambda e: render_node_id_with_color(e[1], 'dst')),
BasicTable.Column('Data Type',
lambda e: render_data_type_with_color(e[1]),
resize_mode=QHeaderView.Stretch),
]
self._log_widget = RealtimeLogWidget(
self,
columns=self._columns,
font=get_monospace_font(),
post_redraw_hook=self._redraw_hook)
self._log_widget.on_selection_changed = self._update_measurement_display
def flip_row_mark(row, col):
if col == 0:
item = self._log_widget.table.item(row, col)
if item.icon().isNull():
item.setIcon(get_icon('circle'))
flash(self,
'Row %d was marked, click again to unmark',
row,
duration=3)
else:
item.setIcon(QIcon())
self._log_widget.table.cellPressed.connect(flip_row_mark)
self._stat_update_timer = QTimer(self)
self._stat_update_timer.setSingleShot(False)
self._stat_update_timer.timeout.connect(self._update_stat)
self._stat_update_timer.start(500)
self._traffic_stat = TrafficStatCounter()
self._stat_frames_tx = QLabel('N/A', self)
self._stat_frames_rx = QLabel('N/A', self)
self._stat_traffic = QLabel('N/A', self)
self._load_plot = PlotWidget(background=(0, 0, 0))
self._load_plot.setRange(xRange=(0, self.DEFAULT_PLOT_X_RANGE),
padding=0)
self._load_plot.setMaximumHeight(150)
self._load_plot.setMinimumHeight(100)
self._load_plot.setMinimumWidth(100)
self._load_plot.setSizePolicy(QSizePolicy.Minimum, QSizePolicy.Minimum)
self._load_plot.showGrid(x=True, y=True, alpha=0.4)
self._load_plot.setToolTip('Frames per second')
self._load_plot.getPlotItem().getViewBox().setMouseEnabled(x=True,
y=False)
self._load_plot.enableAutoRange()
self._bus_load_plot = self._load_plot.plot(name='Frames per second',
pen=mkPen(QColor(
Qt.lightGray),
width=1))
self._bus_load_samples = [], []
self._started_at_mono = time.monotonic()
layout = QVBoxLayout(self)
layout.addWidget(self._log_widget, 1)
stat_vars_layout = QGridLayout(self)
stat_layout_next_row = 0
def add_stat_row(label, value):
nonlocal stat_layout_next_row
stat_vars_layout.addWidget(QLabel(label, self),
stat_layout_next_row, 0)
stat_vars_layout.addWidget(value, stat_layout_next_row, 1)
value.setMinimumWidth(75)
stat_layout_next_row += 1
add_stat_row('Frames transmitted:', self._stat_frames_tx)
add_stat_row('Frames received:', self._stat_frames_rx)
add_stat_row('Frames per second:', self._stat_traffic)
stat_vars_layout.setRowStretch(stat_layout_next_row, 1)
stat_layout = QHBoxLayout(self)
stat_layout.addLayout(stat_vars_layout)
stat_layout.addWidget(self._load_plot, 1)
layout.addLayout(stat_layout, 0)
self.setLayout(layout)
def close(self):
self._hook_handle.remove()
def _update_stat(self):
bus_load, ts_mono = self._traffic_stat.get_frames_per_second()
self._stat_traffic.setText(str(int(bus_load + 0.5)))
if len(self._bus_load_samples[0]) >= self.BUS_LOAD_PLOT_MAX_SAMPLES:
self._bus_load_samples[0].pop(0)
self._bus_load_samples[1].pop(0)
self._bus_load_samples[1].append(bus_load)
self._bus_load_samples[0].append(ts_mono - self._started_at_mono)
self._bus_load_plot.setData(*self._bus_load_samples)
(xmin, xmax), _ = self._load_plot.viewRange()
diff = xmax - xmin
xmax = self._bus_load_samples[0][-1]
xmin = self._bus_load_samples[0][-1] - diff
self._load_plot.setRange(xRange=(xmin, xmax), padding=0)
def _redraw_hook(self):
self._stat_frames_tx.setText(str(self._traffic_stat.tx))
self._stat_frames_rx.setText(str(self._traffic_stat.rx))
def _frame_hook(self, direction, frame):
self._traffic_stat.add_frame(direction, frame)
self._log_widget.add_item_async((direction, frame))
def _update_measurement_display(self, selected_rows_cols):
if not selected_rows_cols:
return
min_row = min([row for row, _ in selected_rows_cols])
max_row = max([row for row, _ in selected_rows_cols])
def get_row_ts(row):
return TimestampRenderer.parse_timestamp(
self._log_widget.table.item(row, 1).text())
def get_load_str(num_frames, dt):
if dt >= 1e-6:
return 'average load %.1f FPS' % (num_frames / dt)
return 'average load is unknown'
if min_row == max_row:
num_frames = min_row
first_ts = get_row_ts(0)
current_ts = get_row_ts(min_row)
dt = current_ts - first_ts
flash(self,
'%d frames from beginning, %.3f sec since first frame, %s',
num_frames, dt, get_load_str(num_frames, dt))
else:
num_frames = max_row - min_row + 1
first_ts = get_row_ts(min_row)
last_ts = get_row_ts(max_row)
dt = last_ts - first_ts
flash(self, '%d frames, timedelta %.6f sec, %s', num_frames, dt,
get_load_str(num_frames, dt))
