diff --git a/config.yaml b/config.yaml index de761cf..6c7a13e 100644 --- a/config.yaml +++ b/config.yaml @@ -1,342 +1,446 @@ -general_settings: +settings: custom_config_path: null - calibration_times: + test: + name: Name + folder_path: /tests/ + results: + save_raw: true + save_calib: true + recording: data_interval_ms: 10 - calibration_time_ms: 3000 - test_times: + tare_data_amount: 300 + calibration: data_interval_ms: 10 - tare_time_ms: 3000 - test_results: - folder: /tests/ - name: Test - save_calib_results: true - save_raw_results: true - tab_plotters: - enabled: true - update_interval_ms: 500 - plot_max_values: - platform_forces: 1000 - platform_stabilogram: 1000 - encoders: 1000 - imu_angles: 1000 -p1_phidget_loadcell_list: - load_cell_1: + data_amount: 300 +sensor_groups: + platform_1: + name: Platform 1 + type: GROUP_PLATFORM + read: true + sensor_list: + - p1_z1 + - p1_z2 + - p1_z3 + - p1_z4 + - p1_x1 + - p1_x2 + - p1_x3 + - p1_x4 + - p1_y1 + - p1_y2 + - p1_y3 + - p1_y4 + platform_2: + name: Platform 2 + type: GROUP_PLATFORM + read: true + sensor_list: + - p2_z1 + - p2_z2 + - p2_z3 + - p2_z4 + - p2_x1 + - p2_x2 + - p2_x3 + - p2_x4 + - p2_y1 + - p2_y2 + - p2_y3 + - p2_y4 + imus: + name: Body IMUs + type: GROUP_DEFAULT + read: true + sensor_list: + - imu_1 + - imu_2 + - imu_3 + barbell_encoders: + name: Barbell encoders + type: GROUP_DEFAULT + read: true + sensor_list: + - encoder_1 + - encoder_2 +sensors_calibration: + phidget_loadcell_reference: s_type + platform_reference: triaxial +sensors: + p1_z1: name: P1_LoadCell_Z_1 - channel: 0 - serial: 583477 - read_data: true + type: SENSOR_LOADCELL + read: true + connection: + channel: 0 + serial: 583477 properties: serial_number: Y2131167 max_weight: 150kg - calibration_data: - m: 148893.5596545 - b: -0.6307595051800341 - load_cell_2: + calibration: + slope: 148893.5596545 + intercept: -0.6307595051800341 + p1_z2: name: P1_LoadCell_Z_2 - channel: 1 - serial: 583477 - read_data: true + type: SENSOR_LOADCELL + read: true + connection: + channel: 1 + serial: 583477 properties: serial_number: Y2131169 max_weight: 150kg - calibration_data: - m: 148669.5630852 - b: 0.03810777513459129 - load_cell_3: + calibration: + slope: 148669.5630852 + intercept: 0.03810777513459129 + p1_z3: name: P1_LoadCell_Z_3 - channel: 2 - serial: 583477 - read_data: true + type: SENSOR_LOADCELL + read: true + connection: + channel: 2 + serial: 583477 properties: serial_number: W020822 max_weight: 150kg - calibration_data: - m: 149632.0166783 - b: -0.14545850287585083 - load_cell_4: + calibration: + slope: 149632.0166783 + intercept: -0.14545850287585083 + p1_z4: name: P1_LoadCell_Z_4 - channel: 3 - serial: 583477 + type: SENSOR_LOADCELL + read: true + connection: + channel: 3 + serial: 583477 read_data: true properties: serial_number: Y2131168 max_weight: 150kg - calibration_data: - m: 148981.2171817 - b: -0.7590389289353823 - load_cell_5: + calibration: + slope: 148981.2171817 + intercept: -0.7590389289353823 + p1_x1: name: P1_LoadCell_X_1 - channel: 0 - serial: 583467 - read_data: true + type: SENSOR_LOADCELL + read: true + connection: + channel: 0 + serial: 583467 properties: serial_number: TT805051 max_weight: 110kg - calibration_data: - m: 108087.9728225 - b: -0.6423735162860709 - load_cell_6: + calibration: + slope: 108087.9728225 + intercept: -0.6423735162860709 + p1_x2: name: P1_LoadCell_X_2 - channel: 1 - serial: 583467 - read_data: true + type: SENSOR_LOADCELL + read: true + connection: + channel: 1 + serial: 583467 properties: serial_number: TT805067 max_weight: 110kg - calibration_data: - m: 108969.1503263 - b: 0.12085782679337953 - load_cell_7: + calibration: + slope: 108969.1503263 + intercept: 0.12085782679337953 + p1_x3: name: P1_LoadCell_X_3 - channel: 2 - serial: 583467 - read_data: true + type: SENSOR_LOADCELL + read: true + connection: + channel: 2 + serial: 583467 properties: serial_number: TT805061 max_weight: 110kg - calibration_data: - m: 109557.5296413 - b: -0.7429386923191892 - load_cell_8: + calibration: + slope: 109557.5296413 + intercept: -0.7429386923191892 + p1_x4: name: P1_LoadCell_X_4 - channel: 3 - serial: 583467 - read_data: true + type: SENSOR_LOADCELL + read: true + connection: + channel: 3 + serial: 583467 properties: serial_number: TT805082 max_weight: 110kg - calibration_data: - m: 109054.0987733 - b: -0.7297277360961338 - load_cell_9: + calibration: + slope: 109054.0987733 + intercept: -0.7297277360961338 + p1_y1: name: P1_LoadCell_Y_1 - channel: 0 - serial: 588715 - read_data: true + type: SENSOR_LOADCELL + read: true + connection: + channel: 0 + serial: 588715 properties: serial_number: TT805088 max_weight: 110kg - calibration_data: - m: 109091.7733242 - b: -0.1587153674825359 - load_cell_10: + calibration: + slope: 109091.7733242 + intercept: -0.1587153674825359 + p1_y2: name: P1_LoadCell_Y_2 - channel: 1 - serial: 588715 - read_data: true + type: SENSOR_LOADCELL + read: true + connection: + channel: 1 + serial: 588715 properties: serial_number: TT805064 max_weight: 110kg - calibration_data: - m: 109202.4262106 - b: -0.7142529812102083 - load_cell_11: + calibration: + slope: 109202.4262106 + intercept: -0.7142529812102083 + p1_y3: name: P1_LoadCell_Y_3 - channel: 2 - serial: 588715 - read_data: true + type: SENSOR_LOADCELL + read: true + connection: + channel: 2 + serial: 588715 properties: serial_number: TC755992 max_weight: 110kg - calibration_data: - m: 109117.3520608 - b: -1.2116328220676955 - load_cell_12: + calibration: + slope: 109117.3520608 + intercept: -1.2116328220676955 + p1_y4: name: P1_LoadCell_Y_4 - channel: 3 - serial: 588715 - read_data: true + type: SENSOR_LOADCELL + read: true + connection: + channel: 3 + serial: 588715 properties: serial_number: TT805053 max_weight: 110kg - calibration_data: - m: 109062.232258 - b: -0.9654276058173821 -p2_phidget_loadcell_list: - load_cell_1: + calibration: + slope: 109062.232258 + intercept: -0.9654276058173821 + p2_z1: name: P2_LoadCell_Z_1 - channel: 0 - serial: 588569 - read_data: true + type: SENSOR_LOADCELL + read: true + connection: + channel: 0 + serial: 588569 properties: serial_number: W019737 max_weight: 150kg - calibration_data: - m: 148746.6259125 - b: -5.6381197962843475 - load_cell_2: + calibration: + slope: 148746.6259125 + intercept: -5.6381197962843475 + p2_z2: name: P2_LoadCell_Z_2 - channel: 1 - serial: 588569 - read_data: true + type: SENSOR_LOADCELL + read: true + connection: + channel: 1 + serial: 588569 properties: serial_number: Z1162733 max_weight: 150kg - calibration_data: - m: 148810.6036536 - b: -0.8234176348519066 - load_cell_3: + calibration: + slope: 148810.6036536 + intercept: -0.8234176348519066 + p2_z3: name: P2_LoadCell_Z_3 - channel: 2 - serial: 588569 - read_data: true + type: SENSOR_LOADCELL + read: true + connection: + channel: 2 + serial: 588569 properties: serial_number: Z1162736 max_weight: 150kg - calibration_data: - m: 148820.9384659 - b: -4.717023129888452 - load_cell_4: + calibration: + slope: 148820.9384659 + intercept: -4.717023129888452 + p2_z4: name: P2_LoadCell_Z_4 - channel: 3 - serial: 588569 - read_data: true + type: SENSOR_LOADCELL + read: true + connection: + channel: 3 + serial: 588569 properties: serial_number: Z1162741 max_weight: 150kg - calibration_data: - m: 148868.3620599 - b: -1.5141569678683349 - load_cell_5: + calibration: + slope: 148868.3620599 + intercept: -1.5141569678683349 + p2_x1: name: P2_LoadCell_X_1 - channel: 0 - serial: 588718 - read_data: true + type: SENSOR_LOADCELL + read: true + connection: + channel: 0 + serial: 588718 properties: serial_number: TT805059 max_weight: 110kg - calibration_data: - m: 109277.2383537 - b: -0.6519176093285637 - load_cell_6: + calibration: + slope: 109277.2383537 + intercept: -0.6519176093285637 + p2_x2: name: P2_LoadCell_X_2 - channel: 1 - serial: 588718 - read_data: true + type: SENSOR_LOADCELL + read: true + connection: + channel: 1 + serial: 588718 properties: serial_number: TT805079 max_weight: 110kg - calibration_data: - m: 108167.7664113 - b: -0.714905327747779 - load_cell_7: + calibration: + slope: 108167.7664113 + intercept: -0.714905327747779 + p2_x3: name: P2_LoadCell_X_3 - channel: 2 - serial: 588718 - read_data: true + type: SENSOR_LOADCELL + read: true + connection: + channel: 2 + serial: 588718 properties: serial_number: TT805063 max_weight: 110kg - calibration_data: - m: 109645.8122859 - b: -0.6690181962431225 - load_cell_8: + calibration: + slope: 109645.8122859 + intercept: -0.6690181962431225 + p2_x4: name: P2_LoadCell_X_4 - channel: 3 - serial: 588718 - read_data: true + type: SENSOR_LOADCELL + read: true + connection: + channel: 3 + serial: 588718 properties: serial_number: TT805056 max_weight: 110kg - calibration_data: - m: 109510.7046296 - b: -0.6135379763459383 - load_cell_9: + calibration: + slope: 109510.7046296 + intercept: -0.6135379763459383 + p2_y1: name: P2_LoadCell_Y_1 - channel: 0 - serial: 582535 - read_data: true + type: SENSOR_LOADCELL + read: true + connection: + channel: 0 + serial: 582535 properties: serial_number: TT805080 max_weight: 110kg - calibration_data: - m: 108559.4790098 - b: -0.7794562145538997 - load_cell_10: + calibration: + slope: 108559.4790098 + intercept: -0.7794562145538997 + p2_y2: name: P2_LoadCell_Y_2 - channel: 1 - serial: 582535 - read_data: true + type: SENSOR_LOADCELL + read: true + connection: + channel: 1 + serial: 582535 properties: serial_number: TT805058 max_weight: 110kg - calibration_data: - m: 109123.0620917 - b: -0.8536595136361385 - load_cell_11: + calibration: + slope: 109123.0620917 + intercept: -0.8536595136361385 + p2_y3: name: P2_LoadCell_Y_3 - channel: 2 - serial: 582535 - read_data: true + type: SENSOR_LOADCELL + read: true + connection: + channel: 2 + serial: 582535 properties: serial_number: TT805068 max_weight: 110kg - calibration_data: - m: 108907.1348579 - b: -0.32279350513333327 - load_cell_12: + calibration: + slope: 108907.1348579 + intercept: -0.32279350513333327 + p2_y4: name: P2_LoadCell_Y_4 - channel: 3 - serial: 582535 - read_data: true + type: SENSOR_LOADCELL + read: true + connection: + channel: 3 + serial: 582535 properties: serial_number: TT805066 max_weight: 110kg - calibration_data: - m: 108359.7289318 - b: -0.3276362911703359 -phidget_encoder_list: + calibration: + slope: 108359.7289318 + intercept: -0.3276362911703359 encoder_1: name: Encoder_Z_1 - channel: 0 - serial: 641800 - read_data: true + type: SENSOR_ENCODER + read: true + connection: + channel: 0 + serial: 641800 initial_position: 0 properties: serial_number: AAAA max_length: 2500mm - calibration_data: - m: 0.01875 - b: 0.0 + calibration: + slope: 0.01875 + intercept: 0.0 encoder_2: name: Encoder_Z_2 - channel: 1 - serial: 641800 - read_data: true + type: SENSOR_ENCODER + read: true + connection: + channel: 1 + serial: 641800 initial_position: 0 properties: serial_number: AAAA max_length: 2500mm - calibration_data: - m: 0.01875 - b: 0.0 -taobotics_imu_list: + calibration: + slope: 0.01875 + intercept: 0.0 imu_1: name: IMU_Leg_Right - serial: /dev/serial/by-path/pci-0000:00:14.0-usb-0:1.1.4.3:1.0-port0 - read_data: true + type: SENSOR_IMU + read: true + connection: + serial: /dev/serial/by-path/pci-0000:00:14.0-usb-0:1.1.4.3:1.0-port0 properties: tag: IMU_1 imu_2: name: IMU_Thigh_Right - serial: /dev/serial/by-path/pci-0000:00:14.0-usb-0:1.1.4.4:1.0-port0 - read_data: true + type: SENSOR_IMU + read: true + connection: + serial: /dev/serial/by-path/pci-0000:00:14.0-usb-0:1.1.4.4:1.0-port0 properties: tag: IMU_2 imu_3: name: IMU_UpperTrunk_Right - serial: /dev/serial/by-path/pci-0000:00:14.0-usb-0:1.1.4.2:1.0-port0 - read_data: true + type: SENSOR_IMU + read: true + connection: + serial: /dev/serial/by-path/pci-0000:00:14.0-usb-0:1.1.4.2:1.0-port0 properties: tag: IMU_3 -calibration_sensor: - name: S-Type Phidget Load Cell - channel: 0 - serial: 583229 - read_data: true - properties: - serial_number: 1906240722 - max_weight: 100kg - calibration_data: - m: 31851.0 - b: -0.3355 + s_type: + name: S-Type Phidget Load Cell + type: SENSOR_LOADCELL + read: true + connection: + channel: 0 + serial: 583229 + properties: + serial_number: 1906240722 + max_weight: 100kg + calibration: + slope: 31851.0 + intercept: -0.3355 diff --git a/docs/features/calibration_test.md b/docs/features/calibration_test.md index e0a70ea..eb2a72b 100644 --- a/docs/features/calibration_test.md +++ b/docs/features/calibration_test.md @@ -2,7 +2,7 @@ # Calibration process -Calibration process are only available for the platform sensors defined in the [`platform loadcell list` config section](../setup/config_file.md#platform-1-loadcell-list) . +Calibration process are only available for **platform sensors** defined in the [`sensor_groups` config section](../setup/config_file.md#sensor-groups-section) . To access the calibration menu, click on the Calibrate sensors button on the left panel. @@ -10,9 +10,9 @@ To access the calibration menu, click on the Calibrate sensors button ![Calibration UI](../images/calibrationUI_default.png) -At the left side, the menu loads all compatible sensor lists defined in `config.yaml`, but only the connected ones will be enabled. You can connect the sensors previously from the main menu or click the Connect sensors button to try another connection to the selected ones. +At the left side, the menu loads all compatible sensor groups defined in `config.yaml`, but only the connected ones will be shown. You can connect the sensors previously from the main menu. -> [!TIP]\ +> [!TIP] > Need more information about how to connect sensors? Check the [sensor connection](general_test.md#sensor-connection) section of the general test procedure. In order to preform a calibration test, click the enabled button of the connected sensor. @@ -38,7 +38,7 @@ The calibration program allows the known value to be recorded in two ways: The following sections shows how to preform each action. -> [!NOTE]\ +> [!NOTE] > If a measurement goes wrong, you can remove it selecting the correspondent row from the measurement table and click the Remove selected row button. ### Calibrate with manual inputs @@ -53,7 +53,7 @@ To calibrate with known values you must follow these steps: ### Calibrate with calibration sensor input -To calibrate using the reference sensor, you must first declare it in the [`calibration_sensor` section](../setup/config_file.md#calibration-sensor) of the `config.yaml` file. +To calibrate using the reference sensor, you must first declare it in the [`calibration_sensors` section](../setup/config_file.md#calibration-sensors-section) of the `config.yaml` file. Once defined, run the program, connect the sensors to be calibrated and access the calibration window again. @@ -68,7 +68,7 @@ If the button is active, then the sensor is correctly connected. The steps to pr ### Generate the calibration results Once all measurements have been taken, linear regression can be performed by clicking on the Make linear regression button. -> [!IMPORTANT]\ +> [!IMPORTANT] > A minimum of two measurements must be taken for the Make linear regression button to be available. ![Calibration UI results](../images/calibrationUI_results.png) @@ -83,9 +83,9 @@ When the first regression line is calculated the Save results button If at any time you wish to cancel the calibration test, click the Clear calibration test button or select another available sensor from the left side. ## Calibration settings -It is possible to modify the data reading time and frequency in the [`general settings` section](../setup/config_file.md#general-settings) of the `config.yaml` file. +It is possible to modify the data reading time and frequency in the [`settings` section](../setup/config_file.md#settings-section) of the `config.yaml` file. -It is also possible to change the reference sensor in the [`calibration_sensor` section](../setup/config_file.md#calibration-sensor) of the same file. +It is also possible to change the reference sensor in the [`calibration_sensors` section](../setup/config_file.md#calibration-sensors-section) of the same file. --- diff --git a/docs/features/general_test.md b/docs/features/general_test.md index 18b7ed7..967f89f 100644 --- a/docs/features/general_test.md +++ b/docs/features/general_test.md @@ -1,7 +1,6 @@ [:house: `Back to Home`](../home.md) # General test procedure -**Work in progress** The main objective of the program is to record data from the connected sensors in a synchronised manner and to generate a file in `.csv` format at the end of each trial. @@ -16,6 +15,7 @@ The interface is organised in three main sections which will be detailed below: - Settings and sensor information tab. - Plot tabs. + ## Control Panel | Control panel disabled | Control panel enabled | @@ -35,7 +35,6 @@ The layer is divided into three parts: - **Calibrate sensors button**: to calibrate the Phidget LoadCells. For more information, see the [Calibrate sensors](calibration_test.md) section. - ## Settings and sensor information ![Main UI settings tab](../images/mainUI_tab_settings.png) @@ -54,8 +53,8 @@ Once selected, if it is in the correct format, the window will be updated with t The path to the custom configuration will also be saved in the default configuration file (`config.yaml`) to be loaded automatically each time the program is launched. -> [!NOTE]\ -> This can be cancelled by loading again the default `config.yaml` file or deleting the custom configuration path manually. +> [!NOTE] +> This can be cancelled by loading again the default `config.yaml` file or deleting the custom configuration path manually in the [`settings` config section](../setup/config_file.md#settings-section). ### Folder and file name of the test @@ -65,59 +64,81 @@ They will be saved in `.csv` format, either with the calibration data applied as ### Sensor connection -To connect the sensors you must mark the ones you want to connect in the **Sensor information** table by clicking on the text boxes. In case you do not want to connect a certain sensor that is selected, simply click it again. +This section shows all sensor groups configured in the [`sensor_groups` config section](../setup/config_file.md#sensor-groups-section). + +You can select or deselect sensor groups connections by clicking on their names. It is also possible to enable/disable individual sensors from a sensor group via the `settings` button next to it. + +> [!NOTE] +> When you click the `settings` button, an additional window will show up with the sensor information. If you want to continue in the main window, close the pop-up window. +> +> Any modifications will be saved. -You can check the selection status by identifying its color border: +You can check the selection status looking at the name background color: ![Main UI settings tab sensors](../images/mainUI_tab_settings_sensors.png) -| Border color | Description | +| Background color | Description | | :---: | :--- | -|| Selected. | -|| Not selected. | +| | Selected. | +| | Not selected. | Once the sensors are selected, press the Connect sensors button. Depending on the type and number of sensors it will take some time to establish connection with all of them. -Once a connection is established (or not) with the indicated sensors, the background colors will be updated with the status of each sensor as follows: +Once a connection is established (or not) with the indicated sensors, the connection background colors will be updated with the status of each sensor as follows: ![Main UI settings tab sensors connection](../images/mainUI_tab_settings_sensors_connect.png) -| Background color | Description | -| :---: | :--- | -| No color | No connection attempted. | -|| Connection could not be established. | -|| Connection successfully established. | +| Background color | Description for sensor groups | Description for individual sensors | +| :---: | :--- | :--- | +| | No connection attempted. | No connection attempted. | +| | All sensors failed to connect. | Connection could not be established. | +| | Some sensors failed to connect. | - | +| | All sensors are connected. | Connection successfully established. | If at least one sensor is connected and the requirements indicated on the control panel are met, the buttons will be enabled to start the tests. -## Plot tabs +### Results settings + +When a test has finished, this section will update with the available data recorded. Here you can modify data limits and the butterworth filter parameters. + +![Main UI settings tab results](../images/mainUI_tab_settings_results.png) + +You can change the preview graph by clicking other sensor name in the preview selector. + +To apply any modifications, click the Apply changes button. If you want to save the data again with those modifications, click the Save button. To undo range modifications, click on Reset. + +> [!NOTE] +> The Save button only apply data range modifications. It does not save filtered data. + +All applied modifications will update available sensor graphs. Checkout the following section! + -If enabled in [`general settings` config section](../setup/config_file.md#general-settings), the current recorded data will be displayed in different tabs depending of the available sensors. +# Graph tabs -All the plot data processing is done by the [`TestDataManager`](../../src/managers/testDataManager.py) class. +There are two tabs available: +- **Sensor graphs** - To see individual sensor data. +- **Platform graphs** - To see specific platform data: total forces and COP data. -### Platform forces +All the graph processing is done by the [`DataManager`](../../src/managers/dataManager.py) class. -> [!IMPORTANT]\ -> Requires `_X_n`, `_Y_n` or `_Z_n` markers in sensor names of [`platform loadcell list` config section](../setup/config_file.md#platform-1-loadcell-list) in order to be plotted. +## Sensor graphs -*TODO plot image* +Simply click a sensor group at the top selector and an available sensor. The graph will update with the current recorded data from the selected sensor. -### Platform COP +You can use the options above to save the generated graph, edit, zoom, etc. -> [!IMPORTANT]\ -> Requires `_X_n`, `_Y_n` or `_Z_n` markers in sensor names of [`platform loadcell list` config section](../setup/config_file.md#platform-1-loadcell-list).\ -> Requires the 12 platform sensors to be available in order to be plotted. +![Main UI graphs sensor](../images/mainUI_tab_graphs_sensor.png) -*TODO plot image* +## Platform graphs -### Encoders +As in the previous section, click a sensor group at the top selector and an available option below. The graph will update with the current recorded data. -*TODO plot image* +Use the options above to save the generated graph, edit, zoom, etc. -### IMU angles +> [!IMPORTANT] +> This graphs needs special sensor group requirements in order to be available. Check [platform groups configuration](../setup/config_file.md#platform-groups). -*TODO plot image* +![Main UI graphs platform](../images/mainUI_tab_graphs_platform.png) --- diff --git a/docs/images/calibrationUI_default.png b/docs/images/calibrationUI_default.png index 58cf38b..ae11064 100644 Binary files a/docs/images/calibrationUI_default.png and b/docs/images/calibrationUI_default.png differ diff --git a/docs/images/calibrationUI_panel.png b/docs/images/calibrationUI_panel.png index a8212e0..505d99a 100644 Binary files a/docs/images/calibrationUI_panel.png and b/docs/images/calibrationUI_panel.png differ diff --git a/docs/images/calibrationUI_results.png b/docs/images/calibrationUI_results.png index 9002b09..9b7a0a8 100644 Binary files a/docs/images/calibrationUI_results.png and b/docs/images/calibrationUI_results.png differ diff --git a/docs/images/mainUI.png b/docs/images/mainUI.png index e95d6c3..939ae57 100644 Binary files a/docs/images/mainUI.png and b/docs/images/mainUI.png differ diff --git a/docs/images/mainUI_cp.png b/docs/images/mainUI_cp.png index 181df8c..7469b3f 100644 Binary files a/docs/images/mainUI_cp.png and b/docs/images/mainUI_cp.png differ diff --git a/docs/images/mainUI_cp_status.png b/docs/images/mainUI_cp_status.png index 388593d..99e98e4 100644 Binary files a/docs/images/mainUI_cp_status.png and b/docs/images/mainUI_cp_status.png differ diff --git a/docs/images/mainUI_default.png b/docs/images/mainUI_default.png index 54507ea..0a86dc3 100644 Binary files a/docs/images/mainUI_default.png and b/docs/images/mainUI_default.png differ diff --git a/docs/images/mainUI_tab_custom_config.png b/docs/images/mainUI_tab_custom_config.png index 3efc0b3..324e0bb 100644 Binary files a/docs/images/mainUI_tab_custom_config.png and b/docs/images/mainUI_tab_custom_config.png differ diff --git a/docs/images/mainUI_tab_graphs_platform.png b/docs/images/mainUI_tab_graphs_platform.png new file mode 100644 index 0000000..12c30db Binary files /dev/null and b/docs/images/mainUI_tab_graphs_platform.png differ diff --git a/docs/images/mainUI_tab_graphs_sensor.png b/docs/images/mainUI_tab_graphs_sensor.png new file mode 100644 index 0000000..5e562dd Binary files /dev/null and b/docs/images/mainUI_tab_graphs_sensor.png differ diff --git a/docs/images/mainUI_tab_settings.png b/docs/images/mainUI_tab_settings.png index 9a1c8d7..4c3537f 100644 Binary files a/docs/images/mainUI_tab_settings.png and b/docs/images/mainUI_tab_settings.png differ diff --git a/docs/images/mainUI_tab_settings_results.png b/docs/images/mainUI_tab_settings_results.png new file mode 100644 index 0000000..acfe977 Binary files /dev/null and b/docs/images/mainUI_tab_settings_results.png differ diff --git a/docs/images/mainUI_tab_settings_sensors.png b/docs/images/mainUI_tab_settings_sensors.png index 9a897cb..789c3cd 100644 Binary files a/docs/images/mainUI_tab_settings_sensors.png and b/docs/images/mainUI_tab_settings_sensors.png differ diff --git a/docs/images/mainUI_tab_settings_sensors_connect.png b/docs/images/mainUI_tab_settings_sensors_connect.png index d02d6f2..bcca346 100644 Binary files a/docs/images/mainUI_tab_settings_sensors_connect.png and b/docs/images/mainUI_tab_settings_sensors_connect.png differ diff --git a/docs/images/platform.png b/docs/images/platform.png new file mode 100644 index 0000000..c63bd99 Binary files /dev/null and b/docs/images/platform.png differ diff --git a/docs/setup/config_file.md b/docs/setup/config_file.md index d0bd5f5..d0d8302 100644 --- a/docs/setup/config_file.md +++ b/docs/setup/config_file.md @@ -3,102 +3,142 @@ # Config File Config main content: -- [General settings](#general-settings) -- [Platform 1 loadcell list](#platform-1-loadcell-list) -- [Platform 2 loadcell list](#platform-2-loadcell-list) -- [Encoder list](#encoder-list) -- [IMU list](#imu-list) -- [Calibration sensor](#calibration-sensor) +- [Settings section](#settings-section) +- [Sensor groups section](#sensor-groups-section) + - [Platform groups](#platform-groups) +- [Calibration sensors section](#calibration-sensors-section) +- [Sensors section](#sensors-section) + - [Loadcell sensor](#loadcell-sensor) + - [Encoder sensor](#encoder-sensor) + - [IMU sensor](#imu-sensor) -## General settings -https://github.com/AaronPB/force_platform/blob/4042350c678310280ec6b3abcc6ddf7684dfab5c/config.yaml#L1-L21 +## Settings section + +https://github.com/AaronPB/force_platform/blob/55d561fa79855c7706b47aab6820b150fe71fe82/config.yaml#L1-L14 Information of all the keys involved in this config section: | Key | Type | Description | | :--- | :---: | :--- | | `custom_config_path` | STRING | Custom config to load instead of this default config. Set to `null` if the default config is needed. | -| `calibration_times.data_interval_ms` | INT | Data recording frequency (in ms). | -| `calibration_times.calibration_time_ms` | INT | Data recording duration (in ms). | -| `test_times.data_interval_ms` | INT | Data recording frequency (in ms). | -| `test_times.tare_time_ms` | INT | Data recording duration to tare (in ms). | -| `test_results.folder` | STRING | Path to desired folder where the `csv` files will be saved. | -| `test_results.name` | STRING | Name of the generated `csv` files. | -| `test_results.save_calib_results` | BOOL | Save file with calibrated values defined in `config`. | -| `test_results.save_raw_results` | BOOL | Save file without calibrated values. A `_RAW` suffix will be added to the file name. | -| `tab_plotters.enabled` | BOOL | Enables plot thread process. | -| `tab_plotters.update_interval_ms` | INT | Plot refresh rate (in ms). With lower values it could have impact in recording data. | -| `tab_plotters.plot_max_values.platform_forces` | INT | Maximum values to be displayed in platform force plots. | -| `tab_plotters.plot_max_values.platform_stabilogram` | INT | Maximum values to be displayed in platform stabilogram plots. | -| `tab_plotters.plot_max_values.encoders` | INT | Maximum values to be displayed in encoder plots. | -| `tab_plotters.plot_max_values.imu_angles` | INT | Maximum values to be displayed in imu angle plots. | - -## Platform 1 loadcell list -Declare the amount of Phidget loadcells in the first platform. - -https://github.com/AaronPB/force_platform/blob/4042350c678310280ec6b3abcc6ddf7684dfab5c/config.yaml#L22-L33 +| `test.name` | STRING | Name of the generated `csv` files. | +| `test.folder` | STRING | Path to desired folder where the `csv` files will be saved. | +| `test.results.save_raw` | BOOL | Save file without calibrated values. A `_RAW` suffix will be added to the file name. | +| `test.results.save_calib` | BOOL | Save file with calibrated values defined in `config`. | +| `recording.data_interval_ms` | INT | Data recording frequency (in ms). | +| `recording.tare_data_amount` | INT | Amount of values to be recorded during tare process. | +| `calibration.data_interval_ms` | INT | Data recording frequency (in ms). | +| `calibration.data_amount` | INT | Amount of values to be recorded during calibration. | + + +## Sensor groups section +Define sensor combinations, even from different types! + +https://github.com/AaronPB/force_platform/blob/55d561fa79855c7706b47aab6820b150fe71fe82/config.yaml#L15-L32 + +> [!IMPORTANT] +> All listed sensors needs to be configured in the [`sensors` config section](#sensors-section). +> +> Using the same sensors in multiple sensor groups is not recommended. Information of all the keys involved in this config section: | Key | Type | Description | -| :---: | :---: | :--- | -| `load_cell_x` | STRING | ID of load cell section. | -| `name` | STRING | Load cell name. | -| `channel` | INT | Channel number (0 to 3) in Phidget device. | -| `serial` | INT | USB serial number of Phidget device. | -| `read_data` | BOOL | Enable or disable loadcell data recording. Can be modified in GUI. | -| `properties` | - | (Could be empty) Configuration section where you can provide more information about the loadcell. This will be shown in calibration section. | -| `calibration_data.m` | INT | Slope parameter. | -| `calibration_data.b` | INT | Intercept parameter. | +| :--- | :---: | :--- | +| `platform1` | STRING | ID of group section. | +| `name` | STRING | Group name. | +| `type` | STRING | Group type: `GROUP_DEFAULT` or `GROUP_PLATFORM`. | +| `read` | BOOL | Enable or disable entire group data recording. Can be modified in GUI. | +| `sensor_list` | LIST | A string list of sensor IDs, configured in [`sensors` config section](#sensors-section). | + +### Platform groups +Configure a platform with the `GROUP_PLATFORM` type. This group type only expects `SENSOR_LOADCELL` type sensors, with a maximum of 12 (4 sensors on each axis). -## Platform 2 loadcell list -Declare the amount of Phidget loadcells in the second platform. +To obtain platform graphs such as **total forces** or **COP values**; sensors must have the following strings included in their names: +- The 4 X-axis sensors: `_X_n`. +- The 4 Y-axis sensors: `_Y_n`. +- The 4 Z-axis sensors: `_Z_n`. -https://github.com/AaronPB/force_platform/blob/4042350c678310280ec6b3abcc6ddf7684dfab5c/config.yaml#L155-L166 +Being $n = \{1, 2, 3, 4\}$ depending on the sensor location in the platform: -The config section keys are the same as in [Platform 1 loadcell list](#platform-1-loadcell-list). +![platform](../images/platform.png) -## Encoder list -Declare the amount of Phidget encoders. -https://github.com/AaronPB/force_platform/blob/4042350c678310280ec6b3abcc6ddf7684dfab5c/config.yaml#L288-L300 +## Calibration sensors section +Declare here a valid reference sensor for each calibration process. + +https://github.com/AaronPB/force_platform/blob/55d561fa79855c7706b47aab6820b150fe71fe82/config.yaml#L65-L67 + +> [!IMPORTANT] +> All sensors needs to be configured in the [`sensors` config section](#sensors-section) and **match the required sensor type**. Information of all the keys involved in this config section: | Key | Type | Description | -| :---: | :---: | :--- | -| `encoder_x` | STRING | ID of encoder section. | -| `name` | STRING | Encoder name. | -| `channel` | INT | Channel number (0 to 3) in Phidget device. | -| `serial` | INT | USB serial number of Phidget device. | -| `read_data` | BOOL | Enable or disable encoder data recording. Can be modified in GUI. | -| `initial_position` | INT | The initial value of the encoder state. The sensor generates incremental values. | -| `properties` | - | (Could be empty) Configuration section where you can provide more information. This will be shown in calibration section. | -| `calibration_data.m` | INT | Slope parameter. | -| `calibration_data.b` | INT | Intercept parameter. | +| :--- | :---: | :--- | +| `phidget_loadcell_reference` | STRING | Sensor ID of type `SENSOR_LOADCELL`. | +| `platform_reference` | STRING | **WIP** Sensor ID of type `SENSOR_TRIAXIAL_LOADCELL`. | -## IMU list -Declare the amount of Taobotics IMUs. -https://github.com/AaronPB/force_platform/blob/4042350c678310280ec6b3abcc6ddf7684dfab5c/config.yaml#L313-L319 +## Sensors section +This section contains all the sensors that will be used in the previous sections. -Information of all the keys involved in this config section: +https://github.com/AaronPB/force_platform/blob/55d561fa79855c7706b47aab6820b150fe71fe82/config.yaml#L68-L69 + +Depending on the sensor type, a specific set of parameters is required. Below are the available parameters for each sensor type. + +### Loadcell sensor + +https://github.com/AaronPB/force_platform/blob/55d561fa79855c7706b47aab6820b150fe71fe82/config.yaml#L69-L81 + +Required keys information: | Key | Type | Description | -| :---: | :---: | :--- | -| `imu_x` | STRING | ID of IMU section. | -| `name` | STRING | IMU name. | -| `serial` | STRING | Absolute USB path. Use `ll /dev/serial/by-path/`. | -| `read_data` | BOOL | Enable or disable IMU data recording. Can be modified in GUI. | -| `properties` | - | (Could be empty) Configuration section where you can provide more information. This will be shown in calibration section. | +| :--- | :---: | :--- | +| `p1_z1` | STRING | Sensor ID. | +| `name` | STRING | Sensor name. | +| `type` | STRING | Sensor type: `SENSOR_LOADCELL`. | +| `read` | BOOL | Enable or disable sensor data recording. Can be modified in GUI. | +| `connection.channel` | INT | Channel number (0 to 3) in Phidget device. | +| `connection.serial` | INT | USB serial number of Phidget device. | +| `properties` | - | (Could be empty) Configuration section where you can provide more information. | +| `calibration.slope` | INT | Slope parameter. | +| `calibration.intercept` | INT | Intercept parameter. | + +### Encoder sensor -## Calibration sensor -Define here a Phidget loadcell that will be used for reference data when calibrating, instead of manual inputs. +https://github.com/AaronPB/force_platform/blob/55d561fa79855c7706b47aab6820b150fe71fe82/config.yaml#L382-L395 -https://github.com/AaronPB/force_platform/blob/4042350c678310280ec6b3abcc6ddf7684dfab5c/config.yaml#L332-L342 +Required keys information: -The config section keys are similar as in [Platform 1 loadcell list](#platform-1-loadcell-list). +| Key | Type | Description | +| :--- | :---: | :--- | +| `encoder_1` | STRING | Sensor ID. | +| `name` | STRING | Sensor name. | +| `type` | STRING | Sensor type: `SENSOR_ENCODER`. | +| `read` | BOOL | Enable or disable sensor data recording. Can be modified in GUI. | +| `connection.channel` | INT | Channel number (0 to 3) in Phidget device. | +| `connection.serial` | INT | USB serial number of Phidget device. | +| `initial_position` | INT | The initial value of the encoder state. The sensor generates incremental values. | +| `properties` | - | (Could be empty) Configuration section where you can provide more information. | +| `calibration.slope` | INT | Slope parameter. | +| `calibration.intercept` | INT | Intercept parameter. | + +### IMU sensor + +https://github.com/AaronPB/force_platform/blob/55d561fa79855c7706b47aab6820b150fe71fe82/config.yaml#L410-L417 + +Required keys information: + +| Key | Type | Description | +| :--- | :---: | :--- | +| `imu_1` | STRING | Sensor ID. | +| `name` | STRING | Sensor name. | +| `type` | STRING | Sensor type: `SENSOR_IMU`. | +| `read` | BOOL | Enable or disable sensor data recording. Can be modified in GUI. | +| `connection.serial` | STRING | Absolute USB path. Use `ll /dev/serial/by-path/`. | +| `properties` | - | (Could be empty) Configuration section where you can provide more information. | --- diff --git a/docs/setup/project.md b/docs/setup/project.md index 8f2d47c..01006cc 100644 --- a/docs/setup/project.md +++ b/docs/setup/project.md @@ -4,7 +4,7 @@ The installation process will be explained for **Linux**. It is also possible to install on Windows and MacOs (not tested) if the required dependencies have support for those OS. -> [!NOTE]\ +> [!NOTE] > Please note that if you do not use Linux and you want to use the Taobotics IMUs, you will have to manage its drivers. The project has been tested in `Windows 11` without IMUs, and in `Ubuntu 12.04 LTS` with Taobotics IMUs. @@ -57,7 +57,7 @@ sudo apt install libmrpt-dev mrpt-apps sudo apt install python3-pymrpt ``` -> [!WARNING]\ +> [!WARNING] > If you are using `virtualenv` (or any other virtual environment), MRPT cannot be installed by pip. As a temporary solution, set `include-system-site-packages = true` in your `pyvenv.cfg` file. ## Run the project diff --git a/images/icons/bot.svg b/images/icons/bot.svg new file mode 100644 index 0000000..a6ee4b7 --- /dev/null +++ b/images/icons/bot.svg @@ -0,0 +1,15 @@ + + + diff --git a/images/icons/check-tick-circle.svg b/images/icons/check-tick-circle.svg new file mode 100644 index 0000000..ac1f836 --- /dev/null +++ b/images/icons/check-tick-circle.svg @@ -0,0 +1,15 @@ + + + diff --git a/images/icons/filter-horizontal.svg b/images/icons/filter-horizontal.svg new file mode 100644 index 0000000..a413af1 --- /dev/null +++ b/images/icons/filter-horizontal.svg @@ -0,0 +1,15 @@ + + + diff --git a/images/icons/github.svg b/images/icons/github.svg new file mode 100644 index 0000000..8b686a7 --- /dev/null +++ b/images/icons/github.svg @@ -0,0 +1,15 @@ + + + diff --git a/images/icons/graph-trend-line.svg b/images/icons/graph-trend-line.svg new file mode 100644 index 0000000..47bba68 --- /dev/null +++ b/images/icons/graph-trend-line.svg @@ -0,0 +1,15 @@ + + + diff --git a/images/icons/layer-two.svg b/images/icons/layer-two.svg new file mode 100644 index 0000000..6cea8f9 --- /dev/null +++ b/images/icons/layer-two.svg @@ -0,0 +1,15 @@ + + + diff --git a/images/icons/layout-grid-stack-down.svg b/images/icons/layout-grid-stack-down.svg new file mode 100644 index 0000000..6d83cde --- /dev/null +++ b/images/icons/layout-grid-stack-down.svg @@ -0,0 +1,29 @@ + + + + + diff --git a/images/icons/map-pin.svg b/images/icons/map-pin.svg new file mode 100644 index 0000000..ad8a9c4 --- /dev/null +++ b/images/icons/map-pin.svg @@ -0,0 +1,22 @@ + + + + diff --git a/images/icons/minus-circle.svg b/images/icons/minus-circle.svg new file mode 100644 index 0000000..98d0097 --- /dev/null +++ b/images/icons/minus-circle.svg @@ -0,0 +1,15 @@ + + + diff --git a/images/icons/multiple-cross-cancel-circle.svg b/images/icons/multiple-cross-cancel-circle.svg new file mode 100644 index 0000000..1f97e3c --- /dev/null +++ b/images/icons/multiple-cross-cancel-circle.svg @@ -0,0 +1,15 @@ + + + diff --git a/images/icons/purse-bag.svg b/images/icons/purse-bag.svg new file mode 100644 index 0000000..598926d --- /dev/null +++ b/images/icons/purse-bag.svg @@ -0,0 +1,15 @@ + + + diff --git a/images/icons/send-plane-horizontal.svg b/images/icons/send-plane-horizontal.svg new file mode 100644 index 0000000..1244278 --- /dev/null +++ b/images/icons/send-plane-horizontal.svg @@ -0,0 +1,15 @@ + + + diff --git a/images/icons/tag.svg b/images/icons/tag.svg new file mode 100644 index 0000000..58d28ae --- /dev/null +++ b/images/icons/tag.svg @@ -0,0 +1,15 @@ + + + diff --git a/images/icons/troubleshoot.svg b/images/icons/troubleshoot.svg new file mode 100644 index 0000000..cd0229d --- /dev/null +++ b/images/icons/troubleshoot.svg @@ -0,0 +1,15 @@ + + + diff --git a/main.py b/main.py index d9e5abf..6e5b1a8 100644 --- a/main.py +++ b/main.py @@ -2,12 +2,32 @@ import sys from src.qtUIs.mainWindow import MainMenu -from PySide6 import QtWidgets +from PySide6 import QtWidgets, QtGui + + +def palette() -> QtGui.QPalette: + dark_palette = QtGui.QPalette() + dark_palette.setColor(QtGui.QPalette.Window, QtGui.QColor(53, 53, 53)) + dark_palette.setColor(QtGui.QPalette.WindowText, QtGui.QColor(255, 255, 255)) + dark_palette.setColor(QtGui.QPalette.Base, QtGui.QColor(25, 25, 25)) + dark_palette.setColor(QtGui.QPalette.AlternateBase, QtGui.QColor(53, 53, 53)) + dark_palette.setColor(QtGui.QPalette.ToolTipBase, QtGui.QColor(255, 255, 255)) + dark_palette.setColor(QtGui.QPalette.ToolTipText, QtGui.QColor(255, 255, 255)) + dark_palette.setColor(QtGui.QPalette.Text, QtGui.QColor(255, 255, 255)) + dark_palette.setColor(QtGui.QPalette.Button, QtGui.QColor(53, 53, 53)) + dark_palette.setColor(QtGui.QPalette.ButtonText, QtGui.QColor(255, 255, 255)) + dark_palette.setColor(QtGui.QPalette.BrightText, QtGui.QColor(255, 0, 0)) + dark_palette.setColor(QtGui.QPalette.Link, QtGui.QColor(42, 130, 218)) + dark_palette.setColor(QtGui.QPalette.Highlight, QtGui.QColor(42, 130, 218)) + dark_palette.setColor(QtGui.QPalette.HighlightedText, QtGui.QColor(0, 0, 0)) + return dark_palette def main(): app = QtWidgets.QApplication(sys.argv) app.setStyleSheet(open("src/qtUIs/style.qss").read()) + app.setStyle("Fusion") + app.setPalette(palette()) window = MainMenu() window.show() sys.exit(app.exec()) diff --git a/src/enums/configPaths.py b/src/enums/configPaths.py index fa78b95..c8a6d69 100644 --- a/src/enums/configPaths.py +++ b/src/enums/configPaths.py @@ -2,39 +2,22 @@ class ConfigPaths(Enum): - GENERAL_CUSTOM_CONFIG_PATH = "general_settings.custom_config_path" + # Settings + CUSTOM_CONFIG_PATH = "settings.custom_config_path" - GENERAL_CALIBRATION_INTERVAL_MS = ( - "general_settings.calibration_times.data_interval_ms" - ) - GENERAL_CALIBRATION_DURATION_MS = ( - "general_settings.calibration_times.calibration_time_ms" - ) - GENERAL_TEST_INTERVAL_MS = "general_settings.test_times.data_interval_ms" - GENERAL_TARE_DURATION_MS = "general_settings.test_times.tare_time_ms" + TEST_NAME = "settings.test.name" + TEST_FOLDER_PATH = "settings.test.folder_path" + TEST_SAVE_RAW = "settings.test.results.save_raw" + TEST_SAVE_CALIB = "settings.test.results.save_calib" - GENERAL_TEST_FOLDER = "general_settings.test_results.folder" - GENERAL_TEST_NAME = "general_settings.test_results.name" - GENERAL_TEST_SAVE_CALIB = "general_settings.test_results.save_calib_results" - GENERAL_TEST_SAVE_RAW = "general_settings.test_results.save_raw_results" + RECORD_INTERVAL_MS = "settings.recording.data_interval_ms" + RECORD_TARE_AMOUNT = "settings.recording.tare_data_amount" - GENERAL_PLOTTERS_ENABLED = "general_settings.tab_plotters.enabled" - GENERAL_PLOTTERS_INTERVAL_MS = "general_settings.tab_plotters.update_interval_ms" - GENERAL_PLOTTERS_MAX_FORCES = ( - "general_settings.tab_plotters.plot_max_values.platform_forces" - ) - GENERAL_PLOTTERS_MAX_STABILOGRAM = ( - "general_settings.tab_plotters.plot_max_values.platform_stabilogram" - ) - GENERAL_PLOTTERS_MAX_ENCODERS = ( - "general_settings.tab_plotters.plot_max_values.encoders" - ) - GENERAL_PLOTTERS_MAX_IMUS = ( - "general_settings.tab_plotters.plot_max_values.imu_angles" - ) + CALIBRATION_INTERVAL_MS = "settings.calibration.data_interval_ms" + CALIBRATION_DATA_AMOUNT = "settings.calibration.data_amount" - PHIDGET_P1_LOADCELL_CONFIG_SECTION = "p1_phidget_loadcell_list" - PHIDGET_P2_LOADCELL_CONFIG_SECTION = "p2_phidget_loadcell_list" - PHIDGET_ENCODER_CONFIG_SECTION = "phidget_encoder_list" - TAOBOTICS_IMU_CONFIG_SECTION = "taobotics_imu_list" - CALIBRATION_CONFIG_SECTION = "calibration_sensor" + # Sensors + SENSOR_GROUPS_SECTION = "sensor_groups" + SENSORS_SECTION = "sensors" + CALIBRATION_LOADCELL_SENSOR = "sensors_calibration.phidget_loadcell_reference" + CALIBRATION_PLATFORM_SENSOR = "sensors_calibration.platform_reference" diff --git a/src/enums/plotTypes.py b/src/enums/plotTypes.py new file mode 100644 index 0000000..5532b23 --- /dev/null +++ b/src/enums/plotTypes.py @@ -0,0 +1,12 @@ +from enum import Enum, auto + + +class PlotTypes(Enum): + GROUP_PLATFORM_COP = auto() + GROUP_PLATFORM_FORCES = auto() + + SENSOR_LOADCELL_FORCE = auto() + SENSOR_ENCODER_DISTANCE = auto() + SENSOR_IMU_ANGLES = auto() + SENSOR_IMU_VELOCITY = auto() + SENSOR_IMU_ACCELERATION = auto() diff --git a/src/enums/qssLabels.py b/src/enums/qssLabels.py index 17477ca..4c3c89b 100644 --- a/src/enums/qssLabels.py +++ b/src/enums/qssLabels.py @@ -7,8 +7,20 @@ class QssLabels(Enum): CRITICAL_BTN = "critical_btn" TITLE_LABEL = "title" AUTHOR_COPYRIGHT_LABEL = "author_copy" + + PREVIEW_BOX = "preview_box" + STATUS_LABEL_INFO = "status_info" STATUS_LABEL_OK = "status_ok" STATUS_LABEL_WARN = "status_warn" - SENSOR_CONNECTED = "connected" - SENSOR_NOT_CONNECTED = "not_connected" + + SENSOR_GROUP = "sensor_group" + SENSOR = "sensor" + + SENSOR_GROUP_IGNORED = "sensor_group_ignored" + SENSOR_GROUP_ERROR = "sensor_group_error" + SENSOR_GROUP_WARN = "sensor_group_warn" + SENSOR_GROUP_OK = "sensor_group_ok" + SENSOR_IGNORED = "sensor_ignored" + SENSOR_ERROR = "sensor_error" + SENSOR_OK = "sensor_ok" diff --git a/src/enums/sensorParams.py b/src/enums/sensorParams.py index 8f59ae7..b91e555 100644 --- a/src/enums/sensorParams.py +++ b/src/enums/sensorParams.py @@ -1,21 +1,32 @@ from enum import Enum -class SensorParams(Enum): - # Internal config params +# Sensor params +class SParams(Enum): + # Config sections + CONNECTION_SECTION = "connection" + CALIBRATION_SECTION = "calibration" + PROPERTIES_SECTION = "properties" + + # Config params paths NAME = "name" + TYPE = "type" + READ = "read" CHANNEL = "channel" SERIAL = "serial" - READ = "read_data" + SLOPE = "slope" + INTERCEPT = "intercept" INITIAL_POS = "initial_position" - SLOPE = "m" - INTERCEPT = "b" - - # Internal config sections - CALIBRATION_SECTION = "calibration_data" - PROPERTIES_SECTION = "properties" # Handler additional params STATUS = "status" SENSOR = "sensor" VALUE = "value" + + +# Sensor group params +class SGParams(Enum): + NAME = "name" + TYPE = "type" + READ = "read" + SENSOR_LIST = "sensor_list" diff --git a/src/enums/sensorStatus.py b/src/enums/sensorStatus.py index 272d7b5..2b68e7c 100644 --- a/src/enums/sensorStatus.py +++ b/src/enums/sensorStatus.py @@ -1,8 +1,16 @@ from enum import Enum from src.enums.qssLabels import QssLabels +from src.enums.uiResources import IconPaths -class SensorStatus(Enum): - IGNORED = None - AVAILABLE = QssLabels.SENSOR_CONNECTED - NOT_FOUND = QssLabels.SENSOR_NOT_CONNECTED +class SStatus(Enum): + IGNORED = (IconPaths.STATUS_OFF, QssLabels.SENSOR_IGNORED) + AVAILABLE = (IconPaths.STATUS_OK, QssLabels.SENSOR_OK) + NOT_FOUND = (IconPaths.STATUS_ERROR, QssLabels.SENSOR_ERROR) + + +class SGStatus(Enum): + IGNORED = (IconPaths.STATUS_OFF, QssLabels.SENSOR_GROUP_IGNORED) + OK = (IconPaths.STATUS_OK, QssLabels.SENSOR_GROUP_OK) + WARNING = (IconPaths.STATUS_WARN, QssLabels.SENSOR_GROUP_WARN) + ERROR = (IconPaths.STATUS_ERROR, QssLabels.SENSOR_GROUP_ERROR) diff --git a/src/enums/sensorTypes.py b/src/enums/sensorTypes.py new file mode 100644 index 0000000..672f652 --- /dev/null +++ b/src/enums/sensorTypes.py @@ -0,0 +1,14 @@ +from enum import Enum, auto + + +# Sensor types +class STypes(Enum): + SENSOR_LOADCELL = auto() + SENSOR_ENCODER = auto() + SENSOR_IMU = auto() + + +# Sensor group types +class SGTypes(Enum): + GROUP_DEFAULT = auto() + GROUP_PLATFORM = auto() diff --git a/src/enums/uiResources.py b/src/enums/uiResources.py new file mode 100644 index 0000000..65cd7c1 --- /dev/null +++ b/src/enums/uiResources.py @@ -0,0 +1,34 @@ +import os +from enum import Enum + + +class ImagePaths(Enum): + _image_folder = os.path.join(os.path.dirname(__file__), "..", "..", "images") + + WINDOW_ICON = os.path.join(_image_folder, "window_icon.ico") + LOGO = os.path.join(_image_folder, "project_ui_logo.svg") + PLATFORM = os.path.join(_image_folder, "platform.png") + + +class IconPaths(Enum): + _icon_folder = os.path.join( + os.path.dirname(__file__), "..", "..", "images", "icons" + ) + + GITHUB = os.path.join(_icon_folder, "github.svg") + TAG = os.path.join(_icon_folder, "tag.svg") + SEND = os.path.join(_icon_folder, "send-plane-horizontal.svg") + SETTINGS = os.path.join(_icon_folder, "filter-horizontal.svg") + GRAPH = os.path.join(_icon_folder, "graph-trend-line.svg") + + STATUS_OK = os.path.join(_icon_folder, "check-tick-circle.svg") + STATUS_WARN = os.path.join(_icon_folder, "troubleshoot.svg") + STATUS_ERROR = os.path.join(_icon_folder, "multiple-cross-cancel-circle.svg") + STATUS_OFF = os.path.join(_icon_folder, "minus-circle.svg") + + LOADCELL_ICON = os.path.join(_icon_folder, "purse-bag.svg") + ENCODER_ICON = os.path.join(_icon_folder, "map-pin.svg") + IMU_ICON = os.path.join(_icon_folder, "bot.svg") + + PLATFORM_ICON = os.path.join(_icon_folder, "layer-two.svg") + DEFAULT_GROUP_ICON = os.path.join(_icon_folder, "layout-grid-stack-down.svg") diff --git a/src/handlers/sensor.py b/src/handlers/sensor.py index 0530f83..aeb389d 100644 --- a/src/handlers/sensor.py +++ b/src/handlers/sensor.py @@ -1,22 +1,19 @@ # -*- coding: utf-8 -*- -from src.enums.sensorParams import SensorParams as SParams -from src.enums.sensorStatus import SensorStatus as SStatus +from src.enums.sensorParams import SParams +from src.enums.sensorTypes import STypes +from src.enums.sensorStatus import SStatus from typing import Protocol class Driver(Protocol): - def __init__(self, serial: int, channel: int) -> None: - ... + def __init__(self, serial: int, channel: int) -> None: ... - def connect(self, wait_ms: int, interval_ms: int) -> bool: - ... + def connect(self, wait_ms: int, interval_ms: int) -> bool: ... - def disconnect(self) -> None: - ... + def disconnect(self) -> None: ... - def getValue(self): - ... + def getValue(self): ... class Sensor: @@ -31,8 +28,10 @@ def setup(self, id: str, params: dict, driver: Driver): self.id = id self.params = params self.driver = driver( - self.params[SParams.SERIAL.value], - self.params.get(SParams.CHANNEL.value, None), + self.params[SParams.CONNECTION_SECTION.value][SParams.SERIAL.value], + self.params[SParams.CONNECTION_SECTION.value].get( + SParams.CHANNEL.value, None + ), ) def connect(self, check: bool = False) -> bool: @@ -66,26 +65,32 @@ def registerValue(self) -> None: def setRead(self, read: bool) -> None: self.params[SParams.READ.value] = read + def setSlope(self, slope: float) -> None: + self.params[SParams.CALIBRATION_SECTION.value][SParams.SLOPE.value] = slope + def setIntercept(self, intercept: float) -> None: self.params[SParams.CALIBRATION_SECTION.value][ SParams.INTERCEPT.value ] = intercept - def setSlope(self, slope: float) -> None: - self.params[SParams.CALIBRATION_SECTION.value][SParams.SLOPE.value] = slope - def clearValues(self) -> None: self.values.clear() + def getID(self) -> str: + return self.id + def getName(self) -> str: return self.params[SParams.NAME.value] - def getStatus(self) -> SStatus: - return self.status + def getType(self) -> STypes: + return STypes[self.params[SParams.TYPE.value]] - def getIsReadable(self) -> bool: + def getRead(self) -> bool: return self.params[SParams.READ.value] + def getStatus(self) -> SStatus: + return self.status + def getProperties(self) -> str: text = " - " for property in self.params[SParams.PROPERTIES_SECTION.value]: @@ -94,15 +99,15 @@ def getProperties(self) -> str: ) return text - def getSlopeIntercept(self) -> list: - calib_params = self.params[SParams.CALIBRATION_SECTION.value] - slope = calib_params.get(SParams.SLOPE.value, 1) - intercept = calib_params.get(SParams.INTERCEPT.value, 0) - return [slope, intercept] + def getSlope(self) -> float: + return self.params[SParams.CALIBRATION_SECTION.value].get( + SParams.SLOPE.value, 1 + ) + + def getIntercept(self) -> float: + return self.params[SParams.CALIBRATION_SECTION.value].get( + SParams.INTERCEPT.value, 0 + ) def getValues(self) -> list: return self.values - - def getCalibValues(self) -> list: - calib_params = self.getSlopeIntercept() - return [calib_params[0] * value + calib_params[1] for value in self.values] diff --git a/src/handlers/sensorGroup.py b/src/handlers/sensorGroup.py index 679048d..9871ca8 100644 --- a/src/handlers/sensorGroup.py +++ b/src/handlers/sensorGroup.py @@ -2,108 +2,93 @@ import concurrent.futures -from src.enums.sensorStatus import SensorStatus as SStatus +from src.enums.sensorStatus import SStatus, SGStatus +from src.enums.sensorTypes import SGTypes, STypes from src.handlers.sensor import Sensor class SensorGroup: - def __init__(self, group_name: str) -> None: - self.group_name = group_name - self.is_group_active = False + def __init__(self, id: str, name: str, type: SGTypes) -> None: + self.id: str = id + self.name: str = name + self.type: SGTypes = type + self.read: bool = False + self.status: SGStatus = SGStatus.IGNORED + self.active: bool = False self.sensors: dict[str, Sensor] = {} def addSensor(self, sensor: Sensor): self.sensors[sensor.id] = sensor def checkConnections(self) -> bool: + if not self.read: + self.status = SGStatus.IGNORED + return False results = False with concurrent.futures.ThreadPoolExecutor() as executor: sensors_list = list(self.sensors.values()) results = list( executor.map(lambda sensor: sensor.checkConnection(), sensors_list) ) - return any(results) + self.status = SGStatus.ERROR + if all(results): + self.status = SGStatus.OK + elif any(results): + self.status = SGStatus.WARNING + return self.status != SGStatus.ERROR def start(self) -> None: with concurrent.futures.ThreadPoolExecutor() as executor: sensors_list = list(self.sensors.values()) results = list(executor.map(lambda sensor: sensor.connect(), sensors_list)) - self.is_group_active = any(results) + self.active = any(results) def register(self) -> None: [sensor.registerValue() for sensor in self.sensors.values()] def stop(self) -> None: [sensor.disconnect() for sensor in list(self.sensors.values())] - self.is_group_active = False + self.active = False # Setters and getters - def setSensorRead(self, sensor_id: str, read: bool) -> None: - if sensor_id not in self.sensors.keys(): - return - self.sensors[sensor_id].setRead(read) + def setRead(self, read: bool) -> None: + self.read = read - def tareSensors(self, mean_dict: dict) -> None: - for sensor_id, mean in mean_dict.items(): - sensor = self.sensors.get(sensor_id) - current_params = sensor.getSlopeIntercept() - sensor.setIntercept(float(current_params[1] - mean)) - - def clearSensorValues(self) -> None: + def clearValues(self) -> None: [sensor.clearValues() for sensor in self.sensors.values()] - def getGroupName(self) -> str: - return self.group_name + def getID(self) -> str: + return self.id - def getGroupInfo(self) -> dict: - group_dict = {} - for sensor_id, sensor in self.sensors.items(): - group_dict[sensor_id] = [ - sensor.getName(), - sensor.getProperties(), - sensor.getStatus(), - sensor.getIsReadable(), - ] - return group_dict + def getName(self) -> str: + return self.name - def getGroupAvailableInfo(self) -> dict: - group_dict = {} - for sensor_id, sensor in self.sensors.items(): - if sensor.getStatus() is not SStatus.AVAILABLE: - continue - group_dict[sensor_id] = [ - sensor.getName(), - sensor.getProperties(), - sensor.getStatus(), - sensor.getIsReadable(), - ] - return group_dict + def getType(self) -> SGTypes: + return self.type - def getGroupSize(self) -> int: + def getSize(self) -> int: return len(self.sensors) - def getGroupIsActive(self) -> bool: - return self.is_group_active + def getRead(self) -> bool: + return self.read - def getGroupValues(self) -> dict: - group_dict = {} - for sensor_id, sensor in self.sensors.items(): - if sensor.getStatus() is not SStatus.AVAILABLE: - continue - group_dict[sensor_id] = sensor.getValues() - return group_dict + def getStatus(self) -> SGStatus: + return self.status - def getGroupCalibValues(self) -> dict: - group_dict = {} - for sensor_id, sensor in self.sensors.items(): - if sensor.getStatus() is not SStatus.AVAILABLE: - continue - group_dict[sensor_id] = sensor.getCalibValues() - return group_dict + def isActive(self) -> bool: + return self.active - def getGroupCalibrationParams(self) -> dict: + def getSensors( + self, only_available: bool = False, sensor_type: STypes = None + ) -> dict[str, Sensor]: + if not only_available and sensor_type is None: + return self.sensors group_dict = {} for sensor_id, sensor in self.sensors.items(): - group_dict[sensor_id] = sensor.getSlopeIntercept() + if only_available and sensor.getStatus() != SStatus.AVAILABLE: + continue + if sensor_type is not None and sensor.getType() != sensor_type: + continue + group_dict[sensor_id] = sensor return group_dict diff --git a/src/managers/calibrationManager.py b/src/managers/calibrationManager.py index 958e5cb..11ab6f7 100644 --- a/src/managers/calibrationManager.py +++ b/src/managers/calibrationManager.py @@ -1,145 +1,165 @@ # -*- coding: utf-8 -*- import numpy as np +import pandas as pd from sklearn.linear_model import LinearRegression -from src.managers.configManager import ConfigManager -from src.sensorLoader import SensorLoader -from src.enums.configPaths import ConfigPaths as CfgPaths -from src.enums.sensorStatus import SensorStatus as SStatus +from src.managers.sensorManager import SensorManager +from src.enums.sensorStatus import SStatus from src.handlers.sensor import Sensor from loguru import logger -class CalibrationManager: - def __init__(self, config_mngr: ConfigManager, sensor_loader: SensorLoader) -> None: - # Global values - self.config_mngr = config_mngr - self.sensor_loader = sensor_loader - self.sensors_connected = False - self.sensor_values = [] - self.test_values = [] - self.calib_results = [] - self.calib_sensor: Sensor = None - self.group_platform1 = sensor_loader.getSensorGroupPlatform1() - self.group_platform2 = sensor_loader.getSensorGroupPlatform2() - self.reference_sensor = sensor_loader.getRefSensor() - - def checkConnection(self) -> bool: - connection_results_list = [ - handler.checkConnections() - for handler in [self.group_platform1, self.group_platform2] - ] - self.sensors_connected = any(connection_results_list) - return self.sensors_connected - - def checkRefSensorConnection(self): - if self.reference_sensor is None: +class SensorCalibrationManager: + def __init__(self) -> None: + # Sensors + self.sensor: Sensor + self.ref_sensor: Sensor + # Calib params + self.record_interval_ms: int + self.record_amount: int + # Calib measurements + self.measurement_ready: bool = False + self.use_ref_sensor: bool = False + self.ref_value: float + df_cols = ["ref_value", "sensor_mean", "sensor_std", "data_amount"] + self.measurements_df = pd.DataFrame(columns=df_cols) + # Calib results + self.sensor_slope: float = 1 + self.sensor_intercept: float = 0 + self.calib_score: float = 1 + + def setup( + self, + sensor: Sensor, + ref_sensor: Sensor | None = None, + record_interval_ms: int = 10, + record_amount: int = 300, + ) -> None: + self.sensor = sensor + self.ref_sensor = ref_sensor + self.checkConnection(self.sensor) + self.checkConnection(self.ref_sensor) + self.record_interval_ms = record_interval_ms + self.record_amount = record_amount + + def checkConnection(self, sensor: Sensor) -> bool: + if sensor is None: return False - return self.reference_sensor.checkConnection() - - # Setters and getters - - def calibrateP1Sensor(self, index: int) -> list: - sensor_list = list(self.group_platform1.sensors.values()) - self.calib_sensor = sensor_list[index] - return [self.calib_sensor.getName(), self.calib_sensor.getProperties()] - - def calibrateP2Sensor(self, index: int) -> None: - sensor_list = list(self.group_platform2.sensors.values()) - self.calib_sensor = sensor_list[index] - return [self.calib_sensor.getName(), self.calib_sensor.getProperties()] - - def getP1SensorStatus(self) -> dict: - return self.group_platform1.getGroupInfo() - - def getP2SensorStatus(self) -> dict: - return self.group_platform2.getGroupInfo() + return sensor.checkConnection() + + # Calibration measurements + + def startMeasurement( + self, use_ref_sensor: bool = False, ref_value: float = None + ) -> None: + self.measurement_ready = False + self.use_ref_sensor = False + self.ref_value = ref_value + if use_ref_sensor and not self.ref_sensor: + logger.warning("There is no reference sensor connected!") + return + if not use_ref_sensor and not ref_value: + logger.warning("No value provided! Measurement ignored") + return + if use_ref_sensor and self.ref_sensor.getStatus() == SStatus.AVAILABLE: + self.ref_sensor.clearValues() + self.ref_sensor.connect() + self.use_ref_sensor = True + self.sensor.clearValues() + self.sensor.connect() + self.measurement_ready = True + + def registerValue(self) -> None: + if not self.measurement_ready: + return + if self.use_ref_sensor: + self.ref_sensor.registerValue() + self.sensor.registerValue() - def getCalibDuration(self) -> int: - return self.config_mngr.getConfigValue( - CfgPaths.GENERAL_CALIBRATION_DURATION_MS.value, 3000 + def stopMeasurement(self) -> None: + if not self.measurement_ready: + return + if self.use_ref_sensor: + self.ref_sensor.disconnect() + self.sensor.disconnect() + self.saveMeasurement() + + # Data management + + def getCalibratedValues(self, sensor: Sensor) -> list[float]: + slope = sensor.getSlope() + intercept = sensor.getIntercept() + return [value * slope + intercept for value in sensor.getValues()] + + def saveMeasurement(self) -> None: + if self.use_ref_sensor: + ref_values = self.getCalibratedValues(self.ref_sensor) + self.ref_value = np.mean(ref_values) + if not self.ref_value: + return + sensor_values = self.sensor.getValues() + sensor_mean = np.mean(sensor_values) + sensor_std = np.std(sensor_values) + new_measurement = [self.ref_value, sensor_mean, sensor_std, len(sensor_values)] + self.measurements_df.loc[len(self.measurements_df)] = new_measurement + + def removeMeasurement(self, index: int) -> None: + self.measurements_df.drop(index=index, inplace=True) + + def saveResults(self, sensor_manager: SensorManager) -> None: + sensor_manager.setSensorSlope(self.sensor, self.sensor_slope) + sensor_manager.setSensorIntercept(self.sensor, self.sensor_intercept) + logger.info( + f"Saved sensor {self.sensor.getName()} " + + f"slope: {self.sensor.getSlope():.4f}; intercept: {self.sensor.getIntercept():.4f}" ) - def getCalibTestInterval(self) -> int: - return self.config_mngr.getConfigValue( - CfgPaths.GENERAL_CALIBRATION_INTERVAL_MS.value, 10 - ) + def clearValues(self) -> None: + self.measurements_df.drop(self.measurements_df.index, inplace=True) + self.sensor_slope: float = 1 + self.sensor_intercept: float = 0 + self.calib_score: float = 1 + + # Setters and getters def refSensorConnected(self) -> bool: - if self.reference_sensor is None: + if not self.ref_sensor: return False - return self.reference_sensor.getStatus() == SStatus.AVAILABLE + return self.ref_sensor.getStatus() == SStatus.AVAILABLE - # Calibration functions + def getRecordInterval(self) -> int: + return self.record_interval_ms - def startRecording(self, auto: bool = False): - self.add_ref_sensor = False - if auto and not self.refSensorConnected(): - return - if auto: - self.reference_sensor.clearValues() - self.reference_sensor.connect() - self.add_ref_sensor = True - self.calib_sensor.clearValues() - self.calib_sensor.connect() - - def registerValue(self): - self.calib_sensor.registerValue() - if self.add_ref_sensor: - self.reference_sensor.registerValue() - - def stopRecording(self): - self.calib_sensor.disconnect() - if self.add_ref_sensor: - self.reference_sensor.disconnect() - - def getValues(self, test_value: float = None) -> list: - if test_value is None and not self.add_ref_sensor: - return [-1, -1, -1, -1] - if self.add_ref_sensor: - ref_values = np.array(self.reference_sensor.getCalibValues()) - test_value = np.mean(ref_values) - values = np.array(self.calib_sensor.getValues()) - values_mean = np.mean(values) - self.sensor_values.append(values_mean) - self.test_values.append(test_value) - return [test_value, values_mean, np.std(values), len(values)] - - def clearAllValues(self): - self.sensor_values.clear() - self.test_values.clear() - self.calib_results.clear() - - def removeValueSet(self, index: int): - self.sensor_values.pop(index) - self.test_values.pop(index) - - def getRegressionResults(self) -> list: - features = np.array(self.sensor_values).reshape(-1, 1) - targets = np.array(self.test_values).reshape(-1, 1) + def getRecordDuration(self) -> int: + return int(self.record_interval_ms * self.record_amount) + + def getLastValues(self) -> list: + return self.measurements_df.iloc[-1].tolist() + + def getResults(self) -> list[float]: + features = self.measurements_df["sensor_mean"].to_numpy().reshape(-1, 1) + targets = self.measurements_df["ref_value"].to_numpy().reshape(-1, 1) model = LinearRegression().fit(features, targets) - self.calib_results.clear() - self.calib_results.append(np.array(model.coef_[0]).item()) - self.calib_results.append(model.intercept_.item()) - self.calib_results.append(model.score(features, targets)) - return self.calib_results + self.sensor_slope = float(model.coef_[0]) + self.sensor_intercept = float(model.intercept_) + self.calib_score = model.score(features, targets) + return [self.sensor_slope, self.sensor_intercept, self.calib_score] + + # Plot data arrays def getValuesArrays(self): - return np.array(self.sensor_values), np.array(self.test_values) + return ( + self.measurements_df["sensor_mean"].to_numpy(), + self.measurements_df["ref_value"].to_numpy(), + ) def getRegressionArrays(self): - sensor_values = np.array(self.sensor_values) - test_values = sensor_values * self.calib_results[0] + self.calib_results[1] - return sensor_values, test_values - - def saveResults(self): - if self.calib_results is None: - return - self.calib_sensor.setSlope(self.calib_results[0]) - self.calib_sensor.setIntercept(self.calib_results[1]) - self.config_mngr.saveConfig() - logger.info( - f"Saved sensor {self.calib_sensor.getName()} slope: {self.calib_results[0]:.4f}; intercept: {self.calib_results[1]:.4f}" + return ( + self.measurements_df["sensor_mean"].to_numpy(), + ( + self.measurements_df["sensor_mean"] * self.sensor_slope + + self.sensor_intercept + ).to_numpy(), ) diff --git a/src/managers/configManager.py b/src/managers/configManager.py index a8906df..efb9a04 100644 --- a/src/managers/configManager.py +++ b/src/managers/configManager.py @@ -21,7 +21,7 @@ def loadConfigFile(self, file_path) -> None: self.loadConfig(file_path) # Check custom file path custom_config_path = self.getConfigValue( - ConfigPaths.GENERAL_CUSTOM_CONFIG_PATH.value + ConfigPaths.CUSTOM_CONFIG_PATH.value ) if custom_config_path: # If the source file is the default config, load custom file @@ -32,7 +32,7 @@ def loadConfigFile(self, file_path) -> None: return # If the target file is the default config, remove custom file path self.selected_config_path = self.default_config_path - self.setConfigValue(ConfigPaths.GENERAL_CUSTOM_CONFIG_PATH.value, None) + self.setConfigValue(ConfigPaths.CUSTOM_CONFIG_PATH.value, None) return if not os.path.exists(file_path): logger.warning(f"Could not find custom config file: {file_path}.") @@ -41,9 +41,7 @@ def loadConfigFile(self, file_path) -> None: # First save new custom config path in default config self.loadConfig(self.default_config_path) self.selected_config_path = self.default_config_path - self.setConfigValue( - ConfigPaths.GENERAL_CUSTOM_CONFIG_PATH.value, str(file_path) - ) + self.setConfigValue(ConfigPaths.CUSTOM_CONFIG_PATH.value, str(file_path)) self.loadConfig(file_path) self.selected_config_path = file_path diff --git a/src/managers/dataManager.py b/src/managers/dataManager.py new file mode 100644 index 0000000..57efc16 --- /dev/null +++ b/src/managers/dataManager.py @@ -0,0 +1,415 @@ +# -*- coding: utf-8 -*- + +import math +import numpy as np +import pandas as pd +from scipy.spatial.transform import Rotation +from scipy.signal import butter, filtfilt +from src.qtUIs.widgets.matplotlibWidgets import ( + PlotFigureWidget, + PlotPlatformForcesWidget, + PlotPlatformCOPWidget, +) +from src.managers.sensorManager import SensorManager +from src.handlers import SensorGroup, Sensor +from src.enums.plotTypes import PlotTypes +from src.enums.sensorTypes import SGTypes, STypes +from src.enums.sensorStatus import SGStatus + +from loguru import logger + + +class DataManager: + def __init__(self): + # Time + self.timestamp_list: list = [] + self.timeincr_list: list = [] + # Data + self.df_raw: pd.DataFrame = pd.DataFrame() + self.df_calibrated: pd.DataFrame = pd.DataFrame() + self.df_filtered: pd.DataFrame = pd.DataFrame() + # Sensor header suffixes + self.imu_ang_headers: list[str] = ["qx", "qy", "qz", "qw"] + self.imu_vel_headers: list[str] = ["wx", "wy", "wz"] + self.imu_acc_headers: list[str] = ["x_acc", "y_acc", "z_acc"] + # WIP Platform loadcell sensors orientation + self.forces_sign: dict[str, int] = { + "X_1": 1, + "X_2": -1, + "X_3": -1, + "X_4": 1, + "Y_1": 1, + "Y_2": 1, + "Y_3": -1, + "Y_4": -1, + "Z_1": 1, + "Z_2": 1, + "Z_3": 1, + "Z_4": 1, + } + + def clearDataFrames(self) -> None: + self.df_raw: pd.DataFrame = pd.DataFrame() + self.df_calibrated: pd.DataFrame = pd.DataFrame() + self.df_filtered: pd.DataFrame = pd.DataFrame() + + # Data load methods + + def loadData(self, time_list: list, sensor_groups: list[SensorGroup]) -> None: + self.clearDataFrames() + self.timestamp_list = time_list + self.timeincr_list = [(t - time_list[0]) / 1000 for t in time_list] + for group in sensor_groups: + if not group.getRead(): + continue + if group.getStatus() == SGStatus.ERROR: + continue + for sensor in group.getSensors(only_available=True).values(): + if sensor.getType() == STypes.SENSOR_IMU: + values_list = self.getListedData(sensor) + for i, suffix in enumerate( + self.imu_ang_headers + + self.imu_vel_headers + + self.imu_acc_headers + ): + imu_name = sensor.getName() + "_" + suffix + self.df_raw[imu_name] = values_list[i] + # No need to calibrate IMUs + self.df_calibrated[imu_name] = values_list[i] + continue + self.df_raw[sensor.getName()] = sensor.getValues() + slope = sensor.getSlope() + intercept = sensor.getIntercept() + self.df_calibrated[sensor.getName()] = [ + value * slope + intercept for value in sensor.getValues() + ] + + # Transforms values lists into separate variable lists. + # Ex: [ti [gx, gy, gz]] -> [gx[ti], gy[ti], gz[ti]] + def getListedData(self, sensor: Sensor) -> list[list[float]]: + main_list = sensor.getValues() + new_main_list: list[list[float]] = [[] for _ in range(len(main_list[0]))] + for value_list in main_list: + for i, value in enumerate(value_list): + new_main_list[i].append(value) + return new_main_list + + def isRangedPlot(self, idx1: int, idx2: int) -> bool: + if idx1 != 0 or idx2 != 0: + if idx2 > idx1 and idx1 >= 0 and idx2 <= len(self.df_filtered): + return True + return False + + # Getters + + def getDataSize(self) -> int: + return len(self.df_raw) + + def getGroupPlotWidget( + self, + plot_type: PlotTypes, + sensor_names: list[str], + idx1: int = 0, + idx2: int = 0, + ) -> PlotPlatformForcesWidget | PlotPlatformCOPWidget | PlotFigureWidget: + # Platform groups + if ( + plot_type == PlotTypes.GROUP_PLATFORM_COP + or plot_type == PlotTypes.GROUP_PLATFORM_FORCES + ): + # Make forces dataframes + df_fx = pd.DataFrame() + df_fy = pd.DataFrame() + df_fz = pd.DataFrame() + for sensor_name in sensor_names: + sign = 1 + for key in self.forces_sign.keys(): + if key in sensor_name: + sign = self.forces_sign[key] + break + if "X_" in sensor_name: + df_fx[sensor_name] = self.getForce(sensor_name, sign) + continue + if "Y_" in sensor_name: + df_fy[sensor_name] = self.getForce(sensor_name, sign) + continue + if "Z_" in sensor_name: + df_fz[sensor_name] = self.getForce(sensor_name, sign) + continue + logger.warning( + f"Could not recognize sensor {sensor_name}." + + " Needs X_, Y_ or Z_ in name to be identified." + ) + if plot_type == PlotTypes.GROUP_PLATFORM_COP: + plotter = PlotPlatformCOPWidget() + # Check shapes + if df_fx.shape[1] != 4: + logger.error( + "Could not build COP plot!" + + f"Need 4 X axis sensors, only {df_fx.shape[1]} provided." + ) + return plotter + if df_fy.shape[1] != 4: + logger.error( + "Could not build COP plot!" + + f"Need 4 Y axis sensors, only {df_fy.shape[1]} provided." + ) + return plotter + if df_fz.shape[1] != 4: + logger.error( + "Could not build COP plot!" + + f"Need 4 Z axis sensors, only {df_fz.shape[1]} provided." + ) + return plotter + # Get COP and build plot + if self.isRangedPlot(idx1, idx2): + df_fx = df_fx[idx1:idx2] + df_fy = df_fy[idx1:idx2] + df_fz = df_fz[idx1:idx2] + cop = self.getPlatformCOP(df_fx, df_fy, df_fz) + # Invert COP axis for ellipse cause plot is inverted + ellipse_params = self.getEllipseFromCOP((cop[1], cop[0])) + plotter.setupPlot(cop, ellipse_params) + return plotter + if plot_type == PlotTypes.GROUP_PLATFORM_FORCES: + plotter = PlotPlatformForcesWidget() + if self.isRangedPlot(idx1, idx2): + plotter.setupRangedPlot( + self.timeincr_list, df_fx, df_fy, df_fz, idx1, idx2 + ) + return plotter + plotter.setupPlot(self.timeincr_list, df_fx, df_fy, df_fz) + return plotter + return PlotFigureWidget() + + def getPlotPreviewWidget( + self, + sensor_name: str, + idx1: int = 0, + idx2: int = 0, + ) -> PlotFigureWidget: + plotter = PlotFigureWidget() + + # Check first if dataframe contains sensor_name + if sensor_name not in self.df_filtered.columns: + logger.error(f"Sensor name {sensor_name} not found in dataframe results!") + return plotter + + df = self.df_filtered[sensor_name].copy(deep=True) + + if self.isRangedPlot(idx1, idx2): + plotter.setupRangedPreviewPlot(df, idx1, idx2) + return plotter + plotter.setupPlot(df) + return plotter + + def getSensorPlotWidget( + self, + plot_type: PlotTypes, + sensor_name: str, + idx1: int = 0, + idx2: int = 0, + ) -> PlotFigureWidget: + plotter = PlotFigureWidget() + + # Check first if dataframe contains sensor_name + col_exist = False + for column in self.df_filtered.columns: + if sensor_name in column: + col_exist = True + break + if not col_exist: + print(self.df_filtered) + logger.error(f"Sensor name {sensor_name} not found in dataframe results!") + return plotter + + # Do process depending on requested plot type + df: pd.DataFrame = pd.DataFrame() + y_label: str = "" + if plot_type == PlotTypes.SENSOR_LOADCELL_FORCE: + sign = 1 + for key in self.forces_sign.keys(): + if key in sensor_name: + sign = self.forces_sign[key] + break + df = self.getForce(sensor_name, sign) + y_label = "Weight (kg)" + elif plot_type == PlotTypes.SENSOR_ENCODER_DISTANCE: + df = self.getDistance(sensor_name) + y_label = "Distance (mm)" + elif plot_type == PlotTypes.SENSOR_IMU_ANGLES: + df = self.getIMUAngles(sensor_name, self.imu_ang_headers) + y_label = "Angle (deg)" + elif plot_type == PlotTypes.SENSOR_IMU_VELOCITY: + df = self.getIMUValues(sensor_name, self.imu_vel_headers) + y_label = "Angular velocity (rad/s)" + elif plot_type == PlotTypes.SENSOR_IMU_ACCELERATION: + df = self.getIMUValues(sensor_name, self.imu_acc_headers) + y_label = "Linear acceleration (m/s2)" + + # Setup widget and return + if df.empty: + return plotter + if isinstance(df, pd.Series): + df = df.to_frame() + df.insert(0, "times", self.timeincr_list) + if self.isRangedPlot(idx1, idx2): + plotter.setupRangedPlot(df, idx1, idx2, ("Time (s)", y_label)) + return plotter + plotter.setupPlot(df, ("Time (s)", y_label)) + return plotter + + def getRawDataframe(self, idx1: int = 0, idx2: int = 0) -> pd.DataFrame: + return self.formatDataframe(self.df_raw.copy(deep=True), idx1, idx2) + + def getCalibrateDataframe(self, idx1: int = 0, idx2: int = 0) -> pd.DataFrame: + return self.formatDataframe(self.df_calibrated.copy(deep=True), idx1, idx2) + + def formatDataframe( + self, df: pd.DataFrame, idx1: int = 0, idx2: int = 0 + ) -> pd.DataFrame: + timestamp = self.timestamp_list.copy() + if self.isRangedPlot(idx1, idx2): + timestamp = timestamp[idx1:idx2] + df = df.iloc[idx1:idx2] + # Format dataframe values to 0.000000e+00 + df = df.map("{:.6e}".format) + # Add timestamp values + df.insert(0, "timestamp", timestamp) + return df + + # Data process methods + + # ButterWorth filter + def applyButterFilter(self, fs: int = 100, fc: int = 5, order: int = 6): + b, a = butter(order, fc / (0.5 * fs), btype="low", analog=False) + self.df_filtered = pd.DataFrame() + for col in self.df_calibrated: + self.df_filtered[col] = filtfilt(b, a, self.df_calibrated[col]) + + # - Sensor methods + def getForce(self, sensor_name: str, sign: int) -> pd.DataFrame: + df = self.df_filtered[sensor_name].copy(deep=True) + df *= sign + return df + + def getDistance(self, sensor_name: str) -> pd.DataFrame: + return self.df_filtered[sensor_name] + + def getIMUAngles(self, sensor_name: str, suffix_list: list[str]) -> pd.DataFrame: + df_quat: pd.DataFrame = self.getIMUValues(sensor_name, suffix_list) + headers = [sensor_name + "_" + suffix for suffix in suffix_list] + + rot = Rotation.from_quat(df_quat[headers].to_numpy()) + euler_ang_deg = np.degrees(rot.as_euler("xyz")) + + df_euler = pd.DataFrame( + euler_ang_deg, + columns=[ + sensor_name + "_yaw", + sensor_name + "_pitch", + sensor_name + "_roll", + ], + ) + + return df_euler + + def getIMUValues(self, sensor_name: str, suffix_list: list[str]) -> pd.DataFrame: + headers = [sensor_name + "_" + suffix for suffix in suffix_list] + return self.df_filtered[headers] + + # - Platform group methods + + # Expected input format: name_1, name_2, name_3, name_4 + # Output: x1, x2, x3, x4 + def getPlatformForces(self, sensor_names: list[str]) -> pd.DataFrame: + df_list: list[pd.DataFrame] = [] + for sensor_name in sensor_names: + sign = 1 + for key in self.forces_sign.keys(): + if key in sensor_name: + sign = self.forces_sign[key] + break + df_list.append(self.getForce(sensor_name, sign)) + return pd.concat(df_list) + + def getPlatformCOP( + self, df_fx: pd.DataFrame, df_fy: pd.DataFrame, df_fz: pd.DataFrame + ) -> tuple[pd.Series, pd.Series]: + # Platform dimensions + lx = 508 # mm + ly = 308 # mm + h = 20 # mm + # Get sum forces + fx = df_fx.sum(axis=1) + fy = df_fy.sum(axis=1) + fz = df_fz.sum(axis=1) + # Operate + mx = ( + ly + / 2 + * ( + -df_fz.iloc[:, 0] + - df_fz.iloc[:, 1] + + df_fz.iloc[:, 2] + + df_fz.iloc[:, 3] + ) + ) + my = ( + lx + / 2 + * ( + -df_fz.iloc[:, 0] + + df_fz.iloc[:, 1] + + df_fz.iloc[:, 2] + - df_fz.iloc[:, 3] + ) + ) + # Get COP + cop_x = (-h * fx - my) / fz + cop_y = (-h * fy + mx) / fz + cop_x = cop_x - np.mean(cop_x) + cop_y = cop_y - np.mean(cop_y) + return [cop_x, cop_y] + + def getEllipseFromCOP( + self, cop: tuple[pd.Series, pd.Series] + ) -> tuple[float, float, float, float]: + + cov_matrix = np.cov(cop[0], cop[1]) + + # Eigen vectors and angular rotation + D, V = np.linalg.eig(cov_matrix) + theta = np.arctan2(V[1, 0], V[0, 0]) + + ellipse_axis = np.sqrt(D) + + # Ellipse params + a = ellipse_axis[0] + b = ellipse_axis[1] + area = np.pi * a * b + + return a, b, theta, area + + # Tare sensors + + def tareSensors(self, sensor_manager: SensorManager, last_values: int) -> None: + for group in sensor_manager.getGroups(only_available=True): + for sensor in group.getSensors(only_available=True).values(): + # Only tare loadcells and encoders + if sensor.getType() not in [ + STypes.SENSOR_LOADCELL, + STypes.SENSOR_ENCODER, + ]: + continue + # Tare process + logger.debug(f"Tare sensor {sensor.getName()}") + slope = sensor.getSlope() + intercept = sensor.getIntercept() + calib_values = [ + value * slope + intercept + for value in sensor.getValues()[-last_values:] + ] + new_intercept = float(sensor.getIntercept() - np.mean(calib_values)) + logger.debug(f"From {intercept} to {new_intercept}") + sensor_manager.setSensorIntercept(sensor, new_intercept) diff --git a/src/managers/testFileManager.py b/src/managers/fileManager.py similarity index 65% rename from src/managers/testFileManager.py rename to src/managers/fileManager.py index 72abaa7..3fa6d4a 100644 --- a/src/managers/testFileManager.py +++ b/src/managers/fileManager.py @@ -5,20 +5,21 @@ from src.enums.configPaths import ConfigPaths as CfgPaths -class TestFileManager: - __test__ = False +class FileManager: def __init__(self, cfg_mngr: ConfigManager) -> None: - self.cfg_mngr = cfg_mngr - self.file_name = self.cfg_mngr.getConfigValue( - CfgPaths.GENERAL_TEST_NAME.value, "Test" + self.cfg_mngr: ConfigManager = cfg_mngr + self.file_name: str = self.cfg_mngr.getConfigValue( + CfgPaths.TEST_NAME.value, "Test" ) - self.file_path = self.cfg_mngr.getConfigValue( - CfgPaths.GENERAL_TEST_FOLDER.value, "" + self.file_name_suffix: str = "" + self.file_path: str = self.cfg_mngr.getConfigValue( + CfgPaths.TEST_FOLDER_PATH.value, "" ) - def checkDuplicatedName(self, name: str) -> str: + def checkDuplicatedName(self, name: str) -> None: total_path = os.path.join(self.file_path, name + ".csv") if not os.path.exists(total_path): + self.file_name_suffix = "" return name suffix_num = 1 while True: @@ -32,21 +33,21 @@ def checkDuplicatedName(self, name: str) -> str: ) break suffix_num += 1 - return new_name + self.file_name_suffix = f"_{suffix_num}" # Setters and getters def setFileName(self, name: str) -> None: - name = self.checkDuplicatedName(name) + self.checkDuplicatedName(name) if name == self.file_name: return self.file_name = name - self.cfg_mngr.setConfigValue(CfgPaths.GENERAL_TEST_NAME.value, self.file_name) + self.cfg_mngr.setConfigValue(CfgPaths.TEST_NAME.value, self.file_name) logger.info(f"Changed test name to: {self.file_name}") def setFilePath(self, path: str, check_name: bool = True): self.file_path = path - self.cfg_mngr.setConfigValue(CfgPaths.GENERAL_TEST_FOLDER.value, self.file_path) + self.cfg_mngr.setConfigValue(CfgPaths.TEST_FOLDER_PATH.value, self.file_path) logger.info(f"Changed test folder path to: {self.file_path}") if check_name: self.setFileName(self.file_name) @@ -55,7 +56,7 @@ def checkFileName(self) -> None: self.setFileName(self.file_name) def getFileName(self) -> str: - return self.file_name + return self.file_name + self.file_name_suffix def getFilePath(self) -> str: return self.file_path @@ -69,23 +70,24 @@ def saveDataToCSV(self, df: pd.DataFrame, name_suffix: str = ""): if not self.getPathExists(): logger.warning("The file path does not exist!") return - file_name = self.file_name + name_suffix + file_name = self.file_name + self.file_name_suffix + name_suffix total_path = os.path.join(self.file_path, file_name + ".csv") df.to_csv(total_path, index=False) file_size = os.path.getsize(total_path) / (1024 * 1024) logger.info( - f"Test file saved in {self.file_path} ({str(round(file_size, 2))} MB)" + f"Test file {file_name} saved in {self.file_path} ({str(round(file_size, 2))} MB)" ) - def saveDataToBinary(self, df: pd.DataFrame): + def saveDataToBinary(self, df: pd.DataFrame, name_suffix: str = ""): if not self.getPathExists(): logger.warning("The file path does not exist!") return - total_path = os.path.join(self.file_path, self.file_name + ".pk1") + file_name = self.file_name + self.file_name_suffix + name_suffix + total_path = os.path.join(self.file_path, file_name + ".pk1") df.to_pickle(total_path) file_size = os.path.getsize(total_path) / (1024 * 1024) logger.info( - f"Test file saved in {self.file_path} ({str(round(file_size, 2))} MB)" + f"Test file {file_name} saved in {self.file_path} ({str(round(file_size, 2))} MB)" ) diff --git a/src/managers/sensorManager.py b/src/managers/sensorManager.py new file mode 100644 index 0000000..6abe267 --- /dev/null +++ b/src/managers/sensorManager.py @@ -0,0 +1,270 @@ +# -*- coding: utf-8 -*- + +from loguru import logger +from src.handlers.sensorGroup import SensorGroup +from src.handlers.sensor import Sensor +from src.handlers import drivers +from src.enums.configPaths import ConfigPaths as CfgPaths +from src.enums.sensorParams import SParams, SGParams +from src.enums.sensorTypes import STypes, SGTypes +from src.enums.sensorStatus import SGStatus +from typing import Protocol + +# Required param keys for sensor handlers +group_keys = [SGParams.NAME, SGParams.TYPE, SGParams.READ, SGParams.SENSOR_LIST] +sensor_keys = [SParams.NAME, SParams.TYPE, SParams.READ, SParams.CONNECTION_SECTION] +loadcell_conn_keys = [SParams.SERIAL, SParams.CHANNEL] +encoder_conn_keys = [SParams.SERIAL, SParams.CHANNEL] +taobotics_conn_keys = [SParams.SERIAL] + + +class ConfigYAMLHandler(Protocol): + def setConfigValue(self, key_path: str, value) -> None: ... + + def getConfigValue(self, key_path: str, default_value=None): ... + + +class SensorManager: + def __init__(self) -> None: + self.config_mngr: ConfigYAMLHandler + self.config_sensors: dict = {} + + self.sensor_groups: list[SensorGroup] = [] + self.loadcell_calib_ref: Sensor = None + self.platform_calib_ref: Sensor = None + + def setup(self, config_manager: ConfigYAMLHandler) -> None: + self.config_mngr = config_manager + self.config_sensors = self.config_mngr.getConfigValue( + CfgPaths.SENSORS_SECTION.value, {} + ) + config_groups = self.config_mngr.getConfigValue( + CfgPaths.SENSOR_GROUPS_SECTION.value, {} + ) + loadcell_calib_id = self.config_mngr.getConfigValue( + CfgPaths.CALIBRATION_LOADCELL_SENSOR.value, {} + ) + platform_calib_id = self.config_mngr.getConfigValue( + CfgPaths.CALIBRATION_PLATFORM_SENSOR.value, {} + ) + self.clearSensors() + self.loadSensorGroups(config_groups) + self.loadcell_calib_ref = self.loadSensor(loadcell_calib_id) + self.platform_calib_ref = self.loadSensor(platform_calib_id) + + def loadSensorGroups(self, config_groups: dict) -> None: + if not config_groups: + logger.error("No sensor groups found in config!") + return + if not self.config_sensors: + logger.error("No sensors found in config!") + return + for group_id in config_groups: + sensor_group = self.loadSensorGroup(group_id, config_groups[group_id]) + if sensor_group is None: + continue + # Add sensor group to list + self.sensor_groups.append(sensor_group) + logger.info( + f"Sensor group {sensor_group.getID()} of type {sensor_group.getType().name} successfully loaded," + + f"with {sensor_group.getSize()} sensors." + ) + + def loadSensorGroup(self, id: str, content: dict) -> SensorGroup: + if content is None: + logger.warning(f"Sensor group {id} is empty! Not loaded.") + return None + if not all(key.value in content.keys() for key in group_keys): + logger.warning( + f"Sensor group {id} does not have the required keys! Not loaded." + ) + return None + if content[SGParams.TYPE.value] not in SGTypes._member_names_: + logger.warning( + f"Sensor group {id} does not have a valid group type! Not loaded." + ) + return None + if not content[SGParams.SENSOR_LIST.value]: + logger.warning(f"Sensor group {id} has an empty sensor list! Not loaded.") + return None + sensor_group = SensorGroup( + id, content[SGParams.NAME.value], SGTypes[content[SGParams.TYPE.value]] + ) + sensor_group.setRead(content[SGParams.READ.value]) + # Load all sensors for this sensor group + for sensor_id in content[SGParams.SENSOR_LIST.value]: + sensor = self.loadSensor(sensor_id) + if sensor is not None: + sensor_group.addSensor(sensor) + # Check if any sensor has been loaded + if sensor_group.getSize() == 0: + logger.error(f"Sensor group {id} is empty. Not loaded.") + return None + return sensor_group + + def loadSensor(self, id: str) -> Sensor: + if not id in self.config_sensors: + logger.warning( + f"Did not found sensor {id} in sensors config section. Not loaded." + ) + return None + content = self.config_sensors[id] + # Sections are required: name, type, read and connection. + # Optional sections: calibration and properties. + if not all(key.value in content.keys() for key in sensor_keys): + logger.warning(f"Sensor {id} does not have the required keys! Not loaded.") + return None + if content[SParams.TYPE.value] not in STypes._member_names_: + logger.warning( + f"Sensor {id} does not have a valid sensor type! Not loaded." + ) + return None + # Check sensor type required keys and setup + sensor = Sensor() + if content[SParams.TYPE.value] == STypes.SENSOR_LOADCELL.name: + if not all( + key.value in content[SParams.CONNECTION_SECTION.value].keys() + for key in loadcell_conn_keys + ): + logger.warning( + f"Sensor {id} does not have the required loadcell connection keys! Not loaded." + ) + return None + sensor.setup(id, content, drivers.PhidgetLoadCell) + return sensor + if content[SParams.TYPE.value] == STypes.SENSOR_ENCODER.name: + if not all( + key.value in content[SParams.CONNECTION_SECTION.value].keys() + for key in encoder_conn_keys + ): + logger.warning( + f"Sensor {id} does not have the required encoder connection keys! Not loaded." + ) + return None + sensor.setup(id, content, drivers.PhidgetEncoder) + return sensor + if content[SParams.TYPE.value] == STypes.SENSOR_IMU.name: + if not all( + key.value in content[SParams.CONNECTION_SECTION.value].keys() + for key in taobotics_conn_keys + ): + logger.warning( + f"Sensor {id} does not have the required taobotics connection keys! Not loaded." + ) + return None + sensor.setup(id, content, drivers.TaoboticsIMU) + return sensor + logger.error( + f"Sensor type {content[SParams.TYPE.value]} is not a sensor type! Not loaded." + ) + return None + + def clearSensors(self) -> None: + self.sensor_groups.clear() + self.loadcell_calib_ref = None + self.platform_calib_ref = None + + # Setters and getters + + def setSensorRead( + self, + read: bool, + group_id: str, + sensor_id: str = None, + ) -> None: + for group in self.getGroups(): + if group.getID() != group_id: + continue + if sensor_id is None: + logger.debug(f"Set read status of group {group_id} to {read}") + group.setRead(read) + self.config_mngr.setConfigValue( + CfgPaths.SENSOR_GROUPS_SECTION.value + + "." + + group_id + + "." + + SGParams.READ.value, + read, + ) + return + group_sensors = group.getSensors() + if sensor_id in group_sensors: + logger.debug(f"Set read status of sensor {sensor_id} to {read}") + group_sensors[sensor_id].setRead(read) + self.config_mngr.setConfigValue( + CfgPaths.SENSORS_SECTION.value + + "." + + sensor_id + + "." + + SParams.READ.value, + read, + ) + return + + def setSensorSlopeByID(self, group_id: str, sensor_id: str, slope: float) -> None: + group = self.getGroup(group_id) + if group is None: + return + if sensor_id in group.getSensors().keys(): + self.setSensorSlope(group.getSensors()[sensor_id], slope) + + def setSensorSlope(self, sensor: Sensor, slope: float) -> None: + sensor.setSlope(slope) + self.config_mngr.setConfigValue( + CfgPaths.SENSORS_SECTION.value + + "." + + sensor.getID() + + "." + + SParams.CALIBRATION_SECTION.value + + "." + + SParams.SLOPE.value, + slope, + ) + + def setSensorInterceptByID( + self, group_id: str, sensor_id: str, intercept: float + ) -> None: + group = self.getGroup(group_id) + if group is None: + return + if sensor_id in group.getSensors().keys(): + self.setSensorIntercept(group.getSensors()[sensor_id], intercept) + + def setSensorIntercept(self, sensor: Sensor, intercept: float) -> None: + sensor.setIntercept(intercept) + self.config_mngr.setConfigValue( + CfgPaths.SENSORS_SECTION.value + + "." + + sensor.getID() + + "." + + SParams.CALIBRATION_SECTION.value + + "." + + SParams.INTERCEPT.value, + intercept, + ) + + def getGroups( + self, only_available: bool = False, group_type: SGTypes = None + ) -> list[SensorGroup]: + if not only_available and group_type is None: + return self.sensor_groups + group_list: list[SensorGroup] = [] + for group in self.sensor_groups: + if only_available and group.getStatus() == SGStatus.ERROR: + continue + if group_type is not None and group.getType() != group_type: + continue + group_list.append(group) + return group_list + + def getGroup(self, group_id: str) -> SensorGroup: + for group in self.getGroups(): + if group.getID() == group_id: + return group + return None + + def getSensorCalibRef(self) -> Sensor: + return self.loadcell_calib_ref + + def getPlatformCalibRef(self) -> Sensor: + return self.platform_calib_ref diff --git a/src/managers/testDataManager.py b/src/managers/testDataManager.py deleted file mode 100644 index 7d3abfc..0000000 --- a/src/managers/testDataManager.py +++ /dev/null @@ -1,351 +0,0 @@ -# -*- coding: utf-8 -*- - -import math -import numpy as np -import pandas as pd -from mrpt.pymrpt import mrpt -from src.qtUIs.widgets.matplotlibWidgets import ( - PlotPlatformForcesWidget, - PlotPlatformCOPWidget, - PlotEncoderWidget, - PlotIMUWidget, -) -from src.managers.testManager import TestManager -from src.handlers.sensorGroup import SensorGroup -from src.enums.configPaths import ConfigPaths as CfgPaths - -from loguru import logger - - -class TestDataManager: - __test__ = False - def __init__(self, test_manager: TestManager): - self.test_mngr = test_manager - self.setupPlotWidgets() - self.time_list = [] - self.data_platform1 = {} - self.data_platform2 = {} - self.data_encoders = {} - self.data_imus = {} - - self.forces_max_values = self.test_mngr.config_mngr.getConfigValue( - CfgPaths.GENERAL_PLOTTERS_MAX_FORCES.value, 1000 - ) - self.stabilogram_max_values = self.test_mngr.config_mngr.getConfigValue( - CfgPaths.GENERAL_PLOTTERS_MAX_STABILOGRAM.value, 1000 - ) - self.encoders_max_values = self.test_mngr.config_mngr.getConfigValue( - CfgPaths.GENERAL_PLOTTERS_MAX_ENCODERS.value, 1000 - ) - self.imus_max_values = self.test_mngr.config_mngr.getConfigValue( - CfgPaths.GENERAL_PLOTTERS_MAX_IMUS.value, 1000 - ) - - def setupPlotWidgets(self): - p1_group_name = self.test_mngr.group_platform1.getGroupName() - p2_group_name = self.test_mngr.group_platform2.getGroupName() - encoders_group_name = self.test_mngr.group_encoders.getGroupName() - encoders_group_size = self.test_mngr.group_encoders.getGroupSize() - imus_group_name = self.test_mngr.group_imus.getGroupName() - imus_group_size = self.test_mngr.group_imus.getGroupSize() - - self.forces_p1_widget = PlotPlatformForcesWidget(p1_group_name) - self.forces_p2_widget = PlotPlatformForcesWidget(p2_group_name) - self.cop_p1_widget = PlotPlatformCOPWidget(p1_group_name) - self.cop_p2_widget = PlotPlatformCOPWidget(p2_group_name) - self.encoders_widget = PlotEncoderWidget( - encoders_group_name, encoders_group_size - ) - self.imu_angles_widget = PlotIMUWidget(imus_group_name, imus_group_size) - - def clearAllPlots(self) -> None: - self.forces_p1_widget.clear() - self.forces_p2_widget.clear() - self.cop_p1_widget.clear() - self.cop_p2_widget.clear() - self.encoders_widget.clear() - self.imu_angles_widget.clear() - - def updatePlotWidgetDraw(self, index: int) -> None: - if index == 1: - self.updatePlatformForces(self.forces_max_values) - return - if index == 2: - self.updateStabilograms(self.stabilogram_max_values) - return - if index == 3: - self.updateEncoders(self.encoders_max_values) - return - if index == 4: - self.updateIMUAngles(self.imus_max_values) - return - - def updateAllPlots(self) -> None: - self.updatePlatformForces() - self.updateStabilograms() - self.updateEncoders() - self.updateIMUAngles() - - def checkDataLen(self, times: list, data: list, last_values: int = None): - if not data or not times: - return False, 0 - times_len = len(times) - data_len = len(data) - if times_len == data_len: - if last_values is not None and data_len > last_values: - return True, last_values - return True, times_len - if last_values is not None and data_len > last_values: - return True, last_values - return False, times_len - - def updatePlatformForces(self, last_values: int = None) -> None: - # Get data - time_list = self.test_mngr.getTestTimes().copy() - p1_data_dict = self.getSensorData(self.test_mngr.group_platform1) - p2_data_dict = self.getSensorData(self.test_mngr.group_platform2) - # Check values - p1_ready, plot_len1 = self.checkDataLen( - time_list, next(iter(p1_data_dict.values()), None), last_values - ) - p2_ready, plot_len2 = self.checkDataLen( - time_list, next(iter(p2_data_dict.values()), None), last_values - ) - if not p1_ready and not p2_ready: - return - # Get arrays for plots - if p1_ready: - times_np = np.array( - [(t - time_list[0]) / 1000 for t in time_list[-plot_len1:]] - ) - forces_x_p1, forces_y_p1, forces_z_p1 = self.getForces( - p1_data_dict, plot_len1 - ) - self.forces_p1_widget.update( - times_np, forces_x_p1, forces_y_p1, forces_z_p1 - ) - if p2_ready: - times_np = np.array( - [(t - time_list[0]) / 1000 for t in time_list[-plot_len2:]] - ) - forces_x_p2, forces_y_p2, forces_z_p2 = self.getForces( - p2_data_dict, plot_len2 - ) - self.forces_p2_widget.update( - times_np, forces_x_p2, forces_y_p2, forces_z_p2 - ) - - def getForces(self, data_dict: dict, plot_len: int = None): - sum_key = "Sum forces" - forces_x = {sum_key: np.zeros(plot_len)} - forces_y = {sum_key: np.zeros(plot_len)} - forces_z = {sum_key: np.zeros(plot_len)} - - for key, values in data_dict.items(): - values_np = np.array(values[-plot_len:]) - if "LoadCell_Z" in key: - forces_z[key] = values_np - forces_z[sum_key] += values_np - if "LoadCell_X" in key: - sign = 1 - if "1" in key or "4" in key: - sign = -1 - forces_x[key] = values_np * sign - forces_x[sum_key] += forces_x[key] - if "LoadCell_Y" in key: - sign = 1 - if "1" in key or "2" in key: - sign = -1 - forces_y[key] = values_np * sign - forces_y[sum_key] += forces_y[key] - - return forces_x, forces_y, forces_z - - def updateStabilograms(self, last_values: int = None) -> None: - # Get data - time_list = self.test_mngr.getTestTimes().copy() - p1_data_dict = self.getSensorData(self.test_mngr.group_platform1) - p2_data_dict = self.getSensorData(self.test_mngr.group_platform2) - p1_size = len(p1_data_dict) - p2_size = len(p2_data_dict) - if p1_size != 12 and p2_size != 12: - return - # Check values - p1_ready, plot_len1 = self.checkDataLen( - time_list, next(iter(p1_data_dict.values()), None), last_values - ) - p2_ready, plot_len2 = self.checkDataLen( - time_list, next(iter(p2_data_dict.values()), None), last_values - ) - if not p1_ready and not p2_ready: - return - # Get arrays for plots - if p1_size == 12 and p1_ready: - forces_x_p1, forces_y_p1, forces_z_p1 = self.getForces( - p1_data_dict, plot_len1 - ) - cop_x_p1, cop_y_p1 = self.getCOP(forces_x_p1, forces_y_p1, forces_z_p1) - self.cop_p1_widget.update(cop_x_p1, cop_y_p1) - if p2_size == 12 and p2_ready: - forces_x_p2, forces_y_p2, forces_z_p2 = self.getForces( - p2_data_dict, plot_len2 - ) - cop_x_p2, cop_y_p2 = self.getCOP(forces_x_p2, forces_y_p2, forces_z_p2) - self.cop_p2_widget.update(cop_x_p2, cop_y_p2) - - def getCOP(self, forces_x: dict, forces_y: dict, forces_z: dict): - # Initial values (distance between sensors and upper platform, in mm) - lx, ly, h = 508, 308, 20 - # Create forces np matrixes - forces_x_np = np.array(list(forces_x.values())) - forces_y_np = np.array(list(forces_y.values())) - forces_z_np = np.array(list(forces_z.values())) - # Operate - mx = ( - ly - / 2 - * (-forces_z_np[4] + forces_z_np[1] + forces_z_np[2] - forces_z_np[3]) - ) - my = ( - lx - / 2 - * (-forces_z_np[4] + forces_z_np[1] + forces_z_np[2] + forces_z_np[3]) - ) - # Get COP - cop_x = (-h * forces_x_np[0] - my) / forces_z_np[0] - cop_y = (-h * forces_y_np[0] + mx) / forces_z_np[0] - return cop_x, cop_y - - def updateEncoders(self, last_values: int = None) -> None: - # Get data - time_list = self.test_mngr.getTestTimes().copy() - encoder_data_dict = self.getSensorData(self.test_mngr.group_encoders) - encoders_ready, plot_len = self.checkDataLen( - time_list, encoder_data_dict, last_values - ) - if not encoders_ready: - return - # Get arrays for plots - times_np = np.array([(t - time_list[0]) / 1000 for t in time_list[-plot_len:]]) - encoder_data_np = {} - for key, values in encoder_data_dict.items(): - values_np = np.array(values) - if last_values: - values_np = values_np[-plot_len:] - encoder_data_np[key] = values_np - # Update plots with values - self.encoders_widget.update(times_np, encoder_data_np) - - def updateIMUAngles(self, last_values: int = None) -> None: - # Get data - imu_data_dict = self.getSensorData(self.test_mngr.group_imus, raw_data=True) - if not imu_data_dict: - return - time_list = self.test_mngr.getTestTimes().copy() - imus_ready, plot_len = self.checkDataLen( - time_list, next(iter(imu_data_dict.values()), None), last_values - ) - if not imus_ready: - return - # Get arrays for plots - times_np = np.array([(t - time_list[0]) / 1000 for t in time_list[-plot_len:]]) - imu_data_np = {} - for key, values in imu_data_dict.items(): - if not values: - continue - imu_data_np[key] = self.getAngles(plot_len, values) - # Update plots with values - self.imu_angles_widget.update(times_np, imu_data_np) - - def getAngles(self, array_len: int, data_list: list) -> list: - yaw_list = [] - pitch_list = [] - roll_list = [] - degrees_conv = float(180 / math.pi) - - for data in data_list[-array_len:]: - # data: qx, qy, qz, qx, w[...], acc[...] - quat = mrpt.math.CQuaternion_double_t(data[3], data[0], data[1], data[2]) - pose = mrpt.poses.CPose3D(quat, 0, 0, 0) - yaw_list.append(pose.yaw() * degrees_conv) - pitch_list.append(pose.pitch() * degrees_conv) - roll_list.append(pose.roll() * degrees_conv) - - return [yaw_list, pitch_list, roll_list] - - def getSensorData(self, sensor_group: SensorGroup, raw_data: bool = False) -> dict: - data_dict = {} - if not sensor_group.getGroupIsActive(): - return data_dict - sensor_group_info = sensor_group.getGroupAvailableInfo().copy() - sensor_group_values = {} - if raw_data: - sensor_group_values = sensor_group.getGroupValues().copy() - else: - sensor_group_values = sensor_group.getGroupCalibValues().copy() - for sensor_id, values in sensor_group_values.items(): - sensor_name = sensor_group_info[sensor_id][0] - data_dict[sensor_name] = values - return data_dict - - @logger.catch - def getIMUData(self, sensor_data: dict, imu_data_list: list) -> dict: - data_dict = {} - for key, values in sensor_data.items(): - if not values: - continue - for i, imu_data in enumerate(imu_data_list): - new_key = f"{key}_{imu_data}" - if new_key not in data_dict: - data_dict[new_key] = [] - data_dict[new_key].extend([value[i] for value in values]) - return data_dict - - def getGroupMeanValues(self, sensor_group: SensorGroup, last_values: int) -> dict: - mean_dict = {} - if not sensor_group.getGroupIsActive(): - return mean_dict - sensor_group_values = sensor_group.getGroupCalibValues().copy() - for sensor_id, values in sensor_group_values.items(): - mean_dict[sensor_id] = np.mean(values[-int(last_values) :]) - return mean_dict - - def tareSensors(self, value_range: int) -> None: - for sensor_group in [ - self.test_mngr.group_platform1, - self.test_mngr.group_platform2, - self.test_mngr.group_encoders, - ]: - mean_dict = self.getGroupMeanValues(sensor_group, value_range) - sensor_group.tareSensors(mean_dict) - - def getDataFrame(self, raw_data: bool = False) -> pd.DataFrame: - timestamp_dict = {"timestamp": self.test_mngr.getTestTimes().copy()} - p1_loadcells_dict = self.getSensorData(self.test_mngr.group_platform1, raw_data) - p2_loadcells_dict = self.getSensorData(self.test_mngr.group_platform2, raw_data) - encoders_dict = self.getSensorData(self.test_mngr.group_encoders, raw_data) - imus_dict = self.getSensorData(self.test_mngr.group_imus, True) - imu_data_list = [ - "q_x", - "q_y", - "q_z", - "q_w", - "w_x", - "w_y", - "w_z", - "x_acc", - "y_acc", - "z_acc", - ] - imus_strip_dict = self.getIMUData(imus_dict, imu_data_list) - merged_data = { - **timestamp_dict, - **p1_loadcells_dict, - **p2_loadcells_dict, - **encoders_dict, - **imus_strip_dict, - } - df = pd.DataFrame(merged_data) - # Format dataframes values to 0.000000e+00 - df.iloc[:, 1:] = df.iloc[:, 1:].apply(lambda x: x.map("{:.6e}".format)) - return df diff --git a/src/managers/testManager.py b/src/managers/testManager.py index 0d37de5..ad9d890 100644 --- a/src/managers/testManager.py +++ b/src/managers/testManager.py @@ -2,85 +2,20 @@ import time from loguru import logger -from src.managers.configManager import ConfigManager -from src.sensorLoader import SensorLoader -from src.handlers import SensorGroup -from src.enums.configPaths import ConfigPaths as CfgPaths -from src.enums.sensorParams import SensorParams as SParams +from src.handlers.sensorGroup import SensorGroup class TestManager: __test__ = False - def __init__(self, config_mngr: ConfigManager, sensor_loader: SensorLoader) -> None: - # Global values - self.config_mngr = config_mngr - self.sensor_loader = sensor_loader - self.group_platform1 = sensor_loader.getSensorGroupPlatform1() - self.group_platform2 = sensor_loader.getSensorGroupPlatform2() - self.group_encoders = sensor_loader.getSensorGroupEncoders() - self.group_imus = sensor_loader.getSensorGroupIMUs() - self.sensors_connected = False - self.test_times = [] - # Sensor setters and getters + def __init__(self) -> None: + self.sensor_groups: list[SensorGroup] + self.sensors_connected: bool = False + self.test_times: list = [] - def setSensorRead( - self, - sensor_group: SensorGroup, - config_section: CfgPaths, - index: int, - read: bool, - ) -> None: - group_ids = list(sensor_group.getGroupInfo().keys()) - sensor_id = group_ids[index] - sensor_group.setSensorRead(sensor_id, read) - self.config_mngr.setConfigValue( - config_section.value + "." + sensor_id + "." + SParams.READ.value, read - ) - - def setP1SensorRead(self, index: int, read: bool) -> None: - self.setSensorRead( - self.group_platform1, - CfgPaths.PHIDGET_P1_LOADCELL_CONFIG_SECTION, - index, - read, - ) - - def setP2SensorRead(self, index: int, read: bool) -> None: - self.setSensorRead( - self.group_platform2, - CfgPaths.PHIDGET_P2_LOADCELL_CONFIG_SECTION, - index, - read, - ) - - def setOthersSensorRead(self, index: int, read: bool) -> None: - ptr = self.group_encoders.getGroupSize() - if index < ptr: - self.setSensorRead( - self.group_encoders, - CfgPaths.PHIDGET_ENCODER_CONFIG_SECTION, - index, - read, - ) - return - self.setSensorRead( - self.group_imus, - CfgPaths.TAOBOTICS_IMU_CONFIG_SECTION, - index - ptr, - read, - ) - - def getP1SensorStatus(self) -> dict: - return self.group_platform1.getGroupInfo() - - def getP2SensorStatus(self) -> dict: - return self.group_platform2.getGroupInfo() - - def getOthersSensorStatus(self) -> dict: - encoder_dict = self.group_encoders.getGroupInfo() - imu_dict = self.group_imus.getGroupInfo() - return {**encoder_dict, **imu_dict} + # Setters and getters + def setSensorGroups(self, sensor_groups: list[SensorGroup]) -> None: + self.sensor_groups = sensor_groups def getSensorConnected(self) -> bool: return self.sensors_connected @@ -91,27 +26,21 @@ def getTestTimes(self) -> list: # Test methods def checkConnection(self) -> bool: connection_results_list = [ - handler.checkConnections() - for handler in self.sensor_loader.getSensorGroups() + handler.checkConnections() for handler in self.sensor_groups ] self.sensors_connected = any(connection_results_list) return self.sensors_connected def testStart(self, test_name: str) -> None: logger.info(f"Starting test: {test_name}") - self.test_times = [] - [ - handler.clearSensorValues() - for handler in self.sensor_loader.getSensorGroups() - ] - [handler.start() for handler in self.sensor_loader.getSensorGroups()] + self.test_times.clear() + [handler.clearValues() for handler in self.sensor_groups] + [handler.start() for handler in self.sensor_groups] def testRegisterValues(self) -> None: self.test_times.append(round(time.time() * 1000)) - [handler.register() for handler in self.sensor_loader.getSensorGroups()] + [handler.register() for handler in self.sensor_groups] def testStop(self, test_name: str) -> None: logger.info(f"Finish test: {test_name}") - [handler.stop() for handler in self.sensor_loader.getSensorGroups()] - # Save modified intercepts in config - self.config_mngr.saveConfig() + [handler.stop() for handler in self.sensor_groups] diff --git a/src/qtUIs/calibrationUI.py b/src/qtUIs/calibrationUI.py index 12784d0..ab1b362 100644 --- a/src/qtUIs/calibrationUI.py +++ b/src/qtUIs/calibrationUI.py @@ -1,11 +1,15 @@ # -*- coding: utf-8 -*- from src.enums.qssLabels import QssLabels +from src.enums.uiResources import ImagePaths, IconPaths +from src.enums.configPaths import ConfigPaths +from src.enums.sensorTypes import SGTypes from src.managers.configManager import ConfigManager -from src.managers.calibrationManager import CalibrationManager -from src.sensorLoader import SensorLoader +from src.managers.sensorManager import SensorManager +from src.managers.calibrationManager import SensorCalibrationManager +from src.qtUIs.widgets.calibrationPanelWidget import SensorCalibrationPanelWidget +from src.qtUIs.widgets.mainWidgets import CalibrationSelector from src.qtUIs.widgets import customQtLoaders as customQT -from src.qtUIs.widgets.calibrationPanelWidget import CalibrationPanelWidget from PySide6 import QtWidgets, QtGui, QtCore @@ -14,56 +18,88 @@ def __init__( self, stacked_widget: QtWidgets.QStackedWidget, config_manager: ConfigManager, - sensor_loader: SensorLoader, - logo_image_path: str, - platform_image_path: str, + sensor_manager: SensorManager, ): super().__init__() self.stacked_widget = stacked_widget self.cfg_mngr = config_manager - self.sensor_loader = sensor_loader - self.logo_img_path = logo_image_path - self.platform_img_path = platform_image_path + self.sensor_mngr = sensor_manager - self.initManagers() self.initUI() - self.getSensorInformation() def updateUI(self) -> None: - self.initManagers() - self.calib_widget.loadManager(self.calib_mngr) - self.getSensorInformation() - - def initManagers(self) -> None: - self.calib_mngr = CalibrationManager(self.cfg_mngr, self.sensor_loader) + self.calibration_selector.updateLayouts( + self.sensor_mngr.getGroups( + only_available=True, group_type=SGTypes.GROUP_PLATFORM + ) + ) + if self.platform_selector.count() > 0: + # TODO + pass + if self.sensor_selector.count() > 0: + self.sensor_calibrate_button.setEnabled(True) + pass def initUI(self): self.main_layout = QtWidgets.QHBoxLayout() # Load UI layouts - self.calib_widget = CalibrationPanelWidget() self.settings_panel = self.loadInfoPanel() + self.panel_layout = QtWidgets.QVBoxLayout() + self.panel_layout.addWidget(QtWidgets.QWidget()) self.main_layout.addWidget(self.settings_panel) - self.main_layout.addWidget(self.calib_widget) + self.main_layout.addLayout(self.panel_layout) self.setLayout(self.main_layout) # UI buttons click connectors @QtCore.Slot() - def connectSensors(self): - self.sensors_connect_button.setEnabled(False) - self.sensors_connection_progressbar.setValue(50) - self.calib_mngr.checkConnection() - self.sensors_connection_progressbar.setValue(100) - self.getSensorInformation() - self.sensors_connection_progressbar.setValue(0) - # self.updateTestStatus() - self.sensors_connect_button.setEnabled(True) + def calibratePlatform(self): + platform_group = self.calibration_selector.getSelectedGroup() + if not platform_group: + return + # TODO + pass + + @QtCore.Slot() + def calibrateSensor(self): + sensor = self.calibration_selector.getSelectedSensor() + if not sensor: + return + record_interval: int = self.cfg_mngr.getConfigValue( + ConfigPaths.CALIBRATION_INTERVAL_MS.value, 10 + ) + record_amount: int = self.cfg_mngr.getConfigValue( + ConfigPaths.CALIBRATION_DATA_AMOUNT.value, 300 + ) + calib_mngr = SensorCalibrationManager() + calib_mngr.setup( + sensor, + self.sensor_mngr.getSensorCalibRef(), + record_interval, + record_amount, + ) + # Clear panel layout + for i in reversed(range(self.panel_layout.count())): + widget = self.panel_layout.itemAt(i).widget() + if widget is not None: + widget.deleteLater() + # Build layout with new calibration panel + sensor_calib_panel = SensorCalibrationPanelWidget( + self.sensor_mngr, calib_mngr, sensor.getName(), sensor.getProperties() + ) + self.panel_layout.addWidget(sensor_calib_panel) @QtCore.Slot() def goToMainUI(self): + # Clear panel layout + for i in reversed(range(self.panel_layout.count())): + widget = self.panel_layout.itemAt(i).widget() + if widget is not None: + widget.deleteLater() + self.panel_layout.addWidget(QtWidgets.QWidget()) self.stacked_widget.setCurrentIndex(0) # UI section loaders @@ -74,21 +110,17 @@ def loadInfoPanel(self) -> QtWidgets.QWidget: # Container to fix width of control panel container = QtWidgets.QWidget() container.setLayout(vbox_layout) - # container.setFixedWidth(600) + container.setFixedWidth(250) # Top images grid - imgs_grid_layout = QtWidgets.QGridLayout() image_logo = QtWidgets.QLabel(self) image_platform = QtWidgets.QLabel(self) - pixmap_logo = QtGui.QPixmap(self.logo_img_path) - pixmap_platform = QtGui.QPixmap(self.platform_img_path) + pixmap_logo = QtGui.QPixmap(ImagePaths.LOGO.value) + pixmap_platform = QtGui.QPixmap(ImagePaths.PLATFORM.value) + pixmap_platform.scaledToWidth(220) image_logo.setPixmap(pixmap_logo) image_logo.setAlignment(QtCore.Qt.AlignCenter) - image_platform.setPixmap( - pixmap_platform.scaled(300, 300, QtCore.Qt.KeepAspectRatio) - ) + image_platform.setPixmap(pixmap_platform.scaledToWidth(250)) image_platform.setAlignment(QtCore.Qt.AlignCenter) - imgs_grid_layout.addWidget(image_logo, 0, 0) - imgs_grid_layout.addWidget(image_platform, 0, 1) # Buttons self.close_button = customQT.createQPushButton( "Return to main window", @@ -96,93 +128,60 @@ def loadInfoPanel(self) -> QtWidgets.QWidget: enabled=True, connect_fn=self.goToMainUI, ) - # Author label + self.platform_calibrate_button = customQT.createQPushButton( + "Calibrate platform", + QssLabels.CONTROL_PANEL_BTN, + enabled=False, + connect_fn=self.calibratePlatform, + ) + self.sensor_calibrate_button = customQT.createQPushButton( + "Calibrate sensor", + QssLabels.CONTROL_PANEL_BTN, + enabled=False, + connect_fn=self.calibrateSensor, + ) + # Platform and sensor selector + self.platform_selector = QtWidgets.QComboBox() + self.sensor_selector = QtWidgets.QComboBox() + self.calibration_selector = CalibrationSelector() + self.calibration_selector.setupLayouts( + self.platform_selector, self.sensor_selector + ) + # Author and version label + credits_layout = QtWidgets.QHBoxLayout() + credits_layout.setAlignment(QtCore.Qt.AlignLeft) + github_icon = customQT.createIconLabelBox(IconPaths.GITHUB, None) + tag_icon = customQT.createIconLabelBox(IconPaths.TAG, None) author_label = customQT.createLabelBox( - "© github.AaronPB", QssLabels.AUTHOR_COPYRIGHT_LABEL + "AaronPB", QssLabels.AUTHOR_COPYRIGHT_LABEL ) + version_label = customQT.createLabelBox( + "v1.2.0", QssLabels.AUTHOR_COPYRIGHT_LABEL + ) + credits_layout.addWidget(github_icon) + credits_layout.addWidget(author_label) + credits_layout.addWidget(tag_icon) + credits_layout.addWidget(version_label) # Build layout - vbox_layout.addLayout(imgs_grid_layout) + vbox_layout.addWidget(image_logo) vbox_layout.addItem(QtWidgets.QSpacerItem(20, 20)) - vbox_layout.addWidget(self.loadSensorContainer()) + vbox_layout.addWidget(QtWidgets.QLabel("Platform layout")) + vbox_layout.addWidget(image_platform) vbox_layout.addItem(QtWidgets.QSpacerItem(20, 20)) - vbox_layout.addWidget(self.close_button) + vbox_layout.addWidget(QtWidgets.QLabel("Select platform")) + vbox_layout.addWidget(self.platform_selector) + vbox_layout.addWidget(self.platform_calibrate_button) + vbox_layout.addItem(QtWidgets.QSpacerItem(10, 10)) + vbox_layout.addWidget(QtWidgets.QLabel("Select sensor")) + vbox_layout.addWidget(self.sensor_selector) + vbox_layout.addWidget(self.sensor_calibrate_button) vbox_layout.addItem( QtWidgets.QSpacerItem( 20, 40, QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.Expanding ) ) - vbox_layout.addWidget(author_label) + vbox_layout.addWidget(self.close_button) + vbox_layout.addItem(QtWidgets.QSpacerItem(20, 20)) + vbox_layout.addLayout(credits_layout) return container - - def loadSensorContainer(self) -> QtWidgets.QWidget: - sensors_group_box = QtWidgets.QGroupBox("Sensor information") - sensors_vbox_layout = QtWidgets.QVBoxLayout() - sensors_group_box.setLayout(sensors_vbox_layout) - sensors_vbox_layout.setAlignment(QtCore.Qt.AlignTop) - # - Connection button and progress bar - connect_grid_layout = QtWidgets.QGridLayout() - self.sensors_connect_button = customQT.createQPushButton( - "Connect sensors", enabled=True, connect_fn=self.connectSensors - ) - self.sensors_connection_progressbar = QtWidgets.QProgressBar() - self.sensors_connection_progressbar.setValue(0) - connect_grid_layout.addWidget(self.sensors_connect_button, 0, 0) - connect_grid_layout.addWidget(self.sensors_connection_progressbar, 0, 1) - # - Sensors grid - sensors_grid_layout = QtWidgets.QGridLayout() - group_box_platform1 = QtWidgets.QGroupBox("Platform 1") - group_box_platform2 = QtWidgets.QGroupBox("Platform 2") - self.vbox_platform1 = QtWidgets.QVBoxLayout() - self.vbox_platform2 = QtWidgets.QVBoxLayout() - self.vbox_platform1.setAlignment(QtCore.Qt.AlignTop) - self.vbox_platform2.setAlignment(QtCore.Qt.AlignTop) - group_box_platform1.setLayout(self.vbox_platform1) - group_box_platform2.setLayout(self.vbox_platform2) - sensors_grid_layout.addWidget(group_box_platform1, 0, 0) - sensors_grid_layout.addWidget(group_box_platform2, 0, 1) - # Build sensor information layout - sensors_vbox_layout.addLayout(connect_grid_layout) - sensors_vbox_layout.addItem(QtWidgets.QSpacerItem(20, 20)) - sensors_vbox_layout.addLayout(sensors_grid_layout) - - return sensors_group_box - - # Functions to load information - - def getSensorInformation(self): - self.setSensorBox( - self.vbox_platform1, - self.calib_mngr.getP1SensorStatus(), - self.calib_widget.selectPlatformSensor, - platform=1, - ) - self.setSensorBox( - self.vbox_platform2, - self.calib_mngr.getP2SensorStatus(), - self.calib_widget.selectPlatformSensor, - platform=2, - ) - - def setSensorBox( - self, - vbox_layout: QtWidgets.QVBoxLayout, - sensor_dict: dict, - update_fn, - platform: int, - ): - # Clear layout - for i in reversed(range(vbox_layout.count())): - widget = vbox_layout.itemAt(i).widget() - if widget is not None: - widget.deleteLater() - # Add new widgets - for index, sensor_list in enumerate(sensor_dict.values()): - button = customQT.createSensorQPushButton( - sensor_list[0] + " (" + sensor_list[1] + ")", - sensor_list[2].value, - connect_fn=update_fn, - index=index, - platform=platform, - ) - vbox_layout.addWidget(button) diff --git a/src/qtUIs/dataImporter.py b/src/qtUIs/dataImporter.py new file mode 100644 index 0000000..3a078e1 --- /dev/null +++ b/src/qtUIs/dataImporter.py @@ -0,0 +1,65 @@ +# -*- coding: utf-8 -*- + +# Replace current managers to load a predefined set of data. + +import os +import yaml +import pandas as pd +from src.managers.sensorManager import SensorManager +from src.managers.dataManager import DataManager +from src.enums.sensorStatus import SStatus + + +class DataTester: + def __init__(self): + raw_data_path = os.path.join( + os.path.dirname(__file__), + "..", + "..", + "tests", + "files", + "full_dataset_RAW.csv", + ) + calib_data_path = os.path.join( + os.path.dirname(__file__), + "..", + "..", + "tests", + "files", + "full_dataset.csv", + ) + self.df_raw = pd.read_csv(raw_data_path) + self.df = pd.read_csv(calib_data_path) + self.cfg_mngr = CustomConfigManager() + + def overrideManagers( + self, sensor_manager: SensorManager, data_manager: DataManager + ) -> None: + sensor_manager.setup(self.cfg_mngr) + # Modify sensor status to available + for group in sensor_manager.getGroups(): + for sensor in group.getSensors().values(): + sensor.status = SStatus.AVAILABLE + # Replace imported data + time_list = self.df.iloc[:, 0] + data_manager.df_raw = self.df_raw.iloc[:, 1:] + data_manager.df_calibrated = self.df.iloc[:, 1:] + data_manager.timestamp_list = time_list + data_manager.timeincr_list = [(t - time_list[0]) / 1000 for t in time_list] + + +class CustomConfigManager: + def __init__(self) -> None: + config_path = os.path.join(os.path.dirname(__file__), "..", "..", "config.yaml") + with open(config_path, "r") as file: + self.config_dict = yaml.load(file, Loader=yaml.FullLoader) + + def setConfigValue(self, key_path: str, value) -> None: + pass + + def getConfigValue(self, key_path: str, default_value=None): + keys = key_path.split(".") + config = self.config_dict + for key in keys[:-1]: + config = config.get(key, {}) + return config.get(keys[-1], default_value) diff --git a/src/qtUIs/mainUI.py b/src/qtUIs/mainUI.py index 7af0850..d7c0956 100644 --- a/src/qtUIs/mainUI.py +++ b/src/qtUIs/mainUI.py @@ -2,13 +2,21 @@ from src.enums.qssLabels import QssLabels from src.enums.configPaths import ConfigPaths as CfgPaths +from src.enums.uiResources import IconPaths, ImagePaths +from src.enums.sensorTypes import SGTypes from src.managers.configManager import ConfigManager from src.managers.testManager import TestManager -from src.managers.testFileManager import TestFileManager -from src.managers.testDataManager import TestDataManager -from src.sensorLoader import SensorLoader +from src.managers.fileManager import FileManager +from src.managers.dataManager import DataManager +from src.managers.sensorManager import SensorManager from src.qtUIs.widgets import customQtLoaders as customQT -from src.qtUIs.threads.plotterThread import PlotterThread +from src.qtUIs.widgets.mainWidgets import ( + SensorSettings, + PreviewPlotSelector, + SensorPlotSelector, + PlatformPlotSelector, +) +from src.qtUIs.dataImporter import DataTester from PySide6 import QtWidgets, QtGui, QtCore @@ -19,33 +27,25 @@ def __init__( self, stacked_widget: QtWidgets.QStackedWidget, config_manager: ConfigManager, - sensor_loader: SensorLoader, - logo_image_path: str, + sensor_manager: SensorManager, ): super().__init__() self.stacked_widget = stacked_widget self.cfg_mngr = config_manager - self.sensor_loader = sensor_loader - self.logo_img_path = logo_image_path + self.sensor_mngr = sensor_manager + + self.test_mngr = TestManager() + self.data_mngr = DataManager() self.initManagers() self.initUI() self.updateTestStatus() self.getSensorInformation() - self.plot_thread = PlotterThread( - self.tabular_widget, - self.data_mngr, - self.cfg_mngr.getConfigValue( - CfgPaths.GENERAL_PLOTTERS_INTERVAL_MS.value, 500 - ), - ) - def initManagers(self) -> None: - self.file_mngr = TestFileManager(self.cfg_mngr) - self.sensor_loader.loadHandlers() - self.test_mngr = TestManager(self.cfg_mngr, self.sensor_loader) - self.data_mngr = TestDataManager(self.test_mngr) + self.file_mngr = FileManager(self.cfg_mngr) + self.sensor_mngr.setup(self.cfg_mngr) + self.test_mngr.setSensorGroups(self.sensor_mngr.getGroups()) self.test_timer = QtCore.QTimer(self) self.test_timer.timeout.connect(self.test_mngr.testRegisterValues) @@ -73,36 +73,45 @@ def startTest(self): self.start_button.setEnabled(False) self.sensors_connect_button.setEnabled(False) + self.setDataSettings(False) self.calibration_button.setEnabled(False) self.test_mngr.testStart(self.file_mngr.getFileName()) self.tare_button.setEnabled(True) self.stop_button.setEnabled(True) - self.data_mngr.clearAllPlots() - self.test_timer.start( - self.cfg_mngr.getConfigValue(CfgPaths.GENERAL_TEST_INTERVAL_MS.value, 100) + self.cfg_mngr.getConfigValue(CfgPaths.RECORD_INTERVAL_MS.value, 100) ) - if self.cfg_mngr.getConfigValue(CfgPaths.GENERAL_PLOTTERS_ENABLED.value, False): - self.plot_thread.start() - @QtCore.Slot() def stopTest(self): self.tare_button.setEnabled(False) self.stop_button.setEnabled(False) + + # Stop test self.test_timer.stop() - if self.plot_thread.isRunning(): - self.plot_thread.stopTimer() - dataframe = self.data_mngr.getDataFrame() - dataframe_raw = self.data_mngr.getDataFrame(raw_data=True) - self.data_mngr.updateAllPlots() self.test_mngr.testStop(self.file_mngr.getFileName()) - if self.cfg_mngr.getConfigValue(CfgPaths.GENERAL_TEST_SAVE_CALIB.value, True): - self.file_mngr.saveDataToCSV(dataframe) - if self.cfg_mngr.getConfigValue(CfgPaths.GENERAL_TEST_SAVE_RAW.value, True): - self.file_mngr.saveDataToCSV(dataframe_raw, "_RAW") + # Get results from recorded data + self.data_mngr.loadData( + self.test_mngr.getTestTimes(), self.sensor_mngr.getGroups() + ) + + # Update plot options and data settings + self.updateDataSettings(range=False) + self.preview_plotter.updateLayouts() + self.sensor_plotter.updateLayouts( + self.sensor_mngr.getGroups(only_available=True) + ) + self.platform_plotter.updateLayouts( + self.sensor_mngr.getGroups( + only_available=True, group_type=SGTypes.GROUP_PLATFORM + ) + ) + self.setDataSettings(True) + + # Save dataframes + self.saveResults() self.start_button.setEnabled(True) self.calibration_button.setEnabled(True) @@ -113,12 +122,13 @@ def tareSensors(self): self.stop_button.setEnabled(False) self.tare_button.setEnabled(False) - tare_time_ms = self.cfg_mngr.getConfigValue( - CfgPaths.GENERAL_TARE_DURATION_MS.value, 3000 + tare_amount = self.cfg_mngr.getConfigValue( + CfgPaths.RECORD_TARE_AMOUNT.value, 300 ) tare_interval_ms = self.cfg_mngr.getConfigValue( - CfgPaths.GENERAL_TEST_INTERVAL_MS.value, 100 + CfgPaths.RECORD_INTERVAL_MS.value, 100 ) + tare_time_ms = int(tare_amount * tare_interval_ms) self.tare_timer.start() QtCore.QTimer.singleShot(tare_time_ms, self.tare_timer.stop) @@ -126,11 +136,7 @@ def tareSensors(self): while self.tare_timer.isActive(): QtCore.QCoreApplication.processEvents() - tare_range = tare_time_ms / tare_interval_ms - if tare_range < 0: - tare_range = 30 - - self.data_mngr.tareSensors(int(tare_range)) + self.data_mngr.tareSensors(self.sensor_mngr, tare_amount) self.stop_button.setEnabled(True) self.tare_button.setEnabled(True) @@ -150,7 +156,7 @@ def setConfigFile(self) -> None: self.cfg_mngr.loadConfigFile(config_file_path) self.initManagers() self.getSensorInformation() - self.updatePlotTabs() + # self.updatePlotTabs() self.updateTestStatus() @QtCore.Slot() @@ -183,8 +189,85 @@ def connectSensors(self): self.updateTestStatus() self.sensors_connect_button.setEnabled(True) + @QtCore.Slot() + def changePlotRange(self): + if self.sender() is self.data_start: + self.data_end.setMinimum(self.data_start.value() + 1) + return + if self.sender() is self.data_end: + self.data_start.setMaximum(self.data_end.value() - 1) + return + + @QtCore.Slot() + def enableTestData(self): + tester = DataTester() + tester.overrideManagers(self.sensor_mngr, self.data_mngr) + + # Update plot options and data settings + self.updateDataSettings(range=False) + self.preview_plotter.updateLayouts() + self.sensor_plotter.updateLayouts( + self.sensor_mngr.getGroups(only_available=True) + ) + self.platform_plotter.updateLayouts( + self.sensor_mngr.getGroups( + only_available=True, group_type=SGTypes.GROUP_PLATFORM + ) + ) + self.setDataSettings(True) + + # Update status text + self.status_label.setParent(None) + self.status_label = customQT.createLabelBox( + "Pre-recorded test\nloaded", QssLabels.STATUS_LABEL_INFO + ) + close_recommendation = customQT.createLabelBox( + "Close the program\nto reset", QssLabels.STATUS_LABEL_WARN + ) + self.status_vbox_layout.addWidget(self.status_label) + self.status_vbox_layout.addWidget(close_recommendation) + + self.setControlPanelButtons(False) + self.calibration_button.setEnabled(False) + self.datatester_button.setEnabled(False) + + @QtCore.Slot() + def updateDataSettings(self, range: bool = True, filter: bool = True): + if filter: + butter_fs = self.filter_fs_input.value() + butter_fc = self.filter_fc_input.value() + butter_order = self.filter_order_input.value() + self.data_mngr.applyButterFilter(butter_fs, butter_fc, butter_order) + if range: + idx1 = self.data_start.value() + idx2 = self.data_end.value() + self.sensor_plotter.setIndexes(idx1, idx2) + self.platform_plotter.setIndexes(idx1, idx2) + self.preview_plotter.updatePreview(idx1, idx2) + + @QtCore.Slot() + def resetDataSettings(self): + self.setDataSettings(True) + # Only ranges + self.updateDataSettings(filter=False) + + @QtCore.Slot() + def saveResults(self): + idx1 = self.data_start.value() + idx2 = self.data_end.value() + dataframe = self.data_mngr.getCalibrateDataframe(idx1, idx2) + dataframe_raw = self.data_mngr.getRawDataframe(idx1, idx2) + + self.file_mngr.checkFileName() + if self.cfg_mngr.getConfigValue(CfgPaths.TEST_SAVE_CALIB.value, True): + self.file_mngr.saveDataToCSV(dataframe) + if self.cfg_mngr.getConfigValue(CfgPaths.TEST_SAVE_RAW.value, True): + self.file_mngr.saveDataToCSV(dataframe_raw, "_RAW") + # UI section loaders + # - Control Panel + def loadControlPanelContainer(self) -> QtWidgets.QWidget: vbox_layout = QtWidgets.QVBoxLayout() vbox_layout.setAlignment(QtCore.Qt.AlignTop) @@ -194,7 +277,7 @@ def loadControlPanelContainer(self) -> QtWidgets.QWidget: container.setFixedWidth(250) # Top icon image = QtWidgets.QLabel(self) - pixmap = QtGui.QPixmap(self.logo_img_path) + pixmap = QtGui.QPixmap(ImagePaths.LOGO.value) image.setPixmap(pixmap) image.setAlignment(QtCore.Qt.AlignCenter) # Status label @@ -210,7 +293,10 @@ def loadControlPanelContainer(self) -> QtWidgets.QWidget: buttons_vbox_layout = QtWidgets.QVBoxLayout() buttons_group_box.setLayout(buttons_vbox_layout) self.start_button = customQT.createQPushButton( - "Start test", QssLabels.CONTROL_PANEL_BTN, connect_fn=self.startTest + " Start test", + QssLabels.CONTROL_PANEL_BTN, + icon_path=IconPaths.SEND, + connect_fn=self.startTest, ) self.stop_button = customQT.createQPushButton( "Stop test", QssLabels.CONTROL_PANEL_BTN, connect_fn=self.stopTest @@ -224,6 +310,12 @@ def loadControlPanelContainer(self) -> QtWidgets.QWidget: enabled=True, connect_fn=self.calibrateSensors, ) + self.datatester_button = customQT.createQPushButton( + "Graph tester", + QssLabels.CONTROL_PANEL_BTN, + enabled=True, + connect_fn=self.enableTestData, + ) self.close_button = customQT.createQPushButton( "Close", QssLabels.CRITICAL_CONTROL_PANEL_BTN, @@ -233,10 +325,21 @@ def loadControlPanelContainer(self) -> QtWidgets.QWidget: buttons_vbox_layout.addWidget(self.start_button) buttons_vbox_layout.addWidget(self.tare_button) buttons_vbox_layout.addWidget(self.stop_button) - # Author label + # Author and version label + credits_layout = QtWidgets.QHBoxLayout() + credits_layout.setAlignment(QtCore.Qt.AlignLeft) + github_icon = customQT.createIconLabelBox(IconPaths.GITHUB, None) + tag_icon = customQT.createIconLabelBox(IconPaths.TAG, None) author_label = customQT.createLabelBox( - "© github.AaronPB", QssLabels.AUTHOR_COPYRIGHT_LABEL + "AaronPB", QssLabels.AUTHOR_COPYRIGHT_LABEL + ) + version_label = customQT.createLabelBox( + "v1.2.0", QssLabels.AUTHOR_COPYRIGHT_LABEL ) + credits_layout.addWidget(github_icon) + credits_layout.addWidget(author_label) + credits_layout.addWidget(tag_icon) + credits_layout.addWidget(version_label) # Build layout vbox_layout.addWidget(image) @@ -251,18 +354,31 @@ def loadControlPanelContainer(self) -> QtWidgets.QWidget: 20, 40, QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.Expanding ) ) + vbox_layout.addWidget(self.datatester_button) vbox_layout.addWidget(self.close_button) vbox_layout.addItem(QtWidgets.QSpacerItem(20, 20)) - vbox_layout.addWidget(author_label) + vbox_layout.addLayout(credits_layout) return container + # - Tab Widget + def loadTabularPanel(self) -> QtWidgets.QTabWidget: tabular_panel = QtWidgets.QTabWidget() - tabular_panel.addTab(self.loadTabSettings(), "Settings and sensor information") - tabular_panel.addTab(self.loadTabPlatformPlots(), "Platform plots") - tabular_panel.addTab(self.loadTabCOPPlots(), "COP plots") - tabular_panel.addTab(self.loadTabEncoderPlots(), "Encoder plots") - tabular_panel.addTab(self.loadTabIMUPlots(), "IMU plots") + tabular_panel.addTab( + self.loadTabSettings(), + QtGui.QIcon(IconPaths.SETTINGS.value), + "Settings", + ) + tabular_panel.addTab( + self.loadTabFigures(), + QtGui.QIcon(IconPaths.GRAPH.value), + "Sensor graphs", + ) + tabular_panel.addTab( + self.loadTabPlatformFigures(), + QtGui.QIcon(IconPaths.GRAPH.value), + "Platform graphs", + ) return tabular_panel def loadTabSettings(self) -> QtWidgets.QWidget: @@ -272,10 +388,10 @@ def loadTabSettings(self) -> QtWidgets.QWidget: vbox_general_layout.setAlignment(QtCore.Qt.AlignTop) # File management - settings_group_box = QtWidgets.QGroupBox("File settings") - settings_grid_layout = QtWidgets.QGridLayout() - settings_group_box.setLayout(settings_grid_layout) - settings_grid_layout.setAlignment(QtCore.Qt.AlignTop) + file_settings_group_box = QtWidgets.QGroupBox("File settings") + file_settings_grid_layout = QtWidgets.QGridLayout() + file_settings_group_box.setLayout(file_settings_grid_layout) + file_settings_grid_layout.setAlignment(QtCore.Qt.AlignTop) # - Config file config_label = customQT.createLabelBox("Configuration file:") config_button = customQT.createQPushButton( @@ -296,16 +412,114 @@ def loadTabSettings(self) -> QtWidgets.QWidget: "Save name", enabled=True, connect_fn=self.setTestName ) self.test_name_input = QtWidgets.QLineEdit(self) - # Build grid layout - settings_grid_layout.addWidget(config_label, 0, 0) - settings_grid_layout.addWidget(self.config_path, 0, 1) - settings_grid_layout.addWidget(config_button, 0, 2) - settings_grid_layout.addWidget(test_folder_label, 1, 0) - settings_grid_layout.addWidget(self.test_folder_path, 1, 1) - settings_grid_layout.addWidget(test_folder_button, 1, 2) - settings_grid_layout.addWidget(test_name_label, 2, 0) - settings_grid_layout.addWidget(self.test_name_input, 2, 1) - settings_grid_layout.addWidget(test_name_button, 2, 2) + # - Build grid layout + file_settings_grid_layout.addWidget(config_label, 0, 0) + file_settings_grid_layout.addWidget(self.config_path, 0, 1) + file_settings_grid_layout.addWidget(config_button, 0, 2) + file_settings_grid_layout.addWidget(test_folder_label, 1, 0) + file_settings_grid_layout.addWidget(self.test_folder_path, 1, 1) + file_settings_grid_layout.addWidget(test_folder_button, 1, 2) + file_settings_grid_layout.addWidget(test_name_label, 2, 0) + file_settings_grid_layout.addWidget(self.test_name_input, 2, 1) + file_settings_grid_layout.addWidget(test_name_button, 2, 2) + + # Results data settings + data_settings_group_box = QtWidgets.QGroupBox("Results settings") + data_settings_layout = QtWidgets.QHBoxLayout() + data_settings_group_box.setLayout(data_settings_layout) + data_settings_layout.setAlignment(QtCore.Qt.AlignTop) + + # - Plot preview selector and layout + preview_selector_grid = QtWidgets.QGridLayout() + sensor_combo_box = QtWidgets.QComboBox() + data_settings_preview = QtWidgets.QVBoxLayout() + data_settings_preview.addWidget( + customQT.createLabelBox("", QssLabels.PREVIEW_BOX) + ) + self.preview_plotter = PreviewPlotSelector(self.data_mngr) + self.preview_plotter.setupLayouts(sensor_combo_box, data_settings_preview) + preview_selector_grid.addWidget(QtWidgets.QLabel("Select data preview:"), 0, 0) + preview_selector_grid.addWidget(sensor_combo_box, 0, 1) + + # - Data start and end points + data_index_grid = QtWidgets.QGridLayout() + self.data_start = QtWidgets.QSpinBox() + self.data_start.valueChanged.connect(self.changePlotRange) + self.data_end = QtWidgets.QSpinBox() + self.data_end.valueChanged.connect(self.changePlotRange) + data_index_grid.addWidget(QtWidgets.QLabel("First index:"), 0, 0) + data_index_grid.addWidget(self.data_start, 0, 1) + data_index_grid.addWidget(QtWidgets.QLabel("Last index:"), 0, 2) + data_index_grid.addWidget(self.data_end, 0, 3) + + # - Butterworth filter options + filter_grid = QtWidgets.QGridLayout() + self.filter_fs_input = QtWidgets.QSpinBox() + self.filter_fs_input.setMaximum(200) + self.filter_fs_input.setMinimum(2) + self.filter_fs_input.setValue(100) + self.filter_fc_input = QtWidgets.QSpinBox() + self.filter_fc_input.setMaximum(100) + self.filter_fc_input.setMinimum(2) + self.filter_fc_input.setValue(5) + self.filter_order_input = QtWidgets.QSpinBox() + self.filter_order_input.setMaximum(10) + self.filter_order_input.setMinimum(2) + self.filter_order_input.setValue(6) + filter_grid.addWidget(QtWidgets.QLabel("Sampling rate (Fs):"), 0, 0) + filter_grid.addWidget(self.filter_fs_input, 0, 1) + filter_grid.addWidget(QtWidgets.QLabel("Hz"), 0, 2) + filter_grid.addWidget(QtWidgets.QLabel("Cutoff freq (Fc):"), 1, 0) + filter_grid.addWidget(self.filter_fc_input, 1, 1) + filter_grid.addWidget(QtWidgets.QLabel("Hz"), 1, 2) + filter_grid.addWidget(QtWidgets.QLabel("Order:"), 2, 0) + filter_grid.addWidget(self.filter_order_input, 2, 1) + + # - Edit buttons + buttons_layout = QtWidgets.QHBoxLayout() + self.update_results_button = customQT.createQPushButton( + "Apply changes", + QssLabels.CONTROL_PANEL_BTN, + enabled=False, + connect_fn=self.updateDataSettings, + ) + self.reset_results_settings_button = customQT.createQPushButton( + "Reset", + QssLabels.CRITICAL_CONTROL_PANEL_BTN, + enabled=False, + connect_fn=self.resetDataSettings, + ) + self.save_results_button = customQT.createQPushButton( + "Save", + QssLabels.CONTROL_PANEL_BTN, + enabled=False, + connect_fn=self.saveResults, + ) + buttons_layout.addWidget(self.reset_results_settings_button) + buttons_layout.addWidget(self.update_results_button) + buttons_layout.addWidget(self.save_results_button) + + # - Disable edit options + self.setDataSettings(False) + + # - Build layout + data_options_container = QtWidgets.QWidget() + data_options_layout = QtWidgets.QVBoxLayout() + data_options_container.setLayout(data_options_layout) + data_options_container.setFixedWidth(400) + data_options_layout.setAlignment(QtCore.Qt.AlignTop) + data_options_layout.addLayout(preview_selector_grid) + data_options_layout.addItem(QtWidgets.QSpacerItem(10, 10)) + data_options_layout.addWidget(QtWidgets.QLabel("Modify data range:")) + data_options_layout.addLayout(data_index_grid) + data_options_layout.addItem(QtWidgets.QSpacerItem(10, 10)) + data_options_layout.addWidget(QtWidgets.QLabel("Modify Butterworth filter:")) + data_options_layout.addLayout(filter_grid) + data_options_layout.addItem(QtWidgets.QSpacerItem(10, 10)) + data_options_layout.addLayout(buttons_layout) + + data_settings_layout.addWidget(data_options_container) + data_settings_layout.addLayout(data_settings_preview) # Sensor table information sensors_group_box = QtWidgets.QGroupBox("Sensor information") @@ -322,69 +536,116 @@ def loadTabSettings(self) -> QtWidgets.QWidget: connect_grid_layout.addWidget(self.sensors_connect_button, 0, 0) connect_grid_layout.addWidget(self.sensors_connection_progressbar, 0, 1) # - Sensors grid - sensors_grid_layout = QtWidgets.QGridLayout() - group_box_platform1 = QtWidgets.QGroupBox("Platform 1") - group_box_platform2 = QtWidgets.QGroupBox("Platform 2") - group_box_external = QtWidgets.QGroupBox("External Sensors") - self.vbox_platform1 = QtWidgets.QVBoxLayout() - self.vbox_platform2 = QtWidgets.QVBoxLayout() - self.vbox_external = QtWidgets.QVBoxLayout() - self.vbox_platform1.setAlignment(QtCore.Qt.AlignTop) - self.vbox_platform2.setAlignment(QtCore.Qt.AlignTop) - self.vbox_external.setAlignment(QtCore.Qt.AlignTop) - group_box_platform1.setLayout(self.vbox_platform1) - group_box_platform2.setLayout(self.vbox_platform2) - group_box_external.setLayout(self.vbox_external) - sensors_grid_layout.addWidget(group_box_platform1, 0, 0) - sensors_grid_layout.addWidget(group_box_platform2, 0, 1) - sensors_grid_layout.addWidget(group_box_external, 0, 2) + sensors_layout = QtWidgets.QVBoxLayout() + group_box_platforms = QtWidgets.QGroupBox("Platforms") + group_box_defaults = QtWidgets.QGroupBox("Other sensor groups") + self.hbox_platforms = QtWidgets.QHBoxLayout() + self.hbox_defaults = QtWidgets.QHBoxLayout() + self.hbox_platforms.setAlignment(QtCore.Qt.AlignTop) + self.hbox_defaults.setAlignment(QtCore.Qt.AlignTop) + group_box_platforms.setLayout(self.hbox_platforms) + group_box_defaults.setLayout(self.hbox_defaults) + sensors_layout.addWidget(group_box_platforms) + sensors_layout.addWidget(group_box_defaults) # Build sensor information layout sensors_vbox_layout.addLayout(connect_grid_layout) sensors_vbox_layout.addItem(QtWidgets.QSpacerItem(20, 20)) - sensors_vbox_layout.addLayout(sensors_grid_layout) + sensors_vbox_layout.addLayout(sensors_layout) # Build main tab vbox - vbox_general_layout.addWidget(settings_group_box) - vbox_general_layout.addItem(QtWidgets.QSpacerItem(40, 40)) + vbox_general_layout.addWidget(file_settings_group_box) + vbox_general_layout.addItem(QtWidgets.QSpacerItem(20, 20)) vbox_general_layout.addWidget(sensors_group_box) + vbox_general_layout.addItem(QtWidgets.QSpacerItem(20, 20)) + vbox_general_layout.addWidget(data_settings_group_box) return tab_widget - def loadTabPlatformPlots(self) -> QtWidgets.QWidget: - tab_widget = QtWidgets.QWidget() - grid_general_layout = QtWidgets.QGridLayout() - tab_widget.setLayout(grid_general_layout) - - grid_general_layout.addWidget(self.data_mngr.forces_p1_widget, 0, 0) - grid_general_layout.addWidget(self.data_mngr.forces_p2_widget, 0, 1) - - return tab_widget - - def loadTabCOPPlots(self) -> QtWidgets.QWidget: + def loadTabFigures(self) -> QtWidgets.QWidget: tab_widget = QtWidgets.QWidget() - grid_general_layout = QtWidgets.QGridLayout() - tab_widget.setLayout(grid_general_layout) - - grid_general_layout.addWidget(self.data_mngr.cop_p1_widget, 0, 0) - grid_general_layout.addWidget(self.data_mngr.cop_p2_widget, 0, 1) - - return tab_widget - - def loadTabEncoderPlots(self) -> QtWidgets.QWidget: - tab_widget = QtWidgets.QWidget() - vbox_general_layout = QtWidgets.QVBoxLayout() - tab_widget.setLayout(vbox_general_layout) - - vbox_general_layout.addWidget(self.data_mngr.encoders_widget) + hbox_general_layout = QtWidgets.QHBoxLayout() + tab_widget.setLayout(hbox_general_layout) + + # Group selector panel + selector_panel_box = QtWidgets.QGroupBox("Sensor selector") + vbox_selector_layout = QtWidgets.QVBoxLayout() + selector_panel_box.setLayout(vbox_selector_layout) + vbox_selector_layout.setAlignment(QtCore.Qt.AlignTop) + selector_panel_box.setFixedWidth(300) + # - Group combo box + self.group_combo_box = QtWidgets.QComboBox() + # - Options container + self.sensor_option_selector = QtWidgets.QVBoxLayout() + self.sensor_option_selector.setAlignment(QtCore.Qt.AlignTop) + + # - Build selector layout + vbox_selector_layout.addWidget(QtWidgets.QLabel("Select sensor group")) + vbox_selector_layout.addWidget(self.group_combo_box) + vbox_selector_layout.addItem(QtWidgets.QSpacerItem(20, 20)) + vbox_selector_layout.addWidget(QtWidgets.QLabel("Select graph option")) + vbox_selector_layout.addLayout(self.sensor_option_selector) + + # Figure layout + figure_box = QtWidgets.QGroupBox("Graph") + self.sensor_figure_layout = QtWidgets.QVBoxLayout() + figure_box.setLayout(self.sensor_figure_layout) + + # Build general layout + hbox_general_layout.addWidget(selector_panel_box) + hbox_general_layout.addItem(QtWidgets.QSpacerItem(20, 20)) + hbox_general_layout.addWidget(figure_box) + + # Define selector class + self.sensor_plotter = SensorPlotSelector(self.data_mngr) + self.sensor_plotter.setupLayouts( + self.group_combo_box, + self.sensor_option_selector, + self.sensor_figure_layout, + ) return tab_widget - def loadTabIMUPlots(self) -> QtWidgets.QWidget: + def loadTabPlatformFigures(self) -> QtWidgets.QWidget: tab_widget = QtWidgets.QWidget() - vbox_general_layout = QtWidgets.QVBoxLayout() - tab_widget.setLayout(vbox_general_layout) - - vbox_general_layout.addWidget(self.data_mngr.imu_angles_widget) + hbox_general_layout = QtWidgets.QHBoxLayout() + tab_widget.setLayout(hbox_general_layout) + + # Group selector panel + selector_panel_box = QtWidgets.QGroupBox("Platform selector") + vbox_selector_layout = QtWidgets.QVBoxLayout() + selector_panel_box.setLayout(vbox_selector_layout) + vbox_selector_layout.setAlignment(QtCore.Qt.AlignTop) + selector_panel_box.setFixedWidth(300) + # - Group combo box + self.platform_combo_box = QtWidgets.QComboBox() + # - Options container + self.platform_option_selector = QtWidgets.QVBoxLayout() + self.platform_option_selector.setAlignment(QtCore.Qt.AlignTop) + + # - Build selector layout + vbox_selector_layout.addWidget(QtWidgets.QLabel("Select platform group")) + vbox_selector_layout.addWidget(self.platform_combo_box) + vbox_selector_layout.addItem(QtWidgets.QSpacerItem(20, 20)) + vbox_selector_layout.addWidget(QtWidgets.QLabel("Select graph option")) + vbox_selector_layout.addLayout(self.platform_option_selector) + + # Figure layout + figure_box = QtWidgets.QGroupBox("Graph") + self.platform_figure_layout = QtWidgets.QVBoxLayout() + figure_box.setLayout(self.platform_figure_layout) + + # Build general layout + hbox_general_layout.addWidget(selector_panel_box) + hbox_general_layout.addItem(QtWidgets.QSpacerItem(20, 20)) + hbox_general_layout.addWidget(figure_box) + + # Define selector class + self.platform_plotter = PlatformPlotSelector(self.data_mngr) + self.platform_plotter.setupLayouts( + self.platform_combo_box, + self.platform_option_selector, + self.platform_figure_layout, + ) return tab_widget @@ -416,61 +677,35 @@ def updateTestStatus(self) -> None: self.status_vbox_layout.addWidget(self.status_label) self.setControlPanelButtons(False) - def updatePlotTabs(self): - for i in range(1, self.tabular_widget.count()): - self.tabular_widget.removeTab(1) - self.tabular_widget.addTab(self.loadTabPlatformPlots(), "Platform plots") - self.tabular_widget.addTab(self.loadTabCOPPlots(), "COP plots") - self.tabular_widget.addTab(self.loadTabEncoderPlots(), "Encoder plots") - self.tabular_widget.addTab(self.loadTabIMUPlots(), "IMU plots") - - self.plot_thread = PlotterThread( - self.tabular_widget, - self.data_mngr, - self.cfg_mngr.getConfigValue( - CfgPaths.GENERAL_PLOTTERS_INTERVAL_MS.value, 500 - ), - ) - def setControlPanelButtons(self, enable: bool = False) -> None: if not enable: self.stop_button.setEnabled(enable) self.tare_button.setEnabled(enable) self.start_button.setEnabled(enable) + def setDataSettings(self, enable: bool = False) -> None: + self.reset_results_settings_button.setEnabled(enable) + self.update_results_button.setEnabled(enable) + self.save_results_button.setEnabled(enable) + self.data_start.setValue(0) + self.data_end.setValue(0) + if enable: + max_value = self.data_mngr.getDataSize() + self.data_start.setMinimum(0) + self.data_start.setMaximum(max_value - 1) + self.data_end.setMinimum(1) + self.data_end.setMaximum(max_value) + self.data_end.setValue(max_value) + self.data_start.setEnabled(enable) + self.data_end.setEnabled(enable) + def getSensorInformation(self): - self.setSensorBox( - self.vbox_platform1, - self.test_mngr.getP1SensorStatus(), - self.test_mngr.setP1SensorRead, - ) - self.setSensorBox( - self.vbox_platform2, - self.test_mngr.getP2SensorStatus(), - self.test_mngr.setP2SensorRead, + sensor_panels = SensorSettings(self.sensor_mngr) + sensor_panels.updateLayout( + self.hbox_platforms, + self.sensor_mngr.getGroups(group_type=SGTypes.GROUP_PLATFORM), ) - self.setSensorBox( - self.vbox_external, - self.test_mngr.getOthersSensorStatus(), - self.test_mngr.setOthersSensorRead, + sensor_panels.updateLayout( + self.hbox_defaults, + self.sensor_mngr.getGroups(group_type=SGTypes.GROUP_DEFAULT), ) - - def setSensorBox( - self, vbox_layout: QtWidgets.QVBoxLayout, sensor_dict: dict, update_fn - ): - # Clear layout - for i in reversed(range(vbox_layout.count())): - widget = vbox_layout.itemAt(i).widget() - if widget is not None: - widget.deleteLater() - # Add new widgets - index = 0 - for index, sensor_list in enumerate(sensor_dict.values()): - checkbox = customQT.createSensorQCheckBox( - sensor_list[0] + " (" + sensor_list[1] + ")", - sensor_list[2].value, - change_fn=update_fn, - index=index, - ) - checkbox.setChecked(sensor_list[3]) - vbox_layout.addWidget(checkbox) diff --git a/src/qtUIs/mainWindow.py b/src/qtUIs/mainWindow.py index 37603cc..7a00cd5 100644 --- a/src/qtUIs/mainWindow.py +++ b/src/qtUIs/mainWindow.py @@ -1,44 +1,31 @@ # -*- coding: utf-8 -*- -import os -from PySide6 import QtWidgets, QtGui, QtCore +from PySide6 import QtWidgets, QtGui from src.qtUIs.mainUI import MainUI from src.qtUIs.calibrationUI import CalibrationUI from src.managers.configManager import ConfigManager -from src.sensorLoader import SensorLoader +from src.managers.sensorManager import SensorManager +from src.enums.uiResources import ImagePaths class MainMenu(QtWidgets.QMainWindow): def __init__(self): super().__init__() - self.images_folder = os.path.join( - os.path.dirname(__file__), "..", "..", "images" - ) self.initUI() def initUI(self): self.setWindowTitle("Force platform reader") - self.setWindowIcon( - QtGui.QIcon(os.path.join(self.images_folder, "window_icon.ico")) - ) + self.setWindowIcon(QtGui.QIcon(ImagePaths.WINDOW_ICON.value)) self.setGeometry(100, 100, 1920, 1080) stacked_widget = QtWidgets.QStackedWidget() - logo_image_path = os.path.join(self.images_folder, "project_ui_logo.svg") - platform_image_path = os.path.join(self.images_folder, "platform.png") config_manager = ConfigManager() - sensor_loader = SensorLoader(config_manager) + sensor_manager = SensorManager() # Define UIs and connect signals - self.mainUI = MainUI( - stacked_widget, config_manager, sensor_loader, logo_image_path - ) + self.mainUI = MainUI(stacked_widget, config_manager, sensor_manager) self.calibrationUI = CalibrationUI( - stacked_widget, - config_manager, - sensor_loader, - logo_image_path, - platform_image_path, + stacked_widget, config_manager, sensor_manager ) self.mainUI.close_menu.connect(self.close) stacked_widget.currentChanged.connect(self.stackChangeHandler) diff --git a/src/qtUIs/style.qss b/src/qtUIs/style.qss index bd0664f..5ce5518 100644 --- a/src/qtUIs/style.qss +++ b/src/qtUIs/style.qss @@ -3,34 +3,96 @@ font-size: 16px; } +QLabel#preview_box { + background-color: gray; + color: white; + padding: 15px; +} + QLabel#status_info { background-color: #326295; color: white; padding: 15px; } - QLabel#status_ok { background-color: green; color: white; padding: 15px; } - QLabel#status_warn { background-color: red; color: white; padding: 15px; } -QPushButton { +QLabel#sensor_group_ignored { + background-color: gray; + padding: 15px; + /* icon-size: 20px 20px; */ + border-top-left-radius: 5px; + border-bottom-left-radius: 5px; +} +QLabel#sensor_group_error { + background-color: red; + padding: 15px; + border-top-left-radius: 5px; + border-bottom-left-radius: 5px; +} +QLabel#sensor_group_warn { + background-color: orange; + padding: 15px; + border-top-left-radius: 5px; + border-bottom-left-radius: 5px; +} +QLabel#sensor_group_ok { + background-color: green; + padding: 15px; + border-top-left-radius: 5px; + border-bottom-left-radius: 5px; +} + +QLabel#sensor_ignored { + background-color: gray; + padding-left: 5px; + padding-right: 5px; + border-top-left-radius: 5px; + border-bottom-left-radius: 5px; +} +QLabel#sensor_error { + background-color: red; + padding-left: 5px; + padding-right: 5px; + border-top-left-radius: 5px; + border-bottom-left-radius: 5px; +} +QLabel#sensor_ok { + background-color: green; + padding-left: 5px; + padding-right: 5px; + border-top-left-radius: 5px; + border-bottom-left-radius: 5px; +} + +QLabel#sensor { background-color: #326295; + padding-left: 5px; + padding-right: 5px; +} +QLabel#sensor_group { + background-color: #326295; + padding: 15px; } +QPushButton { + background-color: #326295; +} QPushButton:disabled { background-color: gray; - color: darkslategray; + /* color: darkslategray; */ } QPushButton#cp_btn { + icon-size: 20px 20px; padding: 15px; } @@ -38,7 +100,6 @@ QPushButton#critical_btn { background-color: red; color: darkred; } - QPushButton:disabled#critical_btn { background-color: gray; color: darkslategray; @@ -49,44 +110,73 @@ QPushButton#critical_cp_btn { color: darkred; padding: 15px; } - QPushButton:disabled#critical_cp_btn { background-color: gray; color: darkslategray; } +QPushButton#sensor_group { + icon-size: 20px 20px; + border: none; + border-radius: 0px; + padding: 15px; +} +QPushButton:hover#sensor_group { + background-color: #77a7db; +} + +QPushButton#sensor { + icon-size: 20px 20px; + border: none; + border-radius: 0px; + padding: 5px; +} +QPushButton:hover#sensor { + background-color: #77a7db; +} + QProgressBar { text-align: center; } - QProgressBar::chunk { background-color: #326295; } -QCheckBox { - padding: 8px; - border: 4px solid darkslategray; - border-radius: 5px; - text-align: center; +QCheckBox::indicator#sensor { + width: 0; + height: 0; + border: none; } - -QCheckBox::indicator { +QCheckBox::indicator#sensor_group { width: 0; height: 0; border: none; } -QCheckBox:checked { - border-color: green; +QCheckBox#sensor { + background-color: gray; + border-top-right-radius: 5px; + border-bottom-right-radius: 5px; + /* text-align: center; */ +} +QCheckBox#sensor_group { + padding: 15px; + background-color: gray; + border-top-right-radius: 5px; + border-bottom-right-radius: 5px; + /* text-align: center; */ } -QCheckBox:checked#connected { - background-color: lightgreen; - color: black +QCheckBox:checked#sensor { + background-color: #326295; +} +QCheckBox:checked#sensor_group { + background-color: #326295; } -QCheckBox:checked#not_connected { - border-color: red; - background-color: lightcoral; - color: black +QCheckBox:hover#sensor { + background-color: #77a7db; +} +QCheckBox:hover#sensor_group { + background-color: #77a7db; } \ No newline at end of file diff --git a/src/qtUIs/threads/plotterThread.py b/src/qtUIs/threads/plotterThread.py deleted file mode 100644 index ec3c934..0000000 --- a/src/qtUIs/threads/plotterThread.py +++ /dev/null @@ -1,33 +0,0 @@ -# -*- coding: utf-8 -*- - -import time -from PySide6 import QtWidgets, QtCore -from src.managers.testDataManager import TestDataManager - - -class PlotterThread(QtCore.QThread): - def __init__( - self, - tab_widget: QtWidgets.QTabWidget, - data_mngr: TestDataManager, - interval_ms: int = 100, - ) -> None: - super().__init__() - self.tab_widget = tab_widget - self.data_mngr = data_mngr - self.plot_interval_ms = interval_ms - - def run(self) -> None: - self.request_stop = False - while not self.request_stop: - self.plot() - time.sleep(self.plot_interval_ms / 1000) - - def plot(self) -> None: - current_index = self.tab_widget.currentIndex() - if current_index == 0: - return - self.data_mngr.updatePlotWidgetDraw(current_index) - - def stopTimer(self) -> None: - self.request_stop = True diff --git a/src/qtUIs/widgets/calibrationPanelWidget.py b/src/qtUIs/widgets/calibrationPanelWidget.py index cdaf964..5c90cbe 100644 --- a/src/qtUIs/widgets/calibrationPanelWidget.py +++ b/src/qtUIs/widgets/calibrationPanelWidget.py @@ -2,28 +2,34 @@ from PySide6 import QtWidgets, QtCore from src.enums.qssLabels import QssLabels -from src.managers.calibrationManager import CalibrationManager +from src.managers.sensorManager import SensorManager +from src.managers.calibrationManager import SensorCalibrationManager from src.qtUIs.widgets import customQtLoaders as customQT from src.qtUIs.widgets.matplotlibWidgets import PlotRegressionWidget -class CalibrationPanelWidget(QtWidgets.QWidget): - def __init__(self): - super(CalibrationPanelWidget, self).__init__() - self.calib_mngr: CalibrationManager - self.ref_sensor = False - self.recording_timer: QtCore.QTimer +class SensorCalibrationPanelWidget(QtWidgets.QWidget): + def __init__( + self, + sensor_manager: SensorManager, + sensor_calibration_manager: SensorCalibrationManager, + sensor_name: str, + sensor_properties: str, + ): + super(SensorCalibrationPanelWidget, self).__init__() + self.sensor_mngr = sensor_manager + self.calib_mngr = sensor_calibration_manager + self.recording_timer = QtCore.QTimer(self) + self.recording_timer.timeout.connect(self.calib_mngr.registerValue) - self.setLayout(self.loadLayout()) + self.sensor_name = sensor_name + self.sensor_properties = sensor_properties - # UI section loaders + self.setLayout(self.loadLayout()) - def loadManager(self, calib_mngr: CalibrationManager): - self.calib_mngr = calib_mngr - self.ref_sensor = False + self.enableButtons(True) - self.recording_timer = QtCore.QTimer(self) - self.recording_timer.timeout.connect(self.calib_mngr.registerValue) + # UI section loaders def loadLayout(self) -> QtWidgets.QVBoxLayout: main_layout = QtWidgets.QVBoxLayout() @@ -36,10 +42,11 @@ def loadLayout(self) -> QtWidgets.QVBoxLayout: self.vbox_sensor_info_layout = QtWidgets.QVBoxLayout() self.vbox_sensor_info_layout.setAlignment(QtCore.Qt.AlignTop) group_box_sensor_info.setLayout(self.vbox_sensor_info_layout) - self.sensor_info_label = customQT.createLabelBox( - "Select an available sensor", QssLabels.STATUS_LABEL_WARN + sensor_info_label = customQT.createLabelBox( + f"Name: {self.sensor_name}\nProperties: {self.sensor_properties}", + QssLabels.STATUS_LABEL_INFO, ) - self.vbox_sensor_info_layout.addWidget(self.sensor_info_label) + self.vbox_sensor_info_layout.addWidget(sensor_info_label) group_box_general_buttons = QtWidgets.QGroupBox("Manage results") self.grid_buttons_layout = QtWidgets.QGridLayout() @@ -162,15 +169,15 @@ def onTextChanged(self): def recordData(self): test_value = float(self.test_value_input.text()) self.enableButtons(False) - self.calib_mngr.startRecording() - self.recording_timer.start(self.calib_mngr.getCalibTestInterval()) + self.calib_mngr.startMeasurement(ref_value=test_value) + self.recording_timer.start(self.calib_mngr.getRecordInterval()) QtCore.QTimer.singleShot( - self.calib_mngr.getCalibDuration(), self.recording_timer.stop + self.calib_mngr.getRecordDuration(), self.recording_timer.stop ) while self.recording_timer.isActive(): QtCore.QCoreApplication.processEvents() - self.calib_mngr.stopRecording() - values = self.calib_mngr.getValues(test_value) + self.calib_mngr.stopMeasurement() + values = self.calib_mngr.getLastValues() self.addMeasurementRow(values[0], values[1], values[2], values[3]) sensor_values, test_values = self.calib_mngr.getValuesArrays() self.plot_widget.updateScatter(sensor_values, test_values) @@ -179,15 +186,15 @@ def recordData(self): @QtCore.Slot() def recordDataWithSensor(self): self.enableButtons(False) - self.calib_mngr.startRecording(auto=True) - self.recording_timer.start(self.calib_mngr.getCalibTestInterval()) + self.calib_mngr.startMeasurement(use_ref_sensor=True) + self.recording_timer.start(self.calib_mngr.getRecordInterval()) QtCore.QTimer.singleShot( - self.calib_mngr.getCalibDuration(), self.recording_timer.stop + self.calib_mngr.getRecordDuration(), self.recording_timer.stop ) while self.recording_timer.isActive(): QtCore.QCoreApplication.processEvents() - self.calib_mngr.stopRecording() - values = self.calib_mngr.getValues() + self.calib_mngr.stopMeasurement() + values = self.calib_mngr.getLastValues() self.addMeasurementRow(values[0], values[1], values[2], values[3]) sensor_values, test_values = self.calib_mngr.getValuesArrays() self.plot_widget.updateScatter(sensor_values, test_values) @@ -199,14 +206,14 @@ def removeRow(self): selected_row = self.measurements_widget.currentRow() if selected_row >= 0: self.measurements_widget.removeRow(selected_row) - self.calib_mngr.removeValueSet(selected_row) + self.calib_mngr.removeMeasurement(selected_row) sensor_values, test_values = self.calib_mngr.getValuesArrays() self.plot_widget.updateScatter(sensor_values, test_values) self.enableButtons(True) @QtCore.Slot() def generateResults(self): - results = self.calib_mngr.getRegressionResults() + results = self.calib_mngr.getResults() self.updateResultsTable(results[0], results[1], results[2]) sensor_values, calib_values = self.calib_mngr.getRegressionArrays() self.plot_widget.updateRegression(sensor_values, calib_values) @@ -214,40 +221,17 @@ def generateResults(self): @QtCore.Slot() def saveResults(self): - self.calib_mngr.saveResults() + self.calib_mngr.saveResults(self.sensor_mngr) self.save_button.setEnabled(False) @QtCore.Slot() def clearValues(self): self.enableButtons(False) self.clearCalibrationTest() - self.checkReferenceSensor() self.enableButtons(True) # Widget functions - def selectPlatformSensor(self, index, platform): - self.enableButtons(False) - self.clearCalibrationTest() - sensor_info = ["Name error", "Properties error"] - if platform == 1: - sensor_info = self.calib_mngr.calibrateP1Sensor(index) - if platform == 2: - sensor_info = self.calib_mngr.calibrateP2Sensor(index) - if sensor_info[0] == "Name error": - print("Could not load desired sensor!") - return - self.updateSensorInformation(sensor_info[0], sensor_info[1]) - self.checkReferenceSensor() - self.enableButtons(True) - - def updateSensorInformation(self, name: str, properties: str): - self.sensor_info_label.setParent(None) - self.sensor_info_label = customQT.createLabelBox( - f"Name: {name}\nProperties: {properties}", QssLabels.STATUS_LABEL_INFO - ) - self.vbox_sensor_info_layout.addWidget(self.sensor_info_label) - def enableButtons(self, enable: bool = False): if not enable: self.save_button.setEnabled(enable) @@ -260,15 +244,10 @@ def enableButtons(self, enable: bool = False): self.remove_row_button.setEnabled(enable) if self.measurements_widget.rowCount() > 1: self.generate_results_button.setEnabled(enable) - if self.ref_sensor: - self.auto_measure_button.setEnabled(enable) self.test_value_input.setEnabled(enable) self.manual_measure_button.setEnabled(enable) self.clear_button.setEnabled(enable) - def checkReferenceSensor(self): - self.ref_sensor = self.calib_mngr.checkRefSensorConnection() - def addMeasurementRow( self, test_value: float, @@ -302,4 +281,4 @@ def clearCalibrationTest(self): self.measurements_widget.setRowCount(0) self.plot_widget.clear() self.updateResultsTable(0, 0, 0) - self.calib_mngr.clearAllValues() + self.calib_mngr.clearValues() diff --git a/src/qtUIs/widgets/customQtLoaders.py b/src/qtUIs/widgets/customQtLoaders.py index 3d8a596..fc04635 100644 --- a/src/qtUIs/widgets/customQtLoaders.py +++ b/src/qtUIs/widgets/customQtLoaders.py @@ -1,7 +1,22 @@ # -*- coding: utf-8 -*- from src.enums.qssLabels import QssLabels -from PySide6 import QtWidgets +from src.enums.uiResources import IconPaths +from PySide6 import QtWidgets, QtGui, QtCore + + +def createIconLabelBox( + icon_path: IconPaths, qss_object: QssLabels = None +) -> QtWidgets.QLabel: + label = QtWidgets.QLabel() + icon = QtGui.QPixmap(icon_path.value) + label.setPixmap(icon) + label.setSizePolicy( + QtWidgets.QSizePolicy.Policy.Fixed, QtWidgets.QSizePolicy.Policy.Preferred + ) + if qss_object is not None: + label.setObjectName(qss_object.value) + return label def createLabelBox(text: str, qss_object: QssLabels = None) -> QtWidgets.QLabel: @@ -11,16 +26,42 @@ def createLabelBox(text: str, qss_object: QssLabels = None) -> QtWidgets.QLabel: return label +def createIconQPushButton( + icon_path: IconPaths, + qss_object: QssLabels = None, + enabled: bool = False, + connect_fn=None, +) -> QtWidgets.QPushButton: + button = QtWidgets.QPushButton() + icon = QtGui.QIcon(icon_path.value) + button.setIcon(icon) + button.setSizePolicy( + QtWidgets.QSizePolicy.Policy.Fixed, QtWidgets.QSizePolicy.Policy.Preferred + ) + button.setCursor(QtCore.Qt.PointingHandCursor) + if qss_object is not None: + button.setObjectName(qss_object.value) + button.setEnabled(enabled) + if connect_fn is not None: + button.clicked.connect(connect_fn) + return button + + def createQPushButton( title: str, qss_object: QssLabels = None, enabled: bool = False, + icon_path: IconPaths = None, connect_fn=None, ) -> QtWidgets.QPushButton: button = QtWidgets.QPushButton(title) + button.setCursor(QtCore.Qt.PointingHandCursor) if qss_object is not None: button.setObjectName(qss_object.value) button.setEnabled(enabled) + if icon_path is not None: + icon = QtGui.QIcon(icon_path.value) + button.setIcon(icon) if connect_fn is not None: button.clicked.connect(connect_fn) return button @@ -48,16 +89,23 @@ def createSensorQPushButton( def createSensorQCheckBox( text: str, qss_object: QssLabels = None, - enabled: bool = True, + enabled: bool = False, change_fn=None, - index=0, + group_id: str = None, + sensor_id: str = None, ) -> QtWidgets.QCheckBox: checkbox = QtWidgets.QCheckBox(text) + checkbox.setSizePolicy( + QtWidgets.QSizePolicy.Policy.Preferred, QtWidgets.QSizePolicy.Policy.Preferred + ) + checkbox.setCursor(QtCore.Qt.PointingHandCursor) if qss_object is not None: checkbox.setObjectName(qss_object.value) - checkbox.setEnabled(enabled) - if change_fn is not None: + checkbox.setChecked(enabled) + if change_fn is not None and group_id is not None: checkbox.stateChanged.connect( - lambda state, index=index: change_fn(index, state == 2) + lambda state, group_id=group_id, sensor_id=sensor_id: change_fn( + state == 2, group_id, sensor_id + ) ) return checkbox diff --git a/src/qtUIs/widgets/mainWidgets.py b/src/qtUIs/widgets/mainWidgets.py new file mode 100644 index 0000000..461ff27 --- /dev/null +++ b/src/qtUIs/widgets/mainWidgets.py @@ -0,0 +1,474 @@ +# -*- coding: utf-8 -*- + +from PySide6 import QtWidgets, QtGui, QtCore +from src.managers.sensorManager import SensorManager +from src.managers.dataManager import DataManager +from src.qtUIs.widgets import customQtLoaders as customQT +from src.handlers import Sensor, SensorGroup + +from src.enums.qssLabels import QssLabels +from src.enums.uiResources import IconPaths +from src.enums.sensorTypes import STypes, SGTypes +from src.enums.plotTypes import PlotTypes +from src.enums.sensorStatus import SGStatus + +from loguru import logger + + +_sensor_types: dict[STypes, IconPaths] = { + STypes.SENSOR_LOADCELL: IconPaths.LOADCELL_ICON, + STypes.SENSOR_ENCODER: IconPaths.ENCODER_ICON, + STypes.SENSOR_IMU: IconPaths.IMU_ICON, +} +_sensor_group_types: dict[SGTypes, IconPaths] = { + SGTypes.GROUP_DEFAULT: IconPaths.DEFAULT_GROUP_ICON, + SGTypes.GROUP_PLATFORM: IconPaths.PLATFORM_ICON, +} + + +def clearWidgetsLayout(layout: QtWidgets.QBoxLayout) -> None: + for i in reversed(range(layout.count())): + widget = layout.itemAt(i).widget() + if widget is not None: + widget.deleteLater() + + +class SensorSettings: + def __init__(self, sensor_manager: SensorManager): + self.sensor_mngr = sensor_manager + + def updateLayout( + self, hbox_layout: QtWidgets.QHBoxLayout, sensor_groups: list[SensorGroup] + ) -> None: + clearWidgetsLayout(hbox_layout) + for group in sensor_groups: + hbox_layout.addWidget(self.buildSensorGroupPanel(group)) + + # Panel builders + + def buildSensorPanel(self, group_id: str, sensor: Sensor) -> QtWidgets.QWidget: + widget = QtWidgets.QWidget() + hbox_layout = QtWidgets.QHBoxLayout() + widget.setLayout(hbox_layout) + # Build elements + status_label = customQT.createIconLabelBox( + sensor.getStatus().value[0], sensor.getStatus().value[1] + ) + sensor_icon = IconPaths.GRAPH + if sensor.getType() in _sensor_types: + sensor_icon = _sensor_types[sensor.getType()] + type_label = customQT.createIconLabelBox(sensor_icon, QssLabels.SENSOR) + text = f"{sensor.getName()} \n {sensor.getProperties()}" + sensor_checkbox = customQT.createSensorQCheckBox( + text, + QssLabels.SENSOR, + enabled=sensor.getRead(), + change_fn=self.sensor_mngr.setSensorRead, + group_id=group_id, + sensor_id=sensor.getID(), + ) + # Build layout + hbox_layout.addWidget(status_label) + hbox_layout.addWidget(type_label) + hbox_layout.addWidget(sensor_checkbox) + return widget + + def buildSensorGroupPanel(self, group: SensorGroup) -> QtWidgets.QWidget: + widget = QtWidgets.QWidget() + hbox_layout = QtWidgets.QHBoxLayout() + widget.setLayout(hbox_layout) + # Build elements + status_label = customQT.createIconLabelBox( + group.getStatus().value[0], group.getStatus().value[1] + ) + group_icon = IconPaths.DEFAULT_GROUP_ICON + if group.getType() in _sensor_group_types: + group_icon = _sensor_group_types[group.getType()] + type_label = customQT.createIconLabelBox(group_icon, QssLabels.SENSOR_GROUP) + edit_btn = customQT.createIconQPushButton( + IconPaths.SETTINGS, + QssLabels.SENSOR_GROUP, + enabled=True, + ) + edit_btn.clicked.connect( + lambda *, group_id=group.getID(): self.openSensorListWindow(group_id) + ) + text = f"{group.getName()} \n{group.getSize()} sensors" + group_checkbox = customQT.createSensorQCheckBox( + text=text, + qss_object=QssLabels.SENSOR_GROUP, + enabled=group.getRead(), + change_fn=self.sensor_mngr.setSensorRead, + group_id=group.getID(), + ) + # Build layout + hbox_layout.addWidget(status_label) + hbox_layout.addWidget(type_label) + hbox_layout.addWidget(edit_btn) + hbox_layout.addWidget(group_checkbox) + return widget + + # Sensor buttons click actions + + @QtCore.Slot() + def openSensorListWindow(self, group_id: str): + group = self.sensor_mngr.getGroup(group_id) + if group is None: + logger.error(f"Group {group_id} does not exist!") + return + dialog_window = QtWidgets.QDialog() + dialog_window.setWindowTitle(f"Sensor list of group {group.getName()}") + general_layout = QtWidgets.QVBoxLayout() + dialog_window.setLayout(general_layout) + for sensor in group.getSensors().values(): + widget = self.buildSensorPanel(group.getID(), sensor) + general_layout.addWidget(widget) + dialog_window.setModal(True) + dialog_window.exec_() + + +class PreviewPlotSelector(QtWidgets.QWidget): + def __init__(self, data_manager: DataManager): + self.data_mngr: DataManager = data_manager + self.combo_box: QtWidgets.QComboBox = QtWidgets.QComboBox() + self.figure_layout: QtWidgets.QBoxLayout = QtWidgets.QVBoxLayout() + self.idx1: int = 0 + self.idx2: int = 0 + + def setupLayouts( + self, + combo_box: QtWidgets.QComboBox, + figure: QtWidgets.QBoxLayout, + ) -> None: + self.combo_box = combo_box + self.combo_box.currentTextChanged.connect(self.buildPlotPreview) + self.figure_layout = figure + + def updateLayouts(self) -> None: + self.setupComboBox() + + def updatePreview(self, idx1: int, idx2: int) -> None: + self.idx1 = idx1 + self.idx2 = idx2 + self.updateSensorFigurePlot(self.combo_box.currentText()) + + def setupComboBox(self) -> None: + self.combo_box.clear() + data_keys = self.data_mngr.getCalibrateDataframe().to_dict().keys() + # Avoid timestamp in combo box options + data_iterator = iter(data_keys) + next(data_iterator) + for key in data_iterator: + self.combo_box.addItem(key) + + def updateSensorFigurePlot(self, sensor_name: str) -> None: + clearWidgetsLayout(self.figure_layout) + widget = self.data_mngr.getPlotPreviewWidget(sensor_name, self.idx1, self.idx2) + self.figure_layout.addWidget(widget) + + # Sensor buttons click actions + + @QtCore.Slot() + def buildPlotPreview(self, option): + if not option: + return + logger.debug(f"User select option {option}") + self.updateSensorFigurePlot(option) + + +class SensorPlotSelector(QtWidgets.QWidget): + def __init__(self, data_manager: DataManager): + self.data_mngr: DataManager = data_manager + self.group_combo_box: QtWidgets.QComboBox = QtWidgets.QComboBox() + self.options_selector_layout: QtWidgets.QBoxLayout = QtWidgets.QVBoxLayout() + self.figure_layout: QtWidgets.QBoxLayout = QtWidgets.QVBoxLayout() + self.group_list: list[SensorGroup] = [] + self.idx1: int = 0 + self.idx2: int = 0 + + def setupLayouts( + self, + combo_box: QtWidgets.QComboBox, + options_selector: QtWidgets.QBoxLayout, + figure: QtWidgets.QBoxLayout, + ) -> None: + self.group_combo_box = combo_box + self.group_combo_box.currentIndexChanged.connect(self.buildOptionsLayout) + self.options_selector_layout = options_selector + self.figure_layout = figure + + def updateLayouts(self, group_list: list[SensorGroup]) -> None: + self.group_list = group_list + self.setupComboBox() + clearWidgetsLayout(self.figure_layout) + + def setIndexes(self, idx1: int, idx2: int) -> None: + self.idx1 = idx1 + self.idx2 = idx2 + + def setupComboBox(self) -> None: + self.group_combo_box.clear() + clearWidgetsLayout(self.options_selector_layout) + for group in self.group_list: + icon_path = IconPaths.DEFAULT_GROUP_ICON + if group.getType() in _sensor_group_types: + icon_path = _sensor_group_types[group.getType()] + self.group_combo_box.addItem(QtGui.QIcon(icon_path.value), group.getName()) + + def updateSelectorLayout(self, sensor_group: SensorGroup) -> None: + clearWidgetsLayout(self.options_selector_layout) + for sensor in sensor_group.getSensors(only_available=True).values(): + if sensor.getType() == STypes.SENSOR_LOADCELL: + widget = self.buildOptionPanel( + f"{sensor.getName()} Force", + PlotTypes.SENSOR_LOADCELL_FORCE, + sensor, + ) + self.options_selector_layout.addWidget(widget) + continue + if sensor.getType() == STypes.SENSOR_ENCODER: + widget = self.buildOptionPanel( + f"{sensor.getName()} Distance", + PlotTypes.SENSOR_ENCODER_DISTANCE, + sensor, + ) + self.options_selector_layout.addWidget(widget) + continue + if sensor.getType() == STypes.SENSOR_IMU: + angle_widget = self.buildOptionPanel( + f"{sensor.getName()} Angles", + PlotTypes.SENSOR_IMU_ANGLES, + sensor, + ) + velocity_widget = self.buildOptionPanel( + f"{sensor.getName()} Angular velocity", + PlotTypes.SENSOR_IMU_VELOCITY, + sensor, + ) + acceleration_widget = self.buildOptionPanel( + f"{sensor.getName()} Accelerations", + PlotTypes.SENSOR_IMU_ACCELERATION, + sensor, + ) + self.options_selector_layout.addWidget(angle_widget) + self.options_selector_layout.addWidget(velocity_widget) + self.options_selector_layout.addWidget(acceleration_widget) + + def updateSensorFigurePlot(self, plot_type: PlotTypes, sensor: Sensor) -> None: + clearWidgetsLayout(self.figure_layout) + widget = self.data_mngr.getSensorPlotWidget( + plot_type, sensor.getName(), self.idx1, self.idx2 + ) + self.figure_layout.addWidget(widget) + + # Panel builders + + def buildOptionPanel( + self, title: str, plot_type: PlotTypes, sensor: Sensor + ) -> QtWidgets.QWidget: + widget = QtWidgets.QWidget() + hbox_layout = QtWidgets.QHBoxLayout() + widget.setLayout(hbox_layout) + # Build elements + sensor_icon = IconPaths.GRAPH + if sensor.getType() in _sensor_types: + sensor_icon = _sensor_types[sensor.getType()] + type_label = customQT.createIconLabelBox(sensor_icon, QssLabels.SENSOR) + sensor_btn = customQT.createQPushButton( + title=title, + qss_object=QssLabels.SENSOR, + enabled=True, + ) + sensor_btn.clicked.connect( + lambda *, plot_type=plot_type, sensor=sensor: self.updateSensorFigurePlot( + plot_type, sensor + ) + ) + # Build layout + hbox_layout.addWidget(type_label) + hbox_layout.addWidget(sensor_btn) + return widget + + # Sensor buttons click actions + + @QtCore.Slot() + def buildOptionsLayout(self, index): + if index == -1: + return + logger.debug(f"User select option {index}") + self.updateSelectorLayout(self.group_list[index]) + + +class PlatformPlotSelector(QtWidgets.QWidget): + def __init__(self, data_manager: DataManager): + self.data_mngr: DataManager = data_manager + self.group_combo_box: QtWidgets.QComboBox = QtWidgets.QComboBox() + self.options_selector_layout: QtWidgets.QBoxLayout = QtWidgets.QVBoxLayout() + self.figure_layout: QtWidgets.QBoxLayout = QtWidgets.QVBoxLayout() + self.group_list: list[SensorGroup] = [] + self.idx1: int = 0 + self.idx2: int = 0 + + def setupLayouts( + self, + combo_box: QtWidgets.QComboBox, + options_selector: QtWidgets.QBoxLayout, + figure: QtWidgets.QBoxLayout, + ) -> None: + self.group_combo_box = combo_box + self.group_combo_box.currentIndexChanged.connect(self.buildOptionsLayout) + self.options_selector_layout = options_selector + self.figure_layout = figure + + def updateLayouts(self, group_list: list[SensorGroup]) -> None: + self.group_list = group_list + self.setupComboBox() + clearWidgetsLayout(self.figure_layout) + + def setIndexes(self, idx1: int, idx2: int) -> None: + self.idx1 = idx1 + self.idx2 = idx2 + + def setupComboBox(self) -> None: + self.group_combo_box.clear() + clearWidgetsLayout(self.options_selector_layout) + for group in self.group_list: + self.group_combo_box.addItem( + QtGui.QIcon(IconPaths.PLATFORM_ICON.value), group.getName() + ) + + def updateSelectorLayout(self, sensor_group: SensorGroup) -> None: + clearWidgetsLayout(self.options_selector_layout) + sensor_list = [ + sensor.getName() + for sensor in sensor_group.getSensors( + only_available=True, sensor_type=STypes.SENSOR_LOADCELL + ).values() + ] + forces_widget = self.buildOptionPanel( + "Total forces", PlotTypes.GROUP_PLATFORM_FORCES, sensor_list, False + ) + if len(sensor_list) > 0 and len(sensor_list) <= 12: + forces_widget = self.buildOptionPanel( + "Total forces", PlotTypes.GROUP_PLATFORM_FORCES, sensor_list + ) + cop_widget = self.buildOptionPanel( + "Platform COP", PlotTypes.GROUP_PLATFORM_COP, sensor_list, False + ) + if len(sensor_list) == 12: + cop_widget = self.buildOptionPanel( + "Platform COP", PlotTypes.GROUP_PLATFORM_COP, sensor_list + ) + self.options_selector_layout.addWidget(forces_widget) + self.options_selector_layout.addWidget(cop_widget) + + def updateSensorFigurePlot( + self, plot_type: PlotTypes, sensor_list: list[str] + ) -> None: + clearWidgetsLayout(self.figure_layout) + widget = self.data_mngr.getGroupPlotWidget( + plot_type, sensor_list, self.idx1, self.idx2 + ) + self.figure_layout.addWidget(widget) + + # Panel builders + + def buildOptionPanel( + self, + title: str, + plot_type: PlotTypes, + sensor_list: list[str], + enable: bool = True, + ) -> QtWidgets.QWidget: + widget = QtWidgets.QWidget() + hbox_layout = QtWidgets.QHBoxLayout() + widget.setLayout(hbox_layout) + # Build elements + type_label = customQT.createIconLabelBox(IconPaths.GRAPH, QssLabels.SENSOR) + sensor_btn = customQT.createQPushButton( + title=title, + qss_object=QssLabels.SENSOR, + enabled=enable, + ) + sensor_btn.clicked.connect( + lambda *, plot_type=plot_type, sensor_list=sensor_list: self.updateSensorFigurePlot( + plot_type, sensor_list + ) + ) + # Build layout + hbox_layout.addWidget(type_label) + hbox_layout.addWidget(sensor_btn) + return widget + + # Sensor buttons click actions + + @QtCore.Slot() + def buildOptionsLayout(self, index): + if index == -1: + return + logger.debug(f"User select option {index}") + self.updateSelectorLayout(self.group_list[index]) + + +class CalibrationSelector(QtWidgets.QWidget): + def __init__(self): + self.group_combo_box: QtWidgets.QComboBox = QtWidgets.QComboBox() + self.sensor_combo_box: QtWidgets.QComboBox = QtWidgets.QComboBox() + self.group_list: list[SensorGroup] = [] + + def setupLayouts( + self, + group_combo_box: QtWidgets.QComboBox, + sensor_combo_box: QtWidgets.QComboBox, + ) -> None: + self.group_combo_box = group_combo_box + self.group_combo_box.currentIndexChanged.connect(self.buildSensorComboBox) + self.sensor_combo_box = sensor_combo_box + + def updateLayouts(self, group_list: list[SensorGroup]) -> None: + self.group_list = group_list + self.setupGroupComboBox() + + def setupGroupComboBox(self) -> None: + self.group_combo_box.clear() + for group in self.group_list: + self.group_combo_box.addItem( + QtGui.QIcon(IconPaths.PLATFORM_ICON.value), group.getName() + ) + + def setupSensorComboBox(self, sensor_group: SensorGroup) -> None: + self.sensor_combo_box.clear() + for sensor in sensor_group.getSensors( + only_available=True, sensor_type=STypes.SENSOR_LOADCELL + ).values(): + self.sensor_combo_box.addItem( + QtGui.QIcon(IconPaths.LOADCELL_ICON.value), sensor.getName() + ) + + # Sensor buttons click actions + + @QtCore.Slot() + def buildSensorComboBox(self, index): + if index == -1: + return + logger.debug(f"User select option {index}") + self.setupSensorComboBox(self.group_list[index]) + + # Getters + + def getSelectedGroup(self) -> SensorGroup: + index = self.group_combo_box.currentIndex() + return self.group_list[index] + + def getSelectedSensor(self) -> Sensor | None: + group_index = self.group_combo_box.currentIndex() + sensor_name = self.sensor_combo_box.currentText() + group = self.group_list[group_index] + selected_sensor = None + for sensor in group.getSensors( + only_available=True, sensor_type=STypes.SENSOR_LOADCELL + ).values(): + if sensor.getName() == sensor_name: + selected_sensor = sensor + break + return selected_sensor diff --git a/src/qtUIs/widgets/matplotlibWidgets.py b/src/qtUIs/widgets/matplotlibWidgets.py index 7d538c2..becde09 100644 --- a/src/qtUIs/widgets/matplotlibWidgets.py +++ b/src/qtUIs/widgets/matplotlibWidgets.py @@ -1,249 +1,298 @@ +import pandas as pd import numpy as np import matplotlib.patches as patches -import math from PySide6 import QtWidgets -from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg as FigureCanvas +from matplotlib.backends.backend_qt5agg import ( + FigureCanvasQTAgg as FigureCanvas, + NavigationToolbar2QT, +) from matplotlib.figure import Figure +from matplotlib.axes import Axes -class PlotPlatformForcesWidget(QtWidgets.QWidget): - def __init__(self, group_name: str): - super(PlotPlatformForcesWidget, self).__init__() +class PlotFigureWidget(QtWidgets.QWidget): + def __init__(self): + super(PlotFigureWidget, self).__init__() - self.figure = Figure() + self.figure: Figure = Figure() self.canvas = FigureCanvas(self.figure) - self.setLayout(QtWidgets.QVBoxLayout()) - self.layout().addWidget(self.canvas) - - self.group_name = group_name - - self.setup() - - def setup(self): - self.ax1 = self.figure.add_subplot(311) - self.ax2 = self.figure.add_subplot(312, sharex=self.ax1) - self.ax3 = self.figure.add_subplot(313, sharex=self.ax1) - self.lines_ax1 = [] - self.lines_ax2 = [] - self.lines_ax3 = [] - - self.lines_defined = False - self.ax1.set_title(f"Forces - {self.group_name}") - self.ax1.set_ylabel("Forces Z (kg)") - self.ax2.set_ylabel("Forces X (kg)") - self.ax3.set_ylabel("Forces Y (kg)") - self.ax3.set_xlabel("Time (s)") - for ax in [self.ax1, self.ax2, self.ax3]: - ax.grid(True) - self.canvas.draw() - - def defineLines(self, ax, lines_ax: list, names: list): - for name in names: - (line,) = ax.plot(0, 0, label=name) - lines_ax.append(line) - lines_ax.append(line) - ax.legend(loc="upper right") - self.lines_defined = True - - def update( - self, times_np: np.ndarray, forces_x: dict, forces_y: dict, forces_z: dict - ): - if not self.lines_defined: - self.defineLines(self.ax1, self.lines_ax1, list(forces_z.keys())) - self.defineLines(self.ax2, self.lines_ax2, list(forces_x.keys())) - self.defineLines(self.ax3, self.lines_ax3, list(forces_y.keys())) - - for i, values_np in enumerate(forces_z.values()): - self.lines_ax1[i].set_data(times_np, values_np) - for i, values_np in enumerate(forces_x.values()): - self.lines_ax2[i].set_data(times_np, values_np) - for i, values_np in enumerate(forces_y.values()): - self.lines_ax3[i].set_data(times_np, values_np) - - for ax in [self.ax1, self.ax2, self.ax3]: - ax.relim() - ax.autoscale_view() - - self.canvas.draw() - - def clear(self): - self.figure.clear() - self.setup() - + self.toolbar = NavigationToolbar2QT(self.canvas, self) -class PlotPlatformCOPWidget(QtWidgets.QWidget): - def __init__(self, group_name: str): - super(PlotPlatformCOPWidget, self).__init__() - - self.figure = Figure() - self.canvas = FigureCanvas(self.figure) self.setLayout(QtWidgets.QVBoxLayout()) + self.layout().addWidget(self.toolbar) self.layout().addWidget(self.canvas) - self.group_name = group_name - self.last_indexes = 20 - - self.setup() - - def setup(self): - self.ax = self.figure.add_subplot() - self.ax.set_title(f"COP - {self.group_name}") - self.ax.set_xlabel("Medio-Lateral Motion (mm)") - self.ax.set_ylabel("Anterior-Posterior Motion (mm)") - self.ax.grid(True) - (self.line_total,) = self.ax.plot(0, 0, label="Recorded values", color="blue") - (self.line_last,) = self.ax.plot( - 0, 0, label=f"Last {self.last_indexes} values", color="red" - ) - self.ax.legend(loc="upper right") - - # Platform rectangle patch (mm) - x_len = 600 - y_len = 400 - rectangle = patches.Rectangle( - (-x_len / 2, -y_len / 2), x_len, y_len, edgecolor="blue", facecolor="none" - ) - self.ax.add_patch(rectangle) - - # Last pose circle - self.circle = patches.Circle( - (0, 0), 6, edgecolor="#326295", facecolor="white", linewidth=2.0 - ) - self.ax.add_patch(self.circle) + # Plot style + self.colors = ["red", "blue", "black", "orange", "purple"] + self.markers = ["x", "o", "^", "s", "D"] + self.markers_amount = 10 + self.linepx_main = 1.5 + def setupPlot(self, df: pd.DataFrame, axis_labels: tuple[str, str] = None) -> None: + self.figure.clear() + ax = self.figure.add_subplot(111) + # If only 1 col, make it also a df + if isinstance(df, pd.Series): + df = df.to_frame() + x_data = df.index if "times" not in df.columns else df["times"] + i = 0 + for column in df.columns: + if column != "times": + color = self.colors[i % len(self.colors)] + marker = self.markers[i % len(self.markers)] + ax.plot( + x_data, + df[column], + label=column, + color=color, + linewidth=self.linepx_main, + marker=marker, + markevery=len(df) // self.markers_amount, + ) + i += 1 + ax.grid(True) + if axis_labels: + ax.set_xlabel(axis_labels[0]) + ax.set_ylabel(axis_labels[1]) + ax.legend() self.canvas.draw() - def update(self, cop_x_np: np.ndarray, cop_y_np: np.ndarray): - self.line_total.set_data(cop_x_np, cop_y_np) - self.line_last.set_data( - cop_x_np[-self.last_indexes :], cop_y_np[-self.last_indexes :] - ) - self.circle.set_center([cop_x_np[-1:], cop_y_np[-1:]]) - + def setupRangedPlot( + self, + df: pd.DataFrame, + idx1: int, + idx2: int, + axis_labels: tuple[str, str] = None, + ) -> None: + self.figure.clear() + ax = self.figure.add_subplot(111) + # If only 1 col, make it also a df + if isinstance(df, pd.Series): + df = df.to_frame() + x_data = df.index if "times" not in df.columns else df["times"] + i = 0 + for column in df.columns: + if column != "times": + color = self.colors[i % len(self.colors)] + marker = self.markers[i % len(self.markers)] + ax.plot( + x_data[idx1:idx2], + df[column][idx1:idx2], + label=column, + color=color, + linewidth=self.linepx_main, + marker=marker, + markevery=(idx2 - idx1) // self.markers_amount, + ) + i += 1 + ax.grid(True) + if axis_labels: + ax.set_xlabel(axis_labels[0]) + ax.set_ylabel(axis_labels[1]) + ax.legend() self.canvas.draw() - def clear(self): + def setupRangedPreviewPlot( + self, + df: pd.DataFrame, + idx1: int, + idx2: int, + axis_labels: tuple[str, str] = None, + ) -> None: self.figure.clear() - self.setup() + ax = self.figure.add_subplot(111) + # If only 1 col, make it also a df + if isinstance(df, pd.Series): + df = df.to_frame() + x_data = df.index if "times" not in df.columns else df["times"] + i = 0 + for column in df.columns: + if column != "times": + color = self.colors[i % len(self.colors)] + marker = self.markers[i % len(self.markers)] + ax.plot( + x_data, + df[column], + label=column, + color=color, + linewidth=self.linepx_main, + marker=marker, + markevery=len(df) // self.markers_amount, + ) + i += 1 + ax.axvline(x=x_data[idx1], color="blue", linestyle="--") + ax.axvline(x=x_data[idx2 - 1], color="blue", linestyle="--") + ax.grid(True) + if axis_labels: + ax.set_xlabel(axis_labels[0]) + ax.set_ylabel(axis_labels[1]) + ax.legend() + self.canvas.draw() -class PlotEncoderWidget(QtWidgets.QWidget): - def __init__(self, group_name: str, group_size: int): - super(PlotEncoderWidget, self).__init__() +class PlotPlatformForcesWidget(QtWidgets.QWidget): + def __init__(self): + super(PlotPlatformForcesWidget, self).__init__() - self.figure = Figure() + self.figure: Figure = Figure() self.canvas = FigureCanvas(self.figure) + self.toolbar = NavigationToolbar2QT(self.canvas, self) + self.setLayout(QtWidgets.QVBoxLayout()) + self.layout().addWidget(self.toolbar) self.layout().addWidget(self.canvas) - self.group_name = group_name - self.group_size = group_size - self.subplots_lines = [] - self.subplots_ax = [] - - self.setup() - - def setup(self): - self.createSubplots( - ["Encoder " + str(i) for i in range(1, self.group_size + 1)] - ) + # Plot style + self.sum_color = "red" + self.colors = ["blue", "black", "orange", "purple"] + self.markers = ["o", "^", "s", "D"] + self.markers_amount = 10 + self.linepx_main = 3 + self.linepx_second = 1 + + # Setup Axes + self.ax_fz = self.figure.add_subplot(311) + self.ax_fx = self.figure.add_subplot(312, sharex=self.ax_fz) + self.ax_fy = self.figure.add_subplot(313, sharex=self.ax_fz) + self.ax_fz.set_ylabel("Forces Z (kg)") + self.ax_fx.set_ylabel("Forces X (kg)") + self.ax_fy.set_ylabel("Forces Y (kg)") + self.ax_fy.set_xlabel("Time (s)") + + def setupPlot( + self, + times: list[float], + df_fx: pd.DataFrame, + df_fy: pd.DataFrame, + df_fz: pd.DataFrame, + ) -> None: + self.plotAxes(self.ax_fz, times, df_fz) + self.plotAxes(self.ax_fx, times, df_fx) + self.plotAxes(self.ax_fy, times, df_fy) self.canvas.draw() - def createSubplots(self, encoder_names: list, real_set: bool = False): - encoders_len = len(encoder_names) - if real_set: - self.figure.clear() - self.subplots_lines.clear() - self.subplots_ax.clear() - for i, encoder_name in enumerate(encoder_names): - ax = self.figure.add_subplot(math.ceil(encoders_len / 2), 2, i + 1) - ax.grid(True) - (line,) = ax.plot(0, 0) - ax.set_title(encoder_name) - # ax.set_xlabel('Time(s)') - ax.set_ylabel("Distance (mm)") - self.subplots_lines.append(line) - self.subplots_ax.append(ax) - self.subplots_set = real_set - - def update(self, times_np: np.ndarray, encoders_dict: dict): - if not self.subplots_set: - self.createSubplots(list(encoders_dict.keys()), True) - - for ax, line, values_np in zip( - self.subplots_ax, self.subplots_lines, encoders_dict.values() - ): - line.set_data(times_np, values_np) - ax.relim() - ax.autoscale_view() - + def setupRangedPlot( + self, + times: list[float], + df_fx: pd.DataFrame, + df_fy: pd.DataFrame, + df_fz: pd.DataFrame, + idx1: int, + idx2: int, + ) -> None: + self.plotAxes(self.ax_fz, times[idx1:idx2], df_fz[idx1:idx2]) + self.plotAxes(self.ax_fx, times[idx1:idx2], df_fx[idx1:idx2]) + self.plotAxes(self.ax_fy, times[idx1:idx2], df_fy[idx1:idx2]) self.canvas.draw() - def clear(self): - self.figure.clear() - self.setup() + def plotAxes(self, ax: Axes, times: list[float], df: pd.DataFrame) -> None: + if df.empty: + return + ax.plot( + times, + df.sum(axis=1), + label="Sum", + color=self.sum_color, + linewidth=self.linepx_main, + ) + # If only 1 col, make it also a df + if isinstance(df, pd.Series): + df = df.to_frame() + i = 0 + for column in df.columns: + color = self.colors[i % len(self.colors)] + marker = self.markers[i % len(self.markers)] + ax.plot( + times, + df[column], + label=column, + color=color, + linewidth=self.linepx_second, + marker=marker, + markevery=len(df) // self.markers_amount, + ) + i += 1 + ax.grid(True) + ax.legend(loc="upper right") -class PlotIMUWidget(QtWidgets.QWidget): - def __init__(self, group_name: str, group_size: int): - super(PlotIMUWidget, self).__init__() +class PlotPlatformCOPWidget(QtWidgets.QWidget): + def __init__(self): + super(PlotPlatformCOPWidget, self).__init__() - self.figure = Figure() + self.figure: Figure = Figure() self.canvas = FigureCanvas(self.figure) - self.setLayout(QtWidgets.QVBoxLayout()) - self.layout().addWidget(self.canvas) - - self.group_name = group_name - self.group_size = group_size - self.subplots_lines = [] - self.subplots_ax = [] - - self.setup() - - def setup(self): - self.createSubplots(["IMU " + str(i) for i in range(1, self.group_size + 1)]) - self.canvas.draw() - - def createSubplots(self, imu_names: list, real_set: bool = False): - imus_len = len(imu_names) - if real_set: - self.figure.clear(keep_observers=True) - self.subplots_lines.clear() - self.subplots_ax.clear() - for i, encoder_name in enumerate(imu_names): - ax = self.figure.add_subplot(math.ceil(imus_len / 2), 2, i + 1) - ax.grid(True) - (line_x,) = ax.plot(0, 0, label="X", color="red") - (line_y,) = ax.plot(0, 0, label="Y", color="blue") - (line_z,) = ax.plot(0, 0, label="Z", color="green") - ax.set_title(encoder_name) - # ax.set_xlabel('Time(s)') - ax.set_ylabel("Angle (degrees)") - ax.set_ylim(-180, 180) - ax.set_yticks(range(-180, 181, 20)) - ax.legend(loc="upper right") - self.subplots_lines.append([line_x, line_y, line_z]) - self.subplots_ax.append(ax) - self.subplots_set = real_set - - def update(self, times_np: np.ndarray, imus_dict: dict): - if not self.subplots_set: - self.createSubplots(list(imus_dict.keys()), True) - - for ax, line, values_np in zip( - self.subplots_ax, self.subplots_lines, imus_dict.values() - ): - line[0].set_data(times_np, values_np[0]) - line[1].set_data(times_np, values_np[1]) - line[2].set_data(times_np, values_np[2]) - ax.relim() - ax.autoscale_view() + self.toolbar = NavigationToolbar2QT(self.canvas, self) + self.top_bar = QtWidgets.QHBoxLayout() + self.results_bar = QtWidgets.QHBoxLayout() + + self.top_bar.addWidget(self.toolbar) + self.top_bar.addLayout(self.results_bar) + + main_layout = QtWidgets.QVBoxLayout() + main_layout.addLayout(self.top_bar) + main_layout.addWidget(self.canvas, stretch=1) + + self.setLayout(main_layout) + + # Plot style + self.ellipse_color = "red" + self.ellipse_linepx = 3 + self.cop_color = "blue" + self.cop_line_px = 1 + + def setupPlot( + self, + cop: tuple[pd.Series, pd.Series], + ellipse_params: tuple[float, float, float, float], + ) -> None: + self.figure.clear() + ax = self.figure.add_subplot(111) + ax.set_xlabel("Medio-Lateral Motion (mm)") + ax.set_ylabel("Anterior-Posterior Motion (mm)") + ax.grid(True) + + # Platform patch + x_len = 400 + y_len = 600 + rectangle = patches.Rectangle( + (-x_len / 2, -y_len / 2), + x_len, + y_len, + edgecolor="blue", + facecolor="none", + ) + ax.add_patch(rectangle) + + # Ellipse patch + ellipse = patches.Ellipse( + xy=(np.mean(cop[1]), np.mean(cop[0])), + width=2 * ellipse_params[0], # a + height=2 * ellipse_params[1], # b + angle=np.degrees(ellipse_params[2]), # phi + edgecolor=self.ellipse_color, + facecolor=self.ellipse_color, + alpha=0.3, + linewidth=self.ellipse_linepx, + ) + ax.add_patch(ellipse) + area = ellipse_params[3] / 100 # From mm2 to cm2 + ax.text( + 0, + 0, + f"Area: {area:.2f} cm2", + ha="center", + va="center", + color="black", + fontsize=12, + ) + # Plot COP and draw + ax.plot(cop[1], cop[0], color=self.cop_color, linewidth=self.cop_line_px) self.canvas.draw() - def clear(self): - self.figure.clear() - self.setup() + # Add results + self.results_bar.addWidget(QtWidgets.QLabel(f"Ellipse area: {area:.2f} cm2")) class PlotRegressionWidget(QtWidgets.QWidget): diff --git a/src/sensorLoader.py b/src/sensorLoader.py deleted file mode 100644 index 7495a06..0000000 --- a/src/sensorLoader.py +++ /dev/null @@ -1,126 +0,0 @@ -# -*- coding: utf-8 -*- - -from loguru import logger -from src.managers.configManager import ConfigManager -from src.handlers.sensorGroup import SensorGroup -from src.handlers.sensor import Sensor, Driver -from src.handlers.drivers import PhidgetLoadCell, PhidgetEncoder, TaoboticsIMU -from src.enums.configPaths import ConfigPaths as CfgPaths -from src.enums.sensorParams import SensorParams as SParams - - -class SensorLoader: - def __init__(self, config_mngr: ConfigManager) -> None: - # Global values - self.config_mngr = config_mngr - - # Required config keys for each sensor group - self.required_keys_loadcells = [ - SParams.NAME, - SParams.READ, - SParams.SERIAL, - SParams.CHANNEL, - SParams.CALIBRATION_SECTION, - ] - self.required_keys_encoders = [ - SParams.NAME, - SParams.READ, - SParams.SERIAL, - SParams.CHANNEL, - SParams.CALIBRATION_SECTION, - SParams.INITIAL_POS, - ] - self.required_keys_taobotics = [SParams.NAME, SParams.READ, SParams.SERIAL] - - def loadHandlers(self): - self.sensor_group_platform1 = self.setSensorGroup( - "Platform 1", - CfgPaths.PHIDGET_P1_LOADCELL_CONFIG_SECTION, - self.required_keys_loadcells, - PhidgetLoadCell, - ) - self.sensor_group_platform2 = self.setSensorGroup( - "Platform 2", - CfgPaths.PHIDGET_P2_LOADCELL_CONFIG_SECTION, - self.required_keys_loadcells, - PhidgetLoadCell, - ) - self.sensor_group_encoders = self.setSensorGroup( - "Barbell encoders", - CfgPaths.PHIDGET_ENCODER_CONFIG_SECTION, - self.required_keys_encoders, - PhidgetEncoder, - ) - self.sensor_group_imus = self.setSensorGroup( - "Body IMUs", - CfgPaths.TAOBOTICS_IMU_CONFIG_SECTION, - self.required_keys_taobotics, - TaoboticsIMU, - ) - self.ref_sensor = Sensor() - self.loadSensor( - self.ref_sensor, - "REF", - CfgPaths.CALIBRATION_CONFIG_SECTION.value, - self.required_keys_loadcells, - PhidgetLoadCell, - ) - - def setSensorGroup( - self, - group_name: str, - config_section: CfgPaths, - required_keys: list, - sensor_driver: Driver, - ) -> SensorGroup: - sensor_group = SensorGroup(group_name) - for sensor_id in self.config_mngr.getConfigValue(config_section.value): - sensor = Sensor() - config_path = config_section.value + "." + sensor_id - setup = self.loadSensor( - sensor, sensor_id, config_path, required_keys, sensor_driver - ) - if not setup: - logger.warning(f"Could not load sensor in config path {config_path}!") - continue - sensor_group.addSensor(sensor) - return sensor_group - - def loadSensor( - self, - sensor: Sensor, - id: str, - config_path: str, - required_keys: list, - driver: Driver, - ) -> bool: - sensor_params = self.config_mngr.getConfigValue(config_path, None) - if sensor_params is None: - return False - if not all(key.value in sensor_params.keys() for key in required_keys): - return False - sensor.setup(id, sensor_params, driver) - return True - - def getSensorGroups(self) -> list: - return [ - self.sensor_group_platform1, - self.sensor_group_platform2, - self.sensor_group_encoders, - self.sensor_group_imus, - ] - - def getSensorGroupPlatform1(self) -> SensorGroup: - return self.sensor_group_platform1 - - def getSensorGroupPlatform2(self) -> SensorGroup: - return self.sensor_group_platform2 - - def getSensorGroupEncoders(self) -> SensorGroup: - return self.sensor_group_encoders - - def getSensorGroupIMUs(self) -> SensorGroup: - return self.sensor_group_imus - - def getRefSensor(self) -> Sensor: - return self.ref_sensor diff --git a/tests/files/custom_config.yaml b/tests/files/custom_config.yaml index 3b48b4c..c45db74 100644 --- a/tests/files/custom_config.yaml +++ b/tests/files/custom_config.yaml @@ -1,12 +1,13 @@ -general_settings: - calibration_times: +settings: + test: + name: Example Test + folder_path: /example/folder/ + results: + save_raw: true + save_calib: true + recording: data_interval_ms: 10 - calibration_time_ms: 3000 - test_times: + tare_data_amount: 300 + calibration: data_interval_ms: 10 - tare_time_ms: 3000 - test_results: - folder: /example/folder - name: Example Test - save_calib_results: true - save_raw_results: false + data_amount: 300 diff --git a/tests/files/default_config.yaml b/tests/files/default_config.yaml index 71cba66..fe1030d 100644 --- a/tests/files/default_config.yaml +++ b/tests/files/default_config.yaml @@ -1,13 +1,14 @@ -general_settings: +settings: custom_config_path: null - calibration_times: + test: + name: Default Test Name + folder_path: /default/test/folder/ + results: + save_raw: true + save_calib: true + recording: data_interval_ms: 10 - calibration_time_ms: 3000 - test_times: + tare_data_amount: 300 + calibration: data_interval_ms: 10 - tare_time_ms: 3000 - test_results: - folder: /default/test/folder - name: Default Test Name - save_calib_results: true - save_raw_results: true + data_amount: 300 diff --git a/tests/files/full_dataset.csv b/tests/files/full_dataset.csv new file mode 100644 index 0000000..9105895 --- /dev/null +++ b/tests/files/full_dataset.csv @@ -0,0 +1,2057 @@ 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100644 index 0000000..dada02d --- /dev/null +++ b/tests/files/full_dataset_RAW.csv @@ -0,0 +1,2057 @@ 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3b48b4c..c45db74 100644 --- a/tests/files/other_custom_config.yaml +++ b/tests/files/other_custom_config.yaml @@ -1,12 +1,13 @@ -general_settings: - calibration_times: +settings: + test: + name: Example Test + folder_path: /example/folder/ + results: + save_raw: true + save_calib: true + recording: data_interval_ms: 10 - calibration_time_ms: 3000 - test_times: + tare_data_amount: 300 + calibration: data_interval_ms: 10 - tare_time_ms: 3000 - test_results: - folder: /example/folder - name: Example Test - save_calib_results: true - save_raw_results: false + data_amount: 300 diff --git a/tests/test_manager_config.py b/tests/test_manager_config.py index d6e0e95..1204848 100644 --- a/tests/test_manager_config.py +++ b/tests/test_manager_config.py @@ -44,9 +44,7 @@ def test_load_custom_config(config_manager: ConfigManager) -> None: # Check that custom path has been saved in default config config_manager.selected_config_path = DEFAULT_CONFIG_PATH config_manager.loadConfig(DEFAULT_CONFIG_PATH) - saved_path = config_manager.getConfigValue( - CfgPaths.GENERAL_CUSTOM_CONFIG_PATH.value, None - ) + saved_path = config_manager.getConfigValue(CfgPaths.CUSTOM_CONFIG_PATH.value, None) assert os.path.samefile(saved_path, CUSTOM_CONFIG_PATH) @@ -64,9 +62,7 @@ def test_load_other_custom_config_from_custom(config_manager: ConfigManager) -> # Check that custom path has been updated in default config config_manager.selected_config_path = DEFAULT_CONFIG_PATH config_manager.loadConfig(DEFAULT_CONFIG_PATH) - saved_path = config_manager.getConfigValue( - CfgPaths.GENERAL_CUSTOM_CONFIG_PATH.value, None - ) + saved_path = config_manager.getConfigValue(CfgPaths.CUSTOM_CONFIG_PATH.value, None) assert os.path.samefile(saved_path, OTHER_CUSTOM_CONFIG_PATH) @@ -78,7 +74,5 @@ def test_load_default_config_from_custom(config_manager: ConfigManager) -> None: if not os.path.samefile(config_manager.getCurrentFilePath(), CUSTOM_CONFIG_PATH): config_manager.loadConfigFile(CUSTOM_CONFIG_PATH) config_manager.loadConfigFile(DEFAULT_CONFIG_PATH) - saved_path = config_manager.getConfigValue( - CfgPaths.GENERAL_CUSTOM_CONFIG_PATH.value, None - ) + saved_path = config_manager.getConfigValue(CfgPaths.CUSTOM_CONFIG_PATH.value, None) assert saved_path == None diff --git a/tests/test_manager_testfile.py b/tests/test_manager_file.py similarity index 77% rename from tests/test_manager_testfile.py rename to tests/test_manager_file.py index 3ad1390..ab903a7 100644 --- a/tests/test_manager_testfile.py +++ b/tests/test_manager_file.py @@ -3,7 +3,7 @@ import pytest import os import pandas as pd -from src.managers.testFileManager import TestFileManager +from src.managers.fileManager import FileManager from pytest import MonkeyPatch @@ -24,8 +24,8 @@ def getConfigValue(self, config_path: str, default_value=None): @pytest.fixture -def test_manager() -> TestFileManager: - test_mngr = TestFileManager(cfg_mngr=ConfigManagerMock()) +def test_manager() -> FileManager: + test_mngr = FileManager(cfg_mngr=ConfigManagerMock()) test_mngr.file_path = os.path.dirname(__file__) return test_mngr @@ -42,14 +42,14 @@ def dataframe() -> pd.DataFrame: # Tests -def test_check_no_duplicated_file(test_manager: TestFileManager) -> None: +def test_check_no_duplicated_file(test_manager: FileManager) -> None: new_name = "New test" test_name = test_manager.checkDuplicatedName(new_name) assert test_name == new_name def test_check_duplicated_file( - monkeypatch: MonkeyPatch, test_manager: TestFileManager + monkeypatch: MonkeyPatch, test_manager: FileManager ) -> None: os_exists_mock = [True] @@ -59,49 +59,50 @@ def mock_exists(path): return os_exists_status monkeypatch.setattr(os.path, "exists", mock_exists) - result = test_manager.checkDuplicatedName("Test") + test_manager.checkDuplicatedName("Test") + result = test_manager.getFileName() assert result == "Test_1" -def test_file_name_setter(test_manager: TestFileManager) -> None: +def test_file_name_setter(test_manager: FileManager) -> None: new_name = "New test" test_manager.setFileName(new_name) config_manager: ConfigManagerMock = test_manager.cfg_mngr assert config_manager.set_cfg_value_calls == 1 -def test_file_name_setter_equal(test_manager: TestFileManager) -> None: +def test_file_name_setter_equal(test_manager: FileManager) -> None: new_name = "Test" test_manager.setFileName(new_name) config_manager: ConfigManagerMock = test_manager.cfg_mngr assert config_manager.set_cfg_value_calls == 0 -def test_filepath_name_setter(test_manager: TestFileManager) -> None: +def test_filepath_name_setter(test_manager: FileManager) -> None: test_manager.setFilePath("/test/path") config_manager: ConfigManagerMock = test_manager.cfg_mngr assert config_manager.set_cfg_value_calls == 1 -def test_file_name_getter(test_manager: TestFileManager) -> None: +def test_file_name_getter(test_manager: FileManager) -> None: assert test_manager.getFileName() == "Test" -def test_file_path_getter(test_manager: TestFileManager) -> None: +def test_file_path_getter(test_manager: FileManager) -> None: assert os.path.samefile(test_manager.getFilePath(), os.path.dirname(__file__)) -def test_file_path_exists(test_manager: TestFileManager) -> None: +def test_file_path_exists(test_manager: FileManager) -> None: assert test_manager.getPathExists() -def test_file_path_not_exists(test_manager: TestFileManager) -> None: +def test_file_path_not_exists(test_manager: FileManager) -> None: test_manager.setFilePath("/test/non/existing/path", check_name=False) assert not test_manager.getPathExists() def test_file_save_csv_dataframe( - test_manager: TestFileManager, dataframe: pd.DataFrame + test_manager: FileManager, dataframe: pd.DataFrame ) -> None: test_manager.saveDataToCSV(df=dataframe) total_path = os.path.join( @@ -114,7 +115,7 @@ def test_file_save_csv_dataframe( def test_file_save_failure_csv_dataframe( - test_manager: TestFileManager, dataframe: pd.DataFrame + test_manager: FileManager, dataframe: pd.DataFrame ) -> None: test_manager.setFilePath("/test/non/existing/path", check_name=False) test_manager.saveDataToCSV(df=dataframe) @@ -128,7 +129,7 @@ def test_file_save_failure_csv_dataframe( def test_file_save_binary_dataframe( - test_manager: TestFileManager, dataframe: pd.DataFrame + test_manager: FileManager, dataframe: pd.DataFrame ) -> None: test_manager.saveDataToBinary(df=dataframe) total_path = os.path.join( @@ -141,7 +142,7 @@ def test_file_save_binary_dataframe( def test_file_save_failure_binary_dataframe( - test_manager: TestFileManager, dataframe: pd.DataFrame + test_manager: FileManager, dataframe: pd.DataFrame ) -> None: test_manager.setFilePath("/test/non/existing/path", check_name=False) test_manager.saveDataToBinary(df=dataframe) diff --git a/tests/test_sensor.py b/tests/test_sensor.py index 1461f1f..4912d34 100644 --- a/tests/test_sensor.py +++ b/tests/test_sensor.py @@ -1,8 +1,9 @@ # -*- coding: utf-8 -*- from src.handlers.sensor import Sensor, Driver -from src.enums.sensorStatus import SensorStatus as SStatus -from src.enums.sensorParams import SensorParams as SParams +from src.enums.sensorStatus import SStatus +from src.enums.sensorParams import SParams +from src.enums.sensorTypes import STypes import pytest @@ -42,9 +43,12 @@ def buildSensorParamsDict( ) -> dict: return { SParams.NAME.value: "Test name", - SParams.CHANNEL.value: 0, - SParams.SERIAL.value: 0000, SParams.READ.value: read, + SParams.TYPE.value: "SENSOR_LOADCELL", + SParams.CONNECTION_SECTION.value: { + SParams.SERIAL.value: 0, + SParams.CHANNEL.value: 0000, + }, SParams.CALIBRATION_SECTION.value: { SParams.SLOPE.value: slope, SParams.INTERCEPT.value: intercept, @@ -67,13 +71,6 @@ def sensor_av() -> Sensor: return sensor -@pytest.fixture -def sensor_av_nr() -> Sensor: - sensor = Sensor() - setupSensor(sensor, "test_id", False, AvailableDriverMock) - return sensor - - @pytest.fixture def sensor_unav() -> Sensor: sensor = Sensor() @@ -81,50 +78,68 @@ def sensor_unav() -> Sensor: return sensor -@pytest.fixture -def sensor_unav_nr() -> Sensor: - sensor = Sensor() - setupSensor(sensor, "test_id", False, UnavailableDriverMock) - return sensor +# Tests -# Tests +def test_check_sensor_id(sensor_av: Sensor) -> None: + assert sensor_av.getID() == "test_id" -def test_sensor_setup() -> None: - sensor = Sensor() - sensor.setup( - id="sensor_id", params=buildSensorParamsDict(), driver=AvailableDriverMock - ) - assert sensor.getName() == "Test name" +def test_check_sensor_name(sensor_av: Sensor) -> None: + assert sensor_av.getName() == "Test name" -def test_available_noread_sensor_connect(sensor_av_nr: Sensor) -> None: - sensor_av_nr.connect(check=True) - assert sensor_av_nr.getStatus() == SStatus.IGNORED +def test_check_sensor_type(sensor_av: Sensor) -> None: + assert sensor_av.getType() == STypes.SENSOR_LOADCELL -def test_available_read_sensor_connect(sensor_av: Sensor) -> None: - sensor_av.connect(check=True) - assert sensor_av.getStatus() == SStatus.AVAILABLE +def test_check_sensor_read(sensor_av: Sensor) -> None: + assert sensor_av.getRead() == True + + +def test_check_sensor_status(sensor_av: Sensor) -> None: + assert sensor_av.getStatus() == SStatus.IGNORED + +def test_check_sensor_properties(sensor_av: Sensor) -> None: + assert sensor_av.getProperties() == " - Y8888888 - 150 kg - " -def test_unavailable_noread_sensor_connect(sensor_unav_nr: Sensor) -> None: - sensor_unav_nr.connect(check=True) - assert sensor_unav_nr.getStatus() == SStatus.IGNORED +def test_check_sensor_slope(sensor_av: Sensor) -> None: + assert sensor_av.getSlope() == 10 -def test_unavailable_read_sensor_connect(sensor_unav: Sensor) -> None: - sensor_unav.connect(check=True) - assert sensor_unav.getStatus() == SStatus.NOT_FOUND +def test_check_sensor_intercept(sensor_av: Sensor) -> None: + assert sensor_av.getIntercept() == -10 -def test_available_read_unchecked_sensor_connection(sensor_av: Sensor) -> None: + +sensor_cases = [ + ("test_id", True, AvailableDriverMock, SStatus.AVAILABLE), + ("test_id", False, AvailableDriverMock, SStatus.IGNORED), + ("test_id", True, UnavailableDriverMock, SStatus.NOT_FOUND), + ("test_id", False, UnavailableDriverMock, SStatus.IGNORED), +] + + +@pytest.mark.parametrize("sensor_status", sensor_cases) +@pytest.mark.parametrize("check_connection", [True, False]) +def test_sensor_connection(sensor_status, check_connection: bool) -> None: + sensor = Sensor() + id, read, driver, expected_status = sensor_status + setupSensor(sensor, id, read, driver) + sensor.connect(check=check_connection) + if check_connection: + assert sensor.getStatus() == expected_status + else: + assert sensor.getStatus() == SStatus.IGNORED + + +def test_unchecked_sensor_connection(sensor_av: Sensor) -> None: sensor_av.connect() assert sensor_av.getStatus() == SStatus.IGNORED -def test_available_read_checked_sensor_connection(sensor_av: Sensor) -> None: +def test_checked_sensor_connection(sensor_av: Sensor) -> None: sensor_av.checkConnection() sensor_av.connect() assert sensor_av.getStatus() == SStatus.AVAILABLE @@ -146,15 +161,7 @@ def test_unavailable_sensor_register_values(sensor_unav: Sensor) -> None: assert sensor_unav.getValues() == [] -def test_available_sensor_calibration_values(sensor_av: Sensor) -> None: - sensor_av.checkConnection() - sensor_av.connect() - sensor_av.registerValue() - sensor_av.registerValue() - assert sensor_av.getCalibValues() == [90, 90] - - -def test_available_sensor_clear_registered_values(sensor_av: Sensor) -> None: +def test_clear_registered_values(sensor_av: Sensor) -> None: sensor_av.checkConnection() sensor_av.connect() sensor_av.registerValue() @@ -163,18 +170,16 @@ def test_available_sensor_clear_registered_values(sensor_av: Sensor) -> None: assert sensor_av.getValues() == [] -def test_sensor_modify_calibration_params(sensor_av: Sensor) -> None: - sensor_av.setSlope(100) - sensor_av.setIntercept(-50) - calib_params = sensor_av.getSlopeIntercept() - assert calib_params == [100, -50] - - def test_sensor_modify_read_status(sensor_av: Sensor) -> None: sensor_av.setRead(read=False) - assert not sensor_av.getIsReadable() + assert sensor_av.getRead() == False + + +def test_sensor_modify_slope_param(sensor_av: Sensor) -> None: + sensor_av.setSlope(slope=20.5) + assert sensor_av.getSlope() == 20.5 -def test_sensor_properties_getter(sensor_av: Sensor) -> None: - properties = sensor_av.getProperties() - assert properties == " - Y8888888 - 150 kg - " \ No newline at end of file +def test_sensor_modify_intercept_param(sensor_av: Sensor) -> None: + sensor_av.setIntercept(intercept=-2.5) + assert sensor_av.getIntercept() == -2.5 diff --git a/tests/test_sensorgroup.py b/tests/test_sensorgroup.py index ce1237f..1fdd3b0 100644 --- a/tests/test_sensorgroup.py +++ b/tests/test_sensorgroup.py @@ -1,7 +1,8 @@ # -*- coding: utf-8 -*- from src.handlers.sensorGroup import SensorGroup -from src.enums.sensorStatus import SensorStatus as SStatus +from src.enums.sensorStatus import SStatus, SGStatus +from src.enums.sensorTypes import SGTypes, STypes import pytest @@ -19,11 +20,7 @@ def __init__( self.status = status self.readable = readable self.connection_checked = False - self.intercept = 10 - - def checkConnection(self) -> bool: - self.connection_checked = True - return self.status == SStatus.AVAILABLE + self.values: list = [] def connect(self) -> bool: if self.connection_checked: @@ -33,40 +30,33 @@ def connect(self) -> bool: def disconnect(self) -> None: pass - def setIntercept(self, intercept: float) -> None: - self.intercept = intercept - - def getName(self) -> str: - return "Sensor name" + def checkConnection(self) -> bool: + self.connection_checked = True + return self.status == SStatus.AVAILABLE - def getProperties(self) -> str: - return "Properties example" + def registerValue(self) -> None: + if self.status is not SStatus.AVAILABLE: + return + self.values.append(10) def getStatus(self) -> SStatus: return self.status - def getIsReadable(self) -> bool: - return self.readable + def getType(self) -> STypes: + return STypes.SENSOR_LOADCELL - def getSlopeIntercept(self) -> list[float]: - return [1, self.intercept] + def clearValues(self) -> None: + self.values.clear() def getValues(self) -> list: - if self.status is not SStatus.AVAILABLE: - return [] - return [1, 2] - - def getCalibValues(self) -> list: - if self.status is not SStatus.AVAILABLE: - return [] - return [1, 2] + return self.values @pytest.fixture def sensor_group_single() -> SensorGroup: - sensor_group = SensorGroup("Sensor Group Test") - # sensor = Sensor() - # setupSensor(sensor, True, AvailableDriverMock) + sensor_group = SensorGroup( + id="group_id", name="Sensor Group Test", type=SGTypes.GROUP_DEFAULT + ) sensor_group.addSensor(SensorMock()) return sensor_group @@ -76,7 +66,10 @@ def sensor_group_filled() -> SensorGroup: """ Sensor group filled with 2 available and 2 unavailable sensors """ - sensor_group = SensorGroup("Sensor Group Test") + sensor_group = SensorGroup( + id="group_id", name="Sensor Group Test", type=SGTypes.GROUP_DEFAULT + ) + sensor_group.setRead(read=True) for i in range(1, 3): sensor_id = f"sensor_{i}" sensor_group.addSensor(SensorMock(id=sensor_id, status=SStatus.AVAILABLE)) @@ -86,76 +79,164 @@ def sensor_group_filled() -> SensorGroup: return sensor_group +@pytest.fixture +def sensor_group_filled_av() -> SensorGroup: + """ + Sensor group filled with 4 available sensors + """ + sensor_group = SensorGroup( + id="group_id", name="Sensor Group Test", type=SGTypes.GROUP_DEFAULT + ) + sensor_group.setRead(read=True) + for i in range(1, 5): + sensor_id = f"sensor_{i}" + sensor_group.addSensor(SensorMock(id=sensor_id, status=SStatus.AVAILABLE)) + return sensor_group + + +@pytest.fixture +def sensor_group_filled_unav() -> SensorGroup: + """ + Sensor group filled with 4 unavailable sensors + """ + sensor_group = SensorGroup( + id="group_id", name="Sensor Group Test", type=SGTypes.GROUP_DEFAULT + ) + sensor_group.setRead(read=True) + for i in range(1, 5): + sensor_id = f"sensor_{i}" + sensor_group.addSensor(SensorMock(id=sensor_id, status=SStatus.NOT_FOUND)) + return sensor_group + + # Tests -def test_group_add() -> None: - sensor_group = SensorGroup("Test") - sensor_group.addSensor(SensorMock()) - assert sensor_group.getGroupSize() == 1 +def test_check_group_id(sensor_group_single: SensorGroup) -> None: + assert sensor_group_single.getID() == "group_id" + + +def test_check_group_name(sensor_group_single: SensorGroup) -> None: + assert sensor_group_single.getName() == "Sensor Group Test" + + +def test_check_group_type(sensor_group_single: SensorGroup) -> None: + assert sensor_group_single.getType() == SGTypes.GROUP_DEFAULT + + +def test_check_group_size(sensor_group_single: SensorGroup) -> None: + assert sensor_group_single.getSize() == 1 + + +def test_check_group_read(sensor_group_single: SensorGroup) -> None: + assert sensor_group_single.getRead() == False + + +def test_check_group_status(sensor_group_single: SensorGroup) -> None: + assert sensor_group_single.getStatus() == SGStatus.IGNORED + + +def test_check_group_active(sensor_group_single: SensorGroup) -> None: + assert sensor_group_single.isActive() == False + + +def test_group_add(sensor_group_single: SensorGroup) -> None: + sensor_group_single.addSensor(SensorMock(id="sensor_id_2")) + assert sensor_group_single.getSize() == 2 + + +def test_group_connections(sensor_group_filled: SensorGroup) -> None: + assert sensor_group_filled.checkConnections() == True + + +def test_group_connections_status_no_read(sensor_group_single: SensorGroup) -> None: + sensor_group_single.checkConnections() + assert sensor_group_single.getStatus() == SGStatus.IGNORED + + +def test_group_connections_status_all_available( + sensor_group_filled_av: SensorGroup, +) -> None: + sensor_group_filled_av.checkConnections() + assert sensor_group_filled_av.getStatus() == SGStatus.OK + + +def test_group_connections_status_any_available( + sensor_group_filled: SensorGroup, +) -> None: + sensor_group_filled.checkConnections() + assert sensor_group_filled.getStatus() == SGStatus.WARNING + + +def test_group_connections_status_any_available( + sensor_group_filled_unav: SensorGroup, +) -> None: + sensor_group_filled_unav.checkConnections() + assert sensor_group_filled_unav.getStatus() == SGStatus.ERROR def test_group_status_start_unchecked(sensor_group_filled: SensorGroup) -> None: sensor_group_filled.start() - assert not sensor_group_filled.getGroupIsActive() + assert sensor_group_filled.isActive() == False def test_group_status_start(sensor_group_filled: SensorGroup) -> None: sensor_group_filled.checkConnections() sensor_group_filled.start() - assert sensor_group_filled.getGroupIsActive() + assert sensor_group_filled.isActive() == True def test_group_status_stop(sensor_group_filled: SensorGroup) -> None: sensor_group_filled.checkConnections() sensor_group_filled.start() sensor_group_filled.stop() - assert not sensor_group_filled.getGroupIsActive() + assert sensor_group_filled.isActive() == False -def test_group_connections(sensor_group_filled: SensorGroup) -> None: - connected = sensor_group_filled.checkConnections() - assert connected - - -def test_group_info_size_match(sensor_group_filled: SensorGroup) -> None: - assert len(sensor_group_filled.getGroupInfo()) == sensor_group_filled.getGroupSize() - - -def test_group_available_info_size(sensor_group_filled: SensorGroup) -> None: +def test_group_available_sensors_size(sensor_group_filled: SensorGroup) -> None: """ Check dict size when getting only the available sensor information """ sensor_group_filled.checkConnections() - assert len(sensor_group_filled.getGroupAvailableInfo()) == 2 + assert len(sensor_group_filled.getSensors(only_available=True)) == 2 -def test_group_tare(sensor_group_filled: SensorGroup) -> None: +def test_group_available_type_sensors_size(sensor_group_filled: SensorGroup) -> None: """ - Try to tare only sensor_1, having a mean value of 4. - Mean should be 0, so new_intercept = old_intercept - measured_mean - In this test case, it is simplified to: intercept = 10 - 4 = 6 + Check dict size when getting only the available sensor type information """ - mean_dict = {"sensor_1": 4} - sensor_group_filled.tareSensors(mean_dict) - calib_params = sensor_group_filled.sensors["sensor_1"].getSlopeIntercept() - assert calib_params[1] == 6 - - -def test_group_values_getter(sensor_group_filled: SensorGroup) -> None: - group_values = sensor_group_filled.getGroupValues() - assert len(group_values) == 2 + sensor_group_filled.checkConnections() + assert ( + len( + sensor_group_filled.getSensors( + only_available=True, sensor_type=STypes.SENSOR_IMU + ) + ) + == 0 + ) -def test_group_calib_values_getter(sensor_group_filled: SensorGroup) -> None: - group_values = sensor_group_filled.getGroupCalibValues() - assert len(group_values) == 2 +def test_group_register_values(sensor_group_filled: SensorGroup) -> None: + sensor_group_filled.checkConnections() + sensor_group_filled.start() + sensor_group_filled.register() + sensor_group_filled.register() + sensor_group_filled.stop() + sensor_dict = sensor_group_filled.getSensors() + assert sensor_dict["sensor_1"].getValues() == [10, 10] -def test_group_calib_params_getter(sensor_group_filled: SensorGroup) -> None: - group_calib_params = sensor_group_filled.getGroupCalibrationParams() - assert len(group_calib_params) == 4 +def test_group_clear_values(sensor_group_filled: SensorGroup) -> None: + sensor_group_filled.checkConnections() + sensor_group_filled.start() + sensor_group_filled.register() + sensor_group_filled.register() + sensor_group_filled.stop() + sensor_group_filled.clearValues() + sensor_dict = sensor_group_filled.getSensors() + assert sensor_dict["sensor_1"].getValues() == [] -def test_group_name_getter(sensor_group_filled: SensorGroup) -> None: - assert sensor_group_filled.getGroupName() == "Sensor Group Test" \ No newline at end of file +def test_group_modify_read_status(sensor_group_filled: SensorGroup) -> None: + sensor_group_filled.setRead(False) + assert sensor_group_filled.getRead() == False