class OdometryMonitor(Frame):
def __init__(self, master, *args, **kwargs):
Frame.__init__(self, master, *args, **kwargs)
self.odo_buffer = N.zeros((64, 2))
self.odo_buffer_avg = N.zeros((64, 2))
self.odo_avg = [0,0]
self.odo_pointer = 0
self.chart_l = SydChart(
self,
height=400, width=400,
bd=2, relief=SUNKEN)
self.chart_l.pack(fill=BOTH, expand=True, side=LEFT)
self.chart_r = SydChart(
self,
height=400, width=400,
bd=2, relief=SUNKEN)
self.chart_r.pack(fill=BOTH, expand=True, side=LEFT)
self.scale_min = Scale(self,
from_=2000, to=0,
label="min",
command=self.cb_scale_min)
self.scale_max = Scale(self,
from_=2000, to=0,
label="max",
command=self.cb_scale_max)
self.scale_min.pack(side=LEFT, fill=BOTH, expand=True)
self.scale_max.pack(side=LEFT, fill=BOTH, expand=True)
self.scale_min.set(CRANGE[0])
self.scale_max.set(CRANGE[1])
SydDataReader.addCallback("odo_data", proxy(self, self.plot_od_data))
SydDataReader.addCallback("avg", proxy(self, self.plot_avg))
self.pack()
def cb_scale_min(self, value):
value = int(value)
CRANGE[0] = value
self.scale_max.set(str(max(value, int(self.scale_max.get()))))
self.update_charts()
def cb_scale_max(self, value):
value = int(value)
CRANGE[1] = value
self.scale_min.set(str(min(value, int(self.scale_min.get()))))
self.update_charts()
def plot_od_data(self, data):
if self.odo_pointer>(len(self.odo_buffer)-1):
self.odo_buffer *= 0
self.odo_pointer = 0
self.odo_buffer[self.odo_pointer][0] = data[0]
self.odo_buffer[self.odo_pointer][1] = data[1]
self.odo_buffer_avg[self.odo_pointer][0] = self.odo_avg[0]
self.odo_buffer_avg[self.odo_pointer][1] = self.odo_avg[1]
self.odo_pointer += 1
self.update_charts()
def plot_avg(self, data):
self.odo_avg = data
def get_dataset(self, index):
return (
("left odo data", self.odo_buffer[:self.odo_pointer,index], len(self.odo_buffer)),
("avg", self.odo_buffer_avg[:self.odo_pointer,index], len(self.odo_buffer))
)
def update_charts(self):
if self.odo_pointer>2:
dataset_l = self.get_dataset(0)
dataset_r = self.get_dataset(1)
self.chart_l.plot(dataset_l, CRANGE)
self.chart_r.plot(dataset_r, CRANGE)
class LineMonitor(Frame):
def __init__(self, master, *args, **kwargs):
Frame.__init__(self, master, *args, **kwargs)
self.line_buffer = N.zeros(64)
self.line_pointer = 0
self.chart = SydChart(
self,
height=300, width=500,
bd=2, relief=SUNKEN)
self.scale_min = Scale(self,
from_=2000, to=0,
label="min",
command=self.cb_scale_min)
self.scale_max = Scale(self,
from_=2000, to=0,
label="max",
command=self.cb_scale_max)
self.chart.pack(side=LEFT)
self.scale_min.pack(side=LEFT, fill=BOTH, expand=True)
self.scale_max.pack(side=LEFT, fill=BOTH, expand=True)
self.scale_min.set(CRANGE[0])
self.scale_max.set(CRANGE[1])
SydDataReader.addCallback("line_data", proxy(self, self.plot_line_data))
def cb_scale_min(self, value):
value = int(value)
CRANGE[0] = value
self.scale_max.set(str(max(value, int(self.scale_max.get()))))
self.update_charts()
def cb_scale_max(self, value):
value = int(value)
CRANGE[1] = value
self.scale_min.set(str(min(value, int(self.scale_min.get()))))
self.update_charts()
def plot_line_data(self, data):
if self.line_pointer>(len(self.line_buffer)-1):
self.line_buffer *= 0
self.line_pointer = 0
self.line_buffer[self.line_buffer][0] = data[0]
self.line_buffer[self.line_pointer][1] = data[1]
self.line_pointer += 1
self.update_charts()
def update_charts(self):
if self.line_pointer>1:
dataset = (
("line data", self.line_buffer[:self.line_pointer], len(self.line_buffer)),
)
self.chart.plot(dataset, CRANGE)