UoN_EEE / Robot Wars

Compare View

switch
from
...
to
 
Commits (2)
Showing 6 changed files   Show diff stats
Inline Side-by-side
robots/little_john/telemetry/code/monitor/version1/colours.py
  Diff comments   View file @cb8b74f
... ... @@ -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 @cb8b74f
... ... @@ -7,6 +7,7 @@ import os
7 7 import time
8 8 import math
9 9  
  10 +
10 11 def getData(starttime, datafeed, testseries, testseries2, fake=False):
11 12 """Check serial port for incoming data"""
12 13 # Note: 'elapsed' is time since last call of this function
... ... @@ -15,7 +16,7 @@ def getData(starttime, datafeed, testseries, testseries2, fake=False):
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 @cb8b74f
... ... @@ -31,7 +31,7 @@ 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 37  
... ... @@ -43,9 +43,11 @@ 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))
... ...
robots/little_john/telemetry/code/monitor/version1/plot.py
  Diff comments   View file @cb8b74f
... ... @@ -8,24 +8,27 @@ import logging
8 8 from colours import *
9 9 import sys
10 10  
  11 +
11 12 class Plot(pyglet.window.Window):
12 13 def __init__(self, series):
13 14 """Setup a the details of a plot, and create a corresponding window"""
14 15 pyglet.window.Window.__init__(self, resizable=True)
15 16 self.set_icon(pyglet.image.load('32x32.png'))
16   - self.set_minimum_size(320,320)
  17 + self.set_minimum_size(320, 320)
17 18 self.series = series
18 19 self.font = 'Arkhip'
19   - self.margins = (0.09, 0.08) # Fractions of window size
  20 + self.margins = (0.09, 0.08) # Fractions of window size
20 21 self.lines = (10, 8)
21   - #self.resizable = True
  22 + # self.resizable = True
22 23 self.set_caption(self.series.title)
23 24  
24 25 def on_resize(self, width, height):
25 26 """Handle a resize event from the pyglet event loop"""
26 27 try:
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]))))
  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]))))
29 32 except Exception as e:
30 33 logging.critical(str(e))
31 34 self.close()
... ... @@ -54,11 +57,13 @@ class Plot(pyglet.window.Window):
54 57 self.width, self.height).blit(0, 0)
55 58  
56 59 def drawHeading(self):
57   - """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"""
58 61 heading = pyglet.text.Label(self.series.title, color=BLACK,
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')
  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')
62 67 heading.draw()
63 68  
64 69 def drawLines(self, series):
... ... @@ -78,18 +83,20 @@ class Plot(pyglet.window.Window):
78 83 try:
79 84 for m in range(len(series.data[0])-1):
80 85 for n in range(len(series.data) - 1):
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]
  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]
83 90 x1 = int((x1/xscale)+lmar)
84 91 y1 = int((y1/yscale)+bmar)
85 92 x2 = int((x2/xscale)+lmar)
86 93 y2 = int((y2/yscale)+bmar)
87 94 pyglet.graphics.draw(2, pyglet.gl.GL_LINES,
88   - ('v2i', (x1, y1, x2, y2)),
89   - ('c3B', linecolours[m]))
  95 + ('v2i', (x1, y1, x2, y2)),
  96 + ('c3B', linecolours[m]))
90 97 except:
91   - logging.error("Failed to plot lines, possibly due to corrupt/missing data. (This happens at startup)")
92   -
  98 + logging.error("Failed to plot lines: corrupt/missing data?")
  99 +
93 100 pyglet.gl.glLineWidth(1)
94 101  
95 102 def drawAxis(self, axis): # axis=0 is x, 1 is y
... ... @@ -108,27 +115,34 @@ class Plot(pyglet.window.Window):
108 115 stop-start)
109 116 tagvalue = ((pos-start) * scale) + self.series.xlimits[0]
110 117 tagtext = str(int(tagvalue))
111   - pyglet.graphics.draw(2, pyglet.gl.GL_LINES, ('v2i', (pos, limita, pos, limitb)),
112   - ('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)))
113 121 tag = pyglet.text.Label(tagtext, color=BLACK,
114   - font_name=self.font, font_size=self.tag_size,
  122 + font_name=self.font,
  123 + font_size=self.tag_size,
115 124 x=pos, y=self.height*self.margins[1],
116 125 anchor_x='left', anchor_y='top')
117 126 axistitle = pyglet.text.Label(self.series.xname, color=BLACK,
118   - font_name=self.font, font_size=self.tag_size,
119   - x=self.width/2, y=0,
120   - 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')
121 132 axistitle.draw()
122 133 if axis == 1: # y axis, horizontal lines
123 134 scale = float(self.series.ylimits[1]-self.series.ylimits[0])/(
124 135 stop-start)
125 136 tagvalue = ((pos-start) * scale) + self.series.ylimits[0]
126 137 tagtext = str(int(tagvalue))
127   - pyglet.graphics.draw(2, pyglet.gl.GL_LINES, ('v2i', (limita, pos, limitb, pos)),
128   - ('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)))
129 141 tag = pyglet.text.Label(tagtext, color=BLACK,
130   - font_name=self.font, font_size=self.tag_size,
131   - 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,
132 146 anchor_x='right', anchor_y='center')
133 147 axistitle = pyglet.text.Label(self.series.yname, color=BLACK,
134 148 font_name=self.font,
... ...
robots/little_john/telemetry/code/monitor/version1/serialselect.py
  Diff comments   View file @cb8b74f
... ... @@ -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.")
... ... @@ -42,13 +44,13 @@ 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 56 port=serialport,
... ...
robots/little_john/telemetry/code/monitor/version1/series.py
  Diff comments   View file @cb8b74f
... ... @@ -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:
... ...