def __init__(self, MBD_system, parent=None, flags=0):
"""
Constructor
"""
super(SimulationControlWidget, self).__init__(parent)
self._parent = parent
self.ui = Ui_Form()
self.ui.setupUi(self)
self.ui.simulationStopButton.setEnabled(False)
self.ui.simulationResetButton.setEnabled(False)
self.ui.forwardButton.setEnabled(False)
self.ui.backwardButton.setEnabled(False)
self.ui.playButton.setEnabled(False)
self.MBD_system = MBD_system
# when simulation is finishes
# automatically load solution file
self.ui.loadSolutionFileStatus.setChecked(self.MBD_system.loadSolutionFileWhenFinished)
# restore initial conditions
self.ui.restoreInitialConditionsStatus.setChecked(self.MBD_system.restoreInitialConditionsWhenFinished)
# sets opengl widget in central widget position
self.opengl_widget = OpenGLWidget(MBD_system=MBD_system, parent=self._parent)
self._status = "simulation" # simulation or animation
# set integration method to display
try:
_index = self.ui.integrationMethodComboBox.findText(QtCore.QString(self.MBD_system.integrationMethod.title()))
except:
_index = 0
if _index != -1:
self.ui.integrationMethodComboBox.setCurrentIndex(_index)
else:
self.ui.integrationMethodComboBox.setCurrentIndex(_index)
# signals
self.step_num_signal = stepSignal()
self.energy_signal = EnergySignal()
self.status_signal = StatusSignal()
# self.graphWidget = None
# self.graphWidget = GraphWidget(MBD_system=MBD_system_, parent=parent)
# self.graphWidget.setWindowFlags(parent.windowFlags())
# self.graphWidget.show()
# set validators to limit user input
__validator_dbl = QtGui.QDoubleValidator()
__validator_int = QtGui.QIntValidator()
# predefined values
# end time
self.ui.endTime.setText(str(self.MBD_system.t_n))
self.ui.endTime.setValidator(__validator_dbl)
# self.ui.simulation_progressBar.setMinimum(0)
# self.ui.simulation_progressBar.setMaximum(int(1/self.MBD_system.t_n))
# self.ui.simulation_progressBar.setValue(0)
# Hmax
if self.MBD_system.t_n/100 < self.MBD_system.Hmax:
self.MBD_system.Hmax = 0.01*self.MBD_system.t_n
# Hmin
self.MBD_system.evaluate_Hmin()
self.ui.Hmax.setText(str(self.MBD_system.Hmax))
self.ui.Hmax.setValidator(__validator_dbl)
# Hmin
self.ui.Hmin.setText(str(self.MBD_system.Hmin))
self.ui.Hmin.setValidator(__validator_dbl)
# abs tol
self.ui.absTol.setText(str(self.MBD_system.absTol))
self.ui.absTol.setValidator(__validator_dbl)
# rel tol
self.ui.relTol.setText(str(self.MBD_system.relTol))
self.ui.relTol.setValidator(__validator_dbl)
# tolerance for newton differences
self.ui.TOL_dq_i.setText(str(self.MBD_system.TOL_dq_i))
# tolerance for constraint equations C
self.ui.TOL_C.setText(str(self.MBD_system.TOL_C))
# create solver thread
self.solver = Solver(MBD_system=MBD_system, parent=self)#parent
self._solver_thread = QThread()
self._solver_thread.start()
self.solver.moveToThread(self._solver_thread)
# display update
self._update_display_type = "dt"
# available options
self._update_display_types = ["dt",
"step"]
# update display on every i-th simulation step
self.ui.updateStep_lineEdit.setText(str(int(self.solver.analysis.update_opengl_widget_every_Nth_step)))
self.ui.updateStep_lineEdit.setValidator(__validator_int)
self._delta_step = self.solver.analysis.update_opengl_widget_every_Nth_step
# update display on dt of simulation time
# default value
self._dt = self.MBD_system.t_n / 100.
self.ui.currentStep_lineEdit.setEnabled(False)
self.ui.currentStep_lineEdit.setValidator(__validator_int)
# connections and signals
self.ui.simulationStartButton.clicked.connect(self.simulationStart)
self.ui.simulationStartButton.clicked.connect(self.solver.start_solver)
self.ui.simulationStopButton.clicked.connect(self.simulationStop)
self.ui.simulationStopButton.clicked.connect(self.solver.stop_solver)
self.solver.analysis.finished_signal.signal_finished.connect(self.simulationFinished)
self.solver.analysis.filename_signal.signal_filename.connect(self.__automaticaly_load_solution_file)
self.solver.analysis.solution_signal.solution_data.connect(self.__automaticaly_load_solution_file)
self.solver.analysis.solution_signal.solution_data.connect(self._parent.TreeViewWidget.add_solution_data)
self.ui.simulationResetButton.clicked.connect(self.simulationReset)
self.ui.Hmax.textChanged.connect(self.__update_Hmax)
self.ui.Hmin.textChanged.connect(self.__update_Hmin)
self.ui.loadSolutionFileStatus.stateChanged.connect(self.__update_loadSolutionFileWhenFinished)
self.ui.currentStep_lineEdit.textChanged.connect(self.__update_currentStep)
self.ui.updateStep_lineEdit.textChanged.connect(self.__update_updateStep)
self.ui.endTime.textChanged.connect(self.__update_endTime)
self.ui.backwardButton.clicked.connect(self.animation_backward) #clicked
self.ui.forwardButton.clicked.connect(self.animation_forward)
self.ui.playButton.clicked.connect(self.animationPlay)
# signal repaintGL.signal_repaintGL from self.solver triggers self.opengl_widget.repaintGL
self.solver.analysis.repaintGL_signal.signal_repaintGL.connect(self.opengl_widget.repaintGL)
# signal for take a snapshot
self.solver.analysis.save_screenshot_signal.signal_saveScreenshot.connect(self.take_snapshot)
# signal time integration error
self.solver.analysis.error_time_integration_signal.signal_time_integration_error.connect(self._time_integration_error)
# change integration method
self.ui.integrationMethodComboBox.currentIndexChanged.connect(self.selectedIntegrationMethod)
self._parent.TreeViewWidget.create_animation_file.signal_createAnimationFile.connect(self._create_animation_file)
# profiler
self.profile = cProfile.Profile()
# analysis type
self.ui.analysisTypeComboBox.currentIndexChanged.connect(self._analysis_type_changed)
# set analysis type to display it in combobox
if self.MBD_system.analysis_type is not None:
_index = self.ui.analysisTypeComboBox.findText(QtCore.QString(self.MBD_system.analysis_type.title()))
self.ui.analysisTypeComboBox.setCurrentIndex(_index)
# video maker thread to create video
self.video_maker = VideoMaker(parent=self)
class SimulationControlWidget(QtGui.QWidget):
"""
Control panel GUI
"""
def __init__(self, MBD_system, parent=None, flags=0):
"""
Constructor
"""
super(SimulationControlWidget, self).__init__(parent)
self._parent = parent
self.ui = Ui_Form()
self.ui.setupUi(self)
self.ui.simulationStopButton.setEnabled(False)
self.ui.simulationResetButton.setEnabled(False)
self.ui.forwardButton.setEnabled(False)
self.ui.backwardButton.setEnabled(False)
self.ui.playButton.setEnabled(False)
self.MBD_system = MBD_system
# when simulation is finishes
# automatically load solution file
self.ui.loadSolutionFileStatus.setChecked(self.MBD_system.loadSolutionFileWhenFinished)
# restore initial conditions
self.ui.restoreInitialConditionsStatus.setChecked(self.MBD_system.restoreInitialConditionsWhenFinished)
# sets opengl widget in central widget position
self.opengl_widget = OpenGLWidget(MBD_system=MBD_system, parent=self._parent)
self._status = "simulation" # simulation or animation
# set integration method to display
try:
_index = self.ui.integrationMethodComboBox.findText(QtCore.QString(self.MBD_system.integrationMethod.title()))
except:
_index = 0
if _index != -1:
self.ui.integrationMethodComboBox.setCurrentIndex(_index)
else:
self.ui.integrationMethodComboBox.setCurrentIndex(_index)
# signals
self.step_num_signal = stepSignal()
self.energy_signal = EnergySignal()
self.status_signal = StatusSignal()
# self.graphWidget = None
# self.graphWidget = GraphWidget(MBD_system=MBD_system_, parent=parent)
# self.graphWidget.setWindowFlags(parent.windowFlags())
# self.graphWidget.show()
# set validators to limit user input
__validator_dbl = QtGui.QDoubleValidator()
__validator_int = QtGui.QIntValidator()
# predefined values
# end time
self.ui.endTime.setText(str(self.MBD_system.t_n))
self.ui.endTime.setValidator(__validator_dbl)
# self.ui.simulation_progressBar.setMinimum(0)
# self.ui.simulation_progressBar.setMaximum(int(1/self.MBD_system.t_n))
# self.ui.simulation_progressBar.setValue(0)
# Hmax
if self.MBD_system.t_n/100 < self.MBD_system.Hmax:
self.MBD_system.Hmax = 0.01*self.MBD_system.t_n
# Hmin
self.MBD_system.evaluate_Hmin()
self.ui.Hmax.setText(str(self.MBD_system.Hmax))
self.ui.Hmax.setValidator(__validator_dbl)
# Hmin
self.ui.Hmin.setText(str(self.MBD_system.Hmin))
self.ui.Hmin.setValidator(__validator_dbl)
# abs tol
self.ui.absTol.setText(str(self.MBD_system.absTol))
self.ui.absTol.setValidator(__validator_dbl)
# rel tol
self.ui.relTol.setText(str(self.MBD_system.relTol))
self.ui.relTol.setValidator(__validator_dbl)
# tolerance for newton differences
self.ui.TOL_dq_i.setText(str(self.MBD_system.TOL_dq_i))
# tolerance for constraint equations C
self.ui.TOL_C.setText(str(self.MBD_system.TOL_C))
# create solver thread
self.solver = Solver(MBD_system=MBD_system, parent=self)#parent
self._solver_thread = QThread()
self._solver_thread.start()
self.solver.moveToThread(self._solver_thread)
# display update
self._update_display_type = "dt"
# available options
self._update_display_types = ["dt",
"step"]
# update display on every i-th simulation step
self.ui.updateStep_lineEdit.setText(str(int(self.solver.analysis.update_opengl_widget_every_Nth_step)))
self.ui.updateStep_lineEdit.setValidator(__validator_int)
self._delta_step = self.solver.analysis.update_opengl_widget_every_Nth_step
# update display on dt of simulation time
# default value
self._dt = self.MBD_system.t_n / 100.
self.ui.currentStep_lineEdit.setEnabled(False)
self.ui.currentStep_lineEdit.setValidator(__validator_int)
# connections and signals
self.ui.simulationStartButton.clicked.connect(self.simulationStart)
self.ui.simulationStartButton.clicked.connect(self.solver.start_solver)
self.ui.simulationStopButton.clicked.connect(self.simulationStop)
self.ui.simulationStopButton.clicked.connect(self.solver.stop_solver)
self.solver.analysis.finished_signal.signal_finished.connect(self.simulationFinished)
self.solver.analysis.filename_signal.signal_filename.connect(self.__automaticaly_load_solution_file)
self.solver.analysis.solution_signal.solution_data.connect(self.__automaticaly_load_solution_file)
self.solver.analysis.solution_signal.solution_data.connect(self._parent.TreeViewWidget.add_solution_data)
self.ui.simulationResetButton.clicked.connect(self.simulationReset)
self.ui.Hmax.textChanged.connect(self.__update_Hmax)
self.ui.Hmin.textChanged.connect(self.__update_Hmin)
self.ui.loadSolutionFileStatus.stateChanged.connect(self.__update_loadSolutionFileWhenFinished)
self.ui.currentStep_lineEdit.textChanged.connect(self.__update_currentStep)
self.ui.updateStep_lineEdit.textChanged.connect(self.__update_updateStep)
self.ui.endTime.textChanged.connect(self.__update_endTime)
self.ui.backwardButton.clicked.connect(self.animation_backward) #clicked
self.ui.forwardButton.clicked.connect(self.animation_forward)
self.ui.playButton.clicked.connect(self.animationPlay)
# signal repaintGL.signal_repaintGL from self.solver triggers self.opengl_widget.repaintGL
self.solver.analysis.repaintGL_signal.signal_repaintGL.connect(self.opengl_widget.repaintGL)
# signal for take a snapshot
self.solver.analysis.save_screenshot_signal.signal_saveScreenshot.connect(self.take_snapshot)
# signal time integration error
self.solver.analysis.error_time_integration_signal.signal_time_integration_error.connect(self._time_integration_error)
# change integration method
self.ui.integrationMethodComboBox.currentIndexChanged.connect(self.selectedIntegrationMethod)
self._parent.TreeViewWidget.create_animation_file.signal_createAnimationFile.connect(self._create_animation_file)
# profiler
self.profile = cProfile.Profile()
# analysis type
self.ui.analysisTypeComboBox.currentIndexChanged.connect(self._analysis_type_changed)
# set analysis type to display it in combobox
if self.MBD_system.analysis_type is not None:
_index = self.ui.analysisTypeComboBox.findText(QtCore.QString(self.MBD_system.analysis_type.title()))
self.ui.analysisTypeComboBox.setCurrentIndex(_index)
# video maker thread to create video
self.video_maker = VideoMaker(parent=self)
def _analysis_type_changed(self):
"""
Function assignes new value to object attribute if it is changed by user in combo box
:return:
"""
self.MBD_system.analysis_type = self.ui.analysisTypeComboBox.currentText().toLower()
if str(self.ui.analysisTypeComboBox.currentText()).lower() == "kinematic":
self.ui.integrationMethodComboBox.setEnabled(False)
else:
self.ui.integrationMethodComboBox.setEnabled(True)
@pyqtSlot()
def profile_functions(self):
"""
Function profiles main functions that are used in numerical integration
:return:
"""
print "profile here"
self.profile.enable()
self.solver.analysis.DAE_fun.evaluate_M()
self.profile.disable()
self.profile.print_stats()
def _time_integration_error(self):
"""
:return:
"""
QtGui.QMessageBox.critical(self._parent, "Error!", "Hmin exceeded! Procedure failed!",QtGui.QMessageBox.Ok, QtGui.QMessageBox.NoButton,QtGui.QMessageBox.NoButton)
def __update_loadSolutionFileWhenFinished(self):
"""
"""
if self.ui.loadSolutionFileStatus.isChecked():
self.MBD_system.loadSolutionFileWhenFinished = True
else:
self.MBD_system.loadSolutionFileWhenFinished = False
def __update_currentStep(self):
"""
"""
try:
self._step = int(self.ui.currentStep_lineEdit.text())
self.MBD_system.update_coordinates_and_angles_of_all_bodies(self.q[self._step, :])
self.MBD_system.update_simulation_properties(time=self.t[self._step], step_num=self._step)
self.step_num_signal.signal_step.emit(self._step)
self._update_GL()
except:
pass
def __automaticaly_load_solution_file(self, solution_data_object_ID=None, filename=None):
"""
Function loads solution data from input:
if input is filename solution data is read from specified file
if input is solution data object, solution is read from object attribute solution_data
:param filename: a filename of the solution data file
:param solution_data_object: a solution data object with attribute solution_data
:return: None
"""
if self.MBD_system.loadSolutionFileWhenFinished:
self.load_solution_file(solution_data_object_ID, filename)
def load_solution_file(self, solution_object_id=None, filename=None):
"""
Function loads solution data from object (first) or from file (second)
"""
if solution_object_id is None:
# assign solution data from solution data object to ne variable
solution_data = self.solver.analysis._solution_data.load_solution_data()
elif filename is not None:
pass
else:
print "Solution data not loaded!"
# if filename is not None and solution_object_id is None:
# solution_data = self.solver.analysis.load_simulation_solution_from_file(filename)
# assign a solution data object to pointer of object attribute
for sol in self.MBD_system.solutions:
if id(sol) == solution_object_id:
self.MBD_system.loaded_solution = sol
solution_data = sol.solution_data
self.step = solution_data[:, 0]
self.energy = solution_data[:, 1]
self.error = solution_data[:, 2]
self.dt = solution_data[:, 3]
self.t = solution_data[:, 4]
self.q = solution_data[:, 5:]
self._step = 0
self._status = "animation"
self.ui.forwardButton.setEnabled(True)
self.ui.backwardButton.setEnabled(False)
self.ui.playButton.setEnabled(True)
self.ui.currentStep_lineEdit.setEnabled(True)
self.ui.currentStep_lineEdit.setText(str(int(self._step)))
self.ui.solutionFileLoaded_display.setText(filename)
self.ui.numberOfSteps_lineEdit.setText(str(int(len(self.step)-1)))
self._update_GL()
# self.status_signal.signal_status.emit("Animation")
if self.MBD_system.restoreInitialConditionsWhenFinished:
self.simulationReset()
def _update_GL(self):
"""
"""
self.ui.currentStep_lineEdit.setText(str(int(self._step)))
self.MBD_system.update_coordinates_and_angles_of_all_bodies(self.q[int(self._step), :])
self.opengl_widget.repaintGL(int(self._step))
# energy data signal
_energy = self.energy[self._step]
_energy_delta = _energy - self.energy[int(self._step)-1]
self.energy_signal.signal_energy.emit(_energy, _energy_delta)
def animation_forward(self):
"""
Go to next solution time step
"""
if (self._step + self._delta_step) <= self.step[-1]:
self._step += int(self._delta_step)
self._update_GL()
self.ui.backwardButton.setEnabled(True)
else:
self.ui.forwardButton.setEnabled(False)
def animation_backward(self):
"""
Return to prevouos solution time step
"""
if (self._step - self._delta_step) >= self.step[0]:
self._step -= int(self._delta_step)
self._update_GL()
self.ui.forwardButton.setEnabled(True)
else:
self.ui.backwardButton.setEnabled(False)
def take_snapshot(self):
"""
Create a snapshot
"""
captured_figure = self.opengl_widget.takeSnapShot()
captured_figure.save(self.solver.analysis.screenshot_filename_abs_path + '.png', 'png')
def selectedIntegrationMethod(self, int):
"""
Assign a selected integration method to object attribute
"""
self.MBD_system.integrationMethod = str(self.ui.integrationMethodComboBox.currentText())
def __update_updateStep(self):
"""
:return:
"""
self.solver.analysis.update_opengl_widget_every_Nth_step = int(self.ui.updateStep_lineEdit.text())
self._delta_step = int(self.ui.updateStep_lineEdit.text())
self.MBD_system.updateEveryIthStep = self._delta_step
def __update_Hmax(self):
"""
:return:
"""
try:
self.Hmax = float(self.ui.Hmax.text())
self.MBD_system.Hmax = self.Hmax
# self.solver.update_simulation_control_parameters(dt_=self.stepSize)
except:
None
def __update_Hmin(self):
try:
self.Hmin = float(self.ui.Hmin.text())
self.MBD_system.Hmin = self.Hmin
self.solver.update_simulation_control_parameters(dt_=self.stepSize)
except:
None
def __update_endTime(self):
"""
:return:
"""
self.endTime = float(self.ui.endTime.text())
self.MBD_system.t_n = self.endTime
def setWindowFlags(self, flags):
super(SimulationControlWidget, self).setWindowFlags(flags)
def simulationStart(self):
if not self.solver.analysis.running:
self.job_info_time_started = time.clock()
self.solver.analysis.running = True
self.solver.analysis.stopped = False
self.solver.analysis.finished = False
self.ui.simulationStartButton.setEnabled(False)
self.ui.simulationResetButton.setEnabled(False)
self.ui.simulationStopButton.setEnabled(True)
def simulationStop(self):
if self.solver.analysis.running:
self.solver.analysis.stopped = True
self.ui.simulationStartButton.setEnabled(True)
self.ui.simulationStopButton.setEnabled(False)
self.ui.simulationResetButton.setEnabled(True)
def simulationFinished(self):
self.ui.simulationStopButton.setEnabled(False)
self.ui.simulationResetButton.setEnabled(True)
self.job_info_time_finished = time.clock()
def simulationReset(self):
self.solver.analysis.restore_initial_condition()
# self.ui.simulationResetButton.setEnabled(False)
self.ui.simulationStartButton.setEnabled(True)
def animationPlay(self):
"""
Function plays animation when solution data is loaded
:return:
"""
if self._update_display_type == "step":
for _step in xrange(0, len(self.step), int(self._delta_step)):
self._step = int(_step)
self._update_GL()
time.sleep(self.ui.playbackSpeed_doubleSpinBox.value()*1E-2)
if self._update_display_type == "dt":
_t = np.arange(0, self.t[-1], self._dt)
for i in xrange(0, len(_t)):
indx = np.argmin(abs(self.t - _t[i]))
self._step = self.step[indx]
self._update_GL()
time.sleep(self.ui.playbackSpeed_doubleSpinBox.value()*1E-2)
def _create_animation_file(self):
"""
Function creates video file of animation
:return:
"""
# starts video maker in new thread
self.video_maker.start()