Christopher Stone · Christopher Stone · Christopher Stone
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robots/little_john/telemetry/code/monitor/version1/main.py
robots/little_john/telemetry/code/monitor/version1/plot.py
robots/little_john/telemetry/code/monitor/version1/series.py
@@ -21,6 +21,8 @@ import logging
  
 from serialselect import selectserial
 from colours import *
+from series import Series
+from plot import Plot
  
 logging.basicConfig(format='%(levelname)s:\t%(message)s', level=logging.DEBUG)
 logging.info("Logging system active")
@@ -38,171 +40,7 @@ else:
     os='Other'
 logging.info('OS = ' + os)
  
-class Series:
-    def __init__(self, points=300, title="Series title", xname="x-axis name", yname="y-axis name"):
-        """Set up an object to store a 2D data series"""
-        # Proposal:
-        #   In order to neatly handle multiple lines on the same graph
-        #   a series is not so much a set of 2D data points, but a number
-        #   of series sharing an x axis. For example
-        #       (time, temperature)
-        #       (time, xaccel, yaccel, zaccel)
-        #   The latter seta of points much be of like nature and share an axis
-        #       (time, temperature, xaccel)
-        #   would be a meaningless thing to plot on a single graph anyway
-
-        self.title = title
-        self.xname = xname
-        self.yname = yname
-        self.xlimits = (0, 100)
-        self.ylimits = (-100, 100)
-        self.data = []
-        self.points = points
-        
-    def addpoint(self, point):
-        """Add a point to the dataset, and remove the oldest, if necessary"""
-        self.data.append(point)
-        if len(self.data) > self.points:
-            del self.data[0]
-        self.autoscale(0)
-            
-    def autoscale(self, axis): # axis=0 is x, 1 is y
-        minval = self.data[0][axis]
-        maxval = self.data[0][axis]
-        for value in self.data:
-            if value[axis] < minval:
-                minval = value[axis]
-            if value[axis] > maxval:
-                maxval = value[axis] 
-        if axis == 0:
-            self.xlimits = (minval, maxval)
-        else:
-            self.ylimits = (minval, maxval)
-
-class Plot(pyglet.window.Window):
-    def __init__(self, series):
-        """Setup a the details of a plot, and create a corresponding window"""
-        pyglet.window.Window.__init__(self, resizable=True)
-        self.set_icon(pyglet.image.load('32x32.png'))
-        self.set_minimum_size(320,320)
-        self.series = series
-        self.font = 'Arkhip'
-        self.margins = (0.09, 0.08) # Fractions of window size
-        self.lines = (10, 8)
-        #self.resizable = True
-        self.set_caption(self.series.title)
-
-    def on_resize(self, width, height):
-        """Handle a resize event from the pyglet event loop"""
-        try:
-            self.bounds = ((int(self.width * self.margins[0]), int(self.width * (1 - self.margins[0]))),
-                (int(self.height * self.margins[1]), int(self.height * (1 - self.margins[1]))))
-        except Exception as e:
-            logging.critical(str(e))
-            self.close()
-            logging.critical('Instance closed')
-            sys.exit()
-        self.tag_size = min(self.height*self.margins[1]*0.3,self.width*self.margins[0]*0.3)
-        # This sometimes seems to throw an error ('AttributeError: 'Plot' object has no attribute 'margins') when started for a second time from the same instance. Interesting. Causes the plot windows to freeze
-        pyglet.window.Window.on_resize(self, width, height)
-
-    def on_draw(self):
-        """Draw all the components of the graph"""
-        self.drawBackground()
-        self.drawHeading()
-        self.drawAxis(0)
-        self.drawAxis(1)
-        self.drawLine(self.series)
-
-    def drawBackground(self):
-        """Draw the graph background, currently a plain colour"""
-        pyglet.image.SolidColorImagePattern(WHITE).create_image(self.width, self.height).blit(0, 0)
-
-    def drawHeading(self):
-        """Draw a title for the graph (duplicated in the window titlebar, if present"""
-        heading = pyglet.text.Label(self.series.title, color=BLACK,
-                            font_name=self.font, font_size=self.height*self.margins[0]*0.5,
-                            x=self.width/2, y=self.height-(self.margins[1]),
-                            anchor_x='center', anchor_y='top')
-        heading.draw()
-
-    def drawLine(self, series):
-        xscale = float(self.series.xlimits[1]-self.series.xlimits[0])/(self.bounds[0][1]-self.bounds[0][0])
-        yscale = float(self.series.ylimits[1]-self.series.ylimits[0])/(self.bounds[1][1]-self.bounds[1][0])
-        logging.debug("xscale = " + str(xscale) + ", yscale = " + str(yscale))
-        lmar = int(self.width * self.margins[0])
-        rmar = int(self.width * self.margins[1])
-        tmar = int(self.height * self.margins[0])
-        bmar = int(self.height * self.margins[1])
-        
-        pyglet.gl.glLineWidth(2)
-                
-        for n in range(len(series.data) - 1):
-            x1, y1 = series.data[n][0]-series.xlimits[0], series.data[n][1]-series.ylimits[0]
-            x2, y2 = series.data[n+1][0]-series.xlimits[0], series.data[n+1][1]-series.ylimits[0]
-            x1 = int((x1/xscale)+lmar)
-            y1 = int((y1/yscale)+bmar)
-            x2 = int((x2/xscale)+lmar)
-            y2 = int((y2/yscale)+bmar)
-            pyglet.graphics.draw(2, pyglet.gl.GL_LINES,
-                                 ('v2i', (x1, y1, x2, y2)),
-                                 ('c3B', (255, 0, 0, 255, 0, 0)))
-        pyglet.gl.glLineWidth(1)
-
-
-
-    def drawAxis(self, axis): # axis=0 is x, 1 is y
-        """Draw the gridlines and labels for one axis, specified in the last argument"""
-        limita = self.bounds[1-axis][1]
-        limitb = self.bounds[1-axis][0]
-        start = self.bounds[axis][0]
-        stop = self.bounds[axis][1]
-        increment = float(stop-start)/self.lines[axis]
-        for pos in numpy.arange(start, stop+1, increment):
-            # Using fp arithmetic to avoid intermittent fencepost errors
-            pos = int(pos)
-            if axis==0:   # x axis, vertical lines
-                scale = float(self.series.xlimits[1]-self.series.xlimits[0])/(stop-start)
-                tagvalue = ((pos-start) * scale) + self.series.xlimits[0]
-                tagtext = str(int(tagvalue))
-                pyglet.graphics.draw(2, pyglet.gl.GL_LINES, ('v2i', (pos, limita, pos, limitb)),
-                                 ('c3B', (0, 0, 0, 0, 0, 0)))
-                tag = pyglet.text.Label(tagtext, color=BLACK,
-                                        font_name=self.font, font_size=self.tag_size,
-                                        x=pos, y=self.height*self.margins[1],
-                                        anchor_x='left', anchor_y='top')
-                axistitle = pyglet.text.Label(self.series.xname, color=BLACK,
-                                                font_name=self.font, font_size=self.tag_size,
-                                                x=self.width/2, y=0,
-                                                anchor_x='center', anchor_y='bottom')
-                axistitle.draw()
-            if axis==1:  # y axis, horizontal lines
-                scale = float(self.series.ylimits[1]-self.series.ylimits[0])/(stop-start)
-                tagvalue = ((pos-start) * scale) + self.series.ylimits[0]
-                tagtext = str(int(tagvalue))
-                pyglet.graphics.draw(2, pyglet.gl.GL_LINES, ('v2i', (limita, pos, limitb, pos)),
-                                 ('c3B', (0, 0, 0, 0, 0, 0)))
-                tag = pyglet.text.Label(tagtext, color=BLACK,
-                                        font_name=self.font, font_size=self.tag_size,
-                                        x=self.width*self.margins[0]*0.9, y=pos,
-                                        anchor_x='right', anchor_y='center')
-                axistitle = pyglet.text.Label(self.series.yname, color=BLACK,
-                                                font_name=self.font, font_size=self.tag_size,
-                                                x=0, y=self.height/2,
-                                                anchor_x='center', anchor_y='top')
-                pyglet.gl.glPushMatrix()   # Set up a new context to avoid confusing the main one
-                # Tranformation to rotate label, and ensure it ends up in the right place
-                pyglet.gl.glTranslatef(self.height//2, self.height//2, 0.0)
-                pyglet.gl.glRotatef(90.0, 0.0, 0.0, 1.0)
-                # Draw the axis title using the rotated coordinate system
-                axistitle.draw()
-                # Return everything to its previous state
-                pyglet.gl.glPopMatrix()
-
-            tag.draw()
-
-testseries = Series()
-logging.info("Series created")
+testseries = Series(points=150, title="Sine wave demo", xname="Time (s)", yname="100sin(t)")
 plots = []
 plots.append(Plot(testseries))
  
@@ -223,7 +61,7 @@ def pollSerial(elapsed):
 def fakePollSerial(elapsed):
     """This function immitates the behaviour of pollSerial, for testing purposes"""
     timefromstart = (time.time()-starttime)
-    values = [timefromstart, 100*math.sin(25*math.radians(timefromstart))]
+    values = [timefromstart, 100*math.sin(timefromstart)]
     #logging.info("Generated test data: " + str(values))
     testseries.addpoint(values)
  
@@ -0,0 +1,129 @@
+# Class representing a single 2D plot window and its properties
+# Written as a telemetry tool by:
+# The UoN Robot Wars Project, 2018
+
+import pyglet
+import numpy
+import logging
+from colours import *
+
+class Plot(pyglet.window.Window):
+    def __init__(self, series):
+        """Setup a the details of a plot, and create a corresponding window"""
+        pyglet.window.Window.__init__(self, resizable=True)
+        self.set_icon(pyglet.image.load('32x32.png'))
+        self.set_minimum_size(320,320)
+        self.series = series
+        self.font = 'Arkhip'
+        self.margins = (0.09, 0.08) # Fractions of window size
+        self.lines = (10, 8)
+        #self.resizable = True
+        self.set_caption(self.series.title)
+
+    def on_resize(self, width, height):
+        """Handle a resize event from the pyglet event loop"""
+        try:
+            self.bounds = ((int(self.width * self.margins[0]), int(self.width * (1 - self.margins[0]))),
+                (int(self.height * self.margins[1]), int(self.height * (1 - self.margins[1]))))
+        except Exception as e:
+            logging.critical(str(e))
+            self.close()
+            logging.critical('Instance closed')
+            sys.exit()
+        self.tag_size = min(self.height*self.margins[1]*0.3,self.width*self.margins[0]*0.3)
+        # This sometimes seems to throw an error ('AttributeError: 'Plot' object has no attribute 'margins') when started for a second time from the same instance. Interesting. Causes the plot windows to freeze
+        pyglet.window.Window.on_resize(self, width, height)
+
+    def on_draw(self):
+        """Draw all the components of the graph"""
+        self.drawBackground()
+        self.drawHeading()
+        self.drawAxis(0)
+        self.drawAxis(1)
+        self.drawLine(self.series)
+
+    def drawBackground(self):
+        """Draw the graph background, currently a plain colour"""
+        pyglet.image.SolidColorImagePattern(WHITE).create_image(self.width, self.height).blit(0, 0)
+
+    def drawHeading(self):
+        """Draw a title for the graph (duplicated in the window titlebar, if present"""
+        heading = pyglet.text.Label(self.series.title, color=BLACK,
+                            font_name=self.font, font_size=self.height*self.margins[0]*0.5,
+                            x=self.width/2, y=self.height-(self.margins[1]),
+                            anchor_x='center', anchor_y='top')
+        heading.draw()
+
+    def drawLine(self, series):
+        xscale = float(self.series.xlimits[1]-self.series.xlimits[0])/(self.bounds[0][1]-self.bounds[0][0])
+        yscale = float(self.series.ylimits[1]-self.series.ylimits[0])/(self.bounds[1][1]-self.bounds[1][0])
+        lmar = int(self.width * self.margins[0])
+        rmar = int(self.width * self.margins[1])
+        tmar = int(self.height * self.margins[0])
+        bmar = int(self.height * self.margins[1])
+        
+        pyglet.gl.glLineWidth(2)
+                
+        for n in range(len(series.data) - 1):
+            x1, y1 = series.data[n][0]-series.xlimits[0], series.data[n][1]-series.ylimits[0]
+            x2, y2 = series.data[n+1][0]-series.xlimits[0], series.data[n+1][1]-series.ylimits[0]
+            x1 = int((x1/xscale)+lmar)
+            y1 = int((y1/yscale)+bmar)
+            x2 = int((x2/xscale)+lmar)
+            y2 = int((y2/yscale)+bmar)
+            pyglet.graphics.draw(2, pyglet.gl.GL_LINES,
+                                 ('v2i', (x1, y1, x2, y2)),
+                                 ('c3B', (255, 0, 0, 255, 0, 0)))
+        pyglet.gl.glLineWidth(1)
+
+
+
+    def drawAxis(self, axis): # axis=0 is x, 1 is y
+        """Draw the gridlines and labels for one axis, specified in the last argument"""
+        limita = self.bounds[1-axis][1]
+        limitb = self.bounds[1-axis][0]
+        start = self.bounds[axis][0]
+        stop = self.bounds[axis][1]
+        increment = float(stop-start)/self.lines[axis]
+        for pos in numpy.arange(start, stop+1, increment):
+            # Using fp arithmetic to avoid intermittent fencepost errors
+            pos = int(pos)
+            if axis==0:   # x axis, vertical lines
+                scale = float(self.series.xlimits[1]-self.series.xlimits[0])/(stop-start)
+                tagvalue = ((pos-start) * scale) + self.series.xlimits[0]
+                tagtext = str(int(tagvalue))
+                pyglet.graphics.draw(2, pyglet.gl.GL_LINES, ('v2i', (pos, limita, pos, limitb)),
+                                 ('c3B', (0, 0, 0, 0, 0, 0)))
+                tag = pyglet.text.Label(tagtext, color=BLACK,
+                                        font_name=self.font, font_size=self.tag_size,
+                                        x=pos, y=self.height*self.margins[1],
+                                        anchor_x='left', anchor_y='top')
+                axistitle = pyglet.text.Label(self.series.xname, color=BLACK,
+                                                font_name=self.font, font_size=self.tag_size,
+                                                x=self.width/2, y=0,
+                                                anchor_x='center', anchor_y='bottom')
+                axistitle.draw()
+            if axis==1:  # y axis, horizontal lines
+                scale = float(self.series.ylimits[1]-self.series.ylimits[0])/(stop-start)
+                tagvalue = ((pos-start) * scale) + self.series.ylimits[0]
+                tagtext = str(int(tagvalue))
+                pyglet.graphics.draw(2, pyglet.gl.GL_LINES, ('v2i', (limita, pos, limitb, pos)),
+                                 ('c3B', (0, 0, 0, 0, 0, 0)))
+                tag = pyglet.text.Label(tagtext, color=BLACK,
+                                        font_name=self.font, font_size=self.tag_size,
+                                        x=self.width*self.margins[0]*0.9, y=pos,
+                                        anchor_x='right', anchor_y='center')
+                axistitle = pyglet.text.Label(self.series.yname, color=BLACK,
+                                                font_name=self.font, font_size=self.tag_size,
+                                                x=0, y=self.height/2,
+                                                anchor_x='center', anchor_y='top')
+                pyglet.gl.glPushMatrix()   # Set up a new context to avoid confusing the main one
+                # Tranformation to rotate label, and ensure it ends up in the right place
+                pyglet.gl.glTranslatef(self.height//2, self.height//2, 0.0)
+                pyglet.gl.glRotatef(90.0, 0.0, 0.0, 1.0)
+                # Draw the axis title using the rotated coordinate system
+                axistitle.draw()
+                # Return everything to its previous state
+                pyglet.gl.glPopMatrix()
+
+            tag.draw()
@@ -0,0 +1,48 @@
+# Class to store data for a live graph
+# Written as a telemetry tool by:
+# The UoN Robot Wars Project, 2018
+
+import logging
+
+class Series:
+    def __init__(self, points=100, title="Series title", xname="x-axis name", yname="y-axis name"):
+        """Set up an object to store a 2D data series"""
+        # Proposal:
+        #   In order to neatly handle multiple lines on the same graph
+        #   a series is not so much a set of 2D data points, but a number
+        #   of series sharing an x axis. For example
+        #       (time, temperature)
+        #       (time, xaccel, yaccel, zaccel)
+        #   The latter seta of points much be of like nature and share an axis
+        #       (time, temperature, xaccel)
+        #   would be a meaningless thing to plot on a single graph anyway
+
+        self.title = title
+        self.xname = xname
+        self.yname = yname
+        self.xlimits = (0, 100)
+        self.ylimits = (-100, 100)
+        self.data = []
+        self.points = points
+        
+        logging.info("Created series: " + title)
+        
+    def addpoint(self, point):
+        """Add a point to the dataset, and remove the oldest, if necessary"""
+        self.data.append(point)
+        if len(self.data) > self.points:
+            del self.data[0]
+        self.autoscale(0)
+            
+    def autoscale(self, axis): # axis=0 is x, 1 is y
+        minval = self.data[0][axis]
+        maxval = self.data[0][axis]
+        for value in self.data:
+            if value[axis] < minval:
+                minval = value[axis]
+            if value[axis] > maxval:
+                maxval = value[axis] 
+        if axis == 0:
+            self.xlimits = (minval, maxval)
+        else:
+            self.ylimits = (minval, maxval)