From 2f1b1327ed7f0d85ddf696ed86175d1881ea7886 Mon Sep 17 00:00:00 2001
From: Gavin Furtado <gavin98007@gmail.com>
Date: Mon, 11 Mar 2024 16:05:54 +0000
Subject: [PATCH] GUI functional upgrade

---
 Phase 2/filter_py_lib_test/GUI.py             |  96 +++++++++++++++++-
 .../__pycache__/kf_algorithm.cpython-311.pyc  | Bin 7852 -> 7990 bytes
 Phase 2/filter_py_lib_test/kf_algorithm.py    |  11 +-
 3 files changed, 100 insertions(+), 7 deletions(-)

diff --git a/Phase 2/filter_py_lib_test/GUI.py b/Phase 2/filter_py_lib_test/GUI.py
index 4b17e7a..a1f3393 100644
--- a/Phase 2/filter_py_lib_test/GUI.py	
+++ b/Phase 2/filter_py_lib_test/GUI.py	
@@ -14,7 +14,11 @@
 def RunProgram():
     try:
         val_1 = int(sample_size.get())
-        kf_algorithm.main(val_1)
+        n_mean = float(mean_noise.get())
+        n_std = float(noise_std.get())
+        initial_P = [int(x_pos_err.get()),int(y_pos_err.get()), int(x_vel_err.get()), int(y_vel_err.get())]
+        R_matrix =[int(x_pos_obs_err.get()),int(y_pos_obs_err.get()), int(x_vel_obs_err.get()), int(y_vel_obs_err.get())]
+        kf_algorithm.main(val_1, n_mean, n_std, initial_P,R_matrix)
     except ValueError:
         tkinter.messagebox.showerror('Error','Please Enter a valid number')
 
@@ -39,13 +43,99 @@ def RunProgram():
 
 sample_size = ctk.CTkEntry(app,width=200, height=30)
 sample_size.pack(padx=10,pady=10)
-sample_size.place(relx=0.3,rely=0.1,anchor=tkinter.CENTER)
+sample_size.place(relx=0.35,rely=0.1,anchor=tkinter.CENTER)
 
 # Noise Mean
-# label_2 = ctk.CTkLabel(app,text='Mean value of Noise')
+label_2 = ctk.CTkLabel(app,text='Mean value of Noise', font=font_1)
+label_2.pack(padx=10,pady=10)
+label_2.place(relx=0.1,rely=0.2,anchor=tkinter.CENTER)
 
+mean_noise = ctk.CTkEntry(app,width=200, height=30)
+mean_noise.pack(padx=10,pady=10)
+mean_noise.place(relx=0.35,rely=0.2,anchor=tkinter.CENTER)
 
 # Noise Standard Deviation
+label_3 = ctk.CTkLabel(app,text='Nosie Standard Deviation', font=font_1)
+label_3.pack(padx=10,pady=10)
+label_3.place(relx=0.1,rely=0.3,anchor=tkinter.CENTER)
+
+noise_std = ctk.CTkEntry(app,width=200, height=30)
+noise_std.pack(padx=10,pady=10)
+noise_std.place(relx=0.35,rely=0.3,anchor=tkinter.CENTER)
+
+# Process Covariance Matrix
+label_4 = ctk.CTkLabel(app,text='Initial Process Covariance Matrix', font=font_1)
+label_4.pack(padx=10,pady=10)
+label_4.place(relx=0.75,rely=0.1,anchor=tkinter.CENTER)
+
+label_5 = ctk.CTkLabel(app,text='x-position error', font=font_1)
+label_5.pack(padx=10,pady=10)
+label_5.place(relx=0.7,rely=0.2,anchor=tkinter.CENTER)
+
+x_pos_err = ctk.CTkEntry(app,width=100, height=30)
+x_pos_err.pack(padx=10,pady=10)
+x_pos_err.place(relx=0.85,rely=0.2,anchor=tkinter.CENTER)
+
+label_6 = ctk.CTkLabel(app,text='y-position error', font=font_1)
+label_6.pack(padx=10,pady=10)
+label_6.place(relx=0.7,rely=0.3,anchor=tkinter.CENTER)
+
+y_pos_err = ctk.CTkEntry(app,width=100, height=30)
+y_pos_err.pack(padx=10,pady=10)
+y_pos_err.place(relx=0.85,rely=0.3,anchor=tkinter.CENTER)
+
+label_7 = ctk.CTkLabel(app,text='x-velocity error', font=font_1)
+label_7.pack(padx=10,pady=10)
+label_7.place(relx=0.7,rely=0.4,anchor=tkinter.CENTER)
+
+x_vel_err = ctk.CTkEntry(app,width=100, height=30)
+x_vel_err.pack(padx=10,pady=10)
+x_vel_err.place(relx=0.85,rely=0.4,anchor=tkinter.CENTER)
+
+label_8 = ctk.CTkLabel(app,text='y-velocity error', font=font_1)
+label_8.pack(padx=10,pady=10)
+label_8.place(relx=0.7,rely=0.5,anchor=tkinter.CENTER)
+
+y_vel_err = ctk.CTkEntry(app,width=100, height=30)
+y_vel_err.pack(padx=10,pady=10)
+y_vel_err.place(relx=0.85,rely=0.5,anchor=tkinter.CENTER)
+
+# R_matrix
+label_9 = ctk.CTkLabel(app,text='Observation Error Matrix (R_matrix)', font=font_1)
+label_9.pack(padx=10,pady=10)
+label_9.place(relx=0.15,rely=0.4,anchor=tkinter.CENTER)
+
+label_10 = ctk.CTkLabel(app,text='x-position observation error', font=font_1)
+label_10.pack(padx=10,pady=10)
+label_10.place(relx=0.15,rely=0.45,anchor=tkinter.CENTER)
+
+x_pos_obs_err = ctk.CTkEntry(app,width=60, height=20)
+x_pos_obs_err.pack(padx=10,pady=10)
+x_pos_obs_err.place(relx=0.33,rely=0.45,anchor=tkinter.CENTER)
+
+label_11 = ctk.CTkLabel(app,text='y-position observation error', font=font_1)
+label_11.pack(padx=10,pady=10)
+label_11.place(relx=0.15,rely=0.5,anchor=tkinter.CENTER)
+
+y_pos_obs_err = ctk.CTkEntry(app,width=60, height=20)
+y_pos_obs_err.pack(padx=10,pady=10)
+y_pos_obs_err.place(relx=0.33,rely=0.5,anchor=tkinter.CENTER)
+
+label_12 = ctk.CTkLabel(app,text='x-velocity observation error', font=font_1)
+label_12.pack(padx=10,pady=10)
+label_12.place(relx=0.15,rely=0.55,anchor=tkinter.CENTER)
+
+x_vel_obs_err = ctk.CTkEntry(app,width=60, height=20)
+x_vel_obs_err.pack(padx=10,pady=10)
+x_vel_obs_err.place(relx=0.33,rely=0.55,anchor=tkinter.CENTER)
+
+label_13 = ctk.CTkLabel(app,text='y-velocity observation error', font=font_1)
+label_13.pack(padx=10,pady=10)
+label_13.place(relx=0.15,rely=0.6,anchor=tkinter.CENTER)
+
+y_vel_obs_err = ctk.CTkEntry(app,width=60, height=20)
+y_vel_obs_err.pack(padx=10,pady=10)
+y_vel_obs_err.place(relx=0.33,rely=0.6,anchor=tkinter.CENTER)
 
 
 
diff --git a/Phase 2/filter_py_lib_test/__pycache__/kf_algorithm.cpython-311.pyc b/Phase 2/filter_py_lib_test/__pycache__/kf_algorithm.cpython-311.pyc
index e94a67a4b341869147b271a9591d5217298b9165..4723e6fdf5be99ffc7f0cc834ec2d2f95718cfa9 100644
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diff --git a/Phase 2/filter_py_lib_test/kf_algorithm.py b/Phase 2/filter_py_lib_test/kf_algorithm.py
index eb32eb7..b8a1365 100644
--- a/Phase 2/filter_py_lib_test/kf_algorithm.py	
+++ b/Phase 2/filter_py_lib_test/kf_algorithm.py	
@@ -82,14 +82,15 @@ def visulaise_data(position, velocity, acceleration, noise):
 
 data = {'Current State':[],'Predicted State':[],'Updated State':[]}
 
-def main(val_1):
+def main(val_1, n_mean, n_std, initial_P, R_matrix):
     '''
     The main function of the code.
 
     It contains the high level logic.
     '''
     ## Sensor data ##
-    sensor = sen.PositionSensor(noise_mean=1.0, noise_std=1.5, dt=dt ,sample_size=val_1) #input
+    # sensor = sen.PositionSensor(noise_mean=1.0, noise_std=1.5, dt=dt ,sample_size=val_1) #input
+    sensor = sen.PositionSensor(noise_mean=n_mean, noise_std=n_std, dt=dt ,sample_size=val_1)
     position, velocity, acceleration, noise = sensor.data_set()
 
     ## Data Visualisation ##
@@ -97,7 +98,8 @@ def main(val_1):
 
     ## Initalisation ##
     initialisation = kal_fil.kalman_initial(position,velocity, acceleration)
-    P_initial = initialisation.P_initial(2,1,8,7) #input
+    # P_initial = initialisation.P_initial(2,1,8,7) #input
+    P_initial = initialisation.P_initial(initial_P[0],initial_P[1],initial_P[2],initial_P[3])
     X_initial = initialisation.X_initial()
     
     P_prev = P_initial
@@ -121,7 +123,8 @@ def main(val_1):
         predicted_process_covariance = predict.P_predicted()
 
         # Kalman Gain
-        R = kal_fil.R_matrix(3,1,2,1) #input
+        # R = kal_fil.R_matrix(3,1,2,1) #input
+        R = kal_fil.R_matrix(R_matrix[0],R_matrix[1],R_matrix[2],R_matrix[3])
         K = kal_fil.KalmanGain(predicted_process_covariance,R)
         
         # Measurement input