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toys/simulation-py-ui/simupy/scope.py

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  1. from tkinter import ttk

  2. import tkinter.messagebox

  3. import tkinter as tk

  4. import queue

  5. 

  6. from matplotlib.backends.backend_tkagg import (

  7.     FigureCanvasTkAgg, NavigationToolbar2Tk)

  8. from matplotlib.figure import Figure

  9. import matplotlib.animation as animation

  10. import matplotlib.pyplot as plt

  11. import matplotlib

  12. matplotlib.use("TkAgg")

  13. 

  14. 

  15. class CurvatureScope(tk.Frame):

  16.     def __init__(self, parent, config, **options):

  17.         """

  18.         Required keys in config:

  19.         title, xlabel, ylabel

  20.         """

  21.         tk.Frame.__init__(self, parent, **options)

  22.         self._config = config

  23.         self._parent = parent

  24. 

  25.         self._interval = 30

  26. 

  27.         self._lines = {'major': [[], []], 'minor': [[], []]}

  28.         self._line_objs = []

  29. 

  30.         self._y_filter_limit = 0.5 if 'y_filter_limit' not in self._config else self._config['y_filter_limit']

  31. 

  32.         self._msg_queue = queue.Queue()

  33. 

  34.         if 'interval' in self._config:

  35.             self._interval = self._config['interval']

  36. 

  37.         self._setup_ui()

  38. 

  39.     def put_msg(self, obj):

  40.         """Caution: Always run in sub-thread"""

  41.         self._msg_queue.put_nowait(obj)

  42. 

  43.     def clear(self):

  44.         for line in self._lines.values():

  45.             line[0].clear()

  46.             line[1].clear()

  47. 

  48.         self._fig.canvas.draw()

  49.         self._fig.canvas.flush_events()

  50. 

  51.     def _setup_ui(self):

  52.         self._fig = plt.figure(figsize=(5, 4), dpi=100)

  53.         self._ax = self._fig.add_subplot()

  54. 

  55.         self._ax.set_title(self._config['title'])

  56.         self._ax.set_xlabel(self._config['xlabel'])

  57.         self._ax.set_ylabel(self._config['ylabel'], color='blue')

  58.         self._ax.tick_params(axis='y', colors='blue')

  59. 

  60.         self._minor_ax = self._ax.twinx()

  61.         self._minor_ax.set_ylabel(self._config['rylabel'], color='red')

  62.         self._minor_ax.tick_params(axis='y', colors='red')

  63.         self._minor_ax.set_ylim(self._config['rylim'][0], self._config['rylim'][1])

  64. 

  65.         self._ax.grid(True)

  66. 

  67.         if 'xlim' not in self._config and 'ylim' not in self._config:

  68.             self._ax.autoscale()

  69. 

  70.         if 'xlim' in self._config:

  71.             self._ax.set_xlim(self._config['xlim'][0], self._config['xlim'][1])

  72. 

  73.         if 'ylim' in self._config:

  74.             self._ax.set_ylim(self._config['ylim'][0], self._config['ylim'][1])

  75. 

  76.         self._line_objs.append(self._ax.plot([], [], color='blue')[0])

  77.         self._line_objs.append(self._minor_ax.plot([], [], color='red')[0])

  78. 

  79.         self.show()

  80. 

  81.     def _update_data(self, data):

  82.         major_line = self._lines['major']

  83.         minor_line = self._lines['minor']

  84. 

  85.         while self._msg_queue.qsize() > 0:

  86.             (x, y), (mx, my) = self._msg_queue.get_nowait()

  87.             major_line[0].append(x)

  88.             major_line[1].append(y)

  89. 

  90.             minor_line[0].append(mx)

  91.             minor_line[1].append(my)

  92. 

  93.         self._line_objs[0].set_data(major_line[0], major_line[1])

  94.         self._line_objs[1].set_data(minor_line[0], minor_line[1])

  95. 

  96.         return self._line_objs

  97. 

  98.     def show(self):

  99.         canvas = FigureCanvasTkAgg(self._fig, self)

  100. 

  101.         if 'toolbar' in self._config and self._config['toolbar']:

  102.             toolbar = NavigationToolbar2Tk(canvas, self)

  103.             toolbar.update()

  104. 

  105.         canvas.get_tk_widget().pack(side=tk.BOTTOM, fill=tk.BOTH, expand=True)

  106. 

  107.         self._animation = animation.FuncAnimation(

  108.             fig=self._fig, func=self._update_data, interval=self._interval, blit=True)

  109. 

  110. class LkaScope(tk.Frame):

  111.     def __init__(self, parent, config, **options):

  112.         """

  113.         Required keys in config:

  114.         title, xlabel, ylabel

  115.         """

  116.         tk.Frame.__init__(self, parent, **options)

  117.         self._config = config

  118.         self._parent = parent

  119. 

  120.         self._interval = 30

  121. 

  122.         self._lines = []

  123.         for i in self._config['colors']:

  124.             self._lines.append([[], []])

  125.         self._line_objs = []

  126. 

  127.         self._y_filter_limit = 0.5 if 'y_filter_limit' not in self._config else self._config['y_filter_limit']

  128. 

  129.         self._msg_queue = queue.Queue()

  130. 

  131.         if 'interval' in self._config:

  132.             self._interval = self._config['interval']

  133. 

  134.         self._setup_ui()

  135. 

  136.     def put_msg(self, obj):

  137.         """Caution: Always run in sub-thread"""

  138.         self._msg_queue.put_nowait(obj)

  139. 

  140.     def clear(self):

  141.         for line in self._lines:

  142.             line[0].clear()

  143.             line[1].clear()

  144. 

  145.         self._fig.canvas.draw()

  146.         self._fig.canvas.flush_events()

  147. 

  148.     def _setup_ui(self):

  149.         self._fig = plt.figure(figsize=(5, 4), dpi=100)

  150.         self._ax = self._fig.add_subplot()

  151. 

  152.         self._ax.set_title(self._config['title'])

  153.         self._ax.set_xlabel(self._config['xlabel'])

  154.         self._ax.set_ylabel(self._config['ylabel'])

  155. 

  156.         self._ax.grid(True)

  157. 

  158.         if 'xlim' not in self._config and 'ylim' not in self._config:

  159.             self._ax.autoscale()

  160. 

  161.         if 'xlim' in self._config:

  162.             self._ax.set_xlim(self._config['xlim'][0], self._config['xlim'][1])

  163. 

  164.         if 'ylim' in self._config:

  165.             self._ax.set_ylim(self._config['ylim'][0], self._config['ylim'][1])

  166. 

  167.         for i in range(len(self._lines)):

  168.             self._line_objs.append(self._ax.plot(self._lines[i][0], self._lines[i][1], color=self._config['colors'][i], label=self._config['labels'][i])[0])

  169. 

  170.         self._ax.legend(self._line_objs, [l.get_label() for l in self._line_objs])

  171. 

  172.         self.show()

  173. 

  174.     def collision(self, enabled: bool) -> None:

  175.         self._ax.set_xlabel(self._config['xlabel'], color='red' if enabled else 'black')

  176. 

  177.     def _update_data(self, data):

  178.         while self._msg_queue.qsize() > 0:

  179.             lines = self._msg_queue.get_nowait()

  180.             i = 0

  181.             for line in lines:

  182.                 self._lines[i][0].append(line[0])

  183.                 if line[1] < 0:

  184.                     if len(self._lines[i][1]) > 0:

  185.                         self._lines[i][1].append(self._lines[i][1][-1])

  186.                     else:

  187.                         self._lines[i][1].append(0.0)

  188.                 else:

  189.                     self._lines[i][1].append(line[1])

  190.                 i += 1

  191. 

  192.         for i in range(len(self._lines)):

  193.             self._line_objs[i].set_data(self._lines[i][0], self._lines[i][1])

  194. 

  195.         return self._line_objs

  196. 

  197.     def show(self):

  198.         canvas = FigureCanvasTkAgg(self._fig, self)

  199. 

  200.         if 'toolbar' in self._config and self._config['toolbar']:

  201.             toolbar = NavigationToolbar2Tk(canvas, self)

  202.             toolbar.update()

  203. 

  204.         canvas.get_tk_widget().pack(side=tk.BOTTOM, fill=tk.BOTH, expand=True)

  205. 

  206.         self._animation = animation.FuncAnimation(

  207.             fig=self._fig, func=self._update_data, interval=self._interval, blit=True)