ykcheungab
206 lines
7.5 KiB
Python
206 lines
7.5 KiB
Python
"""Embedded PyQtGraph force charts for the Qt dashboard."""
|
|
|
|
from __future__ import annotations
|
|
|
|
import numpy as np
|
|
from PyQt5.QtGui import QFont
|
|
from PyQt5.QtWidgets import QSizePolicy
|
|
|
|
from ..layout import DashboardLayout, LAYOUT
|
|
from ..styles import LOG_FONT_PRIMARY, UI_FONT_PRIMARY
|
|
from pipeline.frame import FingerFrameView
|
|
from viz.signal_filters import lowpass_filter
|
|
|
|
|
|
def _require_pyqtgraph():
|
|
try:
|
|
import pyqtgraph as pg
|
|
except ImportError as exc:
|
|
raise ImportError(
|
|
"PyQtGraph is not installed. Install with: pip install pyqt5 pyqtgraph"
|
|
) from exc
|
|
return pg
|
|
|
|
|
|
class ForceChartWidget:
|
|
"""Rolling normal/shear force charts as an embeddable QWidget."""
|
|
|
|
def __init__(
|
|
self,
|
|
*,
|
|
layout: DashboardLayout = LAYOUT,
|
|
lowpass_cutoff_hz: float = 5.0,
|
|
parent=None,
|
|
):
|
|
pg = _require_pyqtgraph()
|
|
pg.setConfigOption("background", "#000000")
|
|
pg.setConfigOption("foreground", "#777777")
|
|
pg.setConfigOptions(antialias=True)
|
|
|
|
self._layout = layout
|
|
self._pg = pg
|
|
self.npoints = layout.plot_buffer_points
|
|
self.sample_rate_hz = layout.plot_sample_rate_hz
|
|
self.lowpass_cutoff_hz = lowpass_cutoff_hz
|
|
self._plot_window_sec = self.npoints / self.sample_rate_hz
|
|
self._plot_sample_count = 0
|
|
self._y_range_alpha = layout.y_range_smooth_alpha
|
|
self._y_range_smooth: list[tuple[float, float] | None] = [None, None, None]
|
|
|
|
self.widget = pg.GraphicsLayoutWidget(parent=parent)
|
|
charts = layout.top_slot("charts")
|
|
self.set_panel_size(charts.width_px, charts.height_px)
|
|
self._init_plot_buffer()
|
|
self._create_plots()
|
|
|
|
def set_panel_size(self, width: int, height: int) -> None:
|
|
"""Apply layout width/height; height 0 means fill top-row height."""
|
|
width = max(int(width), 64)
|
|
self.widget.setFixedWidth(width)
|
|
if height > 0:
|
|
self.widget.setFixedHeight(height)
|
|
self.widget.setSizePolicy(QSizePolicy.Fixed, QSizePolicy.Fixed)
|
|
else:
|
|
self.widget.setMaximumHeight(16777215)
|
|
self.widget.setSizePolicy(QSizePolicy.Fixed, QSizePolicy.Expanding)
|
|
|
|
def _init_plot_buffer(self) -> None:
|
|
self.data = np.full((self.npoints, 2, 3), np.nan, dtype=np.float64)
|
|
self._plot_sample_count = 0
|
|
self._time_origin: float | None = None
|
|
self._y_range_smooth = [None, None, None]
|
|
|
|
def _create_plots(self) -> None:
|
|
pg = self._pg
|
|
layout = self._layout
|
|
titles = ["Normal Deformation", "X Deformation", "Y Deformation"]
|
|
self.plots = []
|
|
self.curves = []
|
|
self.dot_glows = []
|
|
self.dot_cores = []
|
|
|
|
axis_pen = pg.mkPen(color=(38, 38, 38), width=1)
|
|
label_font = QFont(UI_FONT_PRIMARY, layout.chart_axis_label_font_pt)
|
|
title_pt = layout.chart_title_font_pt
|
|
|
|
for i, title in enumerate(titles):
|
|
plot = self.widget.addPlot(title=None)
|
|
plot.setTitle(title, color="#999999", size=f"{title_pt}pt")
|
|
plot.titleLabel.setFont(QFont(UI_FONT_PRIMARY, title_pt))
|
|
plot.setLabel("bottom", "Time", units="s")
|
|
plot.getAxis("bottom").label.setFont(label_font)
|
|
plot.showAxis("top", False)
|
|
plot.showAxis("right", False)
|
|
plot.getAxis("left").setPen(axis_pen)
|
|
plot.getAxis("bottom").setPen(axis_pen)
|
|
plot.showGrid(x=False, y=True, alpha=0.12)
|
|
|
|
tick_font = QFont(LOG_FONT_PRIMARY, layout.chart_tick_font_pt)
|
|
tick_font.setStyleHint(QFont.Monospace)
|
|
plot.getAxis("left").setTickFont(tick_font)
|
|
plot.getAxis("bottom").setTickFont(tick_font)
|
|
|
|
line_pen = pg.mkPen(color=layout.curve_color, width=2)
|
|
curve = plot.plot(pen=line_pen, fillLevel=0)
|
|
dot_glow = plot.plot(
|
|
[],
|
|
[],
|
|
pen=None,
|
|
symbol="o",
|
|
symbolSize=8,
|
|
symbolPen=None,
|
|
symbolBrush=(0, 229, 255, 76),
|
|
)
|
|
dot_core = plot.plot(
|
|
[],
|
|
[],
|
|
pen=None,
|
|
symbol="o",
|
|
symbolSize=4,
|
|
symbolPen=None,
|
|
symbolBrush=(255, 255, 255, 255),
|
|
)
|
|
plot.setXRange(0, self._plot_window_sec, padding=0)
|
|
plot.enableAutoRange(x=False, y=False)
|
|
|
|
self.plots.append(plot)
|
|
self.curves.append(curve)
|
|
self.dot_glows.append(dot_glow)
|
|
self.dot_cores.append(dot_core)
|
|
if i < 2:
|
|
self.widget.nextRow()
|
|
|
|
def reset(self) -> None:
|
|
self._init_plot_buffer()
|
|
for plot in self.plots:
|
|
plot.setXRange(0, self._plot_window_sec, padding=0)
|
|
|
|
def update_frame(self, frame: FingerFrameView) -> None:
|
|
if self._time_origin is None:
|
|
self._time_origin = frame.timestamp
|
|
|
|
if self._plot_sample_count < self.npoints:
|
|
idx = self._plot_sample_count
|
|
self.data[idx, 0, :] = frame.timestamp
|
|
self.data[idx, 1, 0] = frame.fnormal
|
|
self.data[idx, 1, 1] = frame.fshearx
|
|
self.data[idx, 1, 2] = frame.fsheary
|
|
self._plot_sample_count += 1
|
|
else:
|
|
for channel in range(3):
|
|
self.data[:-1, 0, channel] = self.data[1:, 0, channel]
|
|
self.data[:-1, 1, channel] = self.data[1:, 1, channel]
|
|
self.data[-1, 0, :] = frame.timestamp
|
|
self.data[-1, 1, 0] = frame.fnormal
|
|
self.data[-1, 1, 1] = frame.fshearx
|
|
self.data[-1, 1, 2] = frame.fsheary
|
|
|
|
n = self._plot_sample_count
|
|
if n == 0 or self._time_origin is None:
|
|
return
|
|
|
|
layout = self._layout
|
|
data_plot = self.data[:n]
|
|
times = data_plot[:, 0, 0] - self._time_origin
|
|
x_end = float(times[-1])
|
|
if x_end < self._plot_window_sec:
|
|
x_start = 0.0
|
|
x_end = self._plot_window_sec
|
|
else:
|
|
x_start = x_end - self._plot_window_sec
|
|
|
|
for channel in range(3):
|
|
y = lowpass_filter(
|
|
data_plot[:, 1, channel].copy(),
|
|
self.lowpass_cutoff_hz,
|
|
sample_rate_hz=self.sample_rate_hz,
|
|
)
|
|
|
|
curve = self.curves[channel]
|
|
curve.setData(times, y)
|
|
finite = np.isfinite(y)
|
|
if not np.any(finite):
|
|
continue
|
|
ymin, ymax = float(np.min(y[finite])), float(np.max(y[finite]))
|
|
if self._y_range_smooth[channel] is None:
|
|
self._y_range_smooth[channel] = (ymin, ymax)
|
|
else:
|
|
prev_min, prev_max = self._y_range_smooth[channel]
|
|
alpha = self._y_range_alpha
|
|
ymin = alpha * ymin + (1 - alpha) * prev_min
|
|
ymax = alpha * ymax + (1 - alpha) * prev_max
|
|
span = ymax - ymin
|
|
if span < layout.y_axis_min_span:
|
|
mid = (ymin + ymax) / 2
|
|
half = layout.y_axis_min_span / 2
|
|
ymin = mid - half
|
|
ymax = mid + half
|
|
self._y_range_smooth[channel] = (ymin, ymax)
|
|
pad = max((ymax - ymin) * 0.12, 0.01)
|
|
self.plots[channel].setYRange(ymin - pad, ymax + pad)
|
|
self.dot_glows[channel].setData(times[-1:], y[-1:])
|
|
self.dot_cores[channel].setData(times[-1:], y[-1:])
|
|
|
|
for plot in self.plots:
|
|
plot.setXRange(x_start, x_end, padding=0)
|