def ProcessMessage(self, msg):
self.messageCount += 1
id = msg.hdr.GetMessageID()
# if we write CSV to multiple files, we'd probably look up a hash table for this message id,
# and open it and write a header
if (id in self.outputFiles):
outputFile = self.outputFiles[id]
else:
# create a new file
outputFile = open(
self.outputName + "/" + msg.MsgName().replace("/", "_") +
".csv", 'w')
# store a pointer to it, so we can find it next time (instead of creating it again)
self.outputFiles[id] = outputFile
# add table header, one column for each message field
tableHeader = msgcsv.csvHeader(
msg, nameColumn=False, timeColumn=True) + '\n'
outputFile.write(tableHeader)
try:
# \todo Detect time rolling. this only matters when we're processing a log file
# with insufficient timestamp size, such that time rolls over from a large number
# to a small one, during the log.
thisTimestamp = msg.hdr.GetTime()
if thisTimestamp < self._lastTimestamp:
self._timestampOffset += 1
self._lastTimestamp = thisTimestamp
timeSizeInBits = int(
round(
math.log(
int(
Messaging.findFieldInfo(msg.hdr.fields,
"Time").maxVal), 2)))
timestamp = (
self._timestampOffset << timeSizeInBits) + thisTimestamp
if Messaging.findFieldInfo(msg.hdr.fields, "Time").units == "ms":
timestamp = timestamp / 1000.0
text = str(timestamp) + ", "
except AttributeError:
text = "unknown, "
text += msgcsv.toCsv(msg, nameColumn=False, timeColumn=False)
text += '\n'
outputFile.write(text)
# This is not efficient, but if we don't flush during socket processing
# and the user hits Ctrl-C, we'll drop a bunch of data and end up with empty files.
# So flush each message as it comes in.
if self.connectionType != 'file':
outputFile.flush()
def HandleButtonPress(self):
# when a button is used to start a log, the text of that button changes to "Stop".
# starting any other log will stop the current one (changing it's text back to normal)
button = self.sender()
if "logtag" in button.options:
if button == self.activeLogButton:
self.CloseLogFile()
button.setText(button.label)
self.activeLogButton = None
else:
if self.activeLogButton != None:
self.activeLogButton.setText(self.activeLogButton.label)
self.CreateLogFile(button.options["logtag"][0])
button.setText("Stop")
self.activeLogButton = button
if "send" in button.options:
for opts in button.options['send']:
msgname = opts.split("[")[0]
fields = opts.split("[")[1].replace("]","").split(",")
msgClass = Messaging.MsgClassFromName[msgname]
msg = msgClass()
for field in fields:
parts = field.split("=")
name = parts[0]
value = parts[1]
Messaging.set(msg, Messaging.findFieldInfo(msgClass.fields, name), value)
self.SendMsg(msg)
def HandleButtonPress(self):
# when a button is used to start a log, the text of that button changes to "Stop".
# starting any other log will stop the current one (changing it's text back to normal)
button = self.sender()
if "logtag" in button.options:
if button == self.activeLogButton:
self.CloseLogFile()
button.setText(button.label)
self.activeLogButton = None
else:
if self.activeLogButton != None:
self.activeLogButton.setText(self.activeLogButton.label)
self.CreateLogFile(button.options["logtag"][0])
button.setText("Stop")
self.activeLogButton = button
if "send" in button.options:
for opts in button.options['send']:
msgname = opts.split("[")[0]
fields = opts.split("[")[1].replace("]", "").split(",")
msgClass = Messaging.MsgClassFromName[msgname]
msg = msgClass()
for field in fields:
parts = field.split("=")
name = parts[0]
value = parts[1]
Messaging.set(
msg, Messaging.findFieldInfo(msgClass.fields, name),
value)
self.SendMsg(msg)
def handle_query(self, msg):
msgquery = msg.GetQuery()
msgAndFieldName = msgquery.split(",")[0]
msgname = msgAndFieldName.split(".")[0]
fieldname = msgAndFieldName.split(".")[1]
tagQuery = msgquery.split(",")[1]
if tagQuery != "":
tagQuery += " AND "
start = msg.GetStartTime()
end = msg.GetEndTime()
averagingPeriod = msg.GetAveragingPeriod()
if averagingPeriod != 0:
dbquery = 'SELECT "' + fieldname + '" FROM "' + msgname + '"'
else:
dbquery = 'SELECT MEAN("' + fieldname + '") FROM "' + msgname + '"'
dbquery += " WHERE " + tagQuery + "time > " + FormattedTime(start)
if end != 0:
dbquery += " AND time < " + FormattedTime(end)
else:
end = datetime.datetime.now()
if averagingPeriod != 0:
# limit averaging period such that we don't get too many data points
if avg / (end - start) > MAX_POINTS:
avg = MAX_POINTS * (end - start)
dbquery += " GROUP BY *,time("+FormattedTime(avg)+")"
dbquery += " LIMIT " + str(MAX_POINTS)
# send query to database, get result
result = self.db.query(dbquery)
# output results
resultMsg = Messaging.Messages.Network.History.Result()
resultMsg.SetCookie(self.cookie)
resultCount = f(result)
resultMsg.SetResultCount(resultCount)
resultMsg.SetQuery(msgquery)
self.msgClient.send_message(resultMsg)
dataInfo = Messaging.findFieldInfo(Messaging.Messages.Network.History.Data, "Data")
maxDataPerMsg = dataInfo.count
resultNumber = 0
for something in result:
dataMsg = Messaging.Messages.Network.History.Data()
dataMsg.SetCookie(self.cookie)
dataMsg.SetResultNumber(resultNumber)
dataRange = min(maxDataPerMsg, tilEndOfResults)
for index in range(0, dataRange,2):
dataMsg.SetData(time(something), index)
dataMsg.SetData(value(something), index+1)
# truncate message buffer to actual amount of data
dataMsg.hdr.SetDataLength(dataInfo.offset + dataInfo.size * dataRange)
self.msgClient.send_message(dataMsg)
resultNumber += 1
# increment cookie so the next query's results are easy to tell apart from out query results
# especially useful if two clients query at almost the same time!
self.cookie += 1
def handle_query(self, msg):
msgquery = msg.GetQuery()
msgAndFieldName = msgquery.split(",")[0]
msgname = msgAndFieldName.split(".")[0]
fieldname = msgAndFieldName.split(".")[1]
tagQuery = msgquery.split(",")[1]
if tagQuery != "":
tagQuery += " AND "
start = msg.GetStartTime()
end = msg.GetEndTime()
averagingPeriod = msg.GetAveragingPeriod()
if averagingPeriod != 0:
dbquery = 'SELECT "' + fieldname + '" FROM "' + msgname + '"'
else:
dbquery = 'SELECT MEAN("' + fieldname + '") FROM "' + msgname + '"'
dbquery += " WHERE " + tagQuery + "time > " + FormattedTime(start)
if end != 0:
dbquery += " AND time < " + FormattedTime(end)
else:
end = datetime.datetime.now()
if averagingPeriod != 0:
# limit averaging period such that we don't get too many data points
if avg / (end - start) > MAX_POINTS:
avg = MAX_POINTS * (end - start)
dbquery += " GROUP BY *,time("+FormattedTime(avg)+")"
dbquery += " LIMIT " + str(MAX_POINTS)
# send query to database, get result
result = self.db.query(dbquery)
# output results
resultMsg = Messaging.Messages.Network.History.Result()
resultMsg.SetCookie(self.cookie)
resultCount = f(result)
resultMsg.SetResultCount(resultCount)
resultMsg.SetQuery(msgquery)
self.msgClient.send_message(resultMsg)
dataInfo = Messaging.findFieldInfo(Messaging.Messages.Network.History.Data, "Data")
maxDataPerMsg = dataInfo.count
resultNumber = 0
for something in result:
dataMsg = Messaging.Messages.Network.History.Data()
dataMsg.SetCookie(self.cookie)
dataMsg.SetResultNumber(resultNumber)
dataRange = min(maxDataPerMsg, tilEndOfResults)
for index in range(0, dataRange,2):
dataMsg.SetData(time(something), index)
dataMsg.SetData(value(something), index+1)
# truncate message buffer to actual amount of data
dataMsg.hdr.SetDataLength(dataInfo.offset + dataInfo.size * dataRange)
self.msgClient.send_message(dataMsg)
resultNumber += 1
# increment cookie so the next query's results are easy to tell apart from out query results
# especially useful if two clients query at almost the same time!
self.cookie += 1
def ProcessMessage(self, msg):
self.messageCount += 1
id = msg.hdr.GetMessageID()
# if we write CSV to multiple files, we'd probably look up a hash table for this message id,
# and open it and write a header
if(id in self.outputFiles):
outputFile = self.outputFiles[id]
else:
# create a new file
outputFile = open(self.outputName + "/" + msg.MsgName().replace("/","_") + ".csv", 'w')
# store a pointer to it, so we can find it next time (instead of creating it again)
self.outputFiles[id] = outputFile
# add table header, one column for each message field
tableHeader = msgcsv.csvHeader(msg, nameColumn=False, timeColumn=True) + '\n'
outputFile.write(tableHeader)
try:
# \todo Detect time rolling. this only matters when we're processing a log file
# with insufficient timestamp size, such that time rolls over from a large number
# to a small one, during the log.
thisTimestamp = msg.hdr.GetTime()
if thisTimestamp < self._lastTimestamp:
self._timestampOffset+=1
self._lastTimestamp = thisTimestamp
timeSizeInBits = int(round(math.log(int(Messaging.findFieldInfo(msg.hdr.fields, "Time").maxVal), 2)))
timestamp = (self._timestampOffset << timeSizeInBits) + thisTimestamp
if Messaging.findFieldInfo(msg.hdr.fields, "Time").units == "ms":
timestamp = timestamp / 1000.0
text = str(timestamp) + ", "
except AttributeError:
text = "unknown, "
text += msgcsv.toCsv(msg, nameColumn=False, timeColumn=False)
text += '\n'
outputFile.write(text)
# This is not efficient, but if we don't flush during socket processing
# and the user hits Ctrl-C, we'll drop a bunch of data and end up with empty files.
# So flush each message as it comes in.
if self.connectionType !='file':
outputFile.flush()
def store_message(self, msg):
try:
timeVal = msg.hdr.GetTime()
timeInfo = Messaging.findFieldInfo(msg.hdr.fields, "Time")
# if it's not big enough to be an absolute timestamp, give up on using it and just use current time
if float(timeInfo.maxVal) <= 2**32:
raise AttributeError
if timeInfo.units == "ms":
timeVal = timeVal / 1000.0
timeVal = datetime.datetime.fromtimestamp(timeVal,
datetime.timezone.utc)
except AttributeError:
timeVal = datetime.datetime.now()
dbJson = {
"time": str(timeVal),
"measurement": msg.MsgName(),
'fields': {},
'tags': {}
}
for fieldInfo in msg.hdr.fields:
if len(fieldInfo.bitfieldInfo) == 0:
if fieldInfo.idbits == 0 and fieldInfo.name != "Time" and fieldInfo.name != "DataLength":
dbJson['tags'][fieldInfo.name] = Messaging.get(
msg.hdr, fieldInfo)
else:
for bitInfo in fieldInfo.bitfieldInfo:
if bitInfo.idbits == 0 and bitInfo.name != "Time" and bitInfo.name != "DataLength":
dbJson['tags'][bitInfo.name] = Messaging.get(
msg.hdr, bitInfo)
msgClass = type(msg)
for fieldInfo in msgClass.fields:
if fieldInfo.count == 1:
if len(fieldInfo.bitfieldInfo) == 0:
dbJson['fields'][
fieldInfo.name] = InfluxDBConnection.GetDBValue(
msg, fieldInfo)
else:
for bitInfo in fieldInfo.bitfieldInfo:
dbJson['fields'][
bitInfo.name] = InfluxDBConnection.GetDBValue(
msg, bitInfo)
# leave out arrays until we figure out how to handle them
#else:
# arrayList = []
# for i in range(0,fieldInfo.count):
# arrayList.append(InfluxDBConnection.GetDBValue(msg, fieldInfo, i))
# dbJson['fields'][fieldInfo.name] = arrayList
#print("Create a retention policy")
#retention_policy = 'awesome_policy'
#client.create_retention_policy(retention_policy, '3d', 3, default=True)
self.db.write_points([dbJson]) #, retention_policy=retention_policy)
def __init__(self, hdr, portName):
super(SerialConnection, self).__init__(None)
self.hdr = hdr
self.settings = QtCore.QSettings("MsgTools",
"MessageServer/SerialPlugin")
# button to open/close serial port
self.openCloseButton = QtWidgets.QPushButton("button")
self.openCloseButton.pressed.connect(self.openCloseSwitch)
# button select new serial port
self.selectPortButton = QtWidgets.QPushButton("Select Port")
self.selectPortButton.pressed.connect(self.selectPort)
self.statusLabel = QtWidgets.QLabel()
self.subscriptions = {}
self.subMask = 0
self.subValue = 0
self.isHardwareLink = True
# if port not specified, default to last used port
if not portName:
portName = self.settings.value("portName", None)
self.serialPort = QSerialPort(portName)
self.serialPort.setBaudRate(QSerialPort.Baud115200)
self.serialPort.setFlowControl(QSerialPort.NoFlowControl)
self.serialPort.setParity(QSerialPort.NoParity)
self.serialPort.setDataBits(QSerialPort.Data8)
self.serialPort.setStopBits(QSerialPort.OneStop)
self.rxBuffer = bytearray()
self.gotHeader = 0
self.rxMsgCount = 0
self.serialPort.readyRead.connect(self.onReadyRead)
self.name = "Serial " + self.serialPort.portName()
self.hdrTranslator = HeaderTranslator(hdr, Messaging.hdr)
self.serialStartSeqField = Messaging.findFieldInfo(
hdr.fields, "StartSequence")
if self.serialStartSeqField != None:
self.startSequence = int(hdr.GetStartSequence.default)
self.startSeqSize = int(hdr.GetStartSequence.size)
try:
self.hdrCrcRegion = int(hdr.GetHeaderChecksum.offset)
except AttributeError:
self.hdrCrcRegion = None
self.tmpRxHdr = ctypes.create_string_buffer(0)
def addLine(self, msgClass, fieldName):
fieldName, fieldIndex = MsgPlot.split_fieldname(fieldName)
fieldInfo = Messaging.findFieldInfo(msgClass.fields, fieldName)
if fieldInfo == None:
raise MsgPlot.PlotError("Invalid field %s for message %s" %
(fieldName, msgClass.MsgName()))
if fieldInfo.units == "ASCII":
raise MsgPlot.PlotError("Cannot plot %s.%s, it is a string" %
(msgClass.MsgName(), fieldName))
# don't add if it's already there!
for line in self.lines:
if fieldInfo == line.fieldInfo and fieldIndex == line.fieldSubindex:
name = fieldInfo.name
if fieldInfo.count > 1:
name = "%s[%d]" % (name, fieldIndex)
raise MsgPlot.PlotError("Line %s already on plot" % name)
if msgClass != self.msgClass:
raise MsgPlot.NewPlotError(
"Message %s != %s, cannot add to same plot" %
(msgClass.__name__, self.msgClass.__name__))
if fieldInfo.units != self.units:
raise MsgPlot.NewPlotError("Units %s != %s, not adding to plot" %
(fieldInfo.units, self.units))
if fieldIndex != None:
self._addLine(msgClass, fieldInfo, fieldIndex)
elif fieldInfo.count == 1:
self._addLine(msgClass, fieldInfo, 0)
else:
dups = []
for fieldIndex in range(0, fieldInfo.count):
duplicate = False
for line in self.lines:
if fieldInfo == line.fieldInfo and fieldIndex == line.fieldSubindex:
dups.append(fieldIndex)
duplicate = True
break
if not duplicate:
self._addLine(msgClass, fieldInfo, fieldIndex)
if len(dups) > 0:
if len(dups) == 1:
s = ' ' + str(dups[0])
elif len(dups) == fieldInfo.count:
s = 's %d-%d' % (0, fieldInfo.count)
else:
s = 's '
for d in dups:
s += '%s,' % d
raise MsgPlot.PlotError("Line%s already on plot" % s)
def store_message(self, msg):
try:
timeVal = msg.hdr.GetTime()
timeInfo = Messaging.findFieldInfo(msg.hdr.fields, "Time")
# if it's not big enough to be an absolute timestamp, give up on using it and just use current time
if float(timeInfo.maxVal) <= 2**32:
raise AttributeError
if timeInfo.units == "ms":
timeVal = timeVal / 1000.0
timeVal = datetime.datetime.fromtimestamp(timeVal, datetime.timezone.utc)
except AttributeError:
timeVal = datetime.datetime.now()
dbJson = {
"time": str(timeVal),
"measurement": msg.MsgName(),
'fields': {},
'tags': {}
}
for fieldInfo in msg.hdr.fields:
if len(fieldInfo.bitfieldInfo) == 0:
if fieldInfo.idbits == 0 and fieldInfo.name != "Time" and fieldInfo.name != "DataLength":
dbJson['tags'][fieldInfo.name] = Messaging.get(msg.hdr, fieldInfo)
else:
for bitInfo in fieldInfo.bitfieldInfo:
if bitInfo.idbits == 0 and bitInfo.name != "Time" and bitInfo.name != "DataLength":
dbJson['tags'][bitInfo.name] = Messaging.get(msg.hdr, bitInfo)
msgClass = type(msg)
for fieldInfo in msgClass.fields:
if fieldInfo.count == 1:
if len(fieldInfo.bitfieldInfo) == 0:
dbJson['fields'][fieldInfo.name] = InfluxDBConnection.GetDBValue(msg, fieldInfo)
else:
for bitInfo in fieldInfo.bitfieldInfo:
dbJson['fields'][bitInfo.name] = InfluxDBConnection.GetDBValue(msg, bitInfo)
# leave out arrays until we figure out how to handle them
#else:
# arrayList = []
# for i in range(0,fieldInfo.count):
# arrayList.append(InfluxDBConnection.GetDBValue(msg, fieldInfo, i))
# dbJson['fields'][fieldInfo.name] = arrayList
#print("Create a retention policy")
#retention_policy = 'awesome_policy'
#client.create_retention_policy(retention_policy, '3d', 3, default=True)
self.db.write_points([dbJson]) #, retention_policy=retention_policy)
def addData(self, msg):
# TODO what to do for things that can't be numerically expressed? just ascii strings, i guess?
for line in self.lines:
try:
newDataPoint = Messaging.getFloat(msg, line.fieldInfo,
line.fieldSubindex)
except ValueError:
print("ERROR! Plot of %s.%s cannot accept value %s" %
(self.msgClass.MsgName(), line.fieldInfo.name,
Messaging.get(msg, line.fieldInfo, line.fieldSubindex)))
continue
try:
timestamp = msg.hdr.GetTime()
if Messaging.findFieldInfo(msg.hdr.fields,
"Time").units == "ms":
timestamp = timestamp / 1000.0
newTime = float(elapsedSeconds(timestamp))
if newTime != 0:
self.useHeaderTime = 1
if not self.useHeaderTime:
newTime = elapsedSeconds(datetime.now().timestamp())
except AttributeError:
# if header has no time, fallback to PC time.
newTime = elapsedSeconds(datetime.now().timestamp())
# add data in the array until MAX_LENGTH is reached, then drop data off start of array
# such that plot appears to scroll. The array size is limited to MAX_LENGTH.
if len(line.dataArray) >= MsgPlot.MAX_LENGTH:
line.dataArray[:-1] = line.dataArray[
1:] # shift data in the array one sample left
line.dataArray[-1] = newDataPoint
line.timeArray[:-1] = line.timeArray[
1:] # shift data in the array one sample left
line.timeArray[-1] = newTime
else:
line.dataArray.append(newDataPoint)
line.timeArray.append(newTime)
if not self.pause:
timeArray = line.timeArray
dataArray = line.dataArray
count = self.timeSlider.value()
if len(line.dataArray) > count:
timeArray = timeArray[-count:]
dataArray = dataArray[-count:]
line.curve.setData(timeArray, dataArray)
line.curve.setPos(line.ptr1, 0)
def addLine(self, msgClass, fieldName):
fieldName, fieldIndex = MsgPlot.split_fieldname(fieldName)
fieldInfo = Messaging.findFieldInfo(msgClass.fields, fieldName)
if fieldInfo == None:
raise MsgPlot.PlotError("Invalid field %s for message %s" % (fieldName, msgClass.MsgName()))
if fieldInfo.units == "ASCII":
raise MsgPlot.PlotError("Cannot plot %s.%s, it is a string" % (msgClass.MsgName(), fieldName))
# don't add if it's already there!
for line in self.lines:
if fieldInfo == line.fieldInfo and fieldIndex == line.fieldSubindex:
name = fieldInfo.name
if fieldInfo.count > 1:
name = "%s[%d]" % (name, fieldIndex)
raise MsgPlot.PlotError("Line %s already on plot" % name)
if msgClass != self.msgClass:
raise MsgPlot.NewPlotError("Message %s != %s, cannot add to same plot" % (msgClass.__name__, self.msgClass.__name__))
if fieldInfo.units != self.units:
raise MsgPlot.NewPlotError("Units %s != %s, not adding to plot" % (fieldInfo.units, self.units))
if fieldIndex != None:
self._addLine(msgClass, fieldInfo, fieldIndex)
elif fieldInfo.count == 1:
self._addLine(msgClass, fieldInfo, 0)
else:
dups = []
for fieldIndex in range(0, fieldInfo.count):
duplicate = False
for line in self.lines:
if fieldInfo == line.fieldInfo and fieldIndex == line.fieldSubindex:
dups.append(fieldIndex)
duplicate = True
break
if not duplicate:
self._addLine(msgClass, fieldInfo, fieldIndex)
if len(dups) > 0:
if len(dups) == 1:
s = ' '+str(dups[0])
elif len(dups) == fieldInfo.count:
s = 's %d-%d' % (0, fieldInfo.count)
else:
s = 's '
for d in dups:
s += '%s,' % d
raise MsgPlot.PlotError("Line%s already on plot" % s)
def __init__(self, argv, parent=None):
msgtools.lib.gui.Gui.__init__(self, "Message Plot 0.1", argv, [],
parent)
vbox = QVBoxLayout()
centralWidget = QWidget()
centralWidget.setLayout(vbox)
self.setCentralWidget(centralWidget)
self.msgPlots = {}
self.RxMsg.connect(self.ProcessMessage)
if len(sys.argv) < 1:
sys.stderr.write(
'Usage: ' + sys.argv[0] +
' msg1=field1[,field2] [msg2=field1,field2,field3]\n')
sys.exit(1)
for arg in argv[1:]:
argComponentList = arg.split("=")
msgName = argComponentList[0]
fieldNameList = argComponentList[1]
self.msgClass = Messaging.MsgClassFromName[msgName]
fieldNames = fieldNameList.split(",")
firstField = 1
for fieldName in fieldNames:
fieldInfo = Messaging.findFieldInfo(self.msgClass.fields,
fieldName)
if fieldInfo != None:
if firstField:
plot = MsgPlot(self.msgClass, fieldInfo, 0)
vbox.addWidget(plot.plotWidget)
firstField = 0
plotListForID = []
if self.msgClass.ID in self.msgPlots:
plotListForID = self.msgPlots[self.msgClass.ID]
else:
self.msgPlots[self.msgClass.ID] = plotListForID
plotListForID.append(plot)
else:
plot.addPlot(self.msgClass, fieldInfo, 0)
def __init__(self, msgClass, fieldName):
super(QWidget, self).__init__()
newFieldName, fieldIndex = MsgPlot.split_fieldname(fieldName)
fieldInfo = Messaging.findFieldInfo(msgClass.fields, newFieldName)
if fieldInfo == None:
raise MsgPlot.PlotError("Invalid field %s for message %s" %
(newFieldName, msgClass.MsgName()))
layout = QVBoxLayout()
self.setLayout(layout)
self.msgClass = msgClass
self.pause = 0
self.lineCount = 0
self.units = fieldInfo.units
self.lines = []
yAxisLabel = fieldInfo.units
xAxisLabel = "time (s)"
self.plotWidget = pg.PlotWidget(labels={
'left': yAxisLabel,
'bottom': xAxisLabel
})
layout.addWidget(self.plotWidget)
self.plotWidget.addLegend()
self.addLine(msgClass, fieldName)
# set up click handler to pause graph
self.plotWidget.scene().sigMouseClicked.connect(self.mouseClicked)
# add slider bar to control time scale
self.timeSlider = QSlider(Qt.Horizontal)
self.timeSlider.setMinimum(50)
self.timeSlider.setMaximum(MsgPlot.MAX_LENGTH)
self.timeSlider.setSingleStep(10)
self.timeSlider.setPageStep(50)
layout.addWidget(self.timeSlider)
self.plotWidget.dragEnterEvent = self.dragEnterEvent
self.plotWidget.dragMoveEvent = self.dragMoveEvent
self.plotWidget.dropEvent = self.dropEvent
self.plotWidget.setAcceptDrops(1)
def __init__(self, hdr, portName):
super(SerialConnection, self).__init__("Serial", portName)
self.hdr = hdr
self.rxBuffer = bytearray()
self.gotHeader = 0
self.hdrTranslator = HeaderTranslator(hdr, Messaging.hdr)
self.serialStartSeqField = Messaging.findFieldInfo(
hdr.fields, "StartSequence")
if self.serialStartSeqField != None:
self.startSequence = int(hdr.GetStartSequence.default)
self.startSeqSize = int(hdr.GetStartSequence.size)
try:
self.hdrCrcRegion = int(hdr.GetHeaderChecksum.offset)
except AttributeError:
self.hdrCrcRegion = None
self.tmpRxHdr = ctypes.create_string_buffer(0)
def addData(self, msg):
# TODO what to do for things that can't be numerically expressed? just ascii strings, i guess?
for line in self.lines:
try:
newDataPoint = Messaging.getFloat(msg, line.fieldInfo, line.fieldSubindex)
except ValueError:
print("ERROR! Plot of %s.%s cannot accept value %s" % (
self.msgClass.MsgName(),
line.fieldInfo.name,
Messaging.get(msg, line.fieldInfo, line.fieldSubindex)))
continue
try:
timestamp = msg.hdr.GetTime()
if Messaging.findFieldInfo(msg.hdr.fields, "Time").units == "ms":
timestamp = timestamp / 1000.0
newTime = float(elapsedSeconds(timestamp))
if newTime != 0:
self.useHeaderTime = 1
if not self.useHeaderTime:
newTime = elapsedSeconds(datetime.now().timestamp())
except AttributeError:
# if header has no time, fallback to PC time.
newTime = elapsedSeconds(datetime.now().timestamp())
# add data in the array until MAX_LENGTH is reached, then drop data off start of array
# such that plot appears to scroll. The array size is limited to MAX_LENGTH.
if len(line.dataArray) >= MsgPlot.MAX_LENGTH:
line.dataArray[:-1] = line.dataArray[1:] # shift data in the array one sample left
line.dataArray[-1] = newDataPoint
line.timeArray[:-1] = line.timeArray[1:] # shift data in the array one sample left
line.timeArray[-1] = newTime
else:
line.dataArray.append(newDataPoint)
line.timeArray.append(newTime)
if not self.pause:
self.refreshLine(line)
def __init__(self, msgClass, fieldName, runButton = None, clearButton = None, timeSlider = None, displayControls=True):
super(QWidget,self).__init__()
newFieldName, fieldIndex = MsgPlot.split_fieldname(fieldName)
fieldInfo = Messaging.findFieldInfo(msgClass.fields, newFieldName)
if fieldInfo == None:
raise MsgPlot.PlotError("Invalid field %s for message %s" % (newFieldName, msgClass.MsgName()))
layout = QVBoxLayout()
self.setLayout(layout)
self.msgClass = msgClass
self.pause = 0
self.lineCount = 0
self.units = fieldInfo.units
self.lines = []
yAxisLabel = fieldInfo.units
xAxisLabel = "time (s)"
self.plotWidget = pg.PlotWidget(labels={'left':yAxisLabel,'bottom':xAxisLabel})
layout.addWidget(self.plotWidget)
self.plotWidget.addLegend()
self.addLine(msgClass, fieldName)
# set up click handler to pause graph
self.plotWidget.scene().sigMouseClicked.connect(self.mouseClicked)
hLayout = QHBoxLayout()
layout.addLayout(hLayout)
# add a Pause/Run button
if runButton == None:
self.runButton = QPushButton("Pause")
else:
self.runButton = runButton
self.runButton.clicked.connect(self.pauseOrRun)
if displayControls:
hLayout.addWidget(self.runButton)
# add a 'Clear' button
if clearButton == None:
self.clearButton = QPushButton("Clear")
else:
self.clearButton = clearButton
self.clearButton.clicked.connect(self.clearData)
if displayControls:
hLayout.addWidget(self.clearButton)
# add slider bar to control time scale
if timeSlider == None:
self.timeSlider = QSlider(Qt.Horizontal)
self.timeSlider.setMinimum(50)
self.timeSlider.setMaximum(MsgPlot.MAX_LENGTH)
self.timeSlider.setSingleStep(10)
self.timeSlider.setPageStep(50)
else:
self.timeSlider = timeSlider
self.timeSlider.valueChanged.connect(self.timeScaleChanged)
if displayControls:
hLayout.addWidget(QLabel("Time Scale"))
hLayout.addWidget(self.timeSlider)
self.plotWidget.dragEnterEvent = self.dragEnterEvent
self.plotWidget.dragMoveEvent = self.dragMoveEvent
self.plotWidget.dropEvent = self.dropEvent
self.plotWidget.setAcceptDrops(1)
def __init__(self, parent=None):
parser = argparse.ArgumentParser(description=DESCRIPTION)
parser.add_argument('msgs', nargs='*', help='''
One or more messages that you wish to send. This entire list is sent each
time the message period is up. Network messages are ignored. By default we
send all known messages.''')
parser = msgtools.lib.gui.Gui.addBaseArguments(parser)
args = parser.parse_args()
msgtools.lib.gui.Gui.__init__(self, "Noise Maker 0.1", args, parent)
self.timeInfo = Messaging.findFieldInfo(Messaging.hdr.fields, "Time")
# event-based way of getting messages
self.RxMsg.connect(self.ProcessMessage)
self.currentTime = 0
self.msgTimer = QtCore.QTimer(self)
self.msgTimer.setInterval(50)
self.msgTimer.timeout.connect(self.msgTimeout)
vbox = QtWidgets.QVBoxLayout()
w = QtWidgets.QWidget(self)
w.setLayout(vbox)
self.setCentralWidget(w)
self.timeSlider = QtWidgets.QSlider(QtCore.Qt.Horizontal)
self.timeSlider.setMinimum(1)
self.timeSlider.setMaximum(5)
vbox.addWidget(self.timeSlider)
t = int(self.settings.value('time_slider', 10))
self.timeSlider.setValue(t)
self.timeSlider.valueChanged.emit(t)
self.startStop = QtWidgets.QPushButton(self)
self.startStop.setText('Stop')
self.startStop.clicked.connect(self.startStopFn)
vbox.addWidget(self.startStop)
# check if user specified which messages we should output
msgs = args.msgs
# find a few messages to send at specified rates
period = 0.1
self.fieldNumber = 0
self.msgPeriod = {}
self.msgTxTime = {}
for msgName in Messaging.MsgClassFromName:
if not msgName.startswith("Network"):
if len(msgs) > 0 and msgName not in msgs:
continue
print("found message " + msgName)
self.msgPeriod[msgName] = period
period = period + 0.050
if period > 0.5:
period = 0.1
self.msgTxTime[msgName] = 0
self.msgTimer.start()