diff --git a/pytools/app_rel.py b/pytools/app_rel.py index 5627763..4bb57ba 100644 --- a/pytools/app_rel.py +++ b/pytools/app_rel.py @@ -9,21 +9,28 @@ telemetry_dir_name = 'telemetry' mon = Monitor(monitor_bus_name=mon_bus_name, argv=sys.argv) +zero = DataSourceConst('zero', value=0) rp = EwRelativePosition([ + DataSourceConst("airplane", value="airplane-white"), DataSourceSinus('plane_phi', mult=360), DataSourceConst('plane_r', value=60), + DataSourceConst('zero', value=20), # alt DataSourceSinus('plane_course', iphase=0.0, mult=360), + DataSourceConst("aim-yellow", value="aim-green"), DataSourceSinus('base_phi', iphase=0.5, mult=360), DataSourceConst('base_r', value=120), + zero, # alt + zero, # course + DataSourceConst("aim-green", value="aim-yellow"), # icon DataSourceSinus('target_phi', iphase=-0.5, mult=360), DataSourceConst('target_r', value=160), + zero, # alt + zero, # course ]) - - mon.add_widget(EwGroup([rp])) mon.app_window.resize(800, 800) diff --git a/pytools/ds/__init__.py b/pytools/ds/__init__.py index 4d6eddc..eac977a 100644 --- a/pytools/ds/__init__.py +++ b/pytools/ds/__init__.py @@ -5,9 +5,9 @@ DataSourceTimeline, DataSourceSum, NoDataStub, - DataSourceCalcFilteredRate + DataSourceCalcFilteredRate, ) -from .qt import DataSourceWidget +from .qt import DataSourceLineEdit, DataSourceButtons __all__ = [ "DataSourceBasic", @@ -17,5 +17,6 @@ "DataSourceSum", "DataSourceCalcFilteredRate", "DataSourceTimeline", - "DataSourceWidget" + "DataSourceLineEdit", + "DataSourceButtons" ] diff --git a/pytools/ds/common.py b/pytools/ds/common.py new file mode 100644 index 0000000..fe2c41c --- /dev/null +++ b/pytools/ds/common.py @@ -0,0 +1,39 @@ +from typing import Union + +from mymath import to_cartesian, to_polar +from .datasources import DataSourceBasic, NoDataStub + + +class DataSourceCoordsCartesian(DataSourceBasic): + def __init__(self, name, phi, r, scale=1.0, decimals=3, **kwargs): + super().__init__(name, **kwargs) + self._phi = phi + self._r = r + self._scale = scale + self._decimals = decimals + + def connect(self): + pass + + def read(self) -> Union[float, int, str, NoDataStub]: + return to_cartesian(phi=self._phi, + r=self._r, + scale=self._scale, + decimals=self._decimals) + + +class DataSourceCoordsPolar(DataSourceBasic): + def __init__(self, name, x, y, scale=1.0, decimals=3, **kwargs): + super().__init__(name, **kwargs) + self._x = x + self._y = y + self._scale = scale + self._decimals = decimals + + def connect(self): + pass + + def read(self) -> Union[float, int, str, NoDataStub]: + return to_polar(x=self._x, y=self._y, + scale=self._scale, + decimals=self._decimals) diff --git a/pytools/ds/datasources.py b/pytools/ds/datasources.py index 339c52e..4694907 100644 --- a/pytools/ds/datasources.py +++ b/pytools/ds/datasources.py @@ -1,9 +1,7 @@ +import math +import time from abc import abstractmethod from typing import List, Union -import time -import math - -from PyQt5.QtWidgets import QLineEdit class NoDataStub: @@ -107,6 +105,7 @@ def read(self) -> Union[float, int, str, NoDataStub]: self.time += self.delta_time return self.time + class DataSourceSinus(DataSourceBasic): def __init__(self, name, *, omega=1.0, iphase=0.0, bias=0.0, **kwargs): super().__init__(name, **kwargs) diff --git a/pytools/ds/qt.py b/pytools/ds/qt.py index 6a5761b..688253f 100644 --- a/pytools/ds/qt.py +++ b/pytools/ds/qt.py @@ -1,24 +1,53 @@ -from typing import Union +from ctypes import c_uint16 +from typing import Union, List -from PyQt5.QtWidgets import QLineEdit +from PyQt5.QtWidgets import QLineEdit, QPushButton from . import NoDataStub from .datasources import DataSourceBasic +ButtonValuesT = tuple[QPushButton, int] + + +class DataSourceButtons(DataSourceBasic): + """ + Example: + `cmd_ds = DataSourceButtons("buttons", [(cmd.take_off_btn, 1), (cmd.land_btn, 2)])` + """ + value: int = 0 + + def __init__(self, name, cmd_tuples: List[ButtonValuesT]): + super().__init__(name) + for c in cmd_tuples: + [btn, v] = c + btn.clicked.connect(self.set_value_fn(v)) + + def set_value_fn(self, v): + def _set_val(): + self.value = v + + return _set_val -class DataSourceWidget(DataSourceBasic): def connect(self): pass def read(self) -> Union[float, int, str, NoDataStub]: return self.value + +class DataSourceLineEdit(DataSourceBasic): + def connect(self): + pass + def __init__(self, name, widget: QLineEdit): super().__init__(name) self.widget = widget self.value = 0.0 self.widget.textChanged.connect(self._widget_edited) + def read(self) -> Union[float, int, str, NoDataStub]: + return self.value + def _widget_edited(self, val): self.set_value(self.float(val)) diff --git a/pytools/ds/tests/__init__.py b/pytools/ds/tests/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/pytools/ds/tests/test_coords_cartesian.py b/pytools/ds/tests/test_coords_cartesian.py new file mode 100644 index 0000000..456677c --- /dev/null +++ b/pytools/ds/tests/test_coords_cartesian.py @@ -0,0 +1,38 @@ +import math +from unittest import TestCase + +from ds.common import DataSourceCoordsCartesian + + +# Sample coords: +# +# •4 | •1 +# | +# ----------+----------- +# | +# •3 | •2 + +class TestDataSourceCartesian(TestCase): + def test_pt1(self): + ds = DataSourceCoordsCartesian("cartesian", phi=45, r=math.hypot(10, 10), decimals=2) + [x, y] = ds.read() + self.assertEqual(10.0, x) + self.assertEqual(10.0, y) + + def test_pt2(self): + ds = DataSourceCoordsCartesian("cartesian", phi=45+90, r=math.hypot(10, 10), decimals=2) + [x, y] = ds.read() + self.assertEqual(10.0, x) + self.assertEqual(-10.0, y) + + def test_pt3(self): + ds = DataSourceCoordsCartesian("cartesian", phi=45 + 180, r=math.hypot(10, 10), decimals=2) + [x, y] = ds.read() + self.assertEqual(-10.0, x) + self.assertEqual(-10.0, y) + + def test_pt4(self): + ds = DataSourceCoordsCartesian("cartesian", phi=45 + 270, r=math.hypot(10, 10), decimals=2) + [x, y] = ds.read() + self.assertEqual(-10.0, x) + self.assertEqual(10.0, y) diff --git a/pytools/ds/tests/test_coords_polar.py b/pytools/ds/tests/test_coords_polar.py new file mode 100644 index 0000000..3a62c42 --- /dev/null +++ b/pytools/ds/tests/test_coords_polar.py @@ -0,0 +1,44 @@ +import math + +import mymath +from unittest import TestCase + +from ds.common import DataSourceCoordsPolar + + +# Sample coords: +# +# •4 | •1 +# | +# ----------+----------- +# | +# •3 | •2 + +class TestDataSourcePolar(TestCase): + def test_pt1(self): + decimals = 3 + polar_ds = DataSourceCoordsPolar("to_polar", 10, 10, decimals=decimals) + [phi, r] = polar_ds.read() + self.assertEqual(45.0, phi) + self.assertEqual(round(math.hypot(10, 10), decimals), r) + + def test_pt2(self): + decimals = 3 + polar_ds = DataSourceCoordsPolar("to_polar", x=10, y=-10, decimals=decimals) + [phi, r] = polar_ds.read() + self.assertEqual(phi, 45.0 + 90.0) + self.assertEqual(round(math.hypot(10, 10), decimals), r) + + def test_pt3(self): + decimals = 3 + polar_ds = DataSourceCoordsPolar("to_polar", x=-10, y=-10, decimals=decimals) + [phi, r] = polar_ds.read() + self.assertEqual(phi, 45.0 + 180.0) + self.assertEqual(r, round(math.hypot(10, 10), decimals)) + + def test_pt4(self): + decimals = 3 + polar_ds = DataSourceCoordsPolar("to_polar", x=-10, y=10, decimals=decimals) + [phi, r] = polar_ds.read() + self.assertEqual(phi, 45.0 + 270.0) + self.assertEqual(round(math.hypot(10, 10), decimals), r) diff --git a/pytools/ew/relative_position.py b/pytools/ew/relative_position.py index 603b47c..9307b80 100644 --- a/pytools/ew/relative_position.py +++ b/pytools/ew/relative_position.py @@ -1,11 +1,12 @@ -import math from typing import List, Union, Dict from PyQt5 import QtGui from PyQt5.QtCore import Qt, QPointF, pyqtSignal from PyQt5.QtGui import QPainter, QPen, QPixmap, QBrush, QFont +from mymath import to_polar, to_cartesian, translate_point, rev_translate_point from ds import DataSourceBasic, NoDataStub + from .common import MyQtWidget, rel_path from .widgets import EwBasic @@ -15,31 +16,6 @@ ds_tuple_size = 5 -def to_polar(x, y, scale=1.0): - pt = QPointF(x, y) - r = math.sqrt(pt.x() * pt.x() + pt.y() * pt.y()) / scale - degrees = math.degrees(math.atan2(-y, x)) + 90 - phi = (degrees + 360) % 360 - return [round(phi, 2), round(r, 3)] - - -def to_cartesian(r, phi, scale=1.0): - _phi_rad = math.radians(phi) - _x = scale * r * math.sin(_phi_rad) - _y = -(scale * r * math.cos(_phi_rad)) - return [_x, _y] - - -def rtranslate_point(width, height, pt: QPointF, zero_offset_x=0.0, zero_offset_y=0.0): - dx, dy = width / 2 + zero_offset_x, height / 2 + zero_offset_y - return QPointF(pt.x() - dx, - (pt.y() - dy)) - - -def translate_point(width, height, pt: QPointF, zero_offset_x=0.0, zero_offset_y=0.0): - dx, dy = width / 2 + zero_offset_x, height / 2 + zero_offset_y - return QPointF(pt.x() + dx, pt.y() + dy) - - class EwRelativePosition(MyQtWidget, EwBasic): target_changed = pyqtSignal(float, float, name='targetChanged') scale_changed = pyqtSignal(float, name='zoomChanged') @@ -55,16 +31,18 @@ def __init__(self, icon='aim-yellow'): self.azimuth = 0.0 def draw(self, canvas, center, scale): - [_x, _y] = to_cartesian(self.r, self.phi, scale) + [_x, _y] = to_cartesian(r=self.r, phi=self.phi, scale=scale) self.svg_icon.setX(_x + center[0]) - self.svg_icon.setY(_y + center[1]) + self.svg_icon.setY(-_y + center[1]) self.svg_icon.setRotation(self.azimuth) canvas.setPen(QPen(Qt.darkGray, 1, Qt.DotLine, Qt.RoundCap)) - canvas.drawLine(translate_point(canvas.device().width(), canvas.device().height(), + canvas.drawLine(translate_point(canvas.device().width(), + canvas.device().height(), QPointF(0, 0), center[0], center[1]), - translate_point(canvas.device().width(), canvas.device().height(), - QPointF(_x, _y), + translate_point(canvas.device().width(), + canvas.device().height(), + QPointF(_x, -_y), center[0], center[1])) def __init__(self, data_sources: List[DataSourceBasic], fixed_size=None, **kwargs): @@ -117,7 +95,8 @@ def wheelEvent(self, event: QtGui.QWheelEvent) -> None: self.zoom_out() def _emit_target_chg(self, x, y): - pt = rtranslate_point(self.rect().width(), self.rect().height(), QPointF(x, y), self.center[0], self.center[1]) + pt = rev_translate_point(self.rect().width(), self.rect().height(), QPointF(x, y), self.center[0], + self.center[1]) [phi, r] = to_polar(pt.x(), pt.y(), scale=self.scale_m) # noinspection PyUnresolvedReferences self.target_changed.emit(phi, r) @@ -175,6 +154,7 @@ def paintEvent(self, event): def radraw_handler(self, vals: List[Union[float, int, str, NoDataStub]], vals_map: Dict): count = len(vals) // ds_tuple_size + def check_stub(d): return d if not isinstance(d, NoDataStub) else 0.0 diff --git a/pytools/ew/widgets.py b/pytools/ew/widgets.py index f3c7206..92338c7 100644 --- a/pytools/ew/widgets.py +++ b/pytools/ew/widgets.py @@ -1,4 +1,4 @@ -import math +import mymath from abc import abstractmethod from typing import List, Union, Dict, Tuple @@ -456,11 +456,11 @@ def paintEvent(self, event): _scaleX = _width / _originalWidth _scaleY = _height / _originalHeight - roll_rad = math.pi * self._roll / 180.0 + roll_rad = mymath.pi * self._roll / 180.0 delta = 1.7 * self._pitch - _faceDeltaX_new = _scaleX * delta * math.sin(roll_rad) - _faceDeltaY_new = _scaleY * delta * math.cos(roll_rad) + _faceDeltaX_new = _scaleX * delta * mymath.sin(roll_rad) + _faceDeltaY_new = _scaleY * delta * mymath.cos(roll_rad) offs_x = _faceDeltaX_new - self._faceDeltaX_old offs_y = _faceDeltaY_new - self._faceDeltaY_old diff --git a/pytools/images/vehicle/boat-white.svg b/pytools/images/vehicle/boat-white.svg new file mode 100644 index 0000000..5dea1ca --- /dev/null +++ b/pytools/images/vehicle/boat-white.svg @@ -0,0 +1,3 @@ + + + diff --git a/pytools/images/vehicle/boat.svg b/pytools/images/vehicle/boat.svg new file mode 100644 index 0000000..a65a5b5 --- /dev/null +++ b/pytools/images/vehicle/boat.svg @@ -0,0 +1,45 @@ + + + + + 日本の地図記号 - 渡船（フェリー） + + diff --git a/pytools/monitor.py b/pytools/monitor.py index aa01b85..e864057 100644 --- a/pytools/monitor.py +++ b/pytools/monitor.py @@ -1,9 +1,8 @@ import sys -import time from typing import List from PyQt5 import QtWidgets, QtCore -from PyQt5.QtCore import QThread, QObject, pyqtSignal, QThreadPool, QRunnable, pyqtSlot +from PyQt5.QtCore import QObject, pyqtSignal, QThreadPool, QRunnable, pyqtSlot from PyQt5.QtWidgets import QPushButton, QApplication @@ -90,7 +89,8 @@ def run(self): Your code goes in this function """ print("Thread start") - self.job(self.process_events) + self.job() + self.process_events() print("Thread finished") diff --git a/pytools/monitor.py.orig b/pytools/monitor.py.orig new file mode 100644 index 0000000..e1ca0a5 --- /dev/null +++ b/pytools/monitor.py.orig @@ -0,0 +1,184 @@ +import sys +import time +from typing import List + +from PyQt5 import QtWidgets, QtCore +from PyQt5.QtCore import QThread, QObject, pyqtSignal, QThreadPool, QRunnable, pyqtSlot +from PyQt5.QtWidgets import QPushButton, QApplication + + +class ApplicationWindow(QtWidgets.QMainWindow): + def __init__(self, *, title="ESWB display", tabs=False): + super().__init__() + + self.widgets = [] + + # self.setAttribute(QtCore.Qt.WA_DeleteOnClose) + self.setWindowTitle(title) + + self.main_widget = QtWidgets.QWidget(self) if not tabs else QtWidgets.QTabWidget() + self.main_widget.setFocus() + self.setCentralWidget(self.main_widget) + + self.main_layout = QtWidgets.QVBoxLayout(self.main_widget) + + self.timer = QtCore.QTimer() + self.timer.setInterval(20) + self.timer.timeout.connect(self.redraw) + self.timer.start() + + def add_ew(self, widget, stretch=0): + self.main_layout.addWidget(widget, stretch=stretch) + + def reg_widget(self, widget): + self.widgets.append(widget) + + def connect(self): + for w in self.widgets: + try: + w.connect() + except: + pass + + def redraw(self): + for w in self.widgets: + w.redraw() + + +class Tab(QtWidgets.QWidget): + def __init__(self, *, parent): + super().__init__() + self.parent = parent + self.main_layout = QtWidgets.QVBoxLayout(self) + + def add_widget(self, w, stretch=0): + self.main_layout.addWidget(w, stretch=stretch) + self.parent.app_window.reg_widget(w) + + +class WorkerSignals(QObject): + close = pyqtSignal() + error = pyqtSignal(tuple) + result = pyqtSignal(object) + + +class Worker(QRunnable): + """ + Worker thread + """ + def __init__(self, job, sleep=0.1): + super().__init__() + self.job = job + self.sleep = sleep if sleep > 0.01 else 0.01 + self.signals = WorkerSignals() + self.signals.close.connect(self.terminate) + self.finished = False + + def terminate(self): + self.finished = True + +<<<<<<< HEAD +======= + def process_events(self): + QApplication.processEvents() + if self.finished: + return False + + return True + +>>>>>>> origin/dev + @pyqtSlot() + def run(self): + """ + Your code goes in this function + """ + print("Thread start") +<<<<<<< HEAD + while True: + time.sleep(self.sleep) + self.job() + QApplication.processEvents() + if self.finished: + print("Thread finished") + break +======= + self.job(self.process_events) + print("Thread finished") +>>>>>>> origin/dev + + +class Monitor: + def __init__(self, *, monitor_bus_name='monitor', argv=None, tabs=False): + super().__init__() + self.app = QtWidgets.QApplication(argv) + self.app_window = ApplicationWindow(tabs=tabs) + self.service_bus_name = monitor_bus_name + self.tab_widget = None + self.app.setStyleSheet("QLineEdit[readOnly=\"true\"] {color: #808080; background-color: #F0F0F0; padding: 0}") + self.app.aboutToQuit.connect(self.on_quit) + self.runnables: List[Worker] = [] + + def on_quit(self): + for r in self.runnables: + r.signals.close.emit() + + def run_task(self, runnable: QRunnable): +<<<<<<< HEAD + self.runnables.append(runnable); +======= + self.runnables.append(runnable) +>>>>>>> origin/dev + pool = QThreadPool.globalInstance() + pool.start(runnable) + + def report_progress(self): + pass + + def connect(self): + self.app_window.connect() + + def show(self): + self.app_window.show() + + def run(self): + self.connect() + self.show() + sys.exit(self.app.exec_()) + + def add_widget(self, w, stretch=0): + self.app_window.add_ew(w, stretch=stretch) + self.app_window.reg_widget(w) + + def add_button(self, btn: QPushButton): + btn.setParent(self.app_window.main_widget) + + def add_tab(self, name): + tab = Tab(parent=self) + self.app_window.main_widget.addTab(tab, name) + return tab + + +class ArgParser: + def __init__(self): + import argparse + + self.parser = argparse.ArgumentParser('ESWB monitor tool') + + self.parser.add_argument( + '--serdev', + action='store', + default='/dev/ttyUSB0', + type=str, + help='Serial interface device path', + ) + + self.parser.add_argument( + '--serbaud', + action='store', + default='115200', + type=int, + help='Serial interface baudrate', + + ) + + self.args = self.parser.parse_args(sys.argv[1:]) diff --git a/pytools/mymath/__init__.py b/pytools/mymath/__init__.py new file mode 100644 index 0000000..1bb0f1f --- /dev/null +++ b/pytools/mymath/__init__.py @@ -0,0 +1,8 @@ +from .core import * + +__all__ = [ + "to_polar", + "to_cartesian", + "translate_point", + "rev_translate_point" +] diff --git a/pytools/mymath/core.py b/pytools/mymath/core.py new file mode 100644 index 0000000..2b5ed07 --- /dev/null +++ b/pytools/mymath/core.py @@ -0,0 +1,28 @@ +import math + +from PyQt5.QtCore import QPointF + + +def to_polar(x, y, scale=1.0, decimals=3): + pt = QPointF(x, y) + r = math.sqrt(pt.x() * pt.x() + pt.y() * pt.y()) / scale + degrees = math.degrees(math.atan2(-y, x)) + 90 + phi = (degrees + 360) % 360 + return [round(phi, decimals), round(r, decimals)] + + +def to_cartesian(r, phi, scale=1.0, decimals=6): + _phi_rad = math.radians(phi) + _x = scale * r * math.sin(_phi_rad) + _y = scale * r * math.cos(_phi_rad) + return [round(_x, decimals), round(_y, decimals)] + + +def translate_point(width, height, pt: QPointF, zero_offset_x=0.0, zero_offset_y=0.0): + dx, dy = width / 2 + zero_offset_x, height / 2 + zero_offset_y + return QPointF(pt.x() + dx, pt.y() + dy) + + +def rev_translate_point(width, height, pt: QPointF, zero_offset_x=0.0, zero_offset_y=0.0): + dx, dy = width / 2 + zero_offset_x, height / 2 + zero_offset_y + return QPointF(pt.x() - dx, - (pt.y() - dy)) diff --git a/requirements.txt b/requirements.txt index 7b92fe3..18e7b52 100644 --- a/requirements.txt +++ b/requirements.txt @@ -1,14 +1,19 @@ aiofiles==22.1.0 +attrs==22.2.0 branca==0.6.0 certifi==2022.12.7 charset-normalizer==3.0.1 +exceptiongroup==1.1.0 folium==0.14.0 httptools==0.5.0 idna==3.4 +iniconfig==2.0.0 Jinja2==3.1.2 MarkupSafe==2.1.2 multidict==6.0.4 numpy==1.24.1 +packaging==23.0 +pluggy==1.0.0 PyOpenGL==3.1.6 PyOpenGL-accelerate==3.1.6 PyQt5==5.15.7 @@ -18,9 +23,11 @@ PyQt5-stubs==5.15.6.0 pyqtgraph==0.13.1 PyQtWebEngine==5.15.6 PyQtWebEngine-Qt5==5.15.2 +pytest==7.2.1 requests==2.28.2 sanic==22.12.0 sanic-routing==22.8.0 +tomli==2.0.1 ujson==5.7.0 urllib3==1.26.14 uvloop==0.17.0 diff --git a/tests/__init__.py b/tests/__init__.py new file mode 100644 index 0000000..e69de29