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plot_widget.py
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'''
MAVUE v0.1 (beta)
Graphical inspector for MAVLink enabled embedded systems.
Copyright (c) 2009-2014, Felix Schill
All rights reserved.
Refer to the file LICENSE.TXT which should be included in all distributions of this project.
'''
from pyqtgraph.Qt import QtGui, QtCore
import numpy as np
import pyqtgraph as pg
import gui_elements
from droptarget import *
class Curve2DBox(QtGui.QWidget):
def __init__(self,text, parent, dataRange=[-100, 0], color=QtGui.QColor(0, 0, 0)):
QtGui.QWidget.__init__( self, parent=parent)
self.myParent=parent
self.color=color
self.sources=[DropTarget("x", self, color=self.color, class_filter="ValueNode"), DropTarget("y", self, color=self.color, class_filter="ValueNode")]
self.curveTypeCombo=gui_elements.PlainComboField(parent=self, label="curve", value="Line", choices=["Line", "Scatter"])
self.curveType="Line"
self.connect(self.curveTypeCombo.combo, QtCore.SIGNAL("currentIndexChanged(QString)"), self.updateCurveType)
self.layout = QtGui.QVBoxLayout()
self.layout.setMargin(0)
self.layout.setContentsMargins(0, 0, 0, 0)
self.layout.setSpacing(0)
#self.layout.addStretch()
self.setLayout(self.layout)
for s in self.sources:
self.layout.addWidget(s)
self.layout.addWidget(self.curveTypeCombo)
self.curve=None
self.setAcceptDrops(True)
self.dataRange = dataRange
def updateCurveType(self, selectedCurve):
self.curveType=selectedCurve
self.myParent.plotwidget.removeItem(self.curve)
self.curve=None
#self.updateCurve()
def updateValue(self):
#print self.sources[1].currentName
if self.curve==None:
if self.curveType=="Line":
self.curve=self.myParent.plotwidget.plot(pen=pg.mkPen(self.color))
#self.myParent.plotwidget.plotItem.legend.addItem(self.curve, self.sources[1].currentName)
#self.curve=pg.PlotDataItem(pen=pg.mkPen(self.color), name=self.sources[1].currentName)
#self.myParent.plotwidget.addItem(self.curve)
elif self.curveType=="Scatter":
self.curve=self.myParent.plotwidget.scatterPlot(pen=pg.mkPen(self.color), size=5, brush=pg.mkBrush(255, 255, 255, 100))
#self.myParent.plotwidget.plotItem.legend.addItem(self.curve, self.sources[1].currentName)
#self.curve=pg.ScatterPlotItem(size=5, pen=pg.mkPen(None), brush=pg.mkBrush(255, 255, 255, 100), name=self.sources[1].currentName)
#self.myParent.plotwidget.addItem(self.curve)
self.myParent.rebuildLegend()
self.myParent.plotwidget.plotItem.legend.setGeometry(0, 0, 30, 30)
xdata=self.sources[0].getData()
ydata=self.sources[1].getData()
length=max(len(xdata), len(ydata))
if len(xdata)==0:
#xdata=[i for i in range(0, length)]
xdata = self.sources[1].source.getCounterTrace(self.dataRange)
if len(xdata)!=len(ydata):
xdata=[i for i in range(0, len(ydata))]
if len(ydata)==0:
ydata=[i for i in range(0, length)]
if len(xdata)!=len(ydata):
# try to get matching ydata for each point in xdata
print "size mismatch: x: %i, y%i"%(len(xdata), len(ydata))
xtrace = self.sources[0].source.getCounterTrace(self.dataRange)
xdata = [self.sources[0].source.trace[self.sources[0].source.findTraceIndex(xi)] for xi in xtrace]
ydata = [self.sources[1].source.trace[self.sources[1].source.findTraceIndex(xi)] for xi in xtrace]
self.curve.setData(x=xdata, y=ydata)
def removeTarget(self, target):
#self.layout.removeWidget(target)
#target.deleteLater()
#self.targets.remove(target)
removal=True
self.myParent.plotwidget.plotItem.legend.removeItem(target.currentName)
target.source=None
for s in self.sources:
if s.source!=None:
removal=False
if removal:
try:
self.myParent.removeTarget(self)
except:
pass
def deleteTarget(self):
for s in self.sources:
s.remove()
class DropPlot(QtGui.QWidget):
dropped = QtCore.pyqtSignal(list)
def __init__(self, parent=None, data_range=[-100,0]):
QtGui.QWidget.__init__( self, parent=parent)
self.setContentsMargins(0, 0, 0, 0)
self.setAcceptDrops(True)
self.layout = QtGui.QVBoxLayout()
self.setLayout(self.layout)
self.plotwidget = pg.PlotWidget(name='Plot1')
self.plotwidget.addLegend(size=(10, 10), offset=(10, 10))
self.layout.addWidget(self.plotwidget)
self.layout.setMargin(0)
self.layout.setContentsMargins(0, 0, 0, 0)
self.layout.setSpacing(0)
self.targets_area=QtGui.QWidget()
self.targets_layout=QtGui.QHBoxLayout()
self.targets_area.setLayout(self.targets_layout)
self.targets_area.setHidden(True)
self.targets=[]
self.layout.addWidget(self.targets_area)
self.dataRange=data_range
#sourceTarget=Curve2DBox("data", self, color=pg.intColor(len(self.targets)))
#self.targets.append(sourceTarget)
#self.targets_layout.addWidget(sourceTarget)
def sizeHint(self):
return QtCore.QSize(500, 500)
def removeTarget(self, target):
self.plotwidget.removeItem(target.curve)
self.targets_layout.removeWidget(target)
target.deleteLater()
self.targets.remove(target)
def rebuildLegend(self):
for t in self.targets:
self.plotwidget.plotItem.legend.removeItem(t.sources[1].currentName)
for t in self.targets:
print "adding ", t.sources[1].currentName
self.plotwidget.plotItem.legend.addItem(t.curve, t.sources[1].currentName)
#self.myParent.plotwidget.plotItem.legend.updateSize()
def updateSource(self, source):
self.source=source
def updatePlot(self):
for t in self.targets:
t.updateValue()
def dragEnterEvent(self, event):
print "drag_enter plot"
self.targets_area.setHidden(False)
if event.mimeData().hasFormat('application/x-mavplot'):
event.accept()
else:
event.ignore()
def dropEvent(self, event):
#self.updatePlot()
new_source = event.source().model()._rootNode.retrieveByKey(str(event.mimeData().text()).split(':'))
if new_source.__class__.__name__=="ValueNode":
self.addSource(sourceY=new_source)
print "dropped on plot!"
elif new_source.__class__.__name__=="MsgNode":
#add all values of the message
# look for time_boot_ms:
timestamp = new_source.getValueByName("time_boot_ms")
for val in new_source.getChildrenNames():
val_node=new_source.getValueByName(val)
print val_node.name()
if val_node.name()!="time_boot_ms":
self.addSource(sourceY=val_node, sourceX = timestamp)
else:
print "This plot doesn't accept this type:", new_source.__class__.__name__
def addSource(self, sourceX=None, sourceY=None):
if (sourceX is not None and not (isinstance(sourceX.content(), int) or isinstance(sourceX.content(), float) or isinstance(sourceY.content(), list) )) or \
(sourceY is not None and not (isinstance(sourceY.content(), int) or isinstance(sourceY.content(), float) or isinstance(sourceY.content(), list))):
print "cannot add this type as source:", sourceX, isinstance(sourceY.content(), list)
return
sourceTarget=Curve2DBox("data", self, dataRange=self.dataRange, color=pg.intColor(len(self.targets)))
if sourceX is not None:
sourceTarget.sources[0].updateSource(sourceX)
if sourceY is not None:
sourceTarget.sources[1].updateSource(sourceY)
self.targets.append(sourceTarget)
self.targets_layout.addWidget(sourceTarget)
self.rebuildLegend()
def enterEvent(self, event):
self.targets_area.setHidden(False)
pass
def leaveEvent(self, event):
self.targets_area.setHidden(True)
None
def mouseMoveEvent(self, event):
print(event.pos())
def mousePressEvent(self, event):
self.targets_area.setHidden(False)
def closeEvent(self, event):
while len(self.targets)>0:
self.targets[0].deleteTarget()
print "closing window"
class TimeLinePlot(DropPlot):
def __init__(self, parent=None, dataRange=[0,0]):
DropPlot.__init__( self, parent=parent, data_range=dataRange)
self.lr = pg.LinearRegionItem([0, 1000])
self.plotwidget.addItem(self.lr)
self.lr.sigRegionChanged.connect(self.regionChanged)
self.plotwidget.sigXRangeChanged.connect(self.plotChanged)
self.tracking = True
self.internalModificationFlag = False
def addSource(self, sourceX=None, sourceY=None):
if (sourceX is not None and not (isinstance(sourceX.content(), int) or isinstance(sourceX.content(), float))) or \
(sourceY is not None and not (isinstance(sourceY.content(), int) or isinstance(sourceY.content(), float))):
print "cannot add this type as source"
return
sourceTarget=Curve2DBox("data", self, dataRange=[0,0], color=pg.intColor(len(self.targets)))
#if sourceX is not None:
# sourceTarget.sources[0].updateSource(sourceX)
if sourceY is not None:
sourceTarget.sources[1].updateSource(sourceY)
self.targets.append(sourceTarget)
self.targets_layout.addWidget(sourceTarget)
self.rebuildLegend()
def regionChanged(self):
if self.internalModificationFlag:
self.internalModificationFlag=False
return
region = list(self.lr.getRegion())
try:
maxCounter = self.targets[0].sources[1].source.getMessageCounter()
visibleRange = self.plotwidget.getViewBox().viewRange()[0]
if region[1] >= maxCounter:
offset = region[1]-maxCounter
region[1] -= offset
region[0] -= offset
self.tracking = True
else:
self.tracking = False
self.lr.setRegion(region)
self.dataRange[0]=region[0]
self.dataRange[1]=region[1]
if not self.tracking:
self.targets[0].sources[1].source.getRootNode().notifyAllSubscribers()
except:
pass
def plotChanged(self):
region = list(self.lr.getRegion())
visibleRange = self.plotwidget.getViewBox().viewRange()[0]
if self.tracking and region[1] < visibleRange[1]:
offset = region[1]-visibleRange[1]
region[1] -= offset
region[0] -= offset
self.internalModificationFlag = True
self.lr.setRegion(region)
self.dataRange[0]=region[0]
self.dataRange[1]=region[1]
def sizeHint(self):
return QtCore.QSize(800, 150)
def closeEvent(self, event):
DropPlot.closeEvent(self, event)
self.dataRange[0]=-100
self.dataRange[1]=0
class DockPlot(QtGui.QDialog):
def __init__(self, title="Plot", parent=None, widget=None):
QtGui.QDialog.__init__( self, parent=parent)
self.setWindowTitle(title)
self.layout = QtGui.QVBoxLayout()
self.setLayout(self.layout)
self.layout.setContentsMargins(0, 0, 0, 0)
self.widget=widget
if widget!= None:
self.layout.addWidget(widget)
self.setAcceptDrops(True)
# self.setFloating(True)
# self.setAllowedAreas(QtCore.Qt.NoDockWidgetArea)
def closeEvent(self, event):
self.widget.closeEvent(event)
print "closing dock"
class ParamSlider(QtGui.QDialog):
def __init__(self, title="Parameter", parent=None):
QtGui.QDialog.__init__( self, parent=parent)
self.setWindowTitle(title)
self.layout = QtGui.QVBoxLayout()
self.setLayout(self.layout)
self.layout.setContentsMargins(0, 0, 0, 0)
self.setAcceptDrops(True)
self.slider=QtGui.QSlider(parent=self)
self.slider.setOrientation(QtCore.Qt.Horizontal)
self.layout.addWidget(self.slider)
self.target=DropTarget(text="source", parent=self, class_filter="ValueNode")
self.layout.addWidget(self.target)
self.scaling=1000
self.emitChange=True
self.connect(self.slider, QtCore.SIGNAL("valueChanged(int)"), self.sliderChanged)
#self.connect(self.slider, QtCore.SIGNAL("sliderMoved(int)"), self.sliderChanged)
#self.connect(self.slider, QtCore.SIGNAL("sliderReleased()"), self.sliderChanged)
def updateValue(self):
self.setWindowTitle(self.target.currentName)
newValue=int(self.scaling*self.target.getCurrent())
self.emitChange=False
if newValue<self.slider.minimum():
self.slider.setMinimum(newValue)
print "newMin", newValue, self.slider.minimum()
if newValue>self.slider.maximum():
self.slider.setMaximum(newValue)
print "newMax", newValue, self.slider.maximum()
self.slider.setValue(newValue)
self.emitChange=True
def sliderChanged(self):
newValue=self.slider.value()/1000.0
if self.emitChange:
try:
print newValue
self.target.source._parent.editValue(newValue)
except:
print "updating parameter unsuccessful!"
def removeTarget(self, target):
self.slider.setRange(-1, 1)
self.setWindowTitle("slider")