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Viewer.py
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# -*- coding: utf-8 -*-
"""
@author: Elias Obreque
@Date: 11/13/2020 9:25 PM
"""
import sys
from PyQt5.Qt import *
from PyQt5 import QtWidgets
from PyQt5 import QtCore
from PyQt5.QtWidgets import QFileDialog
from threading import Thread
import time
import numpy as np
from pyvistaqt import QtInteractor
from GeometricElements import GeometricElements
import pandas as pd
from Graphics import MainGraph
from DataHandler import DataHandler
from pyquaternion import Quaternion
from forms.main_screen_2 import Ui_MainWindow
import matplotlib.pyplot as plt
from matplotlib.backends.backend_qt5agg import FigureCanvasQT
from matplotlib.figure import Figure
from datetime import datetime
from forms.initial_date_ui import InitDateForm
twopi = 2.0 * np.pi
deg2rad = np.pi / 180.0
rad2deg = 1 / deg2rad
class Viewer(GeometricElements, QtWidgets.QMainWindow):
def __init__(self, datalog=None, parent=None, show=True):
self.time_speed = 1
self.earth_av = 7.2921150 * 360.0 * 1e-5 / (2 * np.pi)
self.init_sideral = 0
self.current_sideral = 0
self.vector_point = np.zeros(3)
self.datalog_flag = False
self.show_ref_vector_point = False
self.run_flag = False
self.pause_flag = False
self.stop_flag = False
self.gs_flag = False
self.thread = None
self.countTime = 0
self.last_index = 0
self.max_index = 0
self.screen = None
self.simulation_index = -1
self.q_t_i2b = None
self.spacecraft_pos_i = None
self.datalog = datalog
self.data_handler = None
QMainWindow.__init__(self, parent)
self.window = Ui_MainWindow()
self.window.setupUi(self)
self.quaternion_t0 = None
# Set-up signals and slots
# self.window.actionGeneratePlot.triggered.connect(self.plot_slot)
# self.window.control_spinbox.valueChanged.connect(self.window.control_slider.setValue)
# self.window.control_slider.valueChanged.connect(self.window.control_spinbox.setValue)
#########################################
vlayout = QVBoxLayout()
self.window.view_frame.setLayout(vlayout)
self.vtk_widget = QtInteractor(self.window.view_frame, shape=(1, 2))
self.vtk_widget.set_background([0.25, 0.25, 0.25])
vlayout.addWidget(self.vtk_widget)
self.preview_plot_widget = QtWidgets.QVBoxLayout(self.window.PlotWidget)
self.canvas_ = FigureCanvasQT(Figure(figsize=(5, 3)))
self.preview_plot_widget.addWidget(self.canvas_)
self.plot_canvas = self.canvas_.figure.subplots()
self.plot_canvas.grid()
self.plot_canvas.set_xlabel('Time [s]')
GeometricElements.__init__(self, self.vtk_widget)
self.add_bar()
self.add_i_frame_attitude()
self.add_gs_item()
# --------------------------------------------------------------------------------------------------------------
# simple menu to functions
main_menu = self.menuBar()
# --------------------------------------------------------------------------------------------------------------
# File option
self.window.actionLoadCsv.triggered.connect(self.load_csv_file)
if datalog is not None:
self.load_csv_file()
# --------------------------------------------------------------------------------------------------------------
self.window.actionRun.triggered.connect(self.run_simulation)
self.window.actionPause.triggered.connect(self.pause_simulation)
self.window.actionStop.triggered.connect(self.stop_simulation)
self.window.actionAddGS.triggered.connect(self.add_gs_item)
# sim_menu.addAction(run_action)
# sim_menu.addAction(pause_action)
# sim_menu.addAction(stop_action)
# --------------------------------------------------------------------------------------------------------------
self.window.actionGeneratePlot.triggered.connect(self.add_graph2d)
self.window.PlotSelectedData.clicked.connect(self.plot_selected_data)
self.window.listWidget.clicked.connect(self.preview_plot_data)
# --------------------------------------------------------------------------------------------------------------
def add_item_to_list(self):
_translate = QtCore.QCoreApplication.translate
for elem in self.data_handler.auxiliary_datalog_keys:
item = QtWidgets.QListWidgetItem()
item.setCheckState(QtCore.Qt.Unchecked)
item.setText(_translate("MainWindow", elem))
self.window.listWidget.addItem(item)
flat_basic_list = [item for sublist in self.data_handler.basic_datalog_keys[1:] for item in sublist]
for elem in flat_basic_list:
item = QtWidgets.QListWidgetItem()
item.setCheckState(QtCore.Qt.Unchecked)
item.setText(_translate("MainWindow", elem))
self.window.listWidget.addItem(item)
return
def add_graph2d(self):
self.screen = MainGraph(self.data_handler)
self.screen.win.show()
def load_csv_file(self):
def read_data(file_path):
df = pd.read_csv(file_path, delimiter=',')
sim_data = df
return sim_data
options = QFileDialog.Options()
options |= QFileDialog.DontUseNativeDialog
filename, _ = QFileDialog.getOpenFileName(self, "Select CSV data file", "", "CSV Files (*.csv)",
options=options)
if filename:
if self.datalog is not None:
self.window.listWidget.clear()
self.datalog = read_data(filename)
self.datalog_flag = True
print('Data log loaded')
else:
print('Could not load data log')
if self.datalog_flag:
self.data_handler = DataHandler(self.datalog)
self.data_handler.create_variable()
# Add actors to orbit view
self.spacecraft_pos_i = np.array([self.data_handler.basic_datalog[self.data_handler.basic_datalog_keys[2][0]],
self.data_handler.basic_datalog[self.data_handler.basic_datalog_keys[2][1]],
self.data_handler.basic_datalog[
self.data_handler.basic_datalog_keys[2][2]]]).transpose()
self.max_index = len(self.spacecraft_pos_i)
self.add_orbit(self.spacecraft_pos_i)
# self.add_aries_arrow()
# Add actors to attitude view
self.q_t_i2b = np.array([self.data_handler.basic_datalog[self.data_handler.basic_datalog_keys[4][0]],
self.data_handler.basic_datalog[self.data_handler.basic_datalog_keys[4][1]],
self.data_handler.basic_datalog[self.data_handler.basic_datalog_keys[4][2]],
self.data_handler.basic_datalog[
self.data_handler.basic_datalog_keys[4][3]]]).transpose()
self.add_spacecraft_2_orbit(self.spacecraft_pos_i[0, :], self.q_t_i2b)
self.add_spacecraft_2_attitude(self.q_t_i2b)
try:
date_time_data = self.data_handler.auxiliary_datalog['Date time']
init_time = date_time_data[0]
datetime_array = datetime.strptime(init_time, '%Y-%m-%d %H:%M:%S')
except KeyError:
dp = InitDateForm()
# self.vtk_widget.setWindowModality(QtCore.Qt.ApplicationModal)
dp.exec()
print(dp.current_date)
init_time = dp.current_date.toUTC().toString(Qt.ISODate)
datetime_array = datetime.strptime(init_time, '%Y-%m-%dT%H:%M:%SZ')
init_jd = self.jday(datetime_array.year, datetime_array.month, datetime_array.day,
datetime_array.hour, datetime_array.minute, datetime_array.second)
self.init_sideral = rad2deg * self.gstime(init_jd)
self.sphere.rotate_z(self.init_sideral, inplace=True)
if self.gs_flag:
self.update_gs_location(rad2deg * self.gstime(init_jd))
if 'Vector_tar_i(X) [-]' in self.data_handler.auxiliary_datalog.keys():
self.vector_point = np.array([self.data_handler.auxiliary_datalog['Vector_tar_i(X) [-]'][0],
self.data_handler.auxiliary_datalog['Vector_tar_i(Y) [-]'][0],
self.data_handler.auxiliary_datalog['Vector_tar_i(Z) [-]'][0]])
if np.linalg.norm(self.vector_point) != 0:
self.show_ref_vector_point = True
self.add_vector_line_in_orbit(self.spacecraft_pos_i[0, :], self.vector_point)
self.add_b_frame_attitude(show_ref_vector_point=self.show_ref_vector_point,
vector_point=self.vector_point)
self.add_item_to_list()
def run_simulation(self):
self.run_flag = True
self.stop_flag = False
self.pause_flag = False
self.run_orbit_3d()
print('Running...')
def pause_simulation(self):
self.pause_flag = True
self.run_flag = False
print('Paused...')
def stop_simulation(self):
self.stop_flag = True
if self.thread:
self.thread.join()
self.thread = None
self.update_meshes(0)
self.reset_time()
def reset_time(self):
self.countTime = 0
self.simulation_index = 1
def update_time(self):
self.countTime = self.data_handler.stepTime * self.simulation_index
def update_meshes(self, index):
if index == 0:
print('Resetting')
self.sphere.rotate_z(-self.current_sideral, inplace=True)
tr_vector = self.spacecraft_pos_i[0, :] - np.array([0, 0, 34/2])
self.spacecraft_model_2_orbit.translate(-self.spacecraft_model_2_orbit.center_of_mass())
self.update_attitude(index, self.spacecraft_model_2_attitude, self.spacecraft_model_2_orbit)
self.spacecraft_model_2_orbit.translate(self.spacecraft_model_2_orbit.center_of_mass())
if self.show_ref_vector_point:
self.update_vector_line(self.spacecraft_pos_i[index, :], self.vector_point)
self.spacecraft_model_2_orbit.translate(tr_vector, inplace=True)
self.body_x_i.translate(tr_vector, inplace=True)
self.body_y_i.translate(tr_vector, inplace=True)
self.body_z_i.translate(tr_vector, inplace=True)
else:
# Update Earth
sideral = self.earth_av * self.data_handler.stepTime * int(self.time_speed)
self.current_sideral += sideral
self.sphere.rotate_z(sideral, inplace=True)
if self.gs_flag:
self.update_gs_location(sideral)
# Update Orbit
tr_vector = self.spacecraft_pos_i[index, :] - self.spacecraft_pos_i[self.last_index, :]
self.spacecraft_model_2_orbit.translate(-self.spacecraft_pos_i[self.last_index, :], inplace=True)
self.update_attitude(index, self.spacecraft_model_2_attitude, self.spacecraft_model_2_orbit)
self.spacecraft_model_2_orbit.translate(self.spacecraft_pos_i[self.last_index, :], inplace=True)
if self.show_ref_vector_point:
self.update_vector_line(self.spacecraft_pos_i[index, :], self.vector_point)
self.spacecraft_model_2_orbit.translate(tr_vector, inplace=True)
self.body_x_i.translate(tr_vector, inplace=True)
self.body_y_i.translate(tr_vector, inplace=True)
self.body_z_i.translate(tr_vector, inplace=True)
# Update widget
self.vtk_widget.update()
self.last_index = index
def rotate_th(self):
self.vtk_widget.subplot(0, 0)
self.reset_time()
while not self.stop_flag and self.countTime < self.data_handler.endTime:
self.update_meshes(self.simulation_index)
# time.sleep(self.data_handler.stepTime / self.time_speed)
time.sleep(self.data_handler.stepTime)
# Update time
self.simulation_index += 1 * int(self.time_speed)
self.update_time()
while self.pause_flag:
if self.stop_flag:
return
elif self.run_flag:
self.pause_flag = False
else:
time.sleep(1)
def run_orbit_3d(self):
if self.thread is None:
self.thread = Thread(target=self.rotate_th, daemon=True)
self.thread.start()
def sim_speed(self, value):
self.time_speed = value
return
def update_vector_line(self, center_point, vector_point):
self.vtk_widget.subplot(0, 0)
new_points = np.array([center_point, center_point + 2e7 * vector_point])
self.vector_line_from_sc.points = new_points
cells = np.full((len(new_points) - 1, 3), 2, dtype=np.int64)
cells[:, 1] = np.arange(0, len(new_points) - 1, dtype=np.int64)
cells[:, 2] = np.arange(1, len(new_points), dtype=np.int64)
self.vector_line_from_sc.lines = cells
def update_gs_location(self, sideral):
self.tar_pos_eci.rotate_z(sideral, inplace=True)
return
def update_attitude(self, n, sc_model1, sc_model2=None):
quaternion_tn = Quaternion(self.q_t_i2b[n, :]).unit
inv_quaternion = self.quaternion_t0.inverse
d_quaternion = quaternion_tn * inv_quaternion
k_matrix = d_quaternion.transformation_matrix
self.body_x.transform(k_matrix, inplace=True)
self.body_y.transform(k_matrix, inplace=True)
self.body_z.transform(k_matrix, inplace=True)
sc_model1.transform(k_matrix, inplace=True)
if sc_model2 is not None:
sc_model2.transform(k_matrix, inplace=True)
self.quaternion_t0 = quaternion_tn
if self.show_ref_vector_point:
curr_vector_point = np.array([self.data_handler.auxiliary_datalog['Vector_tar_i(X) [-]'][n],
self.data_handler.auxiliary_datalog['Vector_tar_i(Y) [-]'][n],
self.data_handler.auxiliary_datalog['Vector_tar_i(Z) [-]'][n]])
vec = np.cross(self.vector_point, curr_vector_point)
arg = np.dot(self.vector_point, curr_vector_point)
if arg > 1.0:
arg = 1.0
elif arg < -1.0:
arg = -1.0
ang = np.arccos(arg)
if np.linalg.norm(vec) == 0:
vec = np.array([0, 0, 1])
self.body_ref_point.transform(Quaternion(axis=vec, angle=ang).transformation_matrix, inplace=True)
self.vector_point = curr_vector_point
def preview_plot_data(self):
self.plot_canvas.cla()
is_data = False
self.plot_canvas.grid()
self.plot_canvas.set_xlabel('Time [s]')
flat_basic_list = [item for sublist in self.data_handler.basic_datalog_keys[1:] for item in sublist]
len_aux_keys = len(self.data_handler.auxiliary_datalog_keys)
for index in range(self.window.listWidget.count()):
if self.window.listWidget.item(index).checkState() == Qt.Checked:
if index < len_aux_keys:
elem = self.data_handler.auxiliary_datalog_keys[index]
self.plot_canvas.plot(self.data_handler.basic_datalog['time[sec]'],
self.data_handler.auxiliary_datalog[elem], label=elem)
else:
elem = flat_basic_list[index - len_aux_keys]
self.plot_canvas.plot(self.data_handler.basic_datalog['time[sec]'],
self.data_handler.basic_datalog[elem], label=elem)
is_data = True
if is_data:
self.plot_canvas.legend()
self.canvas_.draw()
return
def plot_selected_data(self):
plt.figure()
plt.grid()
plt.xlabel('Time [s]')
flat_basic_list = [item for sublist in self.data_handler.basic_datalog_keys[1:] for item in sublist]
len_aux_keys = len(self.data_handler.auxiliary_datalog_keys)
for index in range(self.window.listWidget.count()):
if self.window.listWidget.item(index).checkState() == Qt.Checked:
if index < len_aux_keys:
elem = self.data_handler.auxiliary_datalog_keys[index]
plt.plot(self.data_handler.basic_datalog['time[sec]'],
self.data_handler.auxiliary_datalog[elem], label=elem)
else:
elem = flat_basic_list[index - len_aux_keys]
plt.plot(self.data_handler.basic_datalog['time[sec]'],
self.data_handler.basic_datalog[elem], label=elem)
plt.legend()
plt.show()
return
def gstime(self, jdut1):
tut1 = (jdut1 - 2451545.0) / 36525.0
temp = -6.2e-6 * tut1 * tut1 * tut1 + 0.093104 * tut1 * tut1 + \
(876600.0 * 3600 + 8640184.812866) * tut1 + 67310.54841 # sec
temp = (temp * deg2rad / 240.0) % twopi # 360/86400 = 1/240, to deg, to rad
# ------------------------ check quadrants ---------------------
if temp < 0.0:
temp += twopi
return temp
def jday(self, year, mon, day, hr, minute, sec):
return (367.0 * year -
7.0 * (year + ((mon + 9.0) // 12.0)) * 0.25 // 1.0 +
275.0 * mon // 9.0 +
day + 1721013.5 +
((sec / 60.0 + minute) / 60.0 + hr) / 24.0 # ut in days
# - 0.5*sgn(100.0*year + mon - 190002.5) + 0.5;
)
if __name__ == '__main__':
app = QApplication(sys.argv)
window = Viewer()
window.show()
sys.exit(app.exec_())