UoN_EEE / Robot Wars

Commit f2e29c3ffa4bd8e9fbad39e6522df3432c3f0355

Authored by Hugo Stephens
1 parent c8b904ce
Exists in master

Updated to mostly PEP8 and working 

Needs a bit of tidying up for clarity, and a number of bare excepts mean that it is not fully PEP8
Showing 6 changed files with 129 additions and 89 deletions   Show diff stats
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robots/little_john/telemetry/code/monitor/version1/colours.py
  Diff comments   View file @f2e29c3
... ... @@ -2,4 +2,4 @@ WHITE = (255, 255, 255, 255)
2 2 BLACK = (0, 0, 0, 255)
3 3 RED = (255, 0, 0, 255)
4 4 GREEN = (0, 255, 0, 255)
5   -BLUE = (0, 0, 255, 255)
6 5 \ No newline at end of file
  6 +BLUE = (0, 0, 255, 255)
... ...
robots/little_john/telemetry/code/monitor/version1/getdata.py
  Diff comments   View file @f2e29c3
... ... @@ -5,17 +5,18 @@
5 5 import logging
6 6 import os
7 7 import time
8   -import serial
9   -#from serialselect import selectserial
  8 +import math
  9 +
10 10  
11 11 def getData(starttime, datafeed, testseries, testseries2, fake=False):
12 12 """Check serial port for incoming data"""
13 13 # Note: 'elapsed' is time since last call of this function
14   - # This works, but it might be better for performance to have two seperate functions, only one of which is run.
  14 + # This works, but it might be better for performance to have
  15 + # two seperate functions, only one of which is run.
15 16 if fake:
16 17 timefromstart = (time.time()-starttime)
17 18 values = [timefromstart, 100*math.sin(timefromstart)]
18   - #logging.info("Generated test data: " + str(values))
  19 + # logging.info("Generated test data: " + str(values))
19 20 testseries.addpoint(values)
20 21 testseries2.addpoint(values)
21 22 else:
... ... @@ -23,9 +24,9 @@ def getData(starttime, datafeed, testseries, testseries2, fake=False):
23 24 incoming = datafeed.readline()
24 25 except:
25 26 logging.error("Failed to read input data")
26   -
  27 +
27 28 try:
28   - if os=='Windows':
  29 + if os == 'Windows':
29 30 values = incoming.strip().split(b", ")
30 31 else:
31 32 values = incoming.strip()
... ... @@ -33,15 +34,13 @@ def getData(starttime, datafeed, testseries, testseries2, fake=False):
33 34 except:
34 35 logging.error("Failed to parse input data")
35 36 return
36   -
  37 +
37 38 try:
38 39 for n, value in enumerate(values):
39 40 values[n] = float(value)
40 41 except:
41 42 logging.error("Failed to convert input to float")
42 43 return
43   - #logging.info("Recieved data: " + str(values))
  44 + # logging.info("Recieved data: " + str(values))
44 45 testseries.addpoint([time.time()-starttime] + values)
45 46 testseries2.addpoint(values)
46   -
47   -
... ...
robots/little_john/telemetry/code/monitor/version1/main.py
  Diff comments   View file @f2e29c3
... ... @@ -7,16 +7,16 @@
7 7  
8 8 # This code is incomplete, and is missing core features
9 9  
10   -import math
  10 +# import math
11 11 import time
12   -#import serial
  12 +# import serial
13 13  
14 14 import pyglet
15   -import numpy
  15 +# import numpy
16 16 import os
17 17 import platform
18 18 import sys
19   -import easygui
  19 +# import easygui
20 20 import logging
21 21  
22 22 from serialselect import selectserial
... ... @@ -31,11 +31,11 @@ starttime = time.time()
31 31  
32 32 datafeed = selectserial()
33 33  
34   -if datafeed == None:
  34 +if datafeed is None:
35 35 logging.critical("Failed to open serial port")
36 36 sys.exit()
37   -
38   -if platform.system()=='Windows':
  37 +
  38 +if platform.system() == 'Windows':
39 39 os='Windows'
40 40 else:
41 41 os='Other'
... ... @@ -43,20 +43,30 @@ logging.info('OS = ' + os)
43 43  
44 44  
45 45 testseries = Series(points=150, xauto=True, ylimits=(0, 1024),
46   - title="Data from serial (time)", xname="Time (s)", yname="ADC output")
  46 + title="Data from serial (time)",
  47 + xname="Time (s)", yname="ADC output")
47 48 testseries2 = Series(points=150, xlimits=(0, 1024), ylimits=(0, 1024),
48   - title="Data from serial (xy)", xname="ADC0 output", yname="ADC7 output")
  49 + title="Data from serial (xy)",
  50 + xname="ADC0 output", yname="ADC7 output")
49 51  
50 52 plots = []
51 53 plots.append(Plot(testseries))
52 54 plots.append(Plot(testseries2))
53 55  
54   -# Yes I know these are absurd placeholder names. I'm leaving it like that for the moment because I'm not sure if this is really the only (or best) way to achive the desired result. clock.schedule_interval takes a function, not the result of the function as its argument, so how can you pass arguments to it?
  56 +''' Yes I know these are absurd placeholder names. I'm leaving it like that
  57 +for the moment because I'm not sure if this is really the only (or best) way
  58 +to achive the desired result. clock.schedule_interval takes a function,
  59 +not the result of the function as its argument, so how can you pass arguments
  60 +to it?'''
  61 +
55 62  
56 63 def shrubbery(ni):
57 64 getData(starttime, datafeed, testseries, testseries2)
58 65  
59   -# Pyglet looks after the main event loop, but this ensures that data keeps being read in
60   -pyglet.clock.schedule_interval(shrubbery, 0.01)
  66 +
  67 +# Pyglet looks after the main event loop,
  68 +# but this ensures that data keeps being read in
  69 +
  70 +pyglet.clock.schedule_interval(shrubbery, 0.1)
61 71  
62 72 pyglet.app.run()
... ...
robots/little_john/telemetry/code/monitor/version1/plot.py
  Diff comments   View file @f2e29c3
... ... @@ -6,32 +6,41 @@ import pyglet
6 6 import numpy
7 7 import logging
8 8 from colours import *
  9 +import sys
  10 +
9 11  
10 12 class Plot(pyglet.window.Window):
11 13 def __init__(self, series):
12 14 """Setup a the details of a plot, and create a corresponding window"""
13 15 pyglet.window.Window.__init__(self, resizable=True)
14 16 self.set_icon(pyglet.image.load('32x32.png'))
15   - self.set_minimum_size(320,320)
  17 + self.set_minimum_size(320, 320)
16 18 self.series = series
17 19 self.font = 'Arkhip'
18   - self.margins = (0.09, 0.08) # Fractions of window size
  20 + self.margins = (0.09, 0.08) # Fractions of window size
19 21 self.lines = (10, 8)
20   - #self.resizable = True
  22 + # self.resizable = True
21 23 self.set_caption(self.series.title)
22 24  
23 25 def on_resize(self, width, height):
24 26 """Handle a resize event from the pyglet event loop"""
25 27 try:
26   - self.bounds = ((int(self.width * self.margins[0]), int(self.width * (1 - self.margins[0]))),
27   - (int(self.height * self.margins[1]), int(self.height * (1 - self.margins[1]))))
  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]))))
28 32 except Exception as e:
29 33 logging.critical(str(e))
30 34 self.close()
31 35 logging.critical('Instance closed')
32 36 sys.exit()
33   - self.tag_size = min(self.height*self.margins[1]*0.3,self.width*self.margins[0]*0.3)
34   - # This sometimes seems to throw an error ('AttributeError: 'Plot' object has no attribute 'margins') when started for a second time from the same instance. Interesting. Causes the plot windows to freeze
  37 + self.tag_size = min(self.height*self.margins[1]*0.3,
  38 + self.width*self.margins[0]*0.3)
  39 + # This sometimes seems to throw an error
  40 + # ('AttributeError: 'Plot' object has no attribute 'margins')
  41 + # when started for a second time from the same instance.
  42 + # Interesting. Causes the plot windows to freeze
  43 +
35 44 pyglet.window.Window.on_resize(self, width, height)
36 45  
37 46 def on_draw(self):
... ... @@ -44,49 +53,55 @@ class Plot(pyglet.window.Window):
44 53  
45 54 def drawBackground(self):
46 55 """Draw the graph background, currently a plain colour"""
47   - pyglet.image.SolidColorImagePattern(WHITE).create_image(self.width, self.height).blit(0, 0)
  56 + pyglet.image.SolidColorImagePattern(WHITE).create_image(
  57 + self.width, self.height).blit(0, 0)
48 58  
49 59 def drawHeading(self):
50   - """Draw a title for the graph (duplicated in the window titlebar, if present"""
  60 + """Draw a title for the graph (duplicated in the window titlebar"""
51 61 heading = pyglet.text.Label(self.series.title, color=BLACK,
52   - font_name=self.font, font_size=self.height*self.margins[0]*0.5,
53   - x=self.width/2, y=self.height-(self.margins[1]),
54   - anchor_x='center', anchor_y='top')
  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')
55 67 heading.draw()
56 68  
57 69 def drawLines(self, series):
58   - xscale = float(self.series.xlimits[1]-self.series.xlimits[0])/(self.bounds[0][1]-self.bounds[0][0])
59   - yscale = float(self.series.ylimits[1]-self.series.ylimits[0])/(self.bounds[1][1]-self.bounds[1][0])
  70 + xscale = float(self.series.xlimits[1]-self.series.xlimits[0])/(
  71 + self.bounds[0][1]-self.bounds[0][0])
  72 + yscale = float(self.series.ylimits[1]-self.series.ylimits[0])/(
  73 + self.bounds[1][1]-self.bounds[1][0])
60 74 lmar = int(self.width * self.margins[0])
61 75 rmar = int(self.width * self.margins[1])
62 76 tmar = int(self.height * self.margins[0])
63 77 bmar = int(self.height * self.margins[1])
64 78  
65 79 pyglet.gl.glLineWidth(2)
66   -
  80 +
67 81 linecolours = [(255, 0, 0, 255, 0, 0), (0, 220, 0, 0, 220, 0), (0, 0, 255, 0, 0, 255)]
68 82  
69 83 try:
70 84 for m in range(len(series.data[0])-1):
71 85 for n in range(len(series.data) - 1):
72   - x1, y1 = series.data[n][0]-series.xlimits[0], series.data[n][m+1]-series.ylimits[0]
73   - x2, y2 = series.data[n+1][0]-series.xlimits[0], series.data[n+1][m+1]-series.ylimits[0]
  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]
74 90 x1 = int((x1/xscale)+lmar)
75 91 y1 = int((y1/yscale)+bmar)
76 92 x2 = int((x2/xscale)+lmar)
77 93 y2 = int((y2/yscale)+bmar)
78 94 pyglet.graphics.draw(2, pyglet.gl.GL_LINES,
79   - ('v2i', (x1, y1, x2, y2)),
80   - ('c3B', linecolours[m]))
  95 + ('v2i', (x1, y1, x2, y2)),
  96 + ('c3B', linecolours[m]))
81 97 except:
82   - logging.error("Failed to plot lines, possibly due to corrupt/missing data. (This happens at startup)")
83   -
84   - pyglet.gl.glLineWidth(1)
85   -
  98 + logging.error("Failed to plot lines: corrupt/missing data?")
86 99  
  100 + pyglet.gl.glLineWidth(1)
87 101  
88   - def drawAxis(self, axis): # axis=0 is x, 1 is y
89   - """Draw the gridlines and labels for one axis, specified in the last argument"""
  102 + def drawAxis(self, axis): # axis=0 is x, 1 is y
  103 + """Draw the gridlines and labels for one axis,
  104 + specified in the last argument"""
90 105 limita = self.bounds[1-axis][1]
91 106 limitb = self.bounds[1-axis][0]
92 107 start = self.bounds[axis][0]
... ... @@ -95,37 +110,49 @@ class Plot(pyglet.window.Window):
95 110 for pos in numpy.arange(start, stop+1, increment):
96 111 # Using fp arithmetic to avoid intermittent fencepost errors
97 112 pos = int(pos)
98   - if axis==0: # x axis, vertical lines
99   - scale = float(self.series.xlimits[1]-self.series.xlimits[0])/(stop-start)
  113 + if axis == 0: # x axis, vertical lines
  114 + scale = float(self.series.xlimits[1]-self.series.xlimits[0])/(
  115 + stop-start)
100 116 tagvalue = ((pos-start) * scale) + self.series.xlimits[0]
101 117 tagtext = str(int(tagvalue))
102   - pyglet.graphics.draw(2, pyglet.gl.GL_LINES, ('v2i', (pos, limita, pos, limitb)),
103   - ('c3B', (0, 0, 0, 0, 0, 0)))
  118 + pyglet.graphics.draw(2, pyglet.gl.GL_LINES,
  119 + ('v2i', (pos, limita, pos, limitb)),
  120 + ('c3B', (0, 0, 0, 0, 0, 0)))
104 121 tag = pyglet.text.Label(tagtext, color=BLACK,
105   - font_name=self.font, font_size=self.tag_size,
  122 + font_name=self.font,
  123 + font_size=self.tag_size,
106 124 x=pos, y=self.height*self.margins[1],
107 125 anchor_x='left', anchor_y='top')
108 126 axistitle = pyglet.text.Label(self.series.xname, color=BLACK,
109   - font_name=self.font, font_size=self.tag_size,
110   - x=self.width/2, y=0,
111   - anchor_x='center', anchor_y='bottom')
  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')
112 132 axistitle.draw()
113   - if axis==1: # y axis, horizontal lines
114   - scale = float(self.series.ylimits[1]-self.series.ylimits[0])/(stop-start)
  133 + if axis == 1: # y axis, horizontal lines
  134 + scale = float(self.series.ylimits[1]-self.series.ylimits[0])/(
  135 + stop-start)
115 136 tagvalue = ((pos-start) * scale) + self.series.ylimits[0]
116 137 tagtext = str(int(tagvalue))
117   - pyglet.graphics.draw(2, pyglet.gl.GL_LINES, ('v2i', (limita, pos, limitb, pos)),
118   - ('c3B', (0, 0, 0, 0, 0, 0)))
  138 + pyglet.graphics.draw(2, pyglet.gl.GL_LINES,
  139 + ('v2i', (limita, pos, limitb, pos)),
  140 + ('c3B', (0, 0, 0, 0, 0, 0)))
119 141 tag = pyglet.text.Label(tagtext, color=BLACK,
120   - font_name=self.font, font_size=self.tag_size,
121   - x=self.width*self.margins[0]*0.9, y=pos,
  142 + font_name=self.font,
  143 + font_size=self.tag_size,
  144 + x=self.width*self.margins[0]*0.9,
  145 + y=pos,
122 146 anchor_x='right', anchor_y='center')
123 147 axistitle = pyglet.text.Label(self.series.yname, color=BLACK,
124   - font_name=self.font, font_size=self.tag_size,
125   - x=0, y=self.height/2,
126   - anchor_x='center', anchor_y='top')
127   - pyglet.gl.glPushMatrix() # Set up a new context to avoid confusing the main one
128   - # Tranformation to rotate label, and ensure it ends up in the right place
  148 + font_name=self.font,
  149 + font_size=self.tag_size,
  150 + x=0, y=self.height/2,
  151 + anchor_x='center',
  152 + anchor_y='top')
  153 + pyglet.gl.glPushMatrix()
  154 + # Set up a new context to avoid confusing the main one
  155 + # Tranformation to rotate label
129 156 pyglet.gl.glTranslatef(self.height//2, self.height//2, 0.0)
130 157 pyglet.gl.glRotatef(90.0, 0.0, 0.0, 1.0)
131 158 # Draw the axis title using the rotated coordinate system
... ...
robots/little_john/telemetry/code/monitor/version1/serialselect.py
  Diff comments   View file @f2e29c3
... ... @@ -2,27 +2,29 @@
2 2 # Written as a telemetry tool by:
3 3 # The UoN Robot Wars Project, 2018
4 4  
  5 +
5 6 def selectserial():
6   - """Cross-platform function to find appropriate serial ports, query the user if necessary, and open one of them"""
  7 + """Cross-platform function to find appropriate serial ports, query the
  8 + user if necessary, and open one of them"""
7 9 import platform
8 10 import serial
9 11 import os
10 12 import easygui
11 13 import logging
12   -
  14 +
13 15 devpatterns = ['ttyACM', 'ttyUSB', 'rfcomm']
14 16 targetdevs = []
15   - if platform.system()=='Windows':
  17 + if platform.system() == 'Windows':
16 18 com_ports = ['COM%s' % (i + 1) for i in range(256)]
17 19 for port in com_ports:
18 20 try:
19 21 s = serial.Serial(port)
20 22 s.close()
21 23 targetdevs.append(port)
22   - # Temporarily broadened exception in attempt to make this work on uni PCs
23   - except: # (OSError, serial.SerialException):
  24 + # Temporarily broadened exception to make this work on uni PCs
  25 + except: # (OSError, serial.SerialException):
24 26 pass
25   - os='Windows' #may be useful
  27 + os = 'Windows' # may be useful
26 28 else:
27 29 alldevs = os.listdir("/dev/")
28 30 targetdevs = []
... ... @@ -30,7 +32,7 @@ def selectserial():
30 32 for pattern in devpatterns:
31 33 if pattern in dev:
32 34 targetdevs.append("/dev/" + dev)
33   - os='Other' #may be useful
  35 + os = 'Other' # may be useful
34 36  
35 37 if len(targetdevs) == 0:
36 38 logging.info("No serial device found.")
... ... @@ -42,22 +44,22 @@ def selectserial():
42 44 message = "Please choose a serial port to recieve data through:"
43 45 title = "Found multiple serial ports!"
44 46 serialport = easygui.choicebox(message, title, targetdevs)
45   - if serialport == None:
  47 + if serialport is None:
46 48 logging.info("User cancelled selection dialogue")
47 49 return None
48 50 else:
49 51 logging.info("Only found one likely serial device: " + targetdevs[0])
50 52 serialport = targetdevs[0]
51   -
  53 +
52 54 try:
53 55 datafeed = serial.Serial(
54   - port=serialport,
55   - baudrate = 9600,
56   - parity=serial.PARITY_NONE,
57   - stopbits=serial.STOPBITS_ONE,
58   - bytesize=serial.EIGHTBITS,
59   - timeout=1
60   - )
  56 + port=serialport,
  57 + baudrate=9600,
  58 + parity=serial.PARITY_NONE,
  59 + stopbits=serial.STOPBITS_ONE,
  60 + bytesize=serial.EIGHTBITS,
  61 + timeout=1
  62 + )
61 63  
62 64 logging.info("Sucessfully opened " + serialport + " as data source!")
63 65 return datafeed
... ...
robots/little_john/telemetry/code/monitor/version1/series.py
  Diff comments   View file @f2e29c3
... ... @@ -4,10 +4,12 @@
4 4  
5 5 import logging
6 6  
  7 +
7 8 class Series:
8 9 def __init__(self, points=100, xlimits=(0, 100), ylimits=(0, 100),
9 10 xauto=False, yauto=False,
10   - title="Series title", xname="x-axis name", yname="y-axis name"):
  11 + title="Series title",
  12 + xname="x-axis name", yname="y-axis name"):
11 13 """Set up an object to store a 2D data series"""
12 14 # Proposal:
13 15 # In order to neatly handle multiple lines on the same graph
... ... @@ -28,9 +30,9 @@ class Series:
28 30 self.points = points
29 31 self.xauto = xauto
30 32 self.yauto = yauto
31   -
  33 +
32 34 logging.info("Created series: " + title)
33   -
  35 +
34 36 def addpoint(self, point):
35 37 """Add a point to the dataset, and remove the oldest, if necessary"""
36 38 self.data.append(point)
... ... @@ -43,15 +45,15 @@ class Series:
43 45 self.autoscale(1)
44 46 except:
45 47 logging.error("Series autoscale failed")
46   -
47   - def autoscale(self, axis): # axis=0 is x, 1 is y
  48 +
  49 + def autoscale(self, axis): # axis=0 is x, 1 is y
48 50 minval = self.data[0][axis]
49 51 maxval = self.data[0][axis]
50 52 for value in self.data:
51 53 if value[axis] < minval:
52 54 minval = value[axis]
53 55 if value[axis] > maxval:
54   - maxval = value[axis]
  56 + maxval = value[axis]
55 57 if axis == 0:
56 58 self.xlimits = (minval, maxval)
57 59 else:
... ...