Plots added

kubasaw · Jan 15, 2020 · 2473531 · 2473531
1 parent df6b307
commit 2473531
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Showing 6 changed files with 248 additions and 68 deletions.
diff --git a/.gitignore b/.gitignore
@@ -111,3 +111,7 @@ venv.bak/
 
 # Test snippets
 test*.py
+
+# Log files
+logs/
+log.dat
diff --git a/car/canListener.py b/car/canListener.py
@@ -1,4 +1,5 @@
 from struct import unpack
+from time import time
 
 import serial
 from PyQt5.QtCore import *
@@ -37,7 +38,7 @@ class myCan(QObject):
     strSignal = pyqtSignal(str)
     tupleSignal = pyqtSignal(tuple)
 
-    def __init__(self, serialPortName, strSlots=[], tupleSlots=[], loopTime=1):
+    def __init__(self, serialPortName, strSlots=[], tupleSlots=[], loopTime=1.0):
         super().__init__()
         self.__serialhandle = serial.Serial(serialPortName, 115200)
         self.__serialhandle.reset_input_buffer()
@@ -119,10 +120,11 @@ def sendMsg(self, msg):
 class canMsg():
 
     def __init__(self, StdId, Data):
+        self.timestamp = time()
         self.stdId = StdId
         self.data = Data
         self.dlc = len(Data)
-
+        
     def __str__(self):
         if self.stdId == 19:
             return "ID: {ID:#x}\t Data: {Data}".format(Data=unpack(

diff --git a/car/motion.py b/car/motion.py
@@ -29,7 +29,7 @@ def __init__(self, trackProfile):
         super().__init__(trackProfile)
         self.__length = max(pos[0] for pos in self.val)
         self.__interpolant = interp1d([pos[0] for pos in self.val], [
-            pos[1] for pos in self.val], kind='cubic', bounds_error=True, copy=False, assume_sorted=False)
+            pos[1] for pos in self.val], kind='linear', bounds_error=True, copy=False, assume_sorted=False)
 
     def getSlopeSine(self, point, positionInterval=2):
         """Compute track slope sine
@@ -217,6 +217,10 @@ def setThrottle(self, throttle):
         except:
             raise ValueError(
                 "Throttle value have to be choosen from unit interval [0-1]")
+
+        if (self.__throttle <= 0 and temp >= 0):
+            self.__state[2] += self.param.get("r0")
+
         self.__throttle = temp
 
     def setTimestep(self, dt):
@@ -295,7 +299,6 @@ def carDynamics(t, x, throttle):
             self.__state = solve_ivp(lambda t, x: carDynamics(t, x, self.__throttle), (t0, __nextSwitch),
                                      self.__state, t_eval=[__nextSwitch])['y'].flatten()
             if (self.__throttle <= 0):
-                self.__state[2] += self.param.get("r0")
                 self.setThrottle(1)
             else:
                 self.setThrottle(0)
@@ -306,6 +309,12 @@ def carDynamics(t, x, throttle):
         else:
             self.__state = solve_ivp(lambda t, x: carDynamics(t, x, self.__throttle), (t0, tf),
                                      self.__state, t_eval=[tf])['y'].flatten()
+            if(__nextSwitch == tf):
+                if (self.__throttle <= 0):
+                    self.setThrottle(1)
+                else:
+                    self.setThrottle(0)
+
         self.__time = tf
 
         return self.__state
diff --git a/gui/mainWindow.py b/gui/mainWindow.py
@@ -2,7 +2,7 @@
 
 # Form implementation generated from reading ui file 'mainWindow.ui'
 #
-# Created by: PyQt5 UI code generator 5.13.0
+# Created by: PyQt5 UI code generator 5.14.1
 #
 # WARNING! All changes made in this file will be lost!
 
@@ -51,33 +51,11 @@ def setupUi(self, MainWindow):
         self.Simulation = QtWidgets.QWidget()
         self.Simulation.setObjectName("Simulation")
         self.gridLayoutWidget = QtWidgets.QWidget(self.Simulation)
-        self.gridLayoutWidget.setGeometry(QtCore.QRect(10, 10, 317, 99))
+        self.gridLayoutWidget.setGeometry(QtCore.QRect(10, 10, 317, 128))
         self.gridLayoutWidget.setObjectName("gridLayoutWidget")
         self.gridLayout = QtWidgets.QGridLayout(self.gridLayoutWidget)
         self.gridLayout.setContentsMargins(0, 0, 0, 0)
         self.gridLayout.setObjectName("gridLayout")
-        self.speedField = QtWidgets.QLineEdit(self.gridLayoutWidget)
-        self.speedField.setReadOnly(True)
-        self.speedField.setObjectName("speedField")
-        self.gridLayout.addWidget(self.speedField, 1, 2, 1, 1)
-        self.timeField = QtWidgets.QLineEdit(self.gridLayoutWidget)
-        self.timeField.setReadOnly(True)
-        self.timeField.setObjectName("timeField")
-        self.gridLayout.addWidget(self.timeField, 1, 0, 1, 1)
-        self.engineLabel = QtWidgets.QLabel(self.gridLayoutWidget)
-        self.engineLabel.setAlignment(QtCore.Qt.AlignCenter)
-        self.engineLabel.setObjectName("engineLabel")
-        self.gridLayout.addWidget(self.engineLabel, 0, 4, 1, 1)
-        self.makeStepButton = QtWidgets.QPushButton(self.gridLayoutWidget)
-        self.makeStepButton.setObjectName("makeStepButton")
-        self.gridLayout.addWidget(self.makeStepButton, 2, 0, 1, 5)
-        self.engineField = QtWidgets.QLineEdit(self.gridLayoutWidget)
-        self.engineField.setObjectName("engineField")
-        self.gridLayout.addWidget(self.engineField, 1, 4, 1, 1)
-        self.positionLabel = QtWidgets.QLabel(self.gridLayoutWidget)
-        self.positionLabel.setAlignment(QtCore.Qt.AlignCenter)
-        self.positionLabel.setObjectName("positionLabel")
-        self.gridLayout.addWidget(self.positionLabel, 0, 1, 1, 1)
         self.fuelField = QtWidgets.QLineEdit(self.gridLayoutWidget)
         self.fuelField.setReadOnly(True)
         self.fuelField.setObjectName("fuelField")
@@ -86,14 +64,32 @@ def setupUi(self, MainWindow):
         self.fuelLabel.setAlignment(QtCore.Qt.AlignCenter)
         self.fuelLabel.setObjectName("fuelLabel")
         self.gridLayout.addWidget(self.fuelLabel, 0, 3, 1, 1)
+        self.engineLabel = QtWidgets.QLabel(self.gridLayoutWidget)
+        self.engineLabel.setAlignment(QtCore.Qt.AlignCenter)
+        self.engineLabel.setObjectName("engineLabel")
+        self.gridLayout.addWidget(self.engineLabel, 0, 4, 1, 1)
+        self.positionLabel = QtWidgets.QLabel(self.gridLayoutWidget)
+        self.positionLabel.setAlignment(QtCore.Qt.AlignCenter)
+        self.positionLabel.setObjectName("positionLabel")
+        self.gridLayout.addWidget(self.positionLabel, 0, 1, 1, 1)
         self.timeLabel = QtWidgets.QLabel(self.gridLayoutWidget)
         self.timeLabel.setAlignment(QtCore.Qt.AlignCenter)
         self.timeLabel.setObjectName("timeLabel")
         self.gridLayout.addWidget(self.timeLabel, 0, 0, 1, 1)
+        self.speedField = QtWidgets.QLineEdit(self.gridLayoutWidget)
+        self.speedField.setReadOnly(True)
+        self.speedField.setObjectName("speedField")
+        self.gridLayout.addWidget(self.speedField, 1, 2, 1, 1)
+        self.engineField = QtWidgets.QLineEdit(self.gridLayoutWidget)
+        self.engineField.setObjectName("engineField")
+        self.gridLayout.addWidget(self.engineField, 1, 4, 1, 1)
         self.positionField = QtWidgets.QLineEdit(self.gridLayoutWidget)
         self.positionField.setReadOnly(True)
         self.positionField.setObjectName("positionField")
         self.gridLayout.addWidget(self.positionField, 1, 1, 1, 1)
+        self.makeStepButton = QtWidgets.QPushButton(self.gridLayoutWidget)
+        self.makeStepButton.setObjectName("makeStepButton")
+        self.gridLayout.addWidget(self.makeStepButton, 2, 0, 1, 5)
         self.speedLabel = QtWidgets.QLabel(self.gridLayoutWidget)
         self.speedLabel.setAlignment(QtCore.Qt.AlignCenter)
         self.speedLabel.setObjectName("speedLabel")
@@ -102,6 +98,31 @@ def setupUi(self, MainWindow):
         self.simulationStart.setCheckable(True)
         self.simulationStart.setObjectName("simulationStart")
         self.gridLayout.addWidget(self.simulationStart, 3, 0, 1, 5)
+        self.timeField = QtWidgets.QLineEdit(self.gridLayoutWidget)
+        self.timeField.setReadOnly(True)
+        self.timeField.setObjectName("timeField")
+        self.gridLayout.addWidget(self.timeField, 1, 0, 1, 1)
+        self.resetSimulationButton = QtWidgets.QPushButton(self.gridLayoutWidget)
+        self.resetSimulationButton.setObjectName("resetSimulationButton")
+        self.gridLayout.addWidget(self.resetSimulationButton, 4, 0, 1, 5)
+        self.gridLayoutWidget_2 = QtWidgets.QWidget(self.Simulation)
+        self.gridLayoutWidget_2.setGeometry(QtCore.QRect(329, 9, 631, 301))
+        self.gridLayoutWidget_2.setObjectName("gridLayoutWidget_2")
+        self.chartsGrid = QtWidgets.QGridLayout(self.gridLayoutWidget_2)
+        self.chartsGrid.setContentsMargins(0, 0, 0, 0)
+        self.chartsGrid.setObjectName("chartsGrid")
+        self.fuelChartW = QChartView(self.gridLayoutWidget_2)
+        self.fuelChartW.setObjectName("fuelChartW")
+        self.chartsGrid.addWidget(self.fuelChartW, 1, 0, 1, 1)
+        self.positionChartW = QChartView(self.gridLayoutWidget_2)
+        self.positionChartW.setObjectName("positionChartW")
+        self.chartsGrid.addWidget(self.positionChartW, 0, 0, 1, 1)
+        self.engineChartW = QChartView(self.gridLayoutWidget_2)
+        self.engineChartW.setObjectName("engineChartW")
+        self.chartsGrid.addWidget(self.engineChartW, 1, 1, 1, 1)
+        self.speedChartW = QChartView(self.gridLayoutWidget_2)
+        self.speedChartW.setObjectName("speedChartW")
+        self.chartsGrid.addWidget(self.speedChartW, 0, 1, 1, 1)
         self.tabWidget.addTab(self.Simulation, "")
         self.Settings = QtWidgets.QWidget()
         self.Settings.setObjectName("Settings")
@@ -154,13 +175,14 @@ def retranslateUi(self, MainWindow):
         self.refreshAvailablePorts.setText(_translate("MainWindow", "Refresh"))
         self.connectPort.setText(_translate("MainWindow", "Connect"))
         self.tabWidget.setTabText(self.tabWidget.indexOf(self.Connection), _translate("MainWindow", "Connection"))
+        self.fuelLabel.setText(_translate("MainWindow", "Fuel"))
         self.engineLabel.setText(_translate("MainWindow", "Engine"))
-        self.makeStepButton.setText(_translate("MainWindow", "Make Simulation &Step!"))
         self.positionLabel.setText(_translate("MainWindow", "Position"))
-        self.fuelLabel.setText(_translate("MainWindow", "Fuel"))
         self.timeLabel.setText(_translate("MainWindow", "Time"))
+        self.makeStepButton.setText(_translate("MainWindow", "Make Simulation &Step!"))
         self.speedLabel.setText(_translate("MainWindow", "Speed"))
         self.simulationStart.setText(_translate("MainWindow", "Start Simulation!"))
+        self.resetSimulationButton.setText(_translate("MainWindow", "Reset Simulation!"))
         self.tabWidget.setTabText(self.tabWidget.indexOf(self.Simulation), _translate("MainWindow", "Simulation"))
         self.langSelectorLabel.setText(_translate("MainWindow", "Language"))
         self.tabWidget.setTabText(self.tabWidget.indexOf(self.Settings), _translate("MainWindow", "Settings"))
@@ -170,6 +192,7 @@ def retranslateUi(self, MainWindow):
         self.actionAbout.setText(_translate("MainWindow", "About"))
         self.actionImport_Settings.setText(_translate("MainWindow", "Import Settings"))
         self.actionExport_Settings.setText(_translate("MainWindow", "Export Settings"))
+from PyQt5.QtChart import QChartView
 
 
 if __name__ == "__main__":

diff --git a/gui/mainWindow.ui b/gui/mainWindow.ui
@@ -132,21 +132,24 @@
         <x>10</x>
         <y>10</y>
         <width>317</width>
-        <height>99</height>
+        <height>128</height>
        </rect>
       </property>
       <layout class="QGridLayout" name="gridLayout">
-       <item row="1" column="2">
-        <widget class="QLineEdit" name="speedField">
+       <item row="1" column="3">
+        <widget class="QLineEdit" name="fuelField">
          <property name="readOnly">
           <bool>true</bool>
          </property>
         </widget>
        </item>
-       <item row="1" column="0">
-        <widget class="QLineEdit" name="timeField">
-         <property name="readOnly">
-          <bool>true</bool>
+       <item row="0" column="3">
+        <widget class="QLabel" name="fuelLabel">
+         <property name="text">
+          <string>Fuel</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
          </property>
         </widget>
        </item>
@@ -160,16 +163,6 @@
          </property>
         </widget>
        </item>
-       <item row="2" column="0" colspan="5">
-        <widget class="QPushButton" name="makeStepButton">
-         <property name="text">
-          <string>Make Simulation &amp;Step!</string>
-         </property>
-        </widget>
-       </item>
-       <item row="1" column="4">
-        <widget class="QLineEdit" name="engineField"/>
-       </item>
        <item row="0" column="1">
         <widget class="QLabel" name="positionLabel">
          <property name="text">
@@ -180,23 +173,6 @@
          </property>
         </widget>
        </item>
-       <item row="1" column="3">
-        <widget class="QLineEdit" name="fuelField">
-         <property name="readOnly">
-          <bool>true</bool>
-         </property>
-        </widget>
-       </item>
-       <item row="0" column="3">
-        <widget class="QLabel" name="fuelLabel">
-         <property name="text">
-          <string>Fuel</string>
-         </property>
-         <property name="alignment">
-          <set>Qt::AlignCenter</set>
-         </property>
-        </widget>
-       </item>
        <item row="0" column="0">
         <widget class="QLabel" name="timeLabel">
          <property name="text">
@@ -207,13 +183,30 @@
          </property>
         </widget>
        </item>
+       <item row="1" column="2">
+        <widget class="QLineEdit" name="speedField">
+         <property name="readOnly">
+          <bool>true</bool>
+         </property>
+        </widget>
+       </item>
+       <item row="1" column="4">
+        <widget class="QLineEdit" name="engineField"/>
+       </item>
        <item row="1" column="1">
         <widget class="QLineEdit" name="positionField">
          <property name="readOnly">
           <bool>true</bool>
          </property>
         </widget>
        </item>
+       <item row="2" column="0" colspan="5">
+        <widget class="QPushButton" name="makeStepButton">
+         <property name="text">
+          <string>Make Simulation &amp;Step!</string>
+         </property>
+        </widget>
+       </item>
        <item row="0" column="2">
         <widget class="QLabel" name="speedLabel">
          <property name="text">
@@ -234,6 +227,44 @@
          </property>
         </widget>
        </item>
+       <item row="1" column="0">
+        <widget class="QLineEdit" name="timeField">
+         <property name="readOnly">
+          <bool>true</bool>
+         </property>
+        </widget>
+       </item>
+       <item row="4" column="0" colspan="5">
+        <widget class="QPushButton" name="resetSimulationButton">
+         <property name="text">
+          <string>Reset Simulation!</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+     <widget class="QWidget" name="gridLayoutWidget_2">
+      <property name="geometry">
+       <rect>
+        <x>329</x>
+        <y>9</y>
+        <width>631</width>
+        <height>301</height>
+       </rect>
+      </property>
+      <layout class="QGridLayout" name="chartsGrid">
+       <item row="1" column="0">
+        <widget class="QChartView" name="fuelChartW" native="true"/>
+       </item>
+       <item row="0" column="0">
+        <widget class="QChartView" name="positionChartW" native="true"/>
+       </item>
+       <item row="1" column="1">
+        <widget class="QChartView" name="engineChartW" native="true"/>
+       </item>
+       <item row="0" column="1">
+        <widget class="QChartView" name="speedChartW" native="true"/>
+       </item>
       </layout>
      </widget>
     </widget>
@@ -321,6 +352,14 @@
    </property>
   </action>
  </widget>
+ <customwidgets>
+  <customwidget>
+   <class>QChartView</class>
+   <extends>QWidget</extends>
+   <header>PyQt5.QtChart</header>
+   <container>1</container>
+  </customwidget>
+ </customwidgets>
  <resources/>
  <connections>
   <connection>