Changeset 651

Timestamp:

02/02/10 02:46:01 (2 years ago)

Author:

mosttw

Message:

Added way to change sensor log ("transcript") file from GUI, plus some other GUI tweaks

Location:

trunk/software

Files:

• rb/controller.py (modified) (1 diff)
• rb/gui/gui.py (modified) (1 diff)
• rb/gui/main.gtk (modified) (9 diffs)
• rb/gui/sensors.py (modified) (3 diffs)
• rb/gui/speed.py (modified) (1 diff)
• rb/transcript.py (modified) (6 diffs)
• rbconfig.py (modified) (1 diff)

trunk/software/rb/controller.py

@@ -132 +132 @@
                         from rb.transcript import TranscriptLogger
                         self.transcript = TranscriptLogger(
-                                        datetime.now().strftime('logs/rblog-%Y-%m-%dT%H:%M:%S.log'),
+                                        datetime.now().strftime(rbconfig.transcript_filename),
                                         self.drive, self.gps, self.microstrain)
 

trunk/software/rb/gui/gui.py

@@ -162 +162 @@
                 message_id = self.statusbar.push(context_id, msg)
                 logger.info(msg)
-                gobject.timeout_add(3000, lambda: self.statusbar.remove(context_id, message_id) and False)
+                def remove():
+                        self.statusbar.remove_message(context_id, message_id)
+                        return False
+                gobject.timeout_add(5000, remove)
                 
                 return success

trunk/software/rb/gui/main.gtk

@@ -26 +26 @@
                       <object class="GtkImageMenuItem" id="quit_imagemenuitem">
                         <property name="visible">True</property>
+                        <property name="use_action_appearance">True</property>
                         <property name="related_action">quit_action</property>
-                        <property name="use_action_appearance">True</property>
                         <property name="use_underline">True</property>
                         <property name="use_stock">True</property>
@@ -52 +52 @@
                       <object class="GtkRadioMenuItem" id="nav_gui_radiomenuitem">
                         <property name="visible">True</property>
+                        <property name="use_action_appearance">True</property>
                         <property name="related_action">nav_gui_action</property>
-                        <property name="use_action_appearance">True</property>
                         <property name="active">True</property>
                         <property name="draw_as_radio">True</property>
@@ -61 +61 @@
                       <object class="GtkRadioMenuItem" id="nav_auto_radiomenuitem">
                         <property name="visible">True</property>
+                        <property name="use_action_appearance">True</property>
                         <property name="related_action">nav_wiimote_action</property>
-                        <property name="use_action_appearance">True</property>
                         <property name="draw_as_radio">True</property>
                         <property name="group">nav_gui_radiomenuitem</property>
@@ -70 +70 @@
                       <object class="GtkRadioMenuItem" id="nav_wiimote_radiomenuitem">
                         <property name="visible">True</property>
+                        <property name="use_action_appearance">True</property>
                         <property name="related_action">nav_auto_action</property>
-                        <property name="use_action_appearance">True</property>
                         <property name="draw_as_radio">True</property>
                         <property name="group">nav_gui_radiomenuitem</property>
@@ -113 +113 @@
               <object class="GtkRadioToolButton" id="nav_gui_toolbarbutton">
                 <property name="visible">True</property>
+                <property name="use_action_appearance">True</property>
                 <property name="related_action">nav_gui_action</property>
-                <property name="use_action_appearance">True</property>
                 <property name="label" translatable="yes">toolbutton1</property>
                 <property name="use_underline">True</property>
@@ -127 +127 @@
               <object class="GtkRadioToolButton" id="nav_wiimote_toolbarbutton">
                 <property name="visible">True</property>
+                <property name="use_action_appearance">True</property>
                 <property name="related_action">nav_wiimote_action</property>
-                <property name="use_action_appearance">True</property>
                 <property name="label" translatable="yes">toolbutton2</property>
                 <property name="use_underline">True</property>
@@ -141 +141 @@
               <object class="GtkRadioToolButton" id="nav_auto_toolbarbutton">
                 <property name="visible">True</property>
+                <property name="use_action_appearance">True</property>
                 <property name="related_action">nav_auto_action</property>
-                <property name="use_action_appearance">True</property>
                 <property name="label" translatable="yes">toolbutton3</property>
                 <property name="use_underline">True</property>
@@ -621 +621 @@
                   <packing>
                     <property name="position">0</property>
+                  </packing>
+                </child>
+                <child>
+                  <object class="GtkHBox" id="hbox4">
+                    <property name="visible">True</property>
+                    <child>
+                      <object class="GtkLabel" id="sensors_transcript_label">
+                        <property name="visible">True</property>
+                        <property name="xpad">1</property>
+                        <property name="label" translatable="yes">_Log filename prefix: </property>
+                        <property name="use_underline">True</property>
+                        <property name="mnemonic_widget">sensors_transcript_entry</property>
+                      </object>
+                      <packing>
+                        <property name="expand">False</property>
+                        <property name="position">0</property>
+                      </packing>
+                    </child>
+                    <child>
+                      <object class="GtkEntry" id="sensors_transcript_entry">
+                        <property name="visible">True</property>
+                        <property name="can_focus">True</property>
+                        <property name="tooltip_text" translatable="yes">Use syntax valid for Pythons time.strftime() function.</property>
+                        <property name="invisible_char">&#x25CF;</property>
+                        <property name="activates_default">True</property>
+                        <property name="secondary_icon_sensitive">True</property>
+                      </object>
+                      <packing>
+                        <property name="position">1</property>
+                      </packing>
+                    </child>
+                    <child>
+                      <object class="GtkButton" id="sensors_transcript_button">
+                        <property name="label">gtk-apply</property>
+                        <property name="visible">True</property>
+                        <property name="can_focus">True</property>
+                        <property name="can_default">True</property>
+                        <property name="receives_default">True</property>
+                        <property name="has_tooltip">True</property>
+                        <property name="tooltip_text" translatable="yes">Open a new logfile at the location specified to the left.</property>
+                        <property name="use_underline">True</property>
+                        <property name="use_stock">True</property>
+                      </object>
+                      <packing>
+                        <property name="expand">False</property>
+                        <property name="position">2</property>
+                      </packing>
+                    </child>
+                  </object>
+                  <packing>
+                    <property name="expand">False</property>
+                    <property name="position">1</property>
                   </packing>
                 </child>
@@ -883 +935 @@
   <object class="GtkSizeGroup" id="sensors_1stcol_sizegroup">
     <widgets>
+      <widget name="gps_speed_label"/>
+      <widget name="gps_lat_lon_label"/>
+      <widget name="ms_accel_label"/>
+      <widget name="ms_ang_vel_label"/>
       <widget name="ms_orient_label"/>
-      <widget name="ms_ang_vel_label"/>
-      <widget name="ms_accel_label"/>
-      <widget name="gps_lat_lon_label"/>
-      <widget name="gps_speed_label"/>
     </widgets>
   </object>
   <object class="GtkSizeGroup" id="ms_data_sizegroup">
     <widgets>
+      <widget name="ms_accel_2"/>
+      <widget name="ms_accel_1"/>
+      <widget name="ms_accel_0"/>
+      <widget name="ms_ang_vel_2"/>
+      <widget name="ms_ang_vel_1"/>
+      <widget name="ms_ang_vel_0"/>
+      <widget name="ms_orient_2"/>
+      <widget name="ms_orient_0"/>
       <widget name="ms_orient_1"/>
-      <widget name="ms_orient_0"/>
-      <widget name="ms_orient_2"/>
-      <widget name="ms_ang_vel_0"/>
-      <widget name="ms_ang_vel_1"/>
-      <widget name="ms_ang_vel_2"/>
-      <widget name="ms_accel_0"/>
-      <widget name="ms_accel_1"/>
-      <widget name="ms_accel_2"/>
     </widgets>
   </object>

trunk/software/rb/gui/sensors.py

@@ -15 +15 @@
 # You should have received a copy of the GNU General Public License
 # along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+import os
+from datetime import datetime
 
 import gobject
@@ -46 +49 @@
         '''
         
-        def __init__(self, controller, builder):
+        def __init__(self, gui, builder):
+                self.statusbar = gui.statusbar
+                self.transcript = gui.controller.transcript
                 self.microstrain_labels = [builder.get_object(n) for n in MICROSTRAIN_DATA_LABELS]
                 for name in GPS_LABELS:
@@ -60 +65 @@
                 builder.get_object('sensor_gps_expander').set_expanded(rbconfig.gps != rbconfig.NONE)
                 builder.get_object('sensor_microstrain_expander').set_expanded(rbconfig.microstrain != rbconfig.NONE)
+
+                # Transcript stuff
+                self.trans_entry = builder.get_object('sensors_transcript_entry')
+                self.trans_button = builder.get_object('sensors_transcript_button')
+                self.trans_entry.set_sensitive(rbconfig.transcript == rbconfig.REAL)
+                self.trans_entry.set_text(rbconfig.transcript_filename)
+                self.trans_button.set_sensitive(rbconfig.transcript == rbconfig.REAL)
+                self.check_transcript_filename(self.trans_entry)
+                self.trans_entry.connect('changed', self.check_transcript_filename)
+                self.trans_button.connect('clicked', self.change_transcript_filename)
+        
+        def check_transcript_filename(self, entry):
+                try:
+                        path = datetime.now().strftime(self.trans_entry.get_text())
+                        if not os.path.exists(os.path.dirname(path)):
+                                raise ValueError('Directory doesn\'t exist')
+                except (ValueError, IOError):
+                        self.trans_button.set_sensitive(False)
+                else:
+                        self.trans_button.set_sensitive(True)
+
+        def change_transcript_filename(self, button):
+                fn = datetime.now().strftime(self.trans_entry.get_text())
+                success = self.transcript.set_log_filename(fn)
+
+                # Put a message in the statusbar
+                context_id = self.statusbar.get_context_id('transcript_filename')
+                if success:
+                        msg = 'Writing sensor data to %s' % fn
+                else:
+                        msg = 'Error changing sensor log to %s' % fn
+                message_id = self.statusbar.push(context_id, msg)
+
+                def remove():
+                        self.statusbar.remove_message(context_id, message_id)
+                        return False
+                gobject.timeout_add(5000, remove)
         
         def update_microstrain_status(self, status):

trunk/software/rb/gui/speed.py

@@ -120 +120 @@
                         context.stroke()
                 
-                # Draw Target Speed
-                context.set_source_rgb(*DRIVE_COLOR)
+                if self.drive:
+                        # Draw Target Speed
+                        context.set_source_rgb(*DRIVE_COLOR)
 
-                ltarget, rtarget = self.drive.gettarget()
-                x = float(ltarget - rtarget)
-                y = float(ltarget + rtarget)
-                x = ( x/4+0.5) * w
-                y = (-y/4+0.5) * h
-                context.arc(x, y, 5, 0, 2*pi)
-                context.stroke()
+                        ltarget, rtarget = self.drive.gettarget()
+                        x = float(ltarget - rtarget)
+                        y = float(ltarget + rtarget)
+                        x = ( x/4+0.5) * w
+                        y = (-y/4+0.5) * h
+                        context.arc(x, y, 5, 0, 2*pi)
+                        context.stroke()
 
-                # Draw Current Speed
-                lcur, rcur = self.drive.getspeed()
-                x = float(lcur - rcur)
-                y = float(lcur + rcur)
-                x =  ( x/4+0.5) * w
-                y =  (-y/4+0.5) * h
-                context.arc(x, y, 10, 0, 2*pi)
-                context.stroke()
+                        # Draw Current Speed
+                        lcur, rcur = self.drive.getspeed()
+                        x = float(lcur - rcur)
+                        y = float(lcur + rcur)
+                        x =  ( x/4+0.5) * w
+                        y =  (-y/4+0.5) * h
+                        context.arc(x, y, 10, 0, 2*pi)
+                        context.stroke()
         
         def motion_cb(self, data, event):

trunk/software/rb/transcript.py

@@ -1 @@
-# Copyright (C) 2009 Thomas W. Most
+# Copyright (C) 2009-2010 Thomas W. Most
 #
 # This program is free software: you can redistribute it and/or modify
@@ -14 +14 @@
 # along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
-from __future__ import with_statement
-
 '''
 Record sensor data to a log file.
@@ -23 +21 @@
 import thread
 import threading
+import logging
+
+logger = logging.getLogger('rb.transcript')
 
 
@@ -32 +33 @@
         (None in Python) will be written as blanks.
         '''
-        def __init__(self, logfp, drive=None, gps=None, microstrain=None):
+        def __init__(self, filename, drive=None, gps=None, microstrain=None):
                 '''
-                Create a `TranscriptLogger` object.  `logfp` is the string file
+                Create a `TranscriptLogger` object.  `filename` is the string file
                 path to write the log to; `drive` is an ``rb.drive.Drive`` object,
                 `gps` is a ``rb.gps.GPS`` object, and `microstrain` is an
@@ -41 +42 @@
                 self.running = True
                 self.lock = threading.RLock()
-                self.logfile = open(logfp, 'w')
+
                 self.drive = drive
                 self.gps = gps
                 self.microstrain = microstrain
+
+                self._log_filename = None
+                self._log_file = None
+                self.set_log_filename(filename)
                 
                 thread.start_new_thread(self._main, ())
         
+        def set_log_filename(self, filename):
+                '''
+                Start writing to a new file, location specified by `filename`.  Return
+                True on success and False on failure.
+                '''
+                with self.lock:
+                        logger.info('Setting sensor log file to %r', filename)
+                        if self._log_file is not None:
+                                logger.debug('Closing existing log file %r', self._log_file)
+                                self._log_file.close()
+                        self._log_filename = filename
+                        try:
+                                self._log_file = open(filename, 'w')
+                                self.write_comment('Start at %s' % time.time())
+                                self.write_comment('Fields:')
+                                self.write_comment('\t'.join([
+                                        'timestamp',
+                                        # Drive
+                                        'left_target', 'right_target',
+                                        'left_speed', 'right_speed',
+                                        # GPS
+                                        'gps_timestamp',
+                                        'gps_lat', 'gps_lon', 'gps_horiz_error',
+                                        'gps_speed', 'gps_speed_error',
+                                        # MicroStrain
+                                        'ms_timestamp',
+                                        'ms_orient_0', 'ms_orient_1', 'ms_orient_2',
+                                        'ms_ang_vel_0', 'ms_ang_vel_1', 'ms_ang_vel_2',
+                                        'ms_accel_0', 'ms_accel_1', 'ms_accel_2'
+                                ]))
+                        except IOError:
+                                logger.exception('Unable to start log file %r', filename)
+                                return False
+                return True
+        
+        def get_log_filename(self):
+                with self.lock:
+                        return self._log_filename
+        
         def _main(self):
-                with self.lock:
-                        self.write_comment('Start at %s' % time.time())
-                        self.write_comment('Fields:')
-                        self.write_comment('\t'.join([
-                                'timestamp',
-                                # Drive
-                                'left_target', 'right_target',
-                                'left_speed', 'right_speed',
-                                # GPS
-                                'gps_timestamp',
-                                'gps_lat', 'gps_lon', 'gps_horiz_error',
-                                'gps_speed', 'gps_speed_error',
-                                # MicroStrain
-                                'ms_timestamp',
-                                'ms_orient_0', 'ms_orient_1', 'ms_orient_2',
-                                'ms_ang_vel_0', 'ms_ang_vel_1', 'ms_ang_vel_2',
-                                'ms_accel_0', 'ms_accel_1', 'ms_accel_2'
-                        ]))
                 while self.running:
                         with self.lock:
@@ -73 +99 @@
                                 row += self.get_gps_data()
                                 row += self.get_microstrain_data()
-                                self.logfile.write('\t'.join(str(d) for d in row))
-                                self.logfile.write('\n')
+                                self._log_file.write('\t'.join(str(d) for d in row) + '\n')
                         time.sleep(.1)
         
         def write_comment(self, comment):
-                if '\n' in comment:
+                if '\n' in comment or '\r' in comment:
                         raise ValueError('Comments are single-line')
                 with self.lock:
-                        self.logfile.write('# ')
-                        self.logfile.write(comment)
-                        self.logfile.write('\n')
+                        self._log_file.write('# %s\n' % comment)
         
         def get_drive_data(self):

trunk/software/rbconfig.py

@@ -34 +34 @@
 kalman            = REAL
 transcript        = REAL
+transcript_filename = 'logs/rblog-%Y-%m-%dT%H:%M:%S.log'
 drive_ctrl        = NONE