class BusMonitorWindow(QMainWindow):
DEFAULT_PLOT_X_RANGE = 120
BUS_LOAD_PLOT_MAX_SAMPLES = 50000
def __init__(self, get_frame, iface_name):
super(BusMonitorWindow, self).__init__()
self.setWindowTitle('CAN bus monitor (%s)' % iface_name.split(os.path.sep)[-1])
self.setWindowIcon(get_app_icon())
self._get_frame = get_frame
self._log_widget = RealtimeLogWidget(self, columns=COLUMNS, font=get_monospace_font(),
pre_redraw_hook=self._redraw_hook)
self._log_widget.on_selection_changed = self._update_measurement_display
self._log_widget.table.cellClicked.connect(lambda row, col: self._decode_transfer_at_row(row))
self._log_widget.table.setContextMenuPolicy(Qt.CustomContextMenu)
self._log_widget.table.customContextMenuRequested.connect(self._context_menu_requested)
self._stat_display = QLabel('0 / 0 / 0', self)
stat_display_label = QLabel('TX / RX / FPS: ', self)
stat_display_label.setAlignment(Qt.AlignRight | Qt.AlignVCenter)
self._log_widget.custom_area_layout.addWidget(stat_display_label)
self._log_widget.custom_area_layout.addWidget(self._stat_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._decoded_message_box = QPlainTextEdit(self)
self._decoded_message_box.setReadOnly(True)
self._decoded_message_box.setFont(get_monospace_font())
self._decoded_message_box.setVerticalScrollBarPolicy(Qt.ScrollBarAsNeeded)
self._decoded_message_box.setHorizontalScrollBarPolicy(Qt.ScrollBarAsNeeded)
self._decoded_message_box.setPlainText('Click on a row to see decoded transfer')
self._decoded_message_box.setLineWrapMode(QPlainTextEdit.NoWrap)
self._decoded_message_box.setWordWrapMode(QTextOption.NoWrap)
self._load_plot = PlotWidget(background=(0, 0, 0))
self._load_plot.setRange(xRange=(0, self.DEFAULT_PLOT_X_RANGE), padding=0)
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()
self._footer_splitter = QSplitter(Qt.Horizontal, self)
self._footer_splitter.addWidget(self._decoded_message_box)
self._decoded_message_box.setMinimumWidth(400)
self._footer_splitter.addWidget(self._load_plot)
self._load_plot.setMinimumWidth(200)
splitter = QSplitter(Qt.Vertical, self)
splitter.addWidget(self._log_widget)
self._log_widget.setMinimumHeight(200)
splitter.addWidget(self._footer_splitter)
widget = QWidget(self)
layout = QHBoxLayout(widget)
layout.addWidget(splitter)
widget.setLayout(layout)
self.setCentralWidget(widget)
self.setMinimumWidth(700)
self.resize(800, 600)
# Calling directly from the constructor gets you wrong size information
# noinspection PyCallByClass,PyTypeChecker
QTimer.singleShot(500, self._update_widget_sizes)
def _update_widget_sizes(self):
max_footer_height = self.centralWidget().height() * 0.4
self._footer_splitter.setMaximumHeight(max_footer_height)
def resizeEvent(self, qresizeevent):
super(BusMonitorWindow, self).resizeEvent(qresizeevent)
self._update_widget_sizes()
def _update_stat(self):
bus_load, ts_mono = self._traffic_stat.get_frames_per_second()
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):
while True:
item = self._get_frame()
if item is None:
break
direction, frame = item
self._traffic_stat.add_frame(direction, frame)
# There is no need to maintain a second queue actually; should be refactored
self._log_widget.add_item_async((direction, frame))
bus_load, _ = self._traffic_stat.get_frames_per_second()
self._stat_display.setText('%d / %d / %d' % (self._traffic_stat.tx, self._traffic_stat.rx, bus_load))
def _decode_transfer_at_row(self, row):
try:
rows, text = decode_transfer_from_frame(row, partial(row_to_frame, self._log_widget.table))
except Exception as ex:
text = 'Transfer could not be decoded:\n' + str(ex)
rows = [row]
self._decoded_message_box.setPlainText(text.strip())
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])
if min_row == max_row:
self._decode_transfer_at_row(min_row)
def get_ts_diff(row_earlier, row_later):
e = self._log_widget.table.item(row_earlier, 1).text()
l = self._log_widget.table.item(row_later, 1).text()
return TimestampRenderer.compute_timestamp_difference(e, l)
def get_load_str(num_frames, dt):
if dt >= 1e-6:
return 'average load %.1f FPS' % (max(num_frames - 1, 1) / dt)
return 'average load is unknown'
if min_row == max_row:
num_frames = min_row
dt = get_ts_diff(0, min_row)
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
dt = get_ts_diff(min_row, max_row)
flash(self, '%d frames, timedelta %.6f sec, %s',
num_frames, dt, get_load_str(num_frames, dt))
def _context_menu_requested(self, pos):
menu = QMenu(self)
row_index = self._log_widget.table.rowAt(pos.y())
if row_index >= 0:
action_show_definition = QAction(get_icon('file-code-o'), 'Open data type &definition', self)
action_show_definition.triggered.connect(lambda: self._show_data_type_definition(row_index))
menu.addAction(action_show_definition)
menu.popup(self._log_widget.table.mapToGlobal(pos))
def _show_data_type_definition(self, row):
try:
data_type_name = self._log_widget.table.item(row, self._log_widget.table.columnCount() - 1).text()
definition = uavcan.TYPENAMES[data_type_name].source_text
except Exception as ex:
show_error('Data type lookup error', 'Could not load data type definition', ex, self)
return
win = QDialog(self)
win.setAttribute(Qt.WA_DeleteOnClose)
view = QPlainTextEdit(win)
view.setReadOnly(True)
view.setFont(get_monospace_font())
view.setPlainText(definition)
view.setLineWrapMode(QPlainTextEdit.NoWrap)
layout = QVBoxLayout(win)
layout.addWidget(view)
win.setWindowTitle('Data type definition [%s]' % data_type_name)
win.setLayout(layout)
win.resize(600, 300)
win.show()
class PythonScriptEditor(QWidget):
onReload = pyqtSignal()
def __init__(self, parent, main_window):
super(PythonScriptEditor, self).__init__(parent)
self.main_window = main_window
self.inner = QMainWindow()
self.setLayout(QVBoxLayout())
self.setWindowTitle("Script Editor")
self.editor = CodePlainTextEditor(self.inner)
self.output = CodePlainTextEditor(self.inner)
self.output.setReadOnly(True)
self.pipeline_script = None #type: PipelineScript
self.central = QSplitter(Qt.Vertical, self.inner)
self.central.setMaximumHeight(400)
self.central.addWidget(self.editor)
self.central.addWidget(self.output)
self.highlighter = PythonHighlighter(self.editor.document())
self.central.setStretchFactor(0, 4)
self.central.setStretchFactor(1, 1)
self.inner.setCentralWidget(self.central)
self.current_file_path = ""
self.layout().addWidget(self.inner)
self.m_file = self.inner.menuBar().addMenu("File")
self.a_new = self.m_file.addAction("New Script")
self.a_load = self.m_file.addAction("Load")
self.a_save = self.m_file.addAction("Save")
self.a_export = self.m_file.addAction("Save As / Export")
self.a_new.triggered.connect(self.new)
self.a_load.triggered.connect(partial(self.load, None))
self.a_save.triggered.connect(partial(self.save, None, False))
self.a_export.triggered.connect(partial(self.save, None, True))
if sys.platform == "darwin":
self.font = QFont("Consolas")
else:
self.font = QFont("Lucida Console")
self.font.setPointSize(10)
self.toolbar = self.inner.addToolBar("ScriptEditor Toolbar")
self.a_reload = self.toolbar.addAction("Reload")
self.a_reload.triggered.connect(self.reload)
self.editor.setFont(self.font)
self.editor.setTabStopWidth(
int(QFontMetricsF(self.editor.font()).width(' ')) * 4)
def new(self):
dialog = NewScriptDialog(self, self.main_window)
dialog.show()
# self.load("data/default_pipeline.py")
#
# self.current_file_path = ""
def load(self, pipeline: PipelineScript = None):
if pipeline is None:
file_path = QFileDialog.getOpenFileName(self, filter="*.py")[0]
try:
with open(file_path, "r") as f:
script = f.read()
dialog = NewScriptDialog(self, self.main_window, script)
dialog.show()
except Exception as e:
self.output.setPlainText(traceback.print_exc())
pass
else:
self.pipeline_script = pipeline
self.editor.setPlainText(pipeline.script)
self.reload()
def save(self, file_path=None, save_as=False):
if self.pipeline_script is None:
return
if save_as:
file_path = QFileDialog.getSaveFileName(self,
caption="Select Path",
filter="*.py")[0]
self.pipeline_script.script = self.editor.toPlainText().replace(
"\t", " ")
self.pipeline_script.save_script(file_path)
def reload(self):
self.pipeline_script.script = self.editor.toPlainText().replace(
"\t", " ")
self.pipeline_script.save_script()
self.editor.setPlainText(self.pipeline_script.script)
message = self.pipeline_script.import_pipeline()
self.output.setPlainText(message)
self.onReload.emit()
@pyqtSlot(str)
def print_exception(self, e):
self.output.setPlainText(e)
self.raise_()
class BusMonitorWindow(QMainWindow):
DEFAULT_PLOT_X_RANGE = 120
BUS_LOAD_PLOT_MAX_SAMPLES = 50000
def __init__(self, get_frame, iface_name):
super(BusMonitorWindow, self).__init__()
self.setWindowTitle('CAN bus monitor (%s)' %
iface_name.split(os.path.sep)[-1])
self.setWindowIcon(get_app_icon())
# get dsdl_directory from parent process, if set
dsdl_directory = os.environ.get('UAVCAN_CUSTOM_DSDL_PATH', None)
if dsdl_directory:
uavcan.load_dsdl(dsdl_directory)
self._get_frame = get_frame
self._log_widget = RealtimeLogWidget(self,
columns=COLUMNS,
font=get_monospace_font(),
pre_redraw_hook=self._redraw_hook)
self._log_widget.on_selection_changed = self._update_measurement_display
self._log_widget.table.cellClicked.connect(
lambda row, col: self._decode_transfer_at_row(row))
self._log_widget.table.setContextMenuPolicy(Qt.CustomContextMenu)
self._log_widget.table.customContextMenuRequested.connect(
self._context_menu_requested)
self._stat_display = QLabel('0 / 0 / 0', self)
stat_display_label = QLabel('TX / RX / FPS: ', self)
stat_display_label.setAlignment(Qt.AlignRight | Qt.AlignVCenter)
self._log_widget.custom_area_layout.addWidget(stat_display_label)
self._log_widget.custom_area_layout.addWidget(self._stat_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._decoded_message_box = QPlainTextEdit(self)
self._decoded_message_box.setReadOnly(True)
self._decoded_message_box.setFont(get_monospace_font())
self._decoded_message_box.setVerticalScrollBarPolicy(
Qt.ScrollBarAsNeeded)
self._decoded_message_box.setHorizontalScrollBarPolicy(
Qt.ScrollBarAsNeeded)
self._decoded_message_box.setPlainText(
'Click on a row to see decoded transfer')
self._decoded_message_box.setLineWrapMode(QPlainTextEdit.NoWrap)
self._decoded_message_box.setWordWrapMode(QTextOption.NoWrap)
self._load_plot = PlotWidget(background=(0, 0, 0))
self._load_plot.setRange(xRange=(0, self.DEFAULT_PLOT_X_RANGE),
padding=0)
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()
self._footer_splitter = QSplitter(Qt.Horizontal, self)
self._footer_splitter.addWidget(self._decoded_message_box)
self._decoded_message_box.setMinimumWidth(400)
self._footer_splitter.addWidget(self._load_plot)
self._load_plot.setMinimumWidth(200)
splitter = QSplitter(Qt.Vertical, self)
splitter.addWidget(self._log_widget)
self._log_widget.setMinimumHeight(200)
splitter.addWidget(self._footer_splitter)
widget = QWidget(self)
layout = QHBoxLayout(widget)
layout.addWidget(splitter)
widget.setLayout(layout)
self.setCentralWidget(widget)
self.setMinimumWidth(700)
self.resize(800, 600)
# Calling directly from the constructor gets you wrong size information
# noinspection PyCallByClass,PyTypeChecker
QTimer.singleShot(500, self._update_widget_sizes)
def _update_widget_sizes(self):
max_footer_height = self.centralWidget().height() * 0.4
self._footer_splitter.setMaximumHeight(max_footer_height)
def resizeEvent(self, qresizeevent):
super(BusMonitorWindow, self).resizeEvent(qresizeevent)
self._update_widget_sizes()
def _update_stat(self):
bus_load, ts_mono = self._traffic_stat.get_frames_per_second()
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):
while True:
item = self._get_frame()
if item is None:
break
direction, frame = item
self._traffic_stat.add_frame(direction, frame)
# There is no need to maintain a second queue actually; should be refactored
self._log_widget.add_item_async((direction, frame))
bus_load, _ = self._traffic_stat.get_frames_per_second()
self._stat_display.setText(
'%d / %d / %d' %
(self._traffic_stat.tx, self._traffic_stat.rx, bus_load))
def _decode_transfer_at_row(self, row):
try:
rows, text = decode_transfer_from_frame(
row, partial(row_to_frame, self._log_widget.table))
except Exception as ex:
text = 'Transfer could not be decoded:\n' + str(ex)
rows = [row]
self._decoded_message_box.setPlainText(text.strip())
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])
if min_row == max_row:
self._decode_transfer_at_row(min_row)
def get_ts_diff(row_earlier, row_later):
e = self._log_widget.table.item(row_earlier, 1).text()
l = self._log_widget.table.item(row_later, 1).text()
return TimestampRenderer.compute_timestamp_difference(e, l)
def get_load_str(num_frames, dt):
if dt >= 1e-6:
return 'average load %.1f FPS' % (max(num_frames - 1, 1) / dt)
return 'average load is unknown'
if min_row == max_row:
num_frames = min_row
dt = get_ts_diff(0, min_row)
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
dt = get_ts_diff(min_row, max_row)
flash(self, '%d frames, timedelta %.6f sec, %s', num_frames, dt,
get_load_str(num_frames, dt))
def _context_menu_requested(self, pos):
menu = QMenu(self)
row_index = self._log_widget.table.rowAt(pos.y())
if row_index >= 0:
action_show_definition = QAction(get_icon('file-code-o'),
'Open data type &definition',
self)
action_show_definition.triggered.connect(
lambda: self._show_data_type_definition(row_index))
menu.addAction(action_show_definition)
menu.popup(self._log_widget.table.mapToGlobal(pos))
def _show_data_type_definition(self, row):
try:
data_type_name = self._log_widget.table.item(
row,
self._log_widget.table.columnCount() - 1).text()
definition = uavcan.TYPENAMES[data_type_name].source_text
except Exception as ex:
show_error('Data type lookup error',
'Could not load data type definition', ex, self)
return
win = QDialog(self)
win.setAttribute(Qt.WA_DeleteOnClose)
view = QPlainTextEdit(win)
view.setReadOnly(True)
view.setFont(get_monospace_font())
view.setPlainText(definition)
view.setLineWrapMode(QPlainTextEdit.NoWrap)
layout = QVBoxLayout(win)
layout.addWidget(view)
win.setWindowTitle('Data type definition [%s]' % data_type_name)
win.setLayout(layout)
win.resize(600, 300)
win.show()
