Commit 637ab4252f02499ffe9d9fac70fdbb02cc17e857
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robots/little_john/telemetry/code/monitor/version1/colours.py
| @@ -2,4 +2,4 @@ WHITE = (255, 255, 255, 255) | @@ -2,4 +2,4 @@ WHITE = (255, 255, 255, 255) | ||
| 2 | BLACK = (0, 0, 0, 255) | 2 | BLACK = (0, 0, 0, 255) |
| 3 | RED = (255, 0, 0, 255) | 3 | RED = (255, 0, 0, 255) |
| 4 | GREEN = (0, 255, 0, 255) | 4 | GREEN = (0, 255, 0, 255) |
| 5 | -BLUE = (0, 0, 255, 255) | 5 | -BLUE = (0, 0, 255, 255) |
| 6 | +BLUE = (0, 0, 255, 255) | ||
| 6 | \ No newline at end of file | 7 | \ No newline at end of file |
robots/little_john/telemetry/code/monitor/version1/getdata.py
| @@ -7,7 +7,6 @@ import os | @@ -7,7 +7,6 @@ import os | ||
| 7 | import time | 7 | import time |
| 8 | import math | 8 | import math |
| 9 | 9 | ||
| 10 | - | ||
| 11 | def getData(starttime, datafeed, testseries, testseries2, fake=False): | 10 | def getData(starttime, datafeed, testseries, testseries2, fake=False): |
| 12 | """Check serial port for incoming data""" | 11 | """Check serial port for incoming data""" |
| 13 | # Note: 'elapsed' is time since last call of this function | 12 | # Note: 'elapsed' is time since last call of this function |
| @@ -16,7 +15,7 @@ def getData(starttime, datafeed, testseries, testseries2, fake=False): | @@ -16,7 +15,7 @@ def getData(starttime, datafeed, testseries, testseries2, fake=False): | ||
| 16 | if fake: | 15 | if fake: |
| 17 | timefromstart = (time.time()-starttime) | 16 | timefromstart = (time.time()-starttime) |
| 18 | values = [timefromstart, 100*math.sin(timefromstart)] | 17 | values = [timefromstart, 100*math.sin(timefromstart)] |
| 19 | - # logging.info("Generated test data: " + str(values)) | 18 | + #logging.info("Generated test data: " + str(values)) |
| 20 | testseries.addpoint(values) | 19 | testseries.addpoint(values) |
| 21 | testseries2.addpoint(values) | 20 | testseries2.addpoint(values) |
| 22 | else: | 21 | else: |
| @@ -24,9 +23,9 @@ def getData(starttime, datafeed, testseries, testseries2, fake=False): | @@ -24,9 +23,9 @@ def getData(starttime, datafeed, testseries, testseries2, fake=False): | ||
| 24 | incoming = datafeed.readline() | 23 | incoming = datafeed.readline() |
| 25 | except: | 24 | except: |
| 26 | logging.error("Failed to read input data") | 25 | logging.error("Failed to read input data") |
| 27 | - | 26 | + |
| 28 | try: | 27 | try: |
| 29 | - if os == 'Windows': | 28 | + if os=='Windows': |
| 30 | values = incoming.strip().split(b", ") | 29 | values = incoming.strip().split(b", ") |
| 31 | else: | 30 | else: |
| 32 | values = incoming.strip() | 31 | values = incoming.strip() |
| @@ -34,13 +33,15 @@ def getData(starttime, datafeed, testseries, testseries2, fake=False): | @@ -34,13 +33,15 @@ def getData(starttime, datafeed, testseries, testseries2, fake=False): | ||
| 34 | except: | 33 | except: |
| 35 | logging.error("Failed to parse input data") | 34 | logging.error("Failed to parse input data") |
| 36 | return | 35 | return |
| 37 | - | 36 | + |
| 38 | try: | 37 | try: |
| 39 | for n, value in enumerate(values): | 38 | for n, value in enumerate(values): |
| 40 | values[n] = float(value) | 39 | values[n] = float(value) |
| 41 | except: | 40 | except: |
| 42 | logging.error("Failed to convert input to float") | 41 | logging.error("Failed to convert input to float") |
| 43 | return | 42 | return |
| 44 | - # logging.info("Recieved data: " + str(values)) | 43 | + #logging.info("Recieved data: " + str(values)) |
| 45 | testseries.addpoint([time.time()-starttime] + values) | 44 | testseries.addpoint([time.time()-starttime] + values) |
| 46 | testseries2.addpoint(values) | 45 | testseries2.addpoint(values) |
| 46 | + | ||
| 47 | + |
robots/little_john/telemetry/code/monitor/version1/main.py
| @@ -31,7 +31,7 @@ starttime = time.time() | @@ -31,7 +31,7 @@ starttime = time.time() | ||
| 31 | 31 | ||
| 32 | datafeed = selectserial() | 32 | datafeed = selectserial() |
| 33 | 33 | ||
| 34 | -if datafeed is None: | 34 | +if datafeed == None: |
| 35 | logging.critical("Failed to open serial port") | 35 | logging.critical("Failed to open serial port") |
| 36 | sys.exit() | 36 | sys.exit() |
| 37 | 37 | ||
| @@ -43,11 +43,9 @@ logging.info('OS = ' + os) | @@ -43,11 +43,9 @@ logging.info('OS = ' + os) | ||
| 43 | 43 | ||
| 44 | 44 | ||
| 45 | testseries = Series(points=150, xauto=True, ylimits=(0, 1024), | 45 | testseries = Series(points=150, xauto=True, ylimits=(0, 1024), |
| 46 | - title="Data from serial (time)", | ||
| 47 | - xname="Time (s)", yname="ADC output") | 46 | + title="Data from serial (time)", xname="Time (s)", yname="ADC output") |
| 48 | testseries2 = Series(points=150, xlimits=(0, 1024), ylimits=(0, 1024), | 47 | testseries2 = Series(points=150, xlimits=(0, 1024), ylimits=(0, 1024), |
| 49 | - title="Data from serial (xy)", | ||
| 50 | - xname="ADC0 output", yname="ADC7 output") | 48 | + title="Data from serial (xy)", xname="ADC0 output", yname="ADC7 output") |
| 51 | 49 | ||
| 52 | plots = [] | 50 | plots = [] |
| 53 | plots.append(Plot(testseries)) | 51 | plots.append(Plot(testseries)) |
robots/little_john/telemetry/code/monitor/version1/plot.py
| @@ -8,27 +8,24 @@ import logging | @@ -8,27 +8,24 @@ import logging | ||
| 8 | from colours import * | 8 | from colours import * |
| 9 | import sys | 9 | import sys |
| 10 | 10 | ||
| 11 | - | ||
| 12 | class Plot(pyglet.window.Window): | 11 | class Plot(pyglet.window.Window): |
| 13 | def __init__(self, series): | 12 | def __init__(self, series): |
| 14 | """Setup a the details of a plot, and create a corresponding window""" | 13 | """Setup a the details of a plot, and create a corresponding window""" |
| 15 | pyglet.window.Window.__init__(self, resizable=True) | 14 | pyglet.window.Window.__init__(self, resizable=True) |
| 16 | self.set_icon(pyglet.image.load('32x32.png')) | 15 | self.set_icon(pyglet.image.load('32x32.png')) |
| 17 | - self.set_minimum_size(320, 320) | 16 | + self.set_minimum_size(320,320) |
| 18 | self.series = series | 17 | self.series = series |
| 19 | self.font = 'Arkhip' | 18 | self.font = 'Arkhip' |
| 20 | - self.margins = (0.09, 0.08) # Fractions of window size | 19 | + self.margins = (0.09, 0.08) # Fractions of window size |
| 21 | self.lines = (10, 8) | 20 | self.lines = (10, 8) |
| 22 | - # self.resizable = True | 21 | + #self.resizable = True |
| 23 | self.set_caption(self.series.title) | 22 | self.set_caption(self.series.title) |
| 24 | 23 | ||
| 25 | def on_resize(self, width, height): | 24 | def on_resize(self, width, height): |
| 26 | """Handle a resize event from the pyglet event loop""" | 25 | """Handle a resize event from the pyglet event loop""" |
| 27 | try: | 26 | try: |
| 28 | - self.bounds = ((int(self.width * self.margins[0]), | ||
| 29 | - int(self.width * (1 - self.margins[0]))), | ||
| 30 | - (int(self.height * self.margins[1]), | ||
| 31 | - int(self.height * (1 - self.margins[1])))) | 27 | + self.bounds = ((int(self.width * self.margins[0]), int(self.width * (1 - self.margins[0]))), |
| 28 | + (int(self.height * self.margins[1]), int(self.height * (1 - self.margins[1])))) | ||
| 32 | except Exception as e: | 29 | except Exception as e: |
| 33 | logging.critical(str(e)) | 30 | logging.critical(str(e)) |
| 34 | self.close() | 31 | self.close() |
| @@ -57,13 +54,11 @@ class Plot(pyglet.window.Window): | @@ -57,13 +54,11 @@ class Plot(pyglet.window.Window): | ||
| 57 | self.width, self.height).blit(0, 0) | 54 | self.width, self.height).blit(0, 0) |
| 58 | 55 | ||
| 59 | def drawHeading(self): | 56 | def drawHeading(self): |
| 60 | - """Draw a title for the graph (duplicated in the window titlebar""" | 57 | + """Draw a title for the graph (duplicated in the window titlebar, if present""" |
| 61 | heading = pyglet.text.Label(self.series.title, color=BLACK, | 58 | heading = pyglet.text.Label(self.series.title, color=BLACK, |
| 62 | - font_name=self.font, | ||
| 63 | - font_size=self.height*self.margins[0]*0.5, | ||
| 64 | - x=self.width/2, | ||
| 65 | - y=self.height-(self.margins[1]), | ||
| 66 | - anchor_x='center', anchor_y='top') | 59 | + font_name=self.font, font_size=self.height*self.margins[0]*0.5, |
| 60 | + x=self.width/2, y=self.height-(self.margins[1]), | ||
| 61 | + anchor_x='center', anchor_y='top') | ||
| 67 | heading.draw() | 62 | heading.draw() |
| 68 | 63 | ||
| 69 | def drawLines(self, series): | 64 | def drawLines(self, series): |
| @@ -83,20 +78,18 @@ class Plot(pyglet.window.Window): | @@ -83,20 +78,18 @@ class Plot(pyglet.window.Window): | ||
| 83 | try: | 78 | try: |
| 84 | for m in range(len(series.data[0])-1): | 79 | for m in range(len(series.data[0])-1): |
| 85 | for n in range(len(series.data) - 1): | 80 | for n in range(len(series.data) - 1): |
| 86 | - x1 = series.data[n][0]-series.xlimits[0] | ||
| 87 | - y1 = series.data[n][m+1]-series.ylimits[0] | ||
| 88 | - x2 = series.data[n+1][0]-series.xlimits[0] | ||
| 89 | - y2 = series.data[n+1][m+1]-series.ylimits[0] | 81 | + x1, y1 = series.data[n][0]-series.xlimits[0], series.data[n][m+1]-series.ylimits[0] |
| 82 | + x2, y2 = series.data[n+1][0]-series.xlimits[0], series.data[n+1][m+1]-series.ylimits[0] | ||
| 90 | x1 = int((x1/xscale)+lmar) | 83 | x1 = int((x1/xscale)+lmar) |
| 91 | y1 = int((y1/yscale)+bmar) | 84 | y1 = int((y1/yscale)+bmar) |
| 92 | x2 = int((x2/xscale)+lmar) | 85 | x2 = int((x2/xscale)+lmar) |
| 93 | y2 = int((y2/yscale)+bmar) | 86 | y2 = int((y2/yscale)+bmar) |
| 94 | pyglet.graphics.draw(2, pyglet.gl.GL_LINES, | 87 | pyglet.graphics.draw(2, pyglet.gl.GL_LINES, |
| 95 | - ('v2i', (x1, y1, x2, y2)), | ||
| 96 | - ('c3B', linecolours[m])) | 88 | + ('v2i', (x1, y1, x2, y2)), |
| 89 | + ('c3B', linecolours[m])) | ||
| 97 | except: | 90 | except: |
| 98 | - logging.error("Failed to plot lines: corrupt/missing data?") | ||
| 99 | - | 91 | + logging.error("Failed to plot lines, possibly due to corrupt/missing data. (This happens at startup)") |
| 92 | + | ||
| 100 | pyglet.gl.glLineWidth(1) | 93 | pyglet.gl.glLineWidth(1) |
| 101 | 94 | ||
| 102 | def drawAxis(self, axis): # axis=0 is x, 1 is y | 95 | def drawAxis(self, axis): # axis=0 is x, 1 is y |
| @@ -115,34 +108,27 @@ class Plot(pyglet.window.Window): | @@ -115,34 +108,27 @@ class Plot(pyglet.window.Window): | ||
| 115 | stop-start) | 108 | stop-start) |
| 116 | tagvalue = ((pos-start) * scale) + self.series.xlimits[0] | 109 | tagvalue = ((pos-start) * scale) + self.series.xlimits[0] |
| 117 | tagtext = str(int(tagvalue)) | 110 | tagtext = str(int(tagvalue)) |
| 118 | - pyglet.graphics.draw(2, pyglet.gl.GL_LINES, | ||
| 119 | - ('v2i', (pos, limita, pos, limitb)), | ||
| 120 | - ('c3B', (0, 0, 0, 0, 0, 0))) | 111 | + pyglet.graphics.draw(2, pyglet.gl.GL_LINES, ('v2i', (pos, limita, pos, limitb)), |
| 112 | + ('c3B', (0, 0, 0, 0, 0, 0))) | ||
| 121 | tag = pyglet.text.Label(tagtext, color=BLACK, | 113 | tag = pyglet.text.Label(tagtext, color=BLACK, |
| 122 | - font_name=self.font, | ||
| 123 | - font_size=self.tag_size, | 114 | + font_name=self.font, font_size=self.tag_size, |
| 124 | x=pos, y=self.height*self.margins[1], | 115 | x=pos, y=self.height*self.margins[1], |
| 125 | anchor_x='left', anchor_y='top') | 116 | anchor_x='left', anchor_y='top') |
| 126 | axistitle = pyglet.text.Label(self.series.xname, color=BLACK, | 117 | axistitle = pyglet.text.Label(self.series.xname, color=BLACK, |
| 127 | - font_name=self.font, | ||
| 128 | - font_size=self.tag_size, | ||
| 129 | - x=self.width/2, y=0, | ||
| 130 | - anchor_x='center', | ||
| 131 | - anchor_y='bottom') | 118 | + font_name=self.font, font_size=self.tag_size, |
| 119 | + x=self.width/2, y=0, | ||
| 120 | + anchor_x='center', anchor_y='bottom') | ||
| 132 | axistitle.draw() | 121 | axistitle.draw() |
| 133 | if axis == 1: # y axis, horizontal lines | 122 | if axis == 1: # y axis, horizontal lines |
| 134 | scale = float(self.series.ylimits[1]-self.series.ylimits[0])/( | 123 | scale = float(self.series.ylimits[1]-self.series.ylimits[0])/( |
| 135 | stop-start) | 124 | stop-start) |
| 136 | tagvalue = ((pos-start) * scale) + self.series.ylimits[0] | 125 | tagvalue = ((pos-start) * scale) + self.series.ylimits[0] |
| 137 | tagtext = str(int(tagvalue)) | 126 | tagtext = str(int(tagvalue)) |
| 138 | - pyglet.graphics.draw(2, pyglet.gl.GL_LINES, | ||
| 139 | - ('v2i', (limita, pos, limitb, pos)), | ||
| 140 | - ('c3B', (0, 0, 0, 0, 0, 0))) | 127 | + pyglet.graphics.draw(2, pyglet.gl.GL_LINES, ('v2i', (limita, pos, limitb, pos)), |
| 128 | + ('c3B', (0, 0, 0, 0, 0, 0))) | ||
| 141 | tag = pyglet.text.Label(tagtext, color=BLACK, | 129 | tag = pyglet.text.Label(tagtext, color=BLACK, |
| 142 | - font_name=self.font, | ||
| 143 | - font_size=self.tag_size, | ||
| 144 | - x=self.width*self.margins[0]*0.9, | ||
| 145 | - y=pos, | 130 | + font_name=self.font, font_size=self.tag_size, |
| 131 | + x=self.width*self.margins[0]*0.9, y=pos, | ||
| 146 | anchor_x='right', anchor_y='center') | 132 | anchor_x='right', anchor_y='center') |
| 147 | axistitle = pyglet.text.Label(self.series.yname, color=BLACK, | 133 | axistitle = pyglet.text.Label(self.series.yname, color=BLACK, |
| 148 | font_name=self.font, | 134 | font_name=self.font, |
robots/little_john/telemetry/code/monitor/version1/serialselect.py
| @@ -2,29 +2,27 @@ | @@ -2,29 +2,27 @@ | ||
| 2 | # Written as a telemetry tool by: | 2 | # Written as a telemetry tool by: |
| 3 | # The UoN Robot Wars Project, 2018 | 3 | # The UoN Robot Wars Project, 2018 |
| 4 | 4 | ||
| 5 | - | ||
| 6 | def selectserial(): | 5 | def selectserial(): |
| 7 | - """Cross-platform function to find appropriate serial ports, query the | ||
| 8 | - user if necessary, and open one of them""" | 6 | + """Cross-platform function to find appropriate serial ports, query the user if necessary, and open one of them""" |
| 9 | import platform | 7 | import platform |
| 10 | import serial | 8 | import serial |
| 11 | import os | 9 | import os |
| 12 | import easygui | 10 | import easygui |
| 13 | import logging | 11 | import logging |
| 14 | - | 12 | + |
| 15 | devpatterns = ['ttyACM', 'ttyUSB', 'rfcomm'] | 13 | devpatterns = ['ttyACM', 'ttyUSB', 'rfcomm'] |
| 16 | targetdevs = [] | 14 | targetdevs = [] |
| 17 | - if platform.system() == 'Windows': | 15 | + if platform.system()=='Windows': |
| 18 | com_ports = ['COM%s' % (i + 1) for i in range(256)] | 16 | com_ports = ['COM%s' % (i + 1) for i in range(256)] |
| 19 | for port in com_ports: | 17 | for port in com_ports: |
| 20 | try: | 18 | try: |
| 21 | s = serial.Serial(port) | 19 | s = serial.Serial(port) |
| 22 | s.close() | 20 | s.close() |
| 23 | targetdevs.append(port) | 21 | targetdevs.append(port) |
| 24 | - # Temporarily broadened exception to make this work on uni PCs | ||
| 25 | - except: # (OSError, serial.SerialException): | 22 | + # Temporarily broadened exception in attempt to make this work on uni PCs |
| 23 | + except: # (OSError, serial.SerialException): | ||
| 26 | pass | 24 | pass |
| 27 | - os = 'Windows' # may be useful | 25 | + os='Windows' #may be useful |
| 28 | else: | 26 | else: |
| 29 | alldevs = os.listdir("/dev/") | 27 | alldevs = os.listdir("/dev/") |
| 30 | targetdevs = [] | 28 | targetdevs = [] |
| @@ -32,7 +30,7 @@ def selectserial(): | @@ -32,7 +30,7 @@ def selectserial(): | ||
| 32 | for pattern in devpatterns: | 30 | for pattern in devpatterns: |
| 33 | if pattern in dev: | 31 | if pattern in dev: |
| 34 | targetdevs.append("/dev/" + dev) | 32 | targetdevs.append("/dev/" + dev) |
| 35 | - os = 'Other' # may be useful | 33 | + os='Other' #may be useful |
| 36 | 34 | ||
| 37 | if len(targetdevs) == 0: | 35 | if len(targetdevs) == 0: |
| 38 | logging.info("No serial device found.") | 36 | logging.info("No serial device found.") |
| @@ -44,13 +42,13 @@ def selectserial(): | @@ -44,13 +42,13 @@ def selectserial(): | ||
| 44 | message = "Please choose a serial port to recieve data through:" | 42 | message = "Please choose a serial port to recieve data through:" |
| 45 | title = "Found multiple serial ports!" | 43 | title = "Found multiple serial ports!" |
| 46 | serialport = easygui.choicebox(message, title, targetdevs) | 44 | serialport = easygui.choicebox(message, title, targetdevs) |
| 47 | - if serialport is None: | 45 | + if serialport == None: |
| 48 | logging.info("User cancelled selection dialogue") | 46 | logging.info("User cancelled selection dialogue") |
| 49 | return None | 47 | return None |
| 50 | else: | 48 | else: |
| 51 | logging.info("Only found one likely serial device: " + targetdevs[0]) | 49 | logging.info("Only found one likely serial device: " + targetdevs[0]) |
| 52 | serialport = targetdevs[0] | 50 | serialport = targetdevs[0] |
| 53 | - | 51 | + |
| 54 | try: | 52 | try: |
| 55 | datafeed = serial.Serial( | 53 | datafeed = serial.Serial( |
| 56 | port=serialport, | 54 | port=serialport, |
robots/little_john/telemetry/code/monitor/version1/series.py
| @@ -4,12 +4,10 @@ | @@ -4,12 +4,10 @@ | ||
| 4 | 4 | ||
| 5 | import logging | 5 | import logging |
| 6 | 6 | ||
| 7 | - | ||
| 8 | class Series: | 7 | class Series: |
| 9 | def __init__(self, points=100, xlimits=(0, 100), ylimits=(0, 100), | 8 | def __init__(self, points=100, xlimits=(0, 100), ylimits=(0, 100), |
| 10 | xauto=False, yauto=False, | 9 | xauto=False, yauto=False, |
| 11 | - title="Series title", | ||
| 12 | - xname="x-axis name", yname="y-axis name"): | 10 | + title="Series title", xname="x-axis name", yname="y-axis name"): |
| 13 | """Set up an object to store a 2D data series""" | 11 | """Set up an object to store a 2D data series""" |
| 14 | # Proposal: | 12 | # Proposal: |
| 15 | # In order to neatly handle multiple lines on the same graph | 13 | # In order to neatly handle multiple lines on the same graph |
| @@ -30,9 +28,9 @@ class Series: | @@ -30,9 +28,9 @@ class Series: | ||
| 30 | self.points = points | 28 | self.points = points |
| 31 | self.xauto = xauto | 29 | self.xauto = xauto |
| 32 | self.yauto = yauto | 30 | self.yauto = yauto |
| 33 | - | 31 | + |
| 34 | logging.info("Created series: " + title) | 32 | logging.info("Created series: " + title) |
| 35 | - | 33 | + |
| 36 | def addpoint(self, point): | 34 | def addpoint(self, point): |
| 37 | """Add a point to the dataset, and remove the oldest, if necessary""" | 35 | """Add a point to the dataset, and remove the oldest, if necessary""" |
| 38 | self.data.append(point) | 36 | self.data.append(point) |
| @@ -45,15 +43,15 @@ class Series: | @@ -45,15 +43,15 @@ class Series: | ||
| 45 | self.autoscale(1) | 43 | self.autoscale(1) |
| 46 | except: | 44 | except: |
| 47 | logging.error("Series autoscale failed") | 45 | logging.error("Series autoscale failed") |
| 48 | - | ||
| 49 | - def autoscale(self, axis): # axis=0 is x, 1 is y | 46 | + |
| 47 | + def autoscale(self, axis): # axis=0 is x, 1 is y | ||
| 50 | minval = self.data[0][axis] | 48 | minval = self.data[0][axis] |
| 51 | maxval = self.data[0][axis] | 49 | maxval = self.data[0][axis] |
| 52 | for value in self.data: | 50 | for value in self.data: |
| 53 | if value[axis] < minval: | 51 | if value[axis] < minval: |
| 54 | minval = value[axis] | 52 | minval = value[axis] |
| 55 | if value[axis] > maxval: | 53 | if value[axis] > maxval: |
| 56 | - maxval = value[axis] | 54 | + maxval = value[axis] |
| 57 | if axis == 0: | 55 | if axis == 0: |
| 58 | self.xlimits = (minval, maxval) | 56 | self.xlimits = (minval, maxval) |
| 59 | else: | 57 | else: |