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chartsview

ChartView #

Bases: QWidget

ChartsView class

Chart widget displaying a graph with a 'current' and an 'order' curve.

It features a scrollbar, a zoom slider and a button to save the data in CVS format.

The chart is reset after the robot mode has changed from RUNNING to an other value.

Attributes:

Name Type Description
need_reset bool

True if the data must be reset on next state
slider_events_disabled bool

Do not recalculate range if False
default_range_max_x float

Default max X range value
default_range_max_y float

Default max Y range value
range_max_x float

Current max X range value
range_max_y float

Current max Y range value
zoom_max int

max zoom value
Source code in cogip/widgets/chartsview.py 
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class ChartView(QtWidgets.QWidget):
    """ChartsView class

    Chart widget displaying a graph with a 'current' and an 'order' curve.

    It features a scrollbar, a zoom slider and a button to save the data in CVS format.

    The chart is reset after the robot mode has changed from RUNNING to an other value.

    Attributes:
        need_reset: True if the data must be reset on next state
        slider_events_disabled: Do not recalculate range if False
        default_range_max_x: Default max X range value
        default_range_max_y: Default max Y range value
        range_max_x: Current max X range value
        range_max_y: Current max Y range value
        zoom_max: max zoom value
    """

    need_reset: bool = False
    slider_events_disabled: bool = False
    default_range_max_x: float = 100
    default_range_max_y: float = 0.5
    range_max_x: float = default_range_max_x
    range_max_y: float = default_range_max_y
    zoom_max: int = 10

    def __init__(self, parent: QtWidgets.QWidget | None = None, name: str | None = None):
        """
        Class constructor.

        Arguments:
            parent: The parent widget
            name: Name of the current chart
        """
        super().__init__(parent)
        self.name = name

        layout = QtWidgets.QVBoxLayout(self)

        self.chart_view = QtCharts.QChartView()
        self.chart_view.setRenderHint(QtGui.QPainter.Antialiasing)
        layout.addWidget(self.chart_view)

        sliders_widget = QtWidgets.QWidget()
        sliders_layout = QtWidgets.QGridLayout(sliders_widget)
        sliders_widget.setLayout(sliders_layout)
        layout.addWidget(sliders_widget)

        self.scrollbar = QtWidgets.QScrollBar(QtCore.Qt.Horizontal)
        self.scrollbar.setMinimum(1)
        self.scrollbar.setMaximum(self.default_range_max_x)
        self.scrollbar.setSliderPosition(25)
        self.scrollbar.valueChanged.connect(self.slider_changed)
        sliders_layout.addWidget(self.scrollbar, 0, 0)

        self.zoom = QtWidgets.QSlider(QtCore.Qt.Horizontal, minimum=0, maximum=100, value=60)
        self.zoom.setMinimum(1)
        self.zoom.setMaximum(self.zoom_max)
        self.zoom.setValue(1)
        self.zoom.valueChanged.connect(self.slider_changed)
        sliders_layout.addWidget(self.zoom, 1, 0)

        self.save_button = QtWidgets.QPushButton()
        self.save_button.setIcon(QtGui.QIcon.fromTheme("document-save"))
        self.save_button.setStatusTip("Save values")
        self.save_button.clicked.connect(self.save_values)
        sliders_layout.addWidget(self.save_button, 0, 1, 2, 1)

        self.chart = QtCharts.QChart()
        self.axis_x = QtCharts.QValueAxis(self)
        self.axis_y = QtCharts.QValueAxis(self)
        self.chart.addAxis(self.axis_x, QtCore.Qt.AlignBottom)
        self.chart.addAxis(self.axis_y, QtCore.Qt.AlignLeft)

        self.serie_current = QtCharts.QLineSeries(name=f"{self.name} Current")
        self.chart.addSeries(self.serie_current)
        self.serie_current.attachAxis(self.axis_x)
        self.serie_current.attachAxis(self.axis_y)
        pen = self.serie_current.pen()
        pen.setWidth(5)
        self.serie_current.setPen(pen)

        self.serie_order = QtCharts.QLineSeries(name=f"{self.name} Order")
        self.chart.addSeries(self.serie_order)
        self.serie_order.attachAxis(self.axis_x)
        self.serie_order.attachAxis(self.axis_y)

        pen = self.serie_order.pen()
        pen.setWidth(5)
        self.serie_order.setPen(pen)

        # self.chart.createDefaultAxes()

        self.axis_x.setMin(1)
        self.axis_x.setTickInterval(1)

        self.axis_y.setMin(1)
        self.axis_y.setMax(self.default_range_max_y)

        self.chart_view.setChart(self.chart)

        self.recalculate_range_x()

    @qtSlot(int)
    def slider_changed(self, value: int):
        """
        Qt Slot

        Function called when the scrollbar and zoom has changed.
        """
        self.recalculate_range_x()

    def recalculate_range_x(self):
        """
        Given the current zoom and current position of the scrollbar,
        compute the X min/max range and the slider position.
        """
        if self.slider_events_disabled:
            return
        self.slider_events_disabled = True

        span = int(self.range_max_x / self.zoom.value())
        span = span + span % 2
        scroll_min = span / 2
        scroll_max = self.range_max_x - span / 2

        scroll = self.scrollbar.value()
        scroll = max(scroll_min, scroll)
        scroll = min(scroll_max, scroll)

        self.scrollbar.setMinimum(scroll_min)
        self.scrollbar.setMaximum(scroll_max)
        self.scrollbar.setValue(scroll)

        self.axis_x.setMax(self.range_max_x)

        span = int(self.range_max_x / self.zoom.sliderPosition())
        span = span + span % 2

        x_min = scroll - span / 2
        x_max = scroll + span / 2
        self.axis_x.setRange(x_min, x_max)

        self.slider_events_disabled = False

    def reset(self):
        """
        Reset the chart
        """
        self.serie_current.clear()
        self.serie_order.clear()

        self.range_max_x = self.default_range_max_x
        self.range_max_y = self.default_range_max_y

        self.recalculate_range_x()

    def new_robot_state(self, cycle: int, current: float | None, order: float | None) -> None:
        """
        Add a new point on the chart view.

        Arguments:
            cycle: Current cycle
            current: Current value
            order: Order value
        """
        if self.need_reset:
            self.need_reset = False
            self.reset()

        self.range_max_x = max(self.range_max_x, cycle)

        if current:
            self.serie_current.append(cycle, current)
            self.range_max_y = max(self.range_max_y, current)

        if order:
            self.serie_order.append(cycle, order)
            self.range_max_y = max(self.range_max_y, order)

        self.axis_y.setMax(self.range_max_y)

        self.recalculate_range_x()

    @qtSlot()
    def save_values(self):
        """
        Qt Slot

        Open a file dialog to select a file and save chart values in it.
        """
        filename, _ = QtWidgets.QFileDialog.getSaveFileName(
            parent=self,
            caption=f"Select file to save {self.name} values",
            dir="",
            filter="CSV Files (*.csv)",
            # Workaround a know Qt bug
            options=QtWidgets.QFileDialog.DontUseNativeDialog,
        )
        if filename:
            with Path(filename).open("w", newline="") as csv_file:
                writer = csv.DictWriter(csv_file, fieldnames=["cycle", "order", "current"])
                writer.writeheader()

                for order, current in zip(self.serie_order.points(), self.serie_current.points()):
                    writer.writerow({"cycle": int(order.x()), "order": order.y(), "current": current.y()})

__init__(parent=None, name=None) #

Class constructor.

Parameters:

Name Type Description Default
parent QWidget | None

The parent widget

 None
name str | None

Name of the current chart

 None
Source code in cogip/widgets/chartsview.py 
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def __init__(self, parent: QtWidgets.QWidget | None = None, name: str | None = None):
    """
    Class constructor.

    Arguments:
        parent: The parent widget
        name: Name of the current chart
    """
    super().__init__(parent)
    self.name = name

    layout = QtWidgets.QVBoxLayout(self)

    self.chart_view = QtCharts.QChartView()
    self.chart_view.setRenderHint(QtGui.QPainter.Antialiasing)
    layout.addWidget(self.chart_view)

    sliders_widget = QtWidgets.QWidget()
    sliders_layout = QtWidgets.QGridLayout(sliders_widget)
    sliders_widget.setLayout(sliders_layout)
    layout.addWidget(sliders_widget)

    self.scrollbar = QtWidgets.QScrollBar(QtCore.Qt.Horizontal)
    self.scrollbar.setMinimum(1)
    self.scrollbar.setMaximum(self.default_range_max_x)
    self.scrollbar.setSliderPosition(25)
    self.scrollbar.valueChanged.connect(self.slider_changed)
    sliders_layout.addWidget(self.scrollbar, 0, 0)

    self.zoom = QtWidgets.QSlider(QtCore.Qt.Horizontal, minimum=0, maximum=100, value=60)
    self.zoom.setMinimum(1)
    self.zoom.setMaximum(self.zoom_max)
    self.zoom.setValue(1)
    self.zoom.valueChanged.connect(self.slider_changed)
    sliders_layout.addWidget(self.zoom, 1, 0)

    self.save_button = QtWidgets.QPushButton()
    self.save_button.setIcon(QtGui.QIcon.fromTheme("document-save"))
    self.save_button.setStatusTip("Save values")
    self.save_button.clicked.connect(self.save_values)
    sliders_layout.addWidget(self.save_button, 0, 1, 2, 1)

    self.chart = QtCharts.QChart()
    self.axis_x = QtCharts.QValueAxis(self)
    self.axis_y = QtCharts.QValueAxis(self)
    self.chart.addAxis(self.axis_x, QtCore.Qt.AlignBottom)
    self.chart.addAxis(self.axis_y, QtCore.Qt.AlignLeft)

    self.serie_current = QtCharts.QLineSeries(name=f"{self.name} Current")
    self.chart.addSeries(self.serie_current)
    self.serie_current.attachAxis(self.axis_x)
    self.serie_current.attachAxis(self.axis_y)
    pen = self.serie_current.pen()
    pen.setWidth(5)
    self.serie_current.setPen(pen)

    self.serie_order = QtCharts.QLineSeries(name=f"{self.name} Order")
    self.chart.addSeries(self.serie_order)
    self.serie_order.attachAxis(self.axis_x)
    self.serie_order.attachAxis(self.axis_y)

    pen = self.serie_order.pen()
    pen.setWidth(5)
    self.serie_order.setPen(pen)

    # self.chart.createDefaultAxes()

    self.axis_x.setMin(1)
    self.axis_x.setTickInterval(1)

    self.axis_y.setMin(1)
    self.axis_y.setMax(self.default_range_max_y)

    self.chart_view.setChart(self.chart)

    self.recalculate_range_x()

new_robot_state(cycle, current, order) #

Add a new point on the chart view.

Parameters:

Name Type Description Default
cycle int

Current cycle

 required
current float | None

Current value

 required
order float | None

Order value

 required
Source code in cogip/widgets/chartsview.py 
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def new_robot_state(self, cycle: int, current: float | None, order: float | None) -> None:
    """
    Add a new point on the chart view.

    Arguments:
        cycle: Current cycle
        current: Current value
        order: Order value
    """
    if self.need_reset:
        self.need_reset = False
        self.reset()

    self.range_max_x = max(self.range_max_x, cycle)

    if current:
        self.serie_current.append(cycle, current)
        self.range_max_y = max(self.range_max_y, current)

    if order:
        self.serie_order.append(cycle, order)
        self.range_max_y = max(self.range_max_y, order)

    self.axis_y.setMax(self.range_max_y)

    self.recalculate_range_x()

recalculate_range_x() #

Given the current zoom and current position of the scrollbar, compute the X min/max range and the slider position.

Source code in cogip/widgets/chartsview.py 
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def recalculate_range_x(self):
    """
    Given the current zoom and current position of the scrollbar,
    compute the X min/max range and the slider position.
    """
    if self.slider_events_disabled:
        return
    self.slider_events_disabled = True

    span = int(self.range_max_x / self.zoom.value())
    span = span + span % 2
    scroll_min = span / 2
    scroll_max = self.range_max_x - span / 2

    scroll = self.scrollbar.value()
    scroll = max(scroll_min, scroll)
    scroll = min(scroll_max, scroll)

    self.scrollbar.setMinimum(scroll_min)
    self.scrollbar.setMaximum(scroll_max)
    self.scrollbar.setValue(scroll)

    self.axis_x.setMax(self.range_max_x)

    span = int(self.range_max_x / self.zoom.sliderPosition())
    span = span + span % 2

    x_min = scroll - span / 2
    x_max = scroll + span / 2
    self.axis_x.setRange(x_min, x_max)

    self.slider_events_disabled = False

reset() #

Reset the chart

Source code in cogip/widgets/chartsview.py 
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def reset(self):
    """
    Reset the chart
    """
    self.serie_current.clear()
    self.serie_order.clear()

    self.range_max_x = self.default_range_max_x
    self.range_max_y = self.default_range_max_y

    self.recalculate_range_x()

save_values() #

Qt Slot

Open a file dialog to select a file and save chart values in it.

Source code in cogip/widgets/chartsview.py 
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@qtSlot()
def save_values(self):
    """
    Qt Slot

    Open a file dialog to select a file and save chart values in it.
    """
    filename, _ = QtWidgets.QFileDialog.getSaveFileName(
        parent=self,
        caption=f"Select file to save {self.name} values",
        dir="",
        filter="CSV Files (*.csv)",
        # Workaround a know Qt bug
        options=QtWidgets.QFileDialog.DontUseNativeDialog,
    )
    if filename:
        with Path(filename).open("w", newline="") as csv_file:
            writer = csv.DictWriter(csv_file, fieldnames=["cycle", "order", "current"])
            writer.writeheader()

            for order, current in zip(self.serie_order.points(), self.serie_current.points()):
                writer.writerow({"cycle": int(order.x()), "order": order.y(), "current": current.y()})

slider_changed(value) #

Qt Slot

Function called when the scrollbar and zoom has changed.

Source code in cogip/widgets/chartsview.py 
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@qtSlot(int)
def slider_changed(self, value: int):
    """
    Qt Slot

    Function called when the scrollbar and zoom has changed.
    """
    self.recalculate_range_x()

ChartsView #

Bases: QDialog

ChartsView class

Build the calibration charts window.

Attributes:

Name Type Description
closed Signal

Qt signal emitted when the window is hidden
Source code in cogip/widgets/chartsview.py 
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class ChartsView(QtWidgets.QDialog):
    """ChartsView class

    Build the calibration charts window.

    Attributes:
        closed: Qt signal emitted when the window is hidden
    """

    closed: qtSignal = qtSignal()

    def __init__(self, parent: QtWidgets.QWidget | None = None):
        """
        Class constructor.

        Arguments:
            parent: The parent widget
        """
        super().__init__(parent)
        self.robot_id = 0

        self.setWindowTitle("Calibration Charts")
        self.setModal(False)
        self.setMinimumSize(QtCore.QSize(400, 400))

        self.layout = QtWidgets.QGridLayout()
        self.setLayout(self.layout)

        self.linear_speed_chart = ChartView(self, "Linear Speed")
        self.angular_speed_chart = ChartView(self, "Angular Speed")
        self.layout.addWidget(self.linear_speed_chart, 0, 0)
        self.layout.addWidget(self.angular_speed_chart, 1, 0)

        reset_button = QtWidgets.QPushButton("Reset")
        self.layout.addWidget(reset_button)
        reset_button.clicked.connect(self.reset)

        self.readSettings()

    def reset(self):
        """
        Reset charts.
        """
        self.linear_speed_chart.reset()
        self.angular_speed_chart.reset()

    def set_robot_id(self, robot_id: int) -> None:
        self.robot_id = robot_id
        self.setWindowTitle(f"Calibration Charts for Robot {robot_id}")
        self.readSettings()

    @qtSlot(RobotState)
    def new_robot_state(self, state: RobotState) -> None:
        """
        Qt Slot

        Send robot data to corresponding charts

        Arguments:
            state: New robot state
        """
        self.linear_speed_chart.new_robot_state(
            state.cycle,
            state.speed_current.distance,
            state.speed_order.distance,
        )
        self.angular_speed_chart.new_robot_state(
            state.cycle,
            state.speed_current.angle,
            state.speed_order.angle,
        )

    def closeEvent(self, event: QtGui.QCloseEvent):
        """
        Hide the window.

        Arguments:
            event: The close event (unused)
        """
        settings = QtCore.QSettings("COGIP", "monitor")
        settings.setValue(f"chartsview/geometry/{self.robot_id}", self.saveGeometry())

        self.closed.emit()
        super().closeEvent(event)

    def readSettings(self):
        settings = QtCore.QSettings("COGIP", "monitor")
        self.restoreGeometry(settings.value(f"chartsview/geometry/{self.robot_id}"))

__init__(parent=None) #

Class constructor.

Parameters:

Name Type Description Default
parent QWidget | None

The parent widget

 None
Source code in cogip/widgets/chartsview.py 
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def __init__(self, parent: QtWidgets.QWidget | None = None):
    """
    Class constructor.

    Arguments:
        parent: The parent widget
    """
    super().__init__(parent)
    self.robot_id = 0

    self.setWindowTitle("Calibration Charts")
    self.setModal(False)
    self.setMinimumSize(QtCore.QSize(400, 400))

    self.layout = QtWidgets.QGridLayout()
    self.setLayout(self.layout)

    self.linear_speed_chart = ChartView(self, "Linear Speed")
    self.angular_speed_chart = ChartView(self, "Angular Speed")
    self.layout.addWidget(self.linear_speed_chart, 0, 0)
    self.layout.addWidget(self.angular_speed_chart, 1, 0)

    reset_button = QtWidgets.QPushButton("Reset")
    self.layout.addWidget(reset_button)
    reset_button.clicked.connect(self.reset)

    self.readSettings()

closeEvent(event) #

Hide the window.

Parameters:

Name Type Description Default
event QCloseEvent

The close event (unused)

 required
Source code in cogip/widgets/chartsview.py 
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def closeEvent(self, event: QtGui.QCloseEvent):
    """
    Hide the window.

    Arguments:
        event: The close event (unused)
    """
    settings = QtCore.QSettings("COGIP", "monitor")
    settings.setValue(f"chartsview/geometry/{self.robot_id}", self.saveGeometry())

    self.closed.emit()
    super().closeEvent(event)

new_robot_state(state) #

Qt Slot

Send robot data to corresponding charts

Parameters:

Name Type Description Default
state RobotState

New robot state

 required
Source code in cogip/widgets/chartsview.py 
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@qtSlot(RobotState)
def new_robot_state(self, state: RobotState) -> None:
    """
    Qt Slot

    Send robot data to corresponding charts

    Arguments:
        state: New robot state
    """
    self.linear_speed_chart.new_robot_state(
        state.cycle,
        state.speed_current.distance,
        state.speed_order.distance,
    )
    self.angular_speed_chart.new_robot_state(
        state.cycle,
        state.speed_current.angle,
        state.speed_order.angle,
    )

reset() #

Reset charts.

Source code in cogip/widgets/chartsview.py 
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def reset(self):
    """
    Reset charts.
    """
    self.linear_speed_chart.reset()
    self.angular_speed_chart.reset()