def __init__(self, nx, ny, widget):
ratio = nx / ny
self._canvas = scene.SceneCanvas(show=True,
size=widget.GetSize(),
keys='interactive',
parent=widget)
grid = self._canvas.central_widget.add_grid()
self._view = grid.add_view(row=0, col=0, camera='panzoom')
self._view.camera.rect = (0., -0.5, ratio, 1.)
for p in np.linspace(0., ratio, num=5 * nx + 1):
scene.InfiniteLine(pos=p,
color=(0.3, 0.3, 0.3, 1.),
vertical=True,
parent=self._view.scene)
for p in np.linspace(-0.5, 0.5, num=5 * ny + 1):
if p == 0.:
scene.InfiniteLine(pos=p,
color=(0.5, 0.5, 0.5, 1.),
vertical=False,
parent=self._view.scene)
else:
scene.InfiniteLine(pos=p,
color=(0.3, 0.3, 0.3, 1.),
vertical=False,
parent=self._view.scene)
c_x = np.linspace(0., ratio, num=nx + 1)
c_y = np.linspace(-0.5, 0.5, num=ny + 1)
grid = np.array(np.meshgrid(c_x, c_y, indexing='ij')).T
grid = grid.reshape((nx + 1) * (ny + 1), 2)
scene.Markers(pos=grid,
symbol='square',
size=4,
face_color=(0.6, 0.6, 0.6, 1.),
parent=self._view.scene)
def __init__(self,
graph_index=None,
graph_time=None,
graph_position=None,
graph_error=None,
graph_fan=None,
graph_target=None):
self.graph_index, self.graph_time, self.graph_position, self.graph_error, self.graph_fan, self.graph_target = graph_index, graph_time, graph_position, graph_error, graph_fan, graph_target
self.last_graph_index = graph_index.value - 1
self.line_opacity = 0.8
self.data_pos = np.zeros((0, 2), dtype=np.float32)
self.data_pos_error = np.zeros((0, 2), dtype=np.float32)
self.color = np.ones((0, 4), dtype=np.float32)
self.data_fan = np.zeros((0, 2), dtype=np.float32)
self.data_target = np.zeros((0, 2), dtype=np.float32)
self.canvas = scene.SceneCanvas(
keys='interactive',
show=True,
title='Ping-Pong Ball PID Oscilloscope')
grid = self.canvas.central_widget.add_grid(spacing=0)
#https://github.com/vispy/vispy/blob/master/vispy/scene/cameras/panzoom.py
self.viewbox_fan = grid.add_view(row=0,
col=1,
camera='panzoom',
parent=self.canvas.scene)
self.viewbox_pos = grid.add_view(row=0,
col=1,
camera='panzoom',
parent=self.canvas.scene)
self.viewbox_pos.events.resize.connect(self.on_resize)
# add some axes
x_axis = scene.AxisWidget(orientation='bottom')
x_axis.stretch = (1, 0.1)
grid.add_widget(x_axis, row=1, col=1)
x_axis.link_view(self.viewbox_pos)
y_axis = scene.AxisWidget(orientation='left', text_color='red')
y_axis.stretch = (0.1, 1)
grid.add_widget(y_axis, row=0, col=0)
y_axis.link_view(self.viewbox_pos)
y2_axis = scene.AxisWidget(orientation='right', text_color='green')
y2_axis.stretch = (0.1, 10)
grid.add_widget(y2_axis, row=0, col=2)
y2_axis.link_view(self.viewbox_fan)
# y2_axis.transform = STTransform(scale=(1, 0.2, 1))
t1 = Text('Detected Ball Position [m]',
parent=self.canvas.scene,
color='red')
t1.font_size = 10
# t1.pos = self.canvas.size[0] // 2, self.canvas.size[1] // 3
t1.pos = 167, 20
t2 = Text('Detected Ball Position Error [m]',
parent=self.canvas.scene,
color='yellow')
t2.font_size = 10
t2.pos = 185, 35
t3 = Text('Fan RPM [RPM]', parent=self.canvas.scene, color='green')
t3.font_size = 10
t3.pos = 130, 50
t4 = Text('Target Height [m]', parent=self.canvas.scene, color='blue')
t4.font_size = 10
t4.pos = 135, 65
# add a line plot inside the viewbox
self.line_pos = None
self.line_pos_error = None
self.line_target = None
self.line_fan = None
# add horizontal lines
scene.InfiniteLine(0.0, [0.5, 0.5, 0.5, 0.5],
vertical=False,
parent=self.viewbox_pos.scene)
# auto-scale to see the whole line.
self.viewbox_pos.camera.set_range()
self.auto_scale = True
self.auto_scroll = False
self.canvas.events.mouse_press.connect(self.on_mouse_press)
self.canvas.events.mouse_release.connect(self.on_mouse_release)
self.canvas.events.key_press.connect(self.on_key_press)
return
# add some axes
x_axis = scene.AxisWidget(orientation='bottom')
x_axis.stretch = (1, 0.1)
grid.add_widget(x_axis, row=1, col=1)
x_axis.link_view(viewbox)
y_axis = scene.AxisWidget(orientation='left')
y_axis.stretch = (0.1, 1)
grid.add_widget(y_axis, row=0, col=0)
y_axis.link_view(viewbox)
# add a line plot inside the viewbox
line = scene.Line(pos, color, parent=viewbox.scene)
# add vertical lines
vert_line1 = scene.InfiniteLine(100, [1.0, 0.0, 0.0, 1.0],
parent=viewbox.scene)
vert_line2 = scene.InfiniteLine(549.2, [0.0, 1.0, 0.0, 1.0],
vertical=True,
parent=viewbox.scene)
# add horizontal lines
hor_line1 = scene.InfiniteLine(0.3, [1.0, 0.0, 1.0, 1.0],
vertical=False,
parent=viewbox.scene)
hor_line2 = scene.InfiniteLine(-5.1, [1.0, 1.0, 0.0, 1.0],
vertical=False,
parent=viewbox.scene)
# auto-scale to see the whole line.
viewbox.camera.set_range()