old mainWIndow.py deleted and moved new one back to it's place :)

raspberry-pi/gui/mainWindow.py

@@ -60,15 +60,17 @@ class MainWindow(tk.Frame):
 
     self.mag_dro_val_sums = np.ndarray((4), dtype=np.float)
     self.mag_dro_val_count = 0
-    self.mag_dro_x = tk.StringVar()
-    self.mag_dro_y = tk.StringVar()
     self.mag_label = tk.Label(self.controls, text="Magnetic Sensor", anchor="c", font=("Helvatica", 10, 'bold'))
     self.mag_label.pack(side="top", fill="both", expand=False)
+    self.mag_dro_x = tk.StringVar()
+    self.mag_dro_y = tk.StringVar()
+    self.mag_dro_offset_x = tk.StringVar()
+    self.mag_dro_offset_y = tk.StringVar()
     tk.Label(self.controls, textvariable=self.mag_dro_x, anchor = "nw").pack(side = "top", fill = "both", expand = False)
+    tk.Label(self.controls, textvariable=self.mag_dro_y, anchor = "nw").pack(side = "top", fill = "both", expand = False)
     tk.Label(self.controls, textvariable=self.mag_dro_x, anchor = "nw").pack(side = "top", fill = "both", expand = False)
-    #
-    #
-    
+    tk.Label(self.controls, textvariable=self.mag_dro_y, anchor = "nw").pack(side = "top", fill = "both", expand = False)
+
     self.quit_button = tk.Button(self.controls, text="Quit", command=self.root.destroy, height=2, foreground="red")
     self.quit_button.pack(side="bottom", fill="both")
 
@@ -138,12 +140,12 @@ class MainWindow(tk.Frame):
     else:
       self.opt_label.config(fg="black", bg="yellow")
 
-    # if not self.mag_sensor.:
-    #  self.mag_label.config(fg="white", bg="red")
-    # elif len(mag_positions) > 0:
-    #  self.mag_label.config(fg="white", bg="green")
-    # else:
-    #  self.mag_label.config(fg="black", bg="yellow")
+    if not self.mag_sensor.success:
+     self.mag_label.config(fg="white", bg="red")
+    elif len(mag_positions) > 0:
+     self.mag_label.config(fg="white", bg="green")
+    else:
+     self.mag_label.config(fg="black", bg="yellow")
 
 
     # readouts will only be updated so often
@@ -160,7 +162,7 @@ class MainWindow(tk.Frame):
       self.ac_dro_t1.set("t1: {:.3f} ms".format(self.ac_dro_val_sums[2]/1000))
       self.ac_dro_t2.set("t2: {:.3f} ms".format(self.ac_dro_val_sums[3]/1000))
 
-      self.ac_dro_val_sums.fill(0)
+      self.ac_dro_val_sums.fill(0)    
       self.ac_dro_val_count = 0
 
       if self.opt_dro_val_count > 0:
@@ -170,12 +172,22 @@ class MainWindow(tk.Frame):
 
       self.opt_dro_x.set("X: {:.1f} mm".format(self.opt_dro_val_sums[0]))
       self.opt_dro_y.set("Y: {:.1f} mm".format(self.opt_dro_val_sums[1]))
-      self.opt_dro_offset.set("offset: {:.1f} %".format(self.opt_dro_val_sums[2]*100))
-      self.opt_dro_size.set("size: {:.1f} %".format(self.opt_dro_val_sums[3]*100))
+      self.opt_dro_offset.set("X Offset: {:.1f} %".format(self.opt_dro_val_sums[2]*100))
+      self.opt_dro_size.set("Y Offset: {:.1f} %".format(self.opt_dro_val_sums[3]*100))
 
       self.opt_dro_val_sums.fill(0)
       self.opt_dro_val_count = 0
 
+      if self.mag_dro_val_count > 0:
+        self.mag_dro_val_sums /= self.mag_dro_val_count
+      else:
+        self.mag_dro_val_sums.fill(0)
+
+      self.mag_dro_x.set("X: {:.1f} mm".format(self.mag_dro_val_sums[0]))
+      self.mag_dro_y.set("Y: {:.1f} mm".format(self.mag_dro_val_sums[1]))
+      #self.mag_dro_offset_x.set("offset: {:.1f} %".format(self.mag_dro_val_sums[2]*100))
+      #self.mag_dro_offset_y.set("size: {:.1f} %".format(self.mag_dro_val_sums[3]*100))
+
     if self.popup_window:
       self.popup_window.update()
     

raspberry-pi/mainWindow.py

@@ -1,249 +0,0 @@
-import time
-import queue
-
-import tkinter as tk
-import numpy as np
-
-from gui.popup import CalibrationPopUp
-from gui.graph import Graph
-from gui.logScreen import LogScreen
-from sensors.opticalSensor import OpticalSensor
-import logHandler
-
-
-class MainWindow(tk.Frame):
-  def __init__(self, root, conf, ac_sensor, opt_sensor, mag_sensor):
-    self.root         = root
-    self.conf         = conf
-    self.ac_sensor    = ac_sensor
-    self.opt_sensor   = opt_sensor
-    self.mag_sensor   = mag_sensor
-    self.log_handler  = logHandler.get_log_handler()
-    self.popup_window = None
-    self.log_window   = None
-    self.mainWindow   = None
-
-    tk.Frame.__init__(self, root)
-    # data plot at left side
-    self.graph = Graph(self)
-    self.graph.pack(fill=tk.BOTH, side=tk.LEFT, expand=True)
-    # frame at right side
-    self.controls = tk.Frame(self, borderwidth=4)
-    self.controls.pack(fill=tk.BOTH, side=tk.RIGHT)
-    self.controlsUpdateTime = 0
-
-    self.ac_dro_val_sums = np.ndarray((4), dtype=np.float)
-    self.ac_dro_val_count = 0
-    self.ac_dro_x = tk.StringVar()
-    self.ac_dro_y = tk.StringVar()
-    self.ac_dro_t1 = tk.StringVar()
-    self.ac_dro_t2 = tk.StringVar()
-    self.ac_label = tk.Label(self.controls, text="Acoustic Sensor", anchor="c", font=("Helvatica", 10, 'bold'))
-    self.ac_label.pack(side="top", fill="both", expand=False)
-    tk.Label(self.controls, textvariable=self.ac_dro_x, anchor="nw").pack(side="top", fill="both", expand=False)
-    tk.Label(self.controls, textvariable=self.ac_dro_y, anchor="nw").pack(side="top", fill="both", expand=False)
-    tk.Label(self.controls, textvariable=self.ac_dro_t1, anchor="nw").pack(side="top", fill="both", expand=False)
-    tk.Label(self.controls, textvariable=self.ac_dro_t2, anchor="nw").pack(side="top", fill="both", expand=False)
-
-    self.opt_dro_val_sums = np.ndarray((4), dtype=np.float)
-    self.opt_dro_val_count = 0
-    self.opt_dro_x = tk.StringVar()
-    self.opt_dro_y = tk.StringVar()
-    self.opt_dro_offset = tk.StringVar()
-    self.opt_dro_size   = tk.StringVar()
-    self.opt_label = tk.Label(self.controls, text="Optical Sensor", anchor="c", font=("Helvatica", 10, 'bold'))
-    self.opt_label.pack(side="top", fill="both", expand=False)
-    tk.Label(self.controls, textvariable=self.opt_dro_x, anchor="nw").pack(side="top", fill="both", expand=False)
-    tk.Label(self.controls, textvariable=self.opt_dro_y, anchor="nw").pack(side="top", fill="both", expand=False)
-    tk.Label(self.controls, textvariable=self.opt_dro_offset, anchor="nw").pack(side="top", fill="both", expand=False)
-    tk.Label(self.controls, textvariable=self.opt_dro_size, anchor="nw").pack(side="top", fill="both", expand=False)
-
-    self.mag_dro_val_sums = np.ndarray((4), dtype=np.float)
-    self.mag_dro_val_count = 0
-    self.mag_label = tk.Label(self.controls, text="Magnetic Sensor", anchor="c", font=("Helvatica", 10, 'bold'))
-    self.mag_label.pack(side="top", fill="both", expand=False)
-    self.mag_dro_x = tk.StringVar()
-    self.mag_dro_y = tk.StringVar()
-    self.mag_dro_offset_x = tk.StringVar()
-    self.mag_dro_offset_y = tk.StringVar()
-    tk.Label(self.controls, textvariable=self.mag_dro_x, anchor = "nw").pack(side = "top", fill = "both", expand = False)
-    tk.Label(self.controls, textvariable=self.mag_dro_y, anchor = "nw").pack(side = "top", fill = "both", expand = False)
-    tk.Label(self.controls, textvariable=self.mag_dro_x, anchor = "nw").pack(side = "top", fill = "both", expand = False)
-    tk.Label(self.controls, textvariable=self.mag_dro_y, anchor = "nw").pack(side = "top", fill = "both", expand = False)
-
-    self.quit_button = tk.Button(self.controls, text="Quit", command=self.root.destroy, height=2, foreground="red")
-    self.quit_button.pack(side="bottom", fill="both")
-
-    self.calibrateac_button = tk.Button(self.controls, text="Calibrate AC", command=self.calibrate_ac, height=4)
-    self.calibrateac_button.pack_forget()
-
-    self.calibratemc_button = tk.Button(self.controls, text = "Calibrate MC", command = self.calibrate_mc,height = 4)
-    self.calibratemc_button.pack_forget()
-
-    self.clear_button = tk.Button(self.controls, text="Clear graph", command=self.graph.clear, height=4)
-    self.clear_button.pack_forget()
-
-    self.logscreen_button = tk.Button(self.controls, text="Log", command=self.open_log, height=4)
-    self.logscreen_button.pack_forget()
-
-    self.menu_button = tk.Button(self.controls, text="Menu", command=self.menu, height=4)
-    self.menu_button.pack(side="bottom", fill="both")
-    
-    self.menu_back_button = tk.Button(self.controls, text="Back", command=self.back, height=4)
-    self.menu_back_button.pack_forget()
-
-  def update(self):
-    if not self.root.winfo_exists():
-      return
-
-    ac_positions = []
-    # aggregate measurements
-    while self.ac_sensor.queue.qsize() > 0:
-      name, data = self.ac_sensor.queue.get()
-      if name == "data":
-        ac_positions.append(data[0:2])
-        self.ac_dro_val_sums += data
-        self.ac_dro_val_count += 1
-
-    opt_positions = []
-    while self.opt_sensor.queue.qsize() > 0:
-      name, data = self.opt_sensor.queue.get()
-      if name == "data":
-        opt_positions.append(data[0:2])
-        self.opt_dro_val_sums += data
-        self.opt_dro_val_count += 1
-    
-    mag_positions = []
-    while self.mag_sensor.queue.qsize() > 0:
-      name, data = self.mag_sensor.queue.get()
-      if name == "data":
-        mag_positions.append(data[0:2])
-        self.mag_dro_val_sums += data
-        self.mag_dro_val_count += 1
-    
-    # graph shows all values as a line
-    self.graph.update([ac_positions, opt_positions, mag_positions])
-
-    # update status color
-    if self.ac_sensor.dummyActive:
-      self.ac_label.config(fg="white", bg="red")
-    elif len(ac_positions) > 0:
-      self.ac_label.config(fg="white", bg="green")
-    else:
-      self.ac_label.config(fg="black", bg="yellow")
-
-
-    if not self.opt_sensor.success:
-      self.opt_label.config(fg="white", bg="red")
-    elif len(opt_positions) > 0:
-      self.opt_label.config(fg="white", bg="green")
-    else:
-      self.opt_label.config(fg="black", bg="yellow")
-
-    if not self.mag_sensor.success:
-     self.mag_label.config(fg="white", bg="red")
-    elif len(mag_positions) > 0:
-     self.mag_label.config(fg="white", bg="green")
-    else:
-     self.mag_label.config(fg="black", bg="yellow")
-
-
-    # readouts will only be updated so often
-    if self.controlsUpdateTime + 0.4 < time.time():
-      self.controlsUpdateTime = time.time()
-      # they display the average of all values
-      if self.ac_dro_val_count > 0:
-        self.ac_dro_val_sums /= self.ac_dro_val_count
-      else:
-        self.ac_dro_val_sums.fill(0)
-
-      self.ac_dro_x.set("X: {:.1f} mm".format(self.ac_dro_val_sums[0]))
-      self.ac_dro_y.set("Y: {:.1f} mm".format(self.ac_dro_val_sums[1]))
-      self.ac_dro_t1.set("t1: {:.3f} ms".format(self.ac_dro_val_sums[2]/1000))
-      self.ac_dro_t2.set("t2: {:.3f} ms".format(self.ac_dro_val_sums[3]/1000))
-
-      self.ac_dro_val_sums.fill(0)    
-      self.ac_dro_val_count = 0
-
-      if self.opt_dro_val_count > 0:
-        self.opt_dro_val_sums /= self.opt_dro_val_count
-      else:
-        self.opt_dro_val_sums.fill(0)
-
-      self.opt_dro_x.set("X: {:.1f} mm".format(self.opt_dro_val_sums[0]))
-      self.opt_dro_y.set("Y: {:.1f} mm".format(self.opt_dro_val_sums[1]))
-      self.opt_dro_offset.set("X Offset: {:.1f} %".format(self.opt_dro_val_sums[2]*100))
-      self.opt_dro_size.set("Y Offset: {:.1f} %".format(self.opt_dro_val_sums[3]*100))
-
-      self.opt_dro_val_sums.fill(0)
-      self.opt_dro_val_count = 0
-
-      if self.mag_dro_val_count > 0:
-        self.mag_dro_val_sums /= self.mag_dro_val_count
-      else:
-        self.mag_dro_val_sums.fill(0)
-
-      self.mag_dro_x.set("X: {:.1f} mm".format(self.opt_dro_val_sums[0]))
-      self.mag_dro_y.set("Y: {:.1f} mm".format(self.opt_dro_val_sums[1]))
-      self.mag_dro_offset_x.set("offset: {:.1f} %".format(self.opt_dro_val_sums[2]*100))
-      self.mag_dro_offset_y.set("size: {:.1f} %".format(self.opt_dro_val_sums[3]*100))
-
-    if self.popup_window:
-      self.popup_window.update()
-    
-    if self.log_window:
-      self.log_window.update()
-
-    self.root.after(30, self.update)
-
-  def calibrate_ac(self):
-    self.ac_sensor.start_calibration()
-    if not self.popup_window or not self.pu_root.winfo_exists():
-      # create new window
-      self.pu_root = tk.Toplevel(self.root)
-      self.pu_root.wm_transient(self.root)
-      self.pu_root.wm_title("Acoustic Sensor Calibration")
-      # make it centered
-      x = (self.pu_root.winfo_screenwidth()  - 500) / 2
-      y = (self.pu_root.winfo_screenheight() - 200) / 2
-      self.pu_root.geometry(f'500x200+{int(x)}+{int(y)}')
-      # deactivate mainWindow
-      self.pu_root.grab_set()
-      self.popup_window = CalibrationPopUp(self.pu_root, self.ac_sensor.calibration_state, self.conf)
-      self.popup_window.pack(side="top", fill="both", expand=True)
-
-  def calibrate_mc(self):
-    pass
-
-  def open_log(self):
-    #create new window
-    self.log_root = tk.Toplevel(self.root)
-    self.log_root.wm_transient(self.root)
-    self.log_root.wm_title("Logs")
-    #center
-    x = (self.log_root.winfo_screenwidth()  - 780) / 2
-    y = (self.log_root.winfo_screenheight() - 400) / 2
-    self.log_root.geometry(f'780x400+{int(x)}+{int(y)}')
-    # deactivate mainWindow
-    self.log_root.grab_set()
-    self.log_window = LogScreen(self.log_root)
-    self.log_window.pack(side="top", fill="both", expand=True)
-
-  
-  # Menu Button
-  def menu(self):
-    self.menu_back_button.pack(side="bottom", fill="both")
-    self.calibrateac_button.pack(side="bottom", fill="both")
-    self.calibratemc_button.pack(side="bottom", fill="both")
-    self.clear_button.pack(side="bottom", fill="both")
-    self.logscreen_button.pack(side="bottom", fill="both")
-    self.menu_button.pack_forget()
-
-  #Back Button
-  def back(self):
-    self.calibrateac_button.pack_forget()
-    self.calibratemc_button.pack_forget()
-    self.clear_button.pack_forget()
-    self.logscreen_button.pack_forget()
-    self.menu_button.pack(side="bottom", fill="both")
-    self.menu_back_button.pack_forget()

raspberry-pi/sensors/magneticSensor.py

@@ -1,7 +1,7 @@
 import queue
 from struct import calcsize
-import numpy
-#import time
+import numpy as np
+import time
 import threading # ?
 import random # ?
 
@@ -15,16 +15,16 @@ class MagneticSensor:
   def __init__(self, conf):
     self.conf = conf
     self.queue = queue.Queue()
-    self.log_handler = logHandler.get_log_handler() # neu
     self.success = False
     self.mpu_array = []
-    self.mpu_gyro_offsets = []
+    self.mpu_gyro_offsets = [0.0,0.0,0.0]
     self.log_handler = logHandler.get_log_handler()
   
   def start(self):
     if not conn.isConnected():
       conn.open()
     conn.addRecvCallback(self._readCb)
+    self.calibrate()
     #self.dummyActive = True
     #dummyThread = threading.Thread(target=self._readCb_dummy)
     #dummyThread.start()
@@ -36,13 +36,28 @@ class MagneticSensor:
 
   def calibrate(self, conf):
     # Gyroscope Calibration
-    gyro_x, gyro_y, gyro_z = conn.getGyroValues()
-    self.mpu_array.append([gyro_x,gyro_y,gyro_z])
+    self.mpu_array = [] # clear Array for next calibration
+    while True:
+      try:
+        gyro_x, gyro_y, gyro_z = conn.getGyroValues()
+      except:  
+        continue
+      
+      self.mpu_gyro_array.append([gyro_x,gyro_y,gyro_z])
+      
+      if np.shape(self.mpu_array)[0] == conf.measurements_gyro:
+            for qq in range(0,3):
+                self.mpu_gyro_offsets[qq] = np.mean(np.array(self.mpu_array)[:,qq]) # average
+            break
+      print('Gyro Calibration Complete')
+      return self.mpu_gyro_offsets
     
     # Accelerometer Calibration
+    self.mpu_array = [] # clear array for next calibration
     accel_x, accel_y, accel_z = conn.getAccelValues()
 
     # Magnetometer Calibration
+    self.mpu_array = [] # clear array for next calibration
     magneto_x, magneto_y, magneto_z = conn.getMagneticField()
 
   def read(self):