def plot_pixel_sums(self, axis, label):
plot = PlotWindow(f'{self.spec.id} {label} Sum')
plt.sca(plot.axis)
science = self.spec.science.sum(axis=axis)
contamination = self.spec.contamination.sum(axis=axis)
plt.plot(contamination, alpha=0.6, label='Contamination')
plt.plot(science + contamination, alpha=0.6, label='Original')
plt.plot(science, label='Decontaminated')
plt.title(f'Object ID: {self.spec.id}')
plt.xlabel(f'Pixel {label}')
plt.ylabel(f'{label} Sum')
plt.legend()
plt.draw()
plot.show()
plot.adjustSize()
plt.close()
def show_spec_layer(self, title, data):
plot = PlotWindow(title)
plt.sca(plot.axis)
plt.imshow(data, origin='lower')
plt.subplots_adjust(top=0.975, bottom=0.025, left=0.025, right=0.975)
plt.draw()
plot.setWindowFlag(Qt.WindowStaysOnTopHint, False)
plot.show()
padding = 32
display = QApplication.desktop()
current_screen = display.screenNumber(self.view)
geom = display.screenGeometry(current_screen)
width = geom.width() - 2 * padding
height = geom.height() - 2 * padding
plot.setGeometry(geom.left() + padding, geom.top() + padding, width, height)
plt.close()
def plotResults(directory):
np.set_printoptions(linewidth=150)
plt.rc('text', usetex=True)
plt.rc('font', family='serif')
global xtitles, vtitles, etitles, imu_titles, colors, data, pw, plotCov
xtitles = ['$p_x$', '$p_y$', '$p_z$', '$q_w$', '$q_x$', '$q_y$', '$q_z$']
vtitles = ['$v_x$', '$v_y$', '$v_z$']
etitles = ['$\phi$', r'$\theta$', '$\psi$']
imu_titles = [
r"$acc_x$", r"$acc_y$", r"$acc_z$", r"$\omega_x$", r"$\omega_y$",
r"$\omega_z$"
]
colors = [
'#1f77b4', '#ff7f0e', '#2ca02c', '#d62728', '#9467bd', '#8c564b',
'#e377c2', '#7f7f7f', '#bcbd22', '#17becf'
]
plotCov = True
data = Log(directory)
pw = PlotWindow()
plotPosition()
plotPosition2d()
plotVelocity()
plotAttitude()
plotEuler()
plotLla()
plotIMU()
plotImuBias()
plotZVRes()
plotBaroRes()
plotRangeRes()
plotGnssRes()
pw.show()
class ViewPSD(QObject): #
view_finished = pyqtSignal()
plot_ready = pyqtSignal(list)
def __init__(self, config, out_file_name, parent=None):
super(ViewPSD, self).__init__(parent)
self.config = config
self.out_file_name = out_file_name
self.plot_window = PlotWindow()
self.plot_window.closed.connect(self.stop_view_psd)
self.plot_window.show()
self.plot_flg = False
self.plot_ready[list].connect(self.plot)
def __del__(self):
self.plot_window.close()
def update_config(self, config):
self.config = config
def plot(self, data):
print("-- plot --")
self.plot_window.fc = self.config.fc
self.plot_window.fs = self.config.fs
self.plot_window.sig = data
# if not self.plot_window.t.isActive():
if self.plot_flg:
self.plot_window.t.start(50)
def plot_psd_process(self):
self.plot_flg = True
bat = pjoin(self.config.gnu_radio_path, "run_gr.bat")
rx_py = pjoin(self.config.gnu_radio_path, "uhd_rx_cfile.py")
output_path = pjoin(self.config.save_path, self.out_file_name)
print(
f"{bat} {rx_py} {output_path} -s -f {self.config.fc} -r {self.config.fs} -N {self.config.sample_nums}"
)
print("查看频谱模式")
while self.plot_flg:
print("=========================")
os.spawnl(
os.P_WAIT, bat,
f"{bat} {rx_py} {output_path} -s -f {self.config.fc} -r {self.config.fs} -N {self.config.sample_nums}"
)
with open(output_path, "rb") as f:
buff = f.read()
tmp = np.frombuffer(buff, np.int16) / 32768
d_i, d_q = np.reshape(tmp, (-1, 2)).T
data = d_i + 1j * d_q
# if not self.plot_flg:
# break
self.plot_ready.emit(list(data))
def stop_view_psd(self):
print("-- stop_view_psd --")
self.plot_flg = False
self.view_finished.emit()
def show_all_layers(self):
title = f'All Layers of {self.spec.id}'
horizontal = self.rect().width() > self.rect().height()
subplot_grid_shape = (7, 1) if horizontal else (1, 7)
plot = PlotWindow(title, shape=subplot_grid_shape)
plt.sca(plot.axis[0])
plt.imshow(self.spec.contamination + self.spec.science, origin='lower')
plt.title('Original')
plt.draw()
plt.sca(plot.axis[1])
plt.imshow(self.spec.contamination, origin='lower')
plt.title('Contamination')
plt.draw()
plt.sca(plot.axis[2])
plt.imshow(self.spec.science, origin='lower')
plt.title('Decontaminated')
plt.draw()
plt.sca(plot.axis[3])
if self.model is not None:
plt.imshow(self.model, origin='lower')
plt.title('Model')
else:
plt.title('N/A')
plt.draw()
plt.sca(plot.axis[4])
if self.model is not None:
plt.imshow(self.spec.science - self.model, origin='lower')
plt.title('Residual')
else:
plt.title('N/A')
plt.draw()
plt.sca(plot.axis[5])
plt.imshow(self.spec.variance, origin='lower')
plt.title('Variance')
plt.draw()
plt.sca(plot.axis[6])
data = (flag['ZERO'] & self.spec.mask) == flag['ZERO']
plt.imshow(data, origin='lower')
plt.title('Zeroth Orders')
plt.draw()
if horizontal:
plt.subplots_adjust(top=0.97, bottom=0.025, left=0.025, right=0.975, hspace=0, wspace=0)
else:
plt.subplots_adjust(top=0.9, bottom=0.03, left=0.025, right=0.975, hspace=0, wspace=0)
plt.draw()
plot.setWindowFlag(Qt.WindowStaysOnTopHint, False)
plot.show()
padding = 50
display = QApplication.desktop()
current_screen = display.screenNumber(self.view)
geom = display.screenGeometry(current_screen)
width = geom.width() - 2 * padding
height = geom.height() - 2 * padding
plot.setGeometry(geom.left() + padding, geom.top() + padding, width, height)
plt.close()
class MainWindow(QMainWindow, Ui_MainWindow):
config_changed = pyqtSignal()
def __init__(self):
super(MainWindow, self).__init__()
self.setupUi(self)
self.setWindowTitle("USRP B210 信号采样")
self.setWindowIcon(QIcon("signal_app_24.png"))
self.resize(1280, 720)
self.plot_win = PlotWindow()
# qss = "QWidget#MainWindow{background-color:red;}"
# qss = "QWidget#MainWindow{border-image:url(signal_app_24.png);}"
# self.setStyleSheet(qss)
self.home_dir = pjoin(os.path.expanduser("~"), ".uhd_ui")
self.config_path = pjoin(self.home_dir, "config.json")
self.CONFIG = {}
self.config = Config()
self.config_keys = [
"gnu_radio_path", "save_path", "fc", "fs", "stop_fc",
"sample_interval", "sample_nums", "sample_times"
]
self.view_spec_config = Config()
self.view_spec_config.save_path = self.home_dir
self.view_spec_config.sample_times = 1
self.view_spec_config.sample_nums = 1 * 1024 * 1024
self.sample_thread = None # SampleThread()
self.initial()
self.save_path_btn.clicked.connect(self.open_folder)
self.gnu_radio_btn.clicked.connect(self.open_gnu_folder)
self.ok_btn.clicked.connect(self.sample_thread_start)
self.ok_btn.setToolTip("开始采集信号")
self.plot_btn.clicked.connect(self.plot_psd_start)
self.plot_win.closed.connect(self.plot_psd_stop)
self.stop_btn.setEnabled(False)
self.stop_btn.setToolTip("停止当前信号采样")
self.stop_btn.clicked.connect(self.stop_current_sampling)
self.advance_groupBox.hide()
self.advance_mode = False
self.advance_mode_btn.setText("打开高级模式")
self.advance_mode_btn.clicked.connect(self.set_advance_mode)
self.gnu_radio_path_edit.textChanged[str].connect(
self.new_gnu_radio_path)
self.save_path_edit.textChanged[str].connect(self.new_save_path)
self.fc_spinBox.valueChanged[int].connect(self.new_fc_val)
self.fc_comboBox.currentIndexChanged[int].connect(self.new_fc_cbox)
self.stop_fc_spinBox.valueChanged[int].connect(self.new_stop_fc_val)
self.stop_fc_comboBox.currentIndexChanged[int].connect(
self.new_stop_fc_cbox)
self.fs_spinBox.valueChanged[int].connect(self.new_fs_val)
self.fs_comboBox.currentIndexChanged[int].connect(self.new_fs_cbox)
self.sample_interval_spinBox.valueChanged[int].connect(
self.new_sample_interval_val)
self.sample_interval_comboBox.currentIndexChanged[int].connect(
self.new_sample_interval_cbox)
self.sample_nums_spinBox.valueChanged[int].connect(
self.new_n_sample_val)
self.sample_nums_comboBox.currentIndexChanged[int].connect(
self.new_n_sample_cbox)
self.sample_times_spinBox.valueChanged[int].connect(
self.new_sample_times)
self.config_changed.connect(self.update_config)
def resizeEvent(self, event):
print(f"new_window_size: [{self.width()}, {self.height()}]")
def closeEvent(self, event):
self.plot_win.close()
self.sample_thread.stop()
self.sample_thread.quit()
self.sample_thread.wait()
def initial(self):
def _get(s_cfg, index=0):
s_cfg = s_cfg.split()
if len(s_cfg) == 2:
try:
index = self.config.u2ix_dict[s_cfg[1]]
return s_cfg[0], index
except:
raise ValueError("配置出错！")
elif len(s_cfg) == 1:
return s_cfg[0], index
else:
raise ValueError("配置出错！")
initial_config = _config()
if not os.path.exists(self.home_dir):
os.makedirs(self.home_dir)
if not os.path.exists(self.config_path):
# self.CONFIG["gnu_radio_path"] = initial_config.gnu_radio_path
# self.CONFIG["save_path"] = initial_config.save_path
# self.CONFIG["FC"] = initial_config.fc
# self.CONFIG["FS"] = initial_config.fs
# self.CONFIG["stop_FC"] = initial_config.stop_fc
# self.CONFIG["sample_interval"] = initial_config.sample_interval
# self.CONFIG["sample_nums"] = initial_config.sample_nums
# self.CONFIG["sample_times"] = initial_config.sample_times
for key in self.config_keys:
self.CONFIG[key] = initial_config.__getattribute__(key)
self.save_config()
self.gnu_radio_path_edit.setText(self.CONFIG["gnu_radio_path"])
self.save_path_edit.setText(self.CONFIG["save_path"])
_fc, _fc_index = _get(self.CONFIG["fc"])
self.fc_spinBox.setValue(int(_fc))
self.fc_comboBox.setCurrentIndex(_fc_index)
_fs, _fs_index = _get(self.CONFIG["fs"])
self.fs_spinBox.setValue(int(_fs))
self.fs_comboBox.setCurrentIndex(_fs_index)
_stop_fc, _stop_fc_index = _get(self.CONFIG["stop_fc"])
self.stop_fc_spinBox.setValue(int(_stop_fc))
self.stop_fc_comboBox.setCurrentIndex(_stop_fc_index)
_interval, _interval_index = _get(self.CONFIG["sample_interval"])
self.sample_interval_spinBox.setValue(int(_interval))
self.sample_interval_comboBox.setCurrentIndex(_interval_index)
_n_sample, _n_index = _get(self.CONFIG["sample_nums"])
self.sample_nums_spinBox.setValue(int(_n_sample))
self.sample_nums_comboBox.setCurrentIndex(_n_index)
self.sample_times_spinBox.setValue(int(
self.CONFIG["sample_times"]))
else:
with open(self.config_path, "r") as f:
self.CONFIG = json.load(f)
self.config_changed.emit()
for key in self.config_keys:
if key not in self.CONFIG:
self.CONFIG[key] = initial_config.__getattribute__(key)
self.gnu_radio_path_edit.setText(self.CONFIG["gnu_radio_path"])
self.save_path_edit.setText(self.CONFIG["save_path"])
_fc, _fc_index = _get(self.CONFIG["fc"])
self.fc_spinBox.setValue(int(_fc))
self.fc_comboBox.setCurrentIndex(_fc_index)
_fs, _fs_index = _get(self.CONFIG["fs"])
self.fs_spinBox.setValue(int(_fs))
self.fs_comboBox.setCurrentIndex(_fs_index)
_stop_fc, _stop_fc_index = _get(self.CONFIG["stop_fc"])
self.stop_fc_spinBox.setValue(int(_stop_fc))
self.stop_fc_comboBox.setCurrentIndex(_stop_fc_index)
_interval, _interval_index = _get(
self.CONFIG["sample_interval"])
self.sample_interval_spinBox.setValue(int(_interval))
self.sample_interval_comboBox.setCurrentIndex(_interval_index)
_n_sample, _n_index = _get(self.CONFIG["sample_nums"])
self.sample_nums_spinBox.setValue(int(_n_sample))
self.sample_nums_comboBox.setCurrentIndex(_n_index)
self.sample_times_spinBox.setValue(
int(self.CONFIG["sample_times"]))
self.update_config()
def save_config(self):
with open(self.config_path, "w") as f:
json.dump(self.CONFIG, f)
self.config_changed.emit()
def update_config(self):
def get_value(cfg, u=1000):
val, unit = cfg.split() if len(cfg.split()) > 1 else [
cfg.split()[0], ""
]
val = int(int(val) * u**self.config.u2ix_dict[unit])
return val
self.config.gnu_radio_path = self.CONFIG["gnu_radio_path"]
self.config.save_path = self.CONFIG["save_path"]
self.config.fc = get_value(self.CONFIG["fc"])
self.config.fs = get_value(self.CONFIG["fs"])
self.config.stop_fc = get_value(self.CONFIG["stop_fc"])
self.config.sample_interval = get_value(self.CONFIG["sample_interval"])
self.config.sample_nums = get_value(self.CONFIG["sample_nums"], 1024)
self.config.sample_times = int(self.CONFIG["sample_times"])
self.view_spec_config.gnu_radio_path = self.config.gnu_radio_path
self.view_spec_config.fc = self.config.fc
self.view_spec_config.fs = self.config.fs
print(f"---- config changed ----\n\
GNU Radio 安装目录:\t{self.config.gnu_radio_path} \n\
文件保存路径:\t{self.config.save_path} \n\
中心频率:\t\t{self.config.fc} \n\
采样带宽:\t\t{self.config.fs} \n\
结束频率:\t\t{self.config.stop_fc} \n\
采样间隔:\t\t{self.config.sample_interval} \n\
采样点数:\t\t{self.config.sample_nums} \n\
采样次数:\t\t{self.config.sample_times} \n")
def sample_thread_start(self):
self.textEdit.append("---- 开始采样 ----\n")
self.sample_thread = SampleThread()
self.sample_thread.one_sample_end[int,
str].connect(self.one_sample_end)
self.sample_thread.all_sample_end.connect(self.sample_thread_end)
self.sample_thread.config = self.config
# self.sample_thread.mode = 2 # test_mode
self.sample_thread.mode = 1 # test_mode
self.sample_thread.start_sample = True
self.sample_thread.start()
self.plot_btn.setEnabled(False)
self.plot_btn.setToolTip("正在采集信号, 无法查看当前频谱")
self.stop_btn.setEnabled(True)
self.ok_btn.setEnabled(False)
def one_sample_end(self, ix, output_path):
self.textEdit.append(
f"第 {ix} 次采样完成，共 {self.config.sample_times} 次，文件保存路径：{output_path}"
)
def sample_thread_end(self):
self.textEdit.append("---- 采样结束 ----\n")
# self.sample_thread.terminate()
self.sample_thread.stop()
self.sample_thread.wait()
self.sample_thread = None
self.ok_btn.setEnabled(True)
self.plot_btn.setEnabled(True)
self.plot_btn.setToolTip("查看当前频谱")
self.stop_btn.setEnabled(False)
def stop_current_sampling(self):
self.textEdit.append("---- 停止采样 ----\n")
self.stop_btn.setEnabled(False)
# self.sample_thread.terminate()
self.sample_thread.stop()
self.sample_thread.wait()
self.sample_thread = None
self.plot_btn.setEnabled(True)
self.plot_btn.setToolTip("查看当前频谱")
def plot_psd_start(self):
self.textEdit.append("---- 查看频谱 ----\n")
self.sample_thread = SampleThread()
self.sample_thread.spec_data_get[list].connect(self.plot_psd)
self.sample_thread.out_file_name = "usrp_tmp.bin"
self.sample_thread.config = self.view_spec_config
self.sample_thread.mode = 0
self.sample_thread.start_sample = True
self.sample_thread.start()
self.ok_btn.setEnabled(False)
@pyqtSlot(list)
def plot_psd(self, data):
print("-- plot spec --")
self.plot_win.show()
self.plot_win.fc = self.config.fc
self.plot_win.fs = self.config.fs
self.plot_win.sig = data
self.plot_win.t.start(50)
@pyqtSlot()
def plot_psd_stop(self):
self.textEdit.append("---- 查看频谱 ----\n")
self.sample_thread.start_plot = False
# self.sample_thread.terminate()
self.sample_thread.stop()
self.sample_thread.wait()
self.sample_thread = None
self.ok_btn.setEnabled(True)
def set_advance_mode(self):
self.advance_mode = not self.advance_mode
if self.advance_mode:
self.advance_groupBox.show()
self.advance_mode_btn.setText("退出高级模式")
self.textEdit.setText("-- 退出高级模式 --")
else:
self.advance_groupBox.hide()
self.advance_mode_btn.setText("打开高级模式")
self.textEdit.setText("-- 打开高级模式 --")
def open_folder(self):
dataPath = QtWidgets.QFileDialog.getExistingDirectory(
self, "选择文件保存路径", self.CONFIG["save_path"],
QtWidgets.QFileDialog.ShowDirsOnly)
if dataPath == "":
return
else:
self.save_path_edit.setText(dataPath)
def open_gnu_folder(self):
dataPath = QtWidgets.QFileDialog.getExistingDirectory(
self, "打开GNU Radio/bin目录", self.CONFIG["gnu_radio_path"],
QtWidgets.QFileDialog.ShowDirsOnly)
if dataPath == "":
return
else:
self.gnu_radio_path_edit.setText(dataPath)
@pyqtSlot(str)
def new_gnu_radio_path(self, path):
self.textEdit.append("gnu_path_changed: " + path)
self.CONFIG["gnu_radio_path"] = path
self.save_config()
@pyqtSlot(str)
def new_save_path(self, path):
self.textEdit.append("save_path_changed: " + path)
self.CONFIG["save_path"] = path
self.save_config()
@pyqtSlot(int)
def new_fc_val(self, val):
unit = self.config.ix2u_dict[self.fc_comboBox.currentIndex()]
new_fc = f"{int(val)} {unit}"
self.textEdit.append("FC: " + new_fc + "Hz")
self.CONFIG["fc"] = new_fc
self.save_config()
@pyqtSlot(int)
def new_fc_cbox(self, ix):
try:
unit = self.config.ix2u_dict[ix]
except KeyError:
raise ValueError("设置出错")
new_fc = f"{self.fc_spinBox.value()} {unit}"
self.textEdit.append("FC: " + new_fc + "Hz")
self.CONFIG["fc"] = new_fc
self.save_config()
@pyqtSlot(int)
def new_stop_fc_val(self, val):
unit = self.config.ix2u_dict[self.stop_fc_comboBox.currentIndex()]
new_stop_fc = f"{int(val)} {unit}"
self.textEdit.append("stop_FC: " + new_stop_fc + "Hz")
self.CONFIG["stop_fc"] = new_stop_fc
self.save_config()
@pyqtSlot(int)
def new_stop_fc_cbox(self, ix):
try:
unit = self.config.ix2u_dict[ix]
except KeyError:
raise ValueError("设置出错")
new_stop_fc = f"{self.stop_fc_spinBox.value()} {unit}"
self.textEdit.append("stop_FC: " + new_stop_fc + "Hz")
self.CONFIG["stop_fc"] = new_stop_fc
self.save_config()
@pyqtSlot(int)
def new_fs_val(self, val):
unit = self.config.ix2u_dict[self.fs_comboBox.currentIndex()]
new_fs = f"{int(val)} {unit}"
self.textEdit.append("FS: " + new_fs + "Hz")
self.CONFIG["fs"] = new_fs
self.save_config()
@pyqtSlot(int)
def new_fs_cbox(self, ix):
try:
unit = self.config.ix2u_dict[ix]
except KeyError:
raise ValueError("设置出错")
new_fs = f"{self.fs_spinBox.value()} {unit}"
self.textEdit.append("FS: " + new_fs + "Hz")
self.CONFIG["fs"] = new_fs
self.save_config()
@pyqtSlot(int)
def new_sample_interval_val(self, val):
unit = self.config.ix2u_dict[
self.sample_interval_comboBox.currentIndex()]
new_sample_interval = f"{int(val)} {unit}"
self.textEdit.append("sample_interval: " + new_sample_interval + "Hz")
self.CONFIG["sample_interval"] = new_sample_interval
self.save_config()
@pyqtSlot(int)
def new_sample_interval_cbox(self, ix):
try:
unit = self.config.ix2u_dict[ix]
except KeyError:
raise ValueError("设置出错")
new_sample_interval = f"{self.sample_interval_spinBox.value()} {unit}"
self.textEdit.append("sample_interval: " + new_sample_interval + "Hz")
self.CONFIG["sample_interval"] = new_sample_interval
self.save_config()
@pyqtSlot(int)
def new_n_sample_val(self, val):
unit = self.config.ix2u_dict[self.sample_nums_comboBox.currentIndex()]
new_n_sample = f"{int(val)} {unit}"
# new_n_sample = f"{int(val)} {_d[self.sample_nums_comboBox.currentIndex()]}"
self.textEdit.append("sample_num: " + new_n_sample)
self.CONFIG["sample_nums"] = new_n_sample
self.save_config()
@pyqtSlot(int)
def new_n_sample_cbox(self, ix):
try:
unit = self.config.ix2u_dict[ix]
except KeyError:
raise ValueError("设置出错")
new_n_sample = f"{self.sample_nums_spinBox.value()} {unit}"
self.textEdit.append("sample_num: " + new_n_sample)
self.CONFIG["sample_nums"] = new_n_sample
self.save_config()
@pyqtSlot(int)
def new_sample_times(self, val):
new_times = str(val)
self.textEdit.append("sample_times: " + new_times)
self.CONFIG["sample_times"] = new_times
self.save_config()
