From 2d33a1b59a69f4ad9fb223fb00021131958896fd Mon Sep 17 00:00:00 2001 From: Higor Lima Date: Mon, 26 May 2025 20:16:34 -0300 Subject: [PATCH 01/59] wip: progresso mimo ball and plate --- controller_framework/core/app.py | 19 ++++++- controller_framework/core/ipcmanager.py | 16 ++++-- controller_framework/core/mcu_driver.py | 2 +- controller_framework/gui/plotter_gui.py | 68 ++++++++++++++----------- controller_framework/gui/utils_gui.py | 1 + examples/ball_n_plate.py | 10 ++-- examples/{main.py => rdata.py} | 2 +- 7 files changed, 74 insertions(+), 44 deletions(-) rename examples/{main.py => rdata.py} (96%) diff --git a/controller_framework/core/app.py b/controller_framework/core/app.py index 156bbc5..d684505 100644 --- a/controller_framework/core/app.py +++ b/controller_framework/core/app.py @@ -15,7 +15,7 @@ class AppManager: - def __init__(self, mcu_type: MCUType, sample_time = 1000, **kwargs): + def __init__(self, mcu_type: MCUType, sample_time = 1, flush_time= 100, **kwargs): if not isinstance(mcu_type, MCUType): raise ValueError(f"MCU inválida: {mcu_type}. Escolha entre {list(MCUType)}") self.__mcu: MCUDriver = MCUDriver.create_driver(mcu_type, **kwargs) @@ -24,6 +24,7 @@ def __init__(self, mcu_type: MCUType, sample_time = 1000, **kwargs): self.running_instance: Optional[Controller] = None self.sample_time = sample_time # ms + self.cache_flush_time = flush_time # ms self.actuator_vars = {} self.sensor_vars = {} @@ -42,6 +43,9 @@ def __init__(self, mcu_type: MCUType, sample_time = 1000, **kwargs): self.dt = 0 self.setpoints = [] + self.actuator_cache = [[]] + self.sensor_cache = [[]] + self.timestamp_cache = [] self.reading_thread = None self.reading_stop_event = threading.Event() @@ -105,6 +109,9 @@ def __read_values(self): target_dt_s = self.sample_time / 1000.0 next_read_time = now + target_dt_s + self.actuator_cache = [[] for _ in range(self.num_actuators)] + self.sensor_cache = [[] for _ in range(self.num_sensors)] + while not self.reading_stop_event.is_set(): elapsed = 0 control_elapsed = 0 @@ -126,6 +133,14 @@ def __read_values(self): self.update_actuator_vars(actuator_values) self.update_sensors_vars(sensor_values) + for i, val in enumerate(sensor_values): + self.sensor_cache[i].append(val) + + for i, val in enumerate(actuator_values): + self.actuator_cache[i].append(val) + + self.timestamp_cache.append(now) + except Exception as e: self.log.error("Erro ao ler dados dos sensores: %s", e, extra={'method':'read'}) read_elapsed = (time.perf_counter() - read_start) * 1e3 @@ -206,7 +221,7 @@ def init(self): self.reading_thread = threading.Thread(target=self.__read_values, daemon=True) self.reading_thread.start() - time.sleep(1) + time.sleep(0.1) self.ipcmanager.init() # self.command_thread = threading.Thread(target=self.__read_command, daemon=True) diff --git a/controller_framework/core/ipcmanager.py b/controller_framework/core/ipcmanager.py index 8d7b108..83307c6 100644 --- a/controller_framework/core/ipcmanager.py +++ b/controller_framework/core/ipcmanager.py @@ -47,7 +47,7 @@ def __run(self): self.__send_full_state() self.core.data_updated = False - time.sleep(0.1) + time.sleep(self.core.cache_flush_time / 1e3) def init(self): self.thread = threading.Thread(target=self.__run) @@ -65,14 +65,22 @@ def __send(self, command, payload): def __send_full_state(self): command = "full_state" payload = { - "sensors": self.core.get_sensor_values(), - "actuators": self.core.get_actuator_values(), + "sensors": [values.copy() for values in self.core.sensor_cache], + "actuators": [values.copy() for values in self.core.actuator_cache], "setpoints": self.core.setpoints, "running_instance": self.core.running_instance, "control_instances": self.core.control_instances, - "last_timestamp": self.core.last_timestamp, + "cache_timestamp": self.core.timestamp_cache.copy(), } + for values in self.core.sensor_cache: + values.clear() + + for values in self.core.actuator_cache: + values.clear() + + self.core.timestamp_cache.clear() + self.__send( command, payload ) diff --git a/controller_framework/core/mcu_driver.py b/controller_framework/core/mcu_driver.py index 45166d7..3277755 100644 --- a/controller_framework/core/mcu_driver.py +++ b/controller_framework/core/mcu_driver.py @@ -82,7 +82,7 @@ def __read_float(_from: int) -> float: (out1, out2) def connect(self): - self.ser = ConnectHelper.session_with_chosen_probe(target_override="stm32f103c8", connect_mode="attach") + self.ser = ConnectHelper.session_with_chosen_probe(target_override="STM32F103RC", connect_mode="attach") self.ram = self.ser.target.get_memory_map()[1] self.ser.open() diff --git a/controller_framework/gui/plotter_gui.py b/controller_framework/gui/plotter_gui.py index c4e960b..2a13ef3 100644 --- a/controller_framework/gui/plotter_gui.py +++ b/controller_framework/gui/plotter_gui.py @@ -3,6 +3,7 @@ import logging import os import queue +import time from typing import Optional from controller_framework.core.controller import Controller @@ -78,11 +79,13 @@ def __init__(self, *, parent, app_mirror, x_label: str, y_label: str): self.log_file_path = log_path + f"log_{datetime.year}-{datetime.month}-{datetime.day}-{datetime.hour}-{datetime.minute}-{datetime.second}.csv" self.df.to_csv(self.log_file_path, index=False) - self.update_delay = 100 + self.update_delay = self.app_mirror.cache_flush_time self.plot_timer = QtCore.QTimer() self.plot_timer.timeout.connect(self.update_data) self.plot_timer.start(self.update_delay) + self.sensors_cache: list[list] = [[]] + self.actuators_cache: list[list] = [[]] self.is_selected = True def __on_return_pressed(self): @@ -99,8 +102,6 @@ def update_setpoint_label(self): self.current_setpoint_line.setValue(self.app_mirror.get_setpoint()) self.current_setpoint_line.label.setText(f"Temperatura desejada [{self.app_mirror.get_setpoint()}°C]") self.current_setpoint_line.update() - - def __retrieve_message(self, timeout: float = 0.01) -> Optional[dict]: try: return self.app_mirror.queue_to_gui.get(timeout=timeout) except queue.Empty: @@ -111,39 +112,36 @@ def __process_message(self, data): payload = data.get('payload') if command == "full_state": - sensors = payload.get('sensors') - actuators = payload.get('actuators') + self.sensors_cache = payload.get('sensors') + self.actuators_cache = payload.get('actuators') setpoints = payload.get('setpoints') running_instance = payload.get('running_instance') control_instances_data = payload.get('control_instances') - last_timestamp = payload.get('last_timestamp') + self.cache_timestamp = payload.get('cache_timestamp') if self.init_timestamp is None: - self.init_timestamp = last_timestamp - self.last_timestamp = last_timestamp + self.init_timestamp = self.cache_timestamp[0] self.app_mirror.running_instance = running_instance self.app_mirror.control_instances = control_instances_data - self.app_mirror.update_sensors_vars(sensors) - self.app_mirror.update_actuator_vars(actuators) self.app_mirror.update_setpoint(setpoints) return True else: return False - def __append_plot_data(self, sensor_values, actuator_values): - self.plot_seconds.append(self.last_timestamp - self.init_timestamp) + def __append_plot_data(self): + self.plot_seconds.extend([val - self.init_timestamp for val in self.cache_timestamp]) - for lista, value in zip(self.sensor_data, sensor_values): - lista.append(value) + for lista, cache_values in zip(self.sensor_data, self.sensors_cache): + lista.extend(cache_values) - for lista, value in zip(self.actuator_data, actuator_values): - lista.append(value) + for lista, cache_values in zip(self.actuator_data, self.actuators_cache): + lista.extend(cache_values) - def __write_csv(self, sensor_values, actuator_values): + def __write_csv(self, sensor_cache, actuator_cache): target_str = '"' + " ".join(map(str, self.app_mirror.setpoints)) + '"' - row = { + rows = [{ "timestamp": self.last_timestamp, "seconds": f"{self.plot_seconds[-1]:.4f}", @@ -154,29 +152,37 @@ def __write_csv(self, sensor_values, actuator_values): for i in range(self.app_mirror.num_actuators)}, "target": target_str - } + } for sensor_values, actuator_values in zip(sensor_cache, actuator_cache)] with open(self.log_file_path, "a") as f: - data = ",".join(map(str, row.values())) + "\n" - f.write(data) + for row in rows: + data = ",".join(map(str, row.values())) + "\n" + f.write(data) def update_data(self): - data = self.__retrieve_message() + data = self.app_mirror.queue_to_gui.get() if data is None: - return + return if not self.__process_message(data): return - sensor_values = self.app_mirror.get_sensor_values() - actuator_values = self.app_mirror.get_actuator_values() - - self.__append_plot_data(sensor_values, actuator_values) + self.__append_plot_data() + # start_update = time.perf_counter() if self.is_selected: self.update_plots() + # elapsed_update = (time.perf_counter() - start_update) * 1e3 + + # start_write = time.perf_counter() + # self.__write_csv(self.sensors_cache, self.actuators_cache) + # elapsed_write = (time.perf_counter() - start_write) * 1e3 - self.__write_csv(sensor_values, actuator_values) + # all_elapsed = (time.perf_counter() - start) * 1e3 + + # self.parent.log.critical(f"teste '{all_elapsed, elapsed_update, elapsed_write}' teste.", extra={'method':'update data'}) + + def update_plots(self): view = self.plot_views[self.current_mode] @@ -188,13 +194,13 @@ def update_plots(self): np_sensor_data = np.array(sensor_data) self.plot_widget.update_curve(plot_seconds, np_sensor_data, 0, i) - legenda = f'{var_name}: {np_sensor_data[-1]:.4f} {props['unit']}' + legenda = f"{var_name}: {np_sensor_data[-1]:.4f} {props['unit']}" self.plot_widget.update_legend(text=legenda, plot_n=0, idx=i) for (i, actuator_data), (var_name, props) in zip(enumerate(self.actuator_data), self.app_mirror.actuator_vars.items()): np_actuator_data = np.array(actuator_data) self.plot_widget.update_curve(plot_seconds, np_actuator_data, 1, i) - legenda = f'{var_name}: {np_actuator_data[-1]:.4f} {props['unit']}' + legenda = f"{var_name}: {np_actuator_data[-1]:.4f} {props['unit']}" self.plot_widget.update_legend(text=legenda, plot_n=1, idx=i) case _ if view in self.sensor_labels: @@ -205,7 +211,7 @@ def update_plots(self): self.plot_widget.update_curve(plot_seconds, sensor_data, plot_n=0, curve_n=0) var_name, props = list(self.app_mirror.sensor_vars.items())[idx] - legenda = f'{var_name}: {sensor_data[-1]:.4f} {props['unit']}' + legenda = f"{var_name}: {sensor_data[-1]:.4f} {props['unit']}" self.plot_widget.update_legend(text=legenda, plot_n=0, idx=0) case _: self.parent.log.warning("Visualização '%s' não reconhecida.", view, extra={'method':'update plot'}) diff --git a/controller_framework/gui/utils_gui.py b/controller_framework/gui/utils_gui.py index 7869376..c5f52d6 100644 --- a/controller_framework/gui/utils_gui.py +++ b/controller_framework/gui/utils_gui.py @@ -1,4 +1,5 @@ from enum import Enum +import time import numpy as np import pyqtgraph as pg from PySide6 import QtCore diff --git a/examples/ball_n_plate.py b/examples/ball_n_plate.py index e5600dd..e9ba230 100644 --- a/examples/ball_n_plate.py +++ b/examples/ball_n_plate.py @@ -92,11 +92,11 @@ def control(self): if self.y_last == 0: self.y_last = self.y_out - out_x, _, x_ierr, _ = self.x_pid(self.setpoint, self.sensor_a, self.x_last, self.x_ierr, self.dt) - out_y, _, y_ierr, _ = self.y_pid(self.setpoint, self.sensor_b, self.y_last, self.y_ierr, self.dt) + out_x, _, x_ierr, _ = self.x_pid(self.setpoints[0], self.sensor_values[0], self.x_last, self.x_ierr, self.dt) + out_y, _, y_ierr, _ = self.y_pid(self.setpoints[1], self.sensor_values[1], self.y_last, self.y_ierr, self.dt) - self.x_last = self.sensor_a - self.y_last = self.sensor_b + self.x_last = self.sensor_values[0] + self.y_last = self.sensor_values[1] self.x_ierr = x_ierr self.y_ierr = y_ierr self.out1 = out_x / 10 @@ -108,7 +108,7 @@ def control(self): ball_n_plate = BallNPlateControler("Ball and Plate Controller", [2400, 2400]) ball_n_plate.set_config_variable(("closed_loop", bool)) - app = AppManager(sample_time=100, mcu_type=MCUType.STM32, x_pos=2400.0, y_pos=2400.0, x_out=1750.0, y_out=1750.0) + app = AppManager(sample_time=10, mcu_type=MCUType.STM32, x_pos=2400.0, y_pos=2400.0, x_out=1750.0, y_out=1750.0) app.append_instance(ball_n_plate) app.set_actuator_vars(('Servo X', '', float), ('Servo Y', '', float)) app.set_sensor_vars(('Pos X', '', float), ('Pos Y', '', float)) diff --git a/examples/main.py b/examples/rdata.py similarity index 96% rename from examples/main.py rename to examples/rdata.py index 96dea05..505733c 100644 --- a/examples/main.py +++ b/examples/rdata.py @@ -82,7 +82,7 @@ def control(self): self.out = windup_check if __name__ == '__main__': - plant = AppManager(mcu_type=MCUType.RDATA, sample_time=1000, port="COM1", baud_rate=14000) + plant = AppManager(mcu_type=MCUType.RDATA, sample_time=1, port="COM1", baud_rate=14000) plant.set_actuator_vars(("Heater 1", "%", float), ("Heater 2", "%", float), ("Heater 3", "%", float)) plant.set_sensor_vars(("NTC 1", "ºC", float), ("NTC 2", "ºC", float ), ("NTC 3", "ºC", float)) From 8c82e9d5e5a42cfb728fd4cb6dd2cf923fe522b4 Mon Sep 17 00:00:00 2001 From: Higor Lima Date: Wed, 28 May 2025 20:25:14 -0300 Subject: [PATCH 02/59] =?UTF-8?q?wip:=20adiciona=20ball=20and=20plate=20vi?= =?UTF-8?q?rtual=20para=20testes=20e=20mais=20alguns=20progressos=20de=20o?= =?UTF-8?q?timiza=C3=A7=C3=A3o?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- controller_framework/core/app.py | 35 ++++-------- controller_framework/core/controller.py | 32 +++++++++++ controller_framework/core/ipcmanager.py | 69 +++++++++++------------ controller_framework/core/mcu_driver.py | 75 ++++++++++++++++++++++++- controller_framework/gui/plotter_gui.py | 50 +++++++++-------- controller_framework/gui/utils_gui.py | 12 +++- examples/ball_n_plate.py | 2 +- examples/rdata.py | 22 +++----- examples/virtual.py | 51 +++++++++++++++++ 9 files changed, 248 insertions(+), 100 deletions(-) create mode 100644 examples/virtual.py diff --git a/controller_framework/core/app.py b/controller_framework/core/app.py index d684505..4b1c85c 100644 --- a/controller_framework/core/app.py +++ b/controller_framework/core/app.py @@ -6,7 +6,7 @@ import colorsys from .mcu_driver import MCUDriver, MCUType -from .controller import Controller +from .controller import ControlWorker, Controller from .ipcmanager import IPCManager from .logmanager import LogManager from controller_framework.gui import MainGUI @@ -130,6 +130,8 @@ def __read_values(self): sensor_values, actuator_values = self.__mcu.read() self.data_updated = True + self.log.warning(f"{sensor_values}, {actuator_values}") + self.update_actuator_vars(actuator_values) self.update_sensors_vars(sensor_values) @@ -182,33 +184,18 @@ def __control(self): dt = now - self.__last_control_timestamp if self.__last_control_timestamp != 0 else 0 self.dt = dt * 1e3 - self.running_instance.set_dt(dt) self.running_instance.actuator_values = self.get_actuator_values() self.running_instance.sensor_values = self.get_sensor_values() - control_done = threading.Event() - control_result = [self.running_instance.actuator_values] + if not hasattr(self, '_control_worker'): + self._control_worker = ControlWorker(self.running_instance) + + result = self._control_worker.run(dt, timeout=(self.sample_time / 1000.0)*0.5) + if result is None: + self.log.warning('Controle demorou demais, usando valor anterior', extra={'method':'control'}) + else: + self.running_instance.actuator_values = result - def run_control(): - try: - result = self.running_instance.control() - control_result[0] = result - finally: - control_done.set() - - thread = threading.Thread(target=run_control, daemon=True) - thread.start() - - start_time = time.perf_counter() - while thread.is_alive(): - elapsed = time.perf_counter() - start_time - if elapsed >= (self.sample_time / 1000.0) * 0.9: - self.log.warning('Controle demorou demais, usando valor anterior', extra={'method':'control'}) - break - time.sleep(0.01) - - if control_done.is_set(): - self.running_instance.actuator_values = control_result[0] self.__last_control_timestamp = time.perf_counter() def __connect(self): diff --git a/controller_framework/core/controller.py b/controller_framework/core/controller.py index 934562a..51aeb49 100644 --- a/controller_framework/core/controller.py +++ b/controller_framework/core/controller.py @@ -1,8 +1,40 @@ from abc import ABC, abstractmethod import ast +import queue +import threading from .logmanager import LogManager +class ControlWorker: + def __init__(self, running_instance): + self.running_instance = running_instance + self.task_queue = queue.Queue() + self.result = None + self.done_event = threading.Event() + self.thread = threading.Thread(target=self._worker_loop, daemon=True) + self.thread.start() + + def _worker_loop(self): + while True: + dt = self.task_queue.get() + if dt is None: + break + try: + self.running_instance.set_dt(dt) + self.result = self.running_instance.control() + except Exception as e: + self.result = None + finally: + self.done_event.set() + + def run(self, dt, timeout): + self.done_event.clear() + self.task_queue.put(dt) + completed = self.done_event.wait(timeout) + if not completed: + return None + return self.result + class Controller(ABC): def __init__(self, label:str, setpoints:list): self.log_manager = LogManager('Controller') diff --git a/controller_framework/core/ipcmanager.py b/controller_framework/core/ipcmanager.py index 83307c6..6c3df3f 100644 --- a/controller_framework/core/ipcmanager.py +++ b/controller_framework/core/ipcmanager.py @@ -41,21 +41,20 @@ def __init__(self, app_manager, queue_to_gui, queue_from_gui): def __run(self): self.log.info('started', extra={'method':'run'}) while not self.stop_event.is_set(): - self.__parse_command() - - if self.core.data_updated: - self.__send_full_state() - self.core.data_updated = False + self.__send_full_state() time.sleep(self.core.cache_flush_time / 1e3) def init(self): - self.thread = threading.Thread(target=self.__run) - self.thread.start() + self.thread_send = threading.Thread(target=self.__run) + self.thread_recv = threading.Thread(target=self.__parse_command) + self.thread_send.start() + self.thread_recv.start() def stop(self): self.stop_event.set() - self.thread.join() + self.thread_send.join() + self.thread_recv.join() def __send(self, command, payload): data = {"type": command, "payload": payload} @@ -73,6 +72,8 @@ def __send_full_state(self): "cache_timestamp": self.core.timestamp_cache.copy(), } + self.__send(command, payload) + for values in self.core.sensor_cache: values.clear() @@ -81,35 +82,33 @@ def __send_full_state(self): self.core.timestamp_cache.clear() - self.__send( - command, payload - ) def __parse_command(self): - try: - data = self.rx_queue.get_nowait() - command = data.get("type") - payload = data.get("payload", {}) - self.log.debug("%s recebido com payload: %s", command, payload, extra={'method':'parse'}) - - if not command: - self.log.warning("Comando sem 'type'. Ignorado.", extra={'method':'parse'}) - return - - handler = self.command_registry.get(command) - if not handler: - self.log.warning("Comando '%s' não registrado.", command, extra={'method':'parse'}) - return - - handler(self.core, payload) - - except Empty: - pass - except ValueError as e: - self.log.error("Erro de validação: %s", e, extra={'method':'parse'}) - except Exception as e: - self.log.error("[IPC] Erro ao executar comando '%s': %s", command, e, extra={'method':'parse'}) - self.log.debug("[IPC] Dados recebidos: %s", data, extra={'method':'parse'}) + while not self.stop_event.is_set(): + try: + data = self.rx_queue.get_nowait() + command = data.get("type") + payload = data.get("payload", {}) + self.log.debug("%s recebido com payload: %s", command, payload, extra={'method':'parse'}) + + if not command: + self.log.warning("Comando sem 'type'. Ignorado.", extra={'method':'parse'}) + return + + handler = self.command_registry.get(command) + if not handler: + self.log.warning("Comando '%s' não registrado.", command, extra={'method':'parse'}) + return + + handler(self.core, payload) + + except Empty: + pass + except ValueError as e: + self.log.error("Erro de validação: %s", e, extra={'method':'parse'}) + except Exception as e: + self.log.error("[IPC] Erro ao executar comando '%s': %s", command, e, extra={'method':'parse'}) + self.log.debug("[IPC] Dados recebidos: %s", data, extra={'method':'parse'}) def handler_update_variable(self, core, payload): control_name = payload.get("control_name") diff --git a/controller_framework/core/mcu_driver.py b/controller_framework/core/mcu_driver.py index 3277755..00499d0 100644 --- a/controller_framework/core/mcu_driver.py +++ b/controller_framework/core/mcu_driver.py @@ -1,9 +1,8 @@ from abc import ABC, abstractmethod from enum import Enum -import random +import socket import struct import time -import numpy as np import serial from pyocd.core.helpers import ConnectHelper, Session @@ -14,6 +13,7 @@ class MCUType(Enum): STM32 = "STM32" RDATA = "RDATA" TCLAB = "TCLAB" + VIRUTAL = "VIRTUAL" class MCUDriver(ABC): @@ -41,7 +41,8 @@ def create_driver(mcu_type: MCUType, **kwargs): driver_map = { MCUType.RDATA: RandomDataDriver, MCUType.STM32: STM32Driver, - MCUType.TCLAB: TCLABDriver + MCUType.TCLAB: TCLABDriver, + MCUType.VIRUTAL: VirtualBallNPlate, } if mcu_type not in driver_map: @@ -158,3 +159,71 @@ def convert_raw(raw_adc, aref=3.3): def send(self, out1=0.0, out2=0.0): self.ser.write(f"SET_PWM:{out1},{out2}\n".encode()) + +import socket +import struct +import time +import errno +from controller_framework.core.mcu_driver import MCUDriver # ajuste seu import aqui + +class VirtualBallNPlate(MCUDriver): + def __init__(self, mcu_type, **kwargs): + super().__init__(mcu_type, **kwargs) + + # Só criamos o socket — sem bind aqui! + self.udp_addr = ("0.0.0.0", 5007) + self.buffer_size = 1024 + self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) + + # Pré-configurações do socket + self.sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) + self.sock.setsockopt(socket.SOL_SOCKET, socket.SO_RCVBUF, 64 * 1024) + + # Estado interno + self.x, self.y = 0.0, 0.0 + self._buf = bytearray(self.buffer_size) + self._connected = False + + def connect(self): + """Faz bind uma única vez e passa para non-blocking.""" + if not self._connected: + try: + self.sock.bind(self.udp_addr) + except OSError as e: + # Se já estiver em uso, ignora; senão, propaga + if e.errno not in (errno.EADDRINUSE,): + raise + # Agora sim podemos ler sem bloqueio + self.sock.setblocking(False) + self._connected = True + + def read(self): + """Tenta ler sem bloqueio, retorna última posição caso não haja dado.""" + t0 = time.perf_counter() + try: + nbytes, _ = self.sock.recvfrom_into(self._buf) + except BlockingIOError: + # Sem dados: devolve última posição + return (self.x, self.y), (0.0, 0.0) + + # Se for exatamente 8 bytes, trata como 2 floats big-endian + if nbytes == 8: + self.x, self.y = struct.unpack('!ff', self._buf[:8]) + else: + # Fallback para ASCII “x,y” + text = self._buf[:nbytes].decode(errors='ignore').strip() + try: + px, py = text.split(',') + self.x, self.y = float(px), float(py) + except ValueError: + # parsing falhou: mantém valores anteriores + pass + + dt = (time.perf_counter() - t0) * 1000 + print(f"Leitura demorou {dt:.2f} ms") + return (self.x, self.y), (0.0, 0.0) + + def send(self, x_cmd, y_cmd): + """Envio opcional de comando de volta ao emulador.""" + pkt = struct.pack('!ff', x_cmd, y_cmd) + self.sock.sendto(pkt, self.udp_addr) diff --git a/controller_framework/gui/plotter_gui.py b/controller_framework/gui/plotter_gui.py index 2a13ef3..81b4745 100644 --- a/controller_framework/gui/plotter_gui.py +++ b/controller_framework/gui/plotter_gui.py @@ -79,11 +79,17 @@ def __init__(self, *, parent, app_mirror, x_label: str, y_label: str): self.log_file_path = log_path + f"log_{datetime.year}-{datetime.month}-{datetime.day}-{datetime.hour}-{datetime.minute}-{datetime.second}.csv" self.df.to_csv(self.log_file_path, index=False) - self.update_delay = self.app_mirror.cache_flush_time + # self.update_delay = self.app_mirror.cache_flush_time + self.update_delay = 30 self.plot_timer = QtCore.QTimer() - self.plot_timer.timeout.connect(self.update_data) + self.plot_timer.timeout.connect(self.update_plots) self.plot_timer.start(self.update_delay) + self.update_data_delay = 10 + self.data_timer = QtCore.QTimer() + self.data_timer.timeout.connect(self.update_data) + self.data_timer.start(self.update_data_delay) + self.sensors_cache: list[list] = [[]] self.actuators_cache: list[list] = [[]] self.is_selected = True @@ -160,31 +166,29 @@ def __write_csv(self, sensor_cache, actuator_cache): f.write(data) def update_data(self): - data = self.app_mirror.queue_to_gui.get() - if data is None: - return - - if not self.__process_message(data): - return - - self.__append_plot_data() - - # start_update = time.perf_counter() - if self.is_selected: - self.update_plots() - # elapsed_update = (time.perf_counter() - start_update) * 1e3 + while True: + try: + data = self.app_mirror.queue_to_gui.get_nowait() + if data is None: + break + + if not self.__process_message(data): + continue + + self.__append_plot_data() - # start_write = time.perf_counter() - # self.__write_csv(self.sensors_cache, self.actuators_cache) - # elapsed_write = (time.perf_counter() - start_write) * 1e3 + # if self.is_selected: + # self.update_plots() - # all_elapsed = (time.perf_counter() - start) * 1e3 + # self.__write_csv(self.sensors_cache, self.actuators_cache) + except queue.Empty: + break - # self.parent.log.critical(f"teste '{all_elapsed, elapsed_update, elapsed_write}' teste.", extra={'method':'update data'}) - - - def update_plots(self): + def update_plots(self): + if not self.is_selected: + return + view = self.plot_views[self.current_mode] plot_seconds = np.array(self.plot_seconds) diff --git a/controller_framework/gui/utils_gui.py b/controller_framework/gui/utils_gui.py index c5f52d6..e98b89c 100644 --- a/controller_framework/gui/utils_gui.py +++ b/controller_framework/gui/utils_gui.py @@ -96,9 +96,19 @@ def add_curve(self, x, y, color='black', width=1.5, plot_n: int = 0): def update_curve(self, x, y, plot_n: int, curve_n: int): if x is None or y is None: return - _, curves, _ = self._get_plot_and_containers(plot_n) + plot, curves, _ = self._get_plot_and_containers(plot_n) + + curves[curve_n].setData(x, y) + if self.mode == Mode.PLOTTER: + max_time = x[-1] + min_time = max_time - 60 + if min_time < 0: + min_time = 0 + + plot.setXRange(min_time, max_time) + def clear_plots(self, plot_n: int = 0): plot, curves, _ = self._get_plot_and_containers(plot_n) plot.clear() diff --git a/examples/ball_n_plate.py b/examples/ball_n_plate.py index e9ba230..9bc7ce7 100644 --- a/examples/ball_n_plate.py +++ b/examples/ball_n_plate.py @@ -108,7 +108,7 @@ def control(self): ball_n_plate = BallNPlateControler("Ball and Plate Controller", [2400, 2400]) ball_n_plate.set_config_variable(("closed_loop", bool)) - app = AppManager(sample_time=10, mcu_type=MCUType.STM32, x_pos=2400.0, y_pos=2400.0, x_out=1750.0, y_out=1750.0) + app = AppManager(sample_time=10, mcu_type=MCUType.VIRUTAL, x_pos=2400.0, y_pos=2400.0, x_out=1750.0, y_out=1750.0) app.append_instance(ball_n_plate) app.set_actuator_vars(('Servo X', '', float), ('Servo Y', '', float)) app.set_sensor_vars(('Pos X', '', float), ('Pos Y', '', float)) diff --git a/examples/rdata.py b/examples/rdata.py index 505733c..97b5a94 100644 --- a/examples/rdata.py +++ b/examples/rdata.py @@ -12,26 +12,22 @@ def __init__(self, label, init_setpoint, l, t): self.Ki = (self.Kp / ti) self.Kd = (self.Kp * td) - self.error = 0 - self.accumulated_I = 0 - - self.ntc_1 = 0 - self.ntc_2 = 0 + self.error = [0 for _ in range(3)] + self.accumulated_I = [0 for _ in range(3)] - self.heater_1 = 0 - self.heater_2 = 0 - def step(self, setpoint, measure): + def step(self, i, setpoint, measure): dt_s = self.dt / 10 ** 6 err = setpoint - measure P = self.Kp * err i_inc = self.Ki * err * dt_s - D = self.Kd * (err - self.error) / (dt_s + 0.000001) + D = self.Kd * (err - self.error[i]) / (dt_s + 0.000001) - self.error = err + self.error[i] = err - windup_check = P + self.accumulated_I + i_inc + D + windup_check = P + self.accumulated_I[i] + i_inc + D + self.accumulated_I[i] += i_inc return max(0.0, min(100.0, windup_check)) @@ -39,7 +35,7 @@ def control(self): result = [] for i, sensor_value in enumerate(self.sensor_values): - out = self.step(self.setpoints[i], sensor_value) + out = self.step(i, self.setpoints[i], sensor_value) result.append(out) return result @@ -82,7 +78,7 @@ def control(self): self.out = windup_check if __name__ == '__main__': - plant = AppManager(mcu_type=MCUType.RDATA, sample_time=1, port="COM1", baud_rate=14000) + plant = AppManager(mcu_type=MCUType.RDATA, sample_time=20, port="COM1", baud_rate=14000) plant.set_actuator_vars(("Heater 1", "%", float), ("Heater 2", "%", float), ("Heater 3", "%", float)) plant.set_sensor_vars(("NTC 1", "ºC", float), ("NTC 2", "ºC", float ), ("NTC 3", "ºC", float)) diff --git a/examples/virtual.py b/examples/virtual.py new file mode 100644 index 0000000..6315246 --- /dev/null +++ b/examples/virtual.py @@ -0,0 +1,51 @@ +import socket +import tkinter as tk + +UDP_ADDR = ("127.0.0.1", 5007) +UPDATE_INTERVAL = 5 #ms + +sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) + +class BallPlateEmulator(tk.Canvas): + def __init__(self, root, width=800, height=700, ball_radius=15): + super().__init__(root, width=width, height=height, bg="white") + self.pack() + self.width = width + self.height = height + self.ball_radius = ball_radius + + self.ball_x = width / 2 + self.ball_y = height / 2 + + r = ball_radius + self.ball = self.create_oval( + self.ball_x - r, self.ball_y - r, + self.ball_x + r, self.ball_y + r, + fill="blue" + ) + + self.bind("", self.on_drag) + + self.after(UPDATE_INTERVAL, self.send_position) + + def on_drag(self, event): + x = min(max(event.x, self.ball_radius), self.width - self.ball_radius) + y = min(max(event.y, self.ball_radius), self.height - self.ball_radius) + self.ball_x, self.ball_y = x, y + self.coords( + self.ball, + x - self.ball_radius, y - self.ball_radius, + x + self.ball_radius, y + self.ball_radius + ) + + def send_position(self): + msg = f"{float(self.ball_x)},{float(self.ball_y)}".encode() + sock.sendto(msg, UDP_ADDR) + self.after(UPDATE_INTERVAL, self.send_position) + + +if __name__ == "__main__": + root = tk.Tk() + root.title("Emulador Ball and Plate") + BallPlateEmulator(root) + root.mainloop() From 61696c0980017222c1e8f47b9d36260ab2151a45 Mon Sep 17 00:00:00 2001 From: Higor Lima Date: Thu, 29 May 2025 13:36:55 -0300 Subject: [PATCH 03/59] =?UTF-8?q?fix:=20conserta=20atualiza=C3=A7=C3=A3o?= =?UTF-8?q?=20real=20time=20do=20plotter?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- controller_framework/core/app.py | 24 +----- controller_framework/core/ipcmanager.py | 10 +-- controller_framework/core/mcu_driver.py | 53 +++++------- controller_framework/gui/main_gui.py | 14 +++- controller_framework/gui/plotter_gui.py | 106 ++++++++++++++++-------- controller_framework/gui/utils_gui.py | 14 ++-- examples/ball_n_plate.py | 12 +-- examples/virtual.py | 71 +++++++++++----- 8 files changed, 174 insertions(+), 130 deletions(-) diff --git a/controller_framework/core/app.py b/controller_framework/core/app.py index 4b1c85c..378074a 100644 --- a/controller_framework/core/app.py +++ b/controller_framework/core/app.py @@ -35,11 +35,6 @@ def __init__(self, mcu_type: MCUType, sample_time = 1, flush_time= 100, **kwargs self.__last_read_timestamp = 0 self.__last_control_timestamp = 0 - self.reading_buffer_semaphore = threading.Semaphore() - - self.control_dts = list() - self.read_dts = list() - self.dt = 0 self.setpoints = [] @@ -117,12 +112,11 @@ def __read_values(self): control_elapsed = 0 read_elapsed = 0 feedback_elapsed = 0 - + now = time.perf_counter() dt_s = now - self.__last_read_timestamp if self.__last_read_timestamp != 0 else target_dt_s dt_ms = dt_s * 1000.0 - self.read_dts.append(dt_s) read_start = time.perf_counter() try: @@ -130,21 +124,17 @@ def __read_values(self): sensor_values, actuator_values = self.__mcu.read() self.data_updated = True - self.log.warning(f"{sensor_values}, {actuator_values}") - self.update_actuator_vars(actuator_values) self.update_sensors_vars(sensor_values) + self.timestamp_cache.append(now) for i, val in enumerate(sensor_values): self.sensor_cache[i].append(val) - for i, val in enumerate(actuator_values): self.actuator_cache[i].append(val) - - self.timestamp_cache.append(now) - except Exception as e: self.log.error("Erro ao ler dados dos sensores: %s", e, extra={'method':'read'}) + read_elapsed = (time.perf_counter() - read_start) * 1e3 if self.running_instance is not None: @@ -211,21 +201,15 @@ def init(self): time.sleep(0.1) self.ipcmanager.init() - # self.command_thread = threading.Thread(target=self.__read_command, daemon=True) - # self.command_thread.start() - self.gui_process = mp.Process(target=MainGUI.start_gui, args=(self,)) self.gui_process.start() self.gui_process.join() - + self.reading_stop_event.set() self.reading_thread.join() self.ipcmanager.stop() - # self.command_stop_event.set() - # self.command_thread.join() - def start_controller(self, label): if label in self.control_instances: if self.running_instance != None: diff --git a/controller_framework/core/ipcmanager.py b/controller_framework/core/ipcmanager.py index 6c3df3f..223d3f6 100644 --- a/controller_framework/core/ipcmanager.py +++ b/controller_framework/core/ipcmanager.py @@ -42,12 +42,11 @@ def __run(self): self.log.info('started', extra={'method':'run'}) while not self.stop_event.is_set(): self.__send_full_state() - - time.sleep(self.core.cache_flush_time / 1e3) + time.sleep(0.03) def init(self): - self.thread_send = threading.Thread(target=self.__run) - self.thread_recv = threading.Thread(target=self.__parse_command) + self.thread_send = threading.Thread(target=self.__run, daemon=True) + self.thread_recv = threading.Thread(target=self.__parse_command, daemon=True) self.thread_send.start() self.thread_recv.start() @@ -82,7 +81,6 @@ def __send_full_state(self): self.core.timestamp_cache.clear() - def __parse_command(self): while not self.stop_event.is_set(): try: @@ -110,6 +108,8 @@ def __parse_command(self): self.log.error("[IPC] Erro ao executar comando '%s': %s", command, e, extra={'method':'parse'}) self.log.debug("[IPC] Dados recebidos: %s", data, extra={'method':'parse'}) + time.sleep(0.01) + def handler_update_variable(self, core, payload): control_name = payload.get("control_name") var_name = payload.get("var_name") diff --git a/controller_framework/core/mcu_driver.py b/controller_framework/core/mcu_driver.py index 00499d0..3c322db 100644 --- a/controller_framework/core/mcu_driver.py +++ b/controller_framework/core/mcu_driver.py @@ -6,6 +6,11 @@ import serial from pyocd.core.helpers import ConnectHelper, Session +import socket +import struct +import time +import errno + from .logmanager import LogManager @@ -160,70 +165,50 @@ def convert_raw(raw_adc, aref=3.3): def send(self, out1=0.0, out2=0.0): self.ser.write(f"SET_PWM:{out1},{out2}\n".encode()) -import socket -import struct -import time -import errno -from controller_framework.core.mcu_driver import MCUDriver # ajuste seu import aqui - class VirtualBallNPlate(MCUDriver): def __init__(self, mcu_type, **kwargs): super().__init__(mcu_type, **kwargs) - # Só criamos o socket — sem bind aqui! self.udp_addr = ("0.0.0.0", 5007) self.buffer_size = 1024 self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) - # Pré-configurações do socket self.sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) self.sock.setsockopt(socket.SOL_SOCKET, socket.SO_RCVBUF, 64 * 1024) - # Estado interno self.x, self.y = 0.0, 0.0 self._buf = bytearray(self.buffer_size) self._connected = False def connect(self): - """Faz bind uma única vez e passa para non-blocking.""" if not self._connected: try: self.sock.bind(self.udp_addr) except OSError as e: - # Se já estiver em uso, ignora; senão, propaga if e.errno not in (errno.EADDRINUSE,): raise - # Agora sim podemos ler sem bloqueio self.sock.setblocking(False) self._connected = True def read(self): - """Tenta ler sem bloqueio, retorna última posição caso não haja dado.""" - t0 = time.perf_counter() try: - nbytes, _ = self.sock.recvfrom_into(self._buf) + while True: + nbytes, _ = self.sock.recvfrom_into(self._buf) + + if nbytes == 8: + self.x, self.y = struct.unpack('!ff', self._buf[:8]) + else: + text = self._buf[:nbytes].decode(errors='ignore').strip() + try: + px, py = text.split(',') + self.x, self.y = float(px), float(py) + except ValueError: + continue except BlockingIOError: - # Sem dados: devolve última posição - return (self.x, self.y), (0.0, 0.0) + pass - # Se for exatamente 8 bytes, trata como 2 floats big-endian - if nbytes == 8: - self.x, self.y = struct.unpack('!ff', self._buf[:8]) - else: - # Fallback para ASCII “x,y” - text = self._buf[:nbytes].decode(errors='ignore').strip() - try: - px, py = text.split(',') - self.x, self.y = float(px), float(py) - except ValueError: - # parsing falhou: mantém valores anteriores - pass - - dt = (time.perf_counter() - t0) * 1000 - print(f"Leitura demorou {dt:.2f} ms") return (self.x, self.y), (0.0, 0.0) - + def send(self, x_cmd, y_cmd): - """Envio opcional de comando de volta ao emulador.""" pkt = struct.pack('!ff', x_cmd, y_cmd) self.sock.sendto(pkt, self.udp_addr) diff --git a/controller_framework/gui/main_gui.py b/controller_framework/gui/main_gui.py index 9e39cf8..ebea07b 100644 --- a/controller_framework/gui/main_gui.py +++ b/controller_framework/gui/main_gui.py @@ -1,7 +1,7 @@ import logging import sys -from PySide6 import QtCore +from PySide6 import QtCore, QtGui from PySide6.QtWidgets import QTabWidget, QApplication, QMainWindow from controller_framework.core.logmanager import LogManager @@ -39,6 +39,9 @@ def __init__(self, app_mirror): self.setFocusPolicy(QtCore.Qt.FocusPolicy.StrongFocus) self.installEventFilter(self) + self.esc_shortcut = QtGui.QShortcut(QtGui.QKeySequence(QtCore.Qt.Key.Key_Escape), self) + self.esc_shortcut.activated.connect(self.on_escape_pressed) + self.plotter_gui.command_triggered.connect(self.send_command) def eventFilter(self, obj, event): @@ -57,10 +60,15 @@ def start_gui(app_mirror): window.showFullScreen() sys.exit(app.exec()) + def on_escape_pressed(self): + res = self.plotter_gui.close() + if res: + sys.exit(0) + def key_press_handle(self, super_press_handler, ev): - if ev.key() == QtCore.Qt.Key_Escape: + if ev.key() == QtCore.Qt.Key.Key_Escape: sys.exit(0) - elif ev.key() == QtCore.Qt.Key_F or ev.key() == 16777216: + elif ev.key() == QtCore.Qt.Key.Key_F or ev.key() == 16777216: self.toggle_hide_mode() def toggle_hide_mode(self): diff --git a/controller_framework/gui/plotter_gui.py b/controller_framework/gui/plotter_gui.py index 81b4745..409b2ff 100644 --- a/controller_framework/gui/plotter_gui.py +++ b/controller_framework/gui/plotter_gui.py @@ -3,8 +3,6 @@ import logging import os import queue -import time -from typing import Optional from controller_framework.core.controller import Controller import numpy as np @@ -12,7 +10,7 @@ from PySide6 import QtCore from PySide6.QtWidgets import ( QGroupBox, QFormLayout, QVBoxLayout, QWidget, QLabel, QScrollArea, - QPushButton, QHBoxLayout, QLineEdit, QGraphicsProxyWidget, QListWidget, QCheckBox ) + QPushButton, QHBoxLayout, QLineEdit, QListWidget, QCheckBox ) import re @@ -20,7 +18,38 @@ from .utils_gui import PlotWidget, Mode +class DataWorker(QtCore.QObject): + dataReady = QtCore.Signal() + + def __init__(self, fn: Callable, interval_ms: int = 30): + super().__init__() + self.fn = fn + self.interval_ms = interval_ms + self._timer: QtCore.QTimer | None = None + + @QtCore.Slot() + def start(self): + self._timer = QtCore.QTimer(self) + self._timer.setTimerType(QtCore.Qt.TimerType.PreciseTimer) + self._timer.timeout.connect(self._on_timeout) + self._timer.start(self.interval_ms) + + @QtCore.Slot() + def _on_timeout(self): + try: + self.fn() + self.dataReady.emit() + except Exception as e: + print(f"[DataWorker] Erro em fn(): {e}") + + @QtCore.Slot() + def stop(self): + if self._timer is not None and self._timer.isActive(): + self._timer.stop() + class ControlGUI(QWidget): + stopWorker = QtCore.Signal() + def __init__(self, *, parent, app_mirror, x_label: str, y_label: str): super().__init__(parent) @@ -50,7 +79,6 @@ def __init__(self, *, parent, app_mirror, x_label: str, y_label: str): self.container.setLayout(self.container_layout) self.plot_widget = PlotWidget(self.container_layout, Mode.PLOTTER) - # self.plot_widget.plotter_plot() self.toggle_plot_view() self.temp_input = QLineEdit() @@ -78,21 +106,26 @@ def __init__(self, *, parent, app_mirror, x_label: str, y_label: str): self.log_file_path = log_path + f"log_{datetime.year}-{datetime.month}-{datetime.day}-{datetime.hour}-{datetime.minute}-{datetime.second}.csv" self.df.to_csv(self.log_file_path, index=False) - - # self.update_delay = self.app_mirror.cache_flush_time - self.update_delay = 30 - self.plot_timer = QtCore.QTimer() - self.plot_timer.timeout.connect(self.update_plots) - self.plot_timer.start(self.update_delay) - - self.update_data_delay = 10 - self.data_timer = QtCore.QTimer() - self.data_timer.timeout.connect(self.update_data) - self.data_timer.start(self.update_data_delay) self.sensors_cache: list[list] = [[]] self.actuators_cache: list[list] = [[]] self.is_selected = True + self.last_update = 0 + self.last_update_plot = 0 + + self._data_thread = QtCore.QThread(self) + self._data_worker = DataWorker(self.update_data, interval_ms=30) + self._data_worker.moveToThread(self._data_thread) + self._data_thread.started.connect(self._data_worker.start) + self._data_thread.finished.connect(self._data_worker.stop) + self.stopWorker.connect(self._data_worker.stop) + self._data_worker.dataReady.connect( + self.update_plots, + QtCore.Qt.ConnectionType.QueuedConnection + ) + self._data_thread.start() + + self.mutex = QtCore.QMutex() def __on_return_pressed(self): setpoint_string = self.temp_input.text() @@ -175,36 +208,35 @@ def update_data(self): if not self.__process_message(data): continue - self.__append_plot_data() + with QtCore.QMutexLocker(self.mutex): + self.__append_plot_data() - # if self.is_selected: - # self.update_plots() - - # self.__write_csv(self.sensors_cache, self.actuators_cache) except queue.Empty: break - def update_plots(self): if not self.is_selected: return view = self.plot_views[self.current_mode] - plot_seconds = np.array(self.plot_seconds) + + with QtCore.QMutexLocker(self.mutex): + sensor_data_np = np.array(self.sensor_data) + actuator_data_np = np.array(self.actuator_data) + plot_seconds_np = np.array(self.plot_seconds) match view: case "ALL": - for (i, sensor_data), (var_name, props) in zip(enumerate(self.sensor_data), self.app_mirror.sensor_vars.items()): - np_sensor_data = np.array(sensor_data) - self.plot_widget.update_curve(plot_seconds, np_sensor_data, 0, i) + for (i, sensor_data), (var_name, props) in zip(enumerate(sensor_data_np), self.app_mirror.sensor_vars.items()): + self.plot_widget.update_curve(plot_seconds_np, sensor_data, 0, i) - legenda = f"{var_name}: {np_sensor_data[-1]:.4f} {props['unit']}" + legenda = f"{var_name}: {sensor_data[-1]:.4f} {props['unit']}" self.plot_widget.update_legend(text=legenda, plot_n=0, idx=i) - for (i, actuator_data), (var_name, props) in zip(enumerate(self.actuator_data), self.app_mirror.actuator_vars.items()): - np_actuator_data = np.array(actuator_data) - self.plot_widget.update_curve(plot_seconds, np_actuator_data, 1, i) - legenda = f"{var_name}: {np_actuator_data[-1]:.4f} {props['unit']}" + for (i, actuator_data), (var_name, props) in zip(enumerate(actuator_data_np), self.app_mirror.actuator_vars.items()): + self.plot_widget.update_curve(plot_seconds_np, actuator_data, 1, i) + + legenda = f"{var_name}: {actuator_data[-1]:.4f} {props['unit']}" self.plot_widget.update_legend(text=legenda, plot_n=1, idx=i) case _ if view in self.sensor_labels: @@ -212,7 +244,7 @@ def update_plots(self): idx = letters.index(view) sensor_data = np.array(self.sensor_data[idx]) - self.plot_widget.update_curve(plot_seconds, sensor_data, plot_n=0, curve_n=0) + self.plot_widget.update_curve(plot_seconds_np, sensor_data, plot_n=0, curve_n=0) var_name, props = list(self.app_mirror.sensor_vars.items())[idx] legenda = f"{var_name}: {sensor_data[-1]:.4f} {props['unit']}" @@ -258,6 +290,12 @@ def reset_data(self): self.df = pd.DataFrame(columns=self.df.columns) self.df.to_csv(self.log_file_path, index=False) + def close(self): + self.stopWorker.emit() + self._data_thread.quit() + self._data_thread.wait(1000) + return True + def key_press_handle(self, super_press_handler: Callable, ev): if self.temp_input.hasFocus(): super_press_handler(ev) @@ -271,7 +309,6 @@ def key_press_handle(self, super_press_handler: Callable, ev): elif ev.key() == QtCore.Qt.Key.Key_F: super_press_handler(ev) - class SidebarGUI(QWidget): def __init__(self, parent, app_mirror, control_gui): super().__init__(parent) @@ -444,7 +481,6 @@ def deactivate_control(self): self.btn_deactivate_control.setEnabled(False) - class PlotterGUI(QWidget): command_triggered = QtCore.Signal(str, object) @@ -484,3 +520,7 @@ def toggle_hide_mode(self): def toggle_select(self, param): self.plotter_gui.is_selected = param + def close(self): + self.plotter_gui.close() + + return True \ No newline at end of file diff --git a/controller_framework/gui/utils_gui.py b/controller_framework/gui/utils_gui.py index e98b89c..63c22a9 100644 --- a/controller_framework/gui/utils_gui.py +++ b/controller_framework/gui/utils_gui.py @@ -98,16 +98,14 @@ def update_curve(self, x, y, plot_n: int, curve_n: int): return plot, curves, _ = self._get_plot_and_containers(plot_n) - curves[curve_n].setData(x, y) - if self.mode == Mode.PLOTTER: - max_time = x[-1] - min_time = max_time - 60 - if min_time < 0: - min_time = 0 - - plot.setXRange(min_time, max_time) + # if self.mode == Mode.PLOTTER: + # max_time = x[-1] + # min_time = max_time - 60 + # if min_time < 0: + # min_time = 0 + # plot.setXRange(min_time, max_time) def clear_plots(self, plot_n: int = 0): plot, curves, _ = self._get_plot_and_containers(plot_n) diff --git a/examples/ball_n_plate.py b/examples/ball_n_plate.py index 9bc7ce7..3ef82ea 100644 --- a/examples/ball_n_plate.py +++ b/examples/ball_n_plate.py @@ -26,10 +26,10 @@ def x_pid(self, sp, pv, pv_last, ierr, dt): KI = Kc / tauI KD = Kc * tauD # ubias for controller (initial heater) - op0 = 17500 + op0 = 400 # upper and lower bounds on heater level - ophi = 22500 - oplo = 12500 + ophi = 750 + oplo = 15 # calculate the error error = (sp - pv) * 0.6 print("x_err:", error) @@ -61,10 +61,10 @@ def y_pid(self, sp, pv, pv_last, ierr, dt): KI = Kc / tauI KD = Kc * tauD # ubias for controller (initial heater) - op0 = 17500 + op0 = 350 # upper and lower bounds on heater level - ophi = 22500 - oplo = 12500 + ophi = 750 + oplo = 15 # calculate the error error = sp - pv print("y_err:", error) diff --git a/examples/virtual.py b/examples/virtual.py index 6315246..568838e 100644 --- a/examples/virtual.py +++ b/examples/virtual.py @@ -1,20 +1,36 @@ import socket import tkinter as tk +import logging -UDP_ADDR = ("127.0.0.1", 5007) -UPDATE_INTERVAL = 5 #ms +logging.basicConfig( + level=logging.INFO, + format='%(asctime)s - %(levelname)s - %(message)s', + handlers=[ + logging.FileHandler('ball_plate_emulator.log'), + logging.StreamHandler() + ] +) +logger = logging.getLogger(__name__) -sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) +UDP_ADDR = ("127.0.0.1", 5007) +UPDATE_INTERVAL = 5 # ms + +try: + sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) + logger.info("Socket UDP inicializado com sucesso") +except Exception as e: + logger.error(f"Erro ao inicializar o socket: {e}") + raise class BallPlateEmulator(tk.Canvas): def __init__(self, root, width=800, height=700, ball_radius=15): super().__init__(root, width=width, height=height, bg="white") self.pack() - self.width = width + self.width = width self.height = height self.ball_radius = ball_radius - self.ball_x = width / 2 + self.ball_x = width / 2 self.ball_y = height / 2 r = ball_radius @@ -25,27 +41,40 @@ def __init__(self, root, width=800, height=700, ball_radius=15): ) self.bind("", self.on_drag) - self.after(UPDATE_INTERVAL, self.send_position) + logger.info(f"Emulador inicializado: width={width}, height={height}, ball_radius={ball_radius}") + def on_drag(self, event): - x = min(max(event.x, self.ball_radius), self.width - self.ball_radius) - y = min(max(event.y, self.ball_radius), self.height - self.ball_radius) - self.ball_x, self.ball_y = x, y - self.coords( - self.ball, - x - self.ball_radius, y - self.ball_radius, - x + self.ball_radius, y + self.ball_radius - ) + try: + x = min(max(event.x, self.ball_radius), self.width - self.ball_radius) + y = min(max(event.y, self.ball_radius), self.height - self.ball_radius) + self.ball_x, self.ball_y = x, y + self.coords( + self.ball, + x - self.ball_radius, y - self.ball_radius, + x + self.ball_radius, y + self.ball_radius + ) + logger.debug(f"Bola movida para posição: x={x}, y={y}") + except Exception as e: + logger.error(f"Erro ao mover a bola: {e}") def send_position(self): - msg = f"{float(self.ball_x)},{float(self.ball_y)}".encode() - sock.sendto(msg, UDP_ADDR) + try: + msg = f"{float(self.ball_x):.2f},{float(self.ball_y):.2f}".encode() + sock.sendto(msg, UDP_ADDR) + logger.info(f"Posição enviada via UDP: x={self.ball_x:.2f}, y={self.ball_y:.2f}") + except Exception as e: + logger.error(f"Erro ao enviar posição via UDP: {e}") self.after(UPDATE_INTERVAL, self.send_position) - if __name__ == "__main__": - root = tk.Tk() - root.title("Emulador Ball and Plate") - BallPlateEmulator(root) - root.mainloop() + try: + root = tk.Tk() + root.title("Emulador Ball and Plate") + logger.info("Aplicação Tkinter iniciada") + BallPlateEmulator(root) + root.mainloop() + except Exception as e: + logger.error(f"Erro na execução da aplicação: {e}") + raise \ No newline at end of file From 430b2d5ba616336a92aa85a0a4d33e36945ebed4 Mon Sep 17 00:00:00 2001 From: Higor Lima Date: Thu, 29 May 2025 15:35:52 -0300 Subject: [PATCH 04/59] refactor: adiciona alguns type checks --- controller_framework/core/app.py | 2 +- controller_framework/core/controller.py | 2 +- controller_framework/core/mcu_driver.py | 3 +- controller_framework/gui/analyzer_gui.py | 56 ++++++++--------- controller_framework/gui/main_gui.py | 6 +- controller_framework/gui/plotter_gui.py | 78 ++++++++++++------------ controller_framework/gui/utils_gui.py | 10 +-- 7 files changed, 77 insertions(+), 80 deletions(-) diff --git a/controller_framework/core/app.py b/controller_framework/core/app.py index 378074a..2b2d728 100644 --- a/controller_framework/core/app.py +++ b/controller_framework/core/app.py @@ -20,7 +20,7 @@ def __init__(self, mcu_type: MCUType, sample_time = 1, flush_time= 100, **kwargs raise ValueError(f"MCU inválida: {mcu_type}. Escolha entre {list(MCUType)}") self.__mcu: MCUDriver = MCUDriver.create_driver(mcu_type, **kwargs) - self.control_instances: dict[Controller] = {} + self.control_instances: dict[str, Controller] = {} self.running_instance: Optional[Controller] = None self.sample_time = sample_time # ms diff --git a/controller_framework/core/controller.py b/controller_framework/core/controller.py index 51aeb49..25cd8e3 100644 --- a/controller_framework/core/controller.py +++ b/controller_framework/core/controller.py @@ -22,7 +22,7 @@ def _worker_loop(self): try: self.running_instance.set_dt(dt) self.result = self.running_instance.control() - except Exception as e: + except Exception: self.result = None finally: self.done_event.set() diff --git a/controller_framework/core/mcu_driver.py b/controller_framework/core/mcu_driver.py index 3c322db..963ab7a 100644 --- a/controller_framework/core/mcu_driver.py +++ b/controller_framework/core/mcu_driver.py @@ -1,5 +1,6 @@ from abc import ABC, abstractmethod from enum import Enum +from typing import Tuple import socket import struct import time @@ -34,7 +35,7 @@ def send(self, *args): pass @abstractmethod - def read(self): + def read(self) -> Tuple[tuple, tuple]: pass @abstractmethod diff --git a/controller_framework/gui/analyzer_gui.py b/controller_framework/gui/analyzer_gui.py index 07d74f2..36792b9 100644 --- a/controller_framework/gui/analyzer_gui.py +++ b/controller_framework/gui/analyzer_gui.py @@ -17,24 +17,24 @@ def __init__(self, parent): self.parent_gui = parent self.setFixedWidth(300) - self.layout = QVBoxLayout() - self.setLayout(self.layout) + self.main_layout = QVBoxLayout() + self.setLayout(self.main_layout) self.file_list = QListWidget() self.file_list.itemClicked.connect(self.file_selected) - self.layout.addWidget(self.file_list) + self.main_layout.addWidget(self.file_list) self.variable_list = QListWidget() - self.layout.addWidget(self.variable_list) + self.main_layout.addWidget(self.variable_list) self.refresh_button = QPushButton("Atualizar Lista de Logs") self.refresh_button.clicked.connect(self.update_file_list) - self.layout.addWidget(self.refresh_button) + self.main_layout.addWidget(self.refresh_button) self.analyze_button = QPushButton("Analisar") self.analyze_button.setEnabled(False) self.analyze_button.clicked.connect(self.start_analysis) - self.layout.addWidget(self.analyze_button) + self.main_layout.addWidget(self.analyze_button) self.option_group = QButtonGroup(self) @@ -45,8 +45,8 @@ def __init__(self, parent): self.radio_open = QRadioButton("Análise de malha aberta") self.option_group.addButton(self.radio_open) - self.layout.addWidget(self.radio_closed) - self.layout.addWidget(self.radio_open) + self.main_layout.addWidget(self.radio_closed) + self.main_layout.addWidget(self.radio_open) self.update_file_list() @@ -90,11 +90,11 @@ def start_analysis(self): class PlotterAnalyzer(QWidget): def __init__(self, parent): super().__init__(parent) - self.parent = parent - self.layout = QVBoxLayout() - self.setLayout(self.layout) + self.parent_gui = parent + self.main_layout = QVBoxLayout() + self.setLayout(self.main_layout) - self.plot_widget: PlotWidget = PlotWidget(self.layout) + self.plot_widget: PlotWidget = PlotWidget(self.main_layout) self.df = None self.x_data = [] @@ -118,19 +118,19 @@ def closed_loop_analyzer(self): self.plot_widget.add_legend(text="Temperatura", color= 'blue') temp_inicial = self.y_data[0] - h_line_init = pg.InfiniteLine(pos=temp_inicial, angle=0, pen=pg.mkPen("green", width=2, style=pg.QtCore.Qt.DashLine)) + h_line_init = pg.InfiniteLine(pos=temp_inicial, angle=0, pen=pg.mkPen("green", width=2, style=pg.QtCore.Qt.PenStyle.DashLine)) self.plot_widget.add_item(h_line_init) self.reference_lines.append(h_line_init) max_over_signal = np.max(self.y_data) - h_line_max = pg.InfiniteLine(pos=max_over_signal, angle=0, pen=pg.mkPen("red", width=2, style=pg.QtCore.Qt.DashLine)) + h_line_max = pg.InfiniteLine(pos=max_over_signal, angle=0, pen=pg.mkPen("red", width=2, style=pg.QtCore.Qt.PenStyle.DashLine)) self.plot_widget.add_item(h_line_max) self.reference_lines.append(h_line_max) - self.plot_widget.add_legend(text=f"Temperatura inicial ({temp_inicial:.2f}ºC)", color= "green", style=pg.QtCore.Qt.DashLine) - self.plot_widget.add_legend(text=f"Máximo Sobressinal ({max_over_signal:.2f}ºC)", color= "red", style=pg.QtCore.Qt.DashLine) + self.plot_widget.add_legend(text=f"Temperatura inicial ({temp_inicial:.2f}ºC)", color= "green", style=pg.QtCore.Qt.PenStyle.DashLine) + self.plot_widget.add_legend(text=f"Máximo Sobressinal ({max_over_signal:.2f}ºC)", color= "red", style=pg.QtCore.Qt.PenStyle.DashLine) - targets = np.array(self.parent.df["target"]) + targets = np.array(self.parent_gui.df["target"]) label_targets = "" last_target = targets[0] - 1 for t in targets: @@ -159,7 +159,7 @@ def open_loop_analyzer(self): self.plot_widget.add_curve(x, f_temps, 'blue', 1.5, 0) self.plot_widget.add_curve(x, f_temps_dt, 'blue', 1.5, 1) - h_line_max = pg.InfiniteLine(pos=x[max_dv_i], angle=90, pen=pg.mkPen("red", width=2, style=pg.QtCore.Qt.DashLine)) + h_line_max = pg.InfiniteLine(pos=x[max_dv_i], angle=90, pen=pg.mkPen("red", width=2, style=pg.QtCore.Qt.PenStyle.DashLine)) self.plot_widget.add_item(h_line_max, 1) @@ -174,11 +174,11 @@ def open_loop_analyzer(self): [(((x0 - x[max_dv_i]) * f_temps_dt[max_dv_i]) + f_temps[max_dv_i]) for x0 in neighborhood], 'red') - v_initial_line = pg.InfiniteLine(pos=x[0], angle=90, pen=pg.mkPen("black", width=2, style=pg.QtCore.Qt.DashLine)) - h_initial_line = pg.InfiniteLine(pos=f_temps[0], angle=0, pen=pg.mkPen("black", width=2, style=pg.QtCore.Qt.DashLine)) + v_initial_line = pg.InfiniteLine(pos=x[0], angle=90, pen=pg.mkPen("black", width=2, style=pg.QtCore.Qt.PenStyle.DashLine)) + h_initial_line = pg.InfiniteLine(pos=f_temps[0], angle=0, pen=pg.mkPen("black", width=2, style=pg.QtCore.Qt.PenStyle.DashLine)) - v_final_line = pg.InfiniteLine(pos=x[-1], angle=90, pen=pg.mkPen("black", width=2, style=pg.QtCore.Qt.DashLine)) - h_final_line = pg.InfiniteLine(pos=f_temps[-1], angle=0, pen=pg.mkPen("black", width=2, style=pg.QtCore.Qt.DashLine)) + v_final_line = pg.InfiniteLine(pos=x[-1], angle=90, pen=pg.mkPen("black", width=2, style=pg.QtCore.Qt.PenStyle.DashLine)) + h_final_line = pg.InfiniteLine(pos=f_temps[-1], angle=0, pen=pg.mkPen("black", width=2, style=pg.QtCore.Qt.PenStyle.DashLine)) self.plot_widget.add_item(max_dv_scarter, 0) self.plot_widget.add_item(h_initial_line, 0) @@ -188,8 +188,8 @@ def open_loop_analyzer(self): self.plot_widget.add_legend(text='Temperatura (ºC)', color='blue', plot_n=0) self.plot_widget.add_legend(text='Ponto de maior derivada', color='red', style='dot', plot_n=0) - self.plot_widget.add_legend(text=f'Temperatura inicial ({f_temps[0]:.3f}ºC)', color='black', style=pg.QtCore.Qt.DashLine, plot_n=0) - self.plot_widget.add_legend(text=f'Temperatura final ({f_temps[-1]:.3f}ºC)', color='black', style=pg.QtCore.Qt.DashLine, plot_n=0) + self.plot_widget.add_legend(text=f'Temperatura inicial ({f_temps[0]:.3f}ºC)', color='black', style=pg.QtCore.Qt.PenStyle.DashLine, plot_n=0) + self.plot_widget.add_legend(text=f'Temperatura final ({f_temps[-1]:.3f}ºC)', color='black', style=pg.QtCore.Qt.PenStyle.DashLine, plot_n=0) self.plot_widget.plot_temp.setTitle(f"Temperatura registrada - L = {L:.2f}, T (+L) = {T:.2f} (+{L:.2f})") @@ -202,14 +202,14 @@ def __init__(self, app_mirror): self.setWindowTitle("Thermal Analyzer") self.setMinimumSize(900, 600) - self.layout = QHBoxLayout() - self.setLayout(self.layout) + self.main_layout = QHBoxLayout() + self.setLayout(self.main_layout) self.sidebar = SidebarAnalyzer(self) self.plotter_gui = PlotterAnalyzer(self) - self.layout.addWidget(self.sidebar, 1) - self.layout.addWidget(self.plotter_gui, 4) + self.main_layout.addWidget(self.sidebar, 1) + self.main_layout.addWidget(self.plotter_gui, 4) def start_analysis(self, file_path, sensor_variable, mode): if file_path: diff --git a/controller_framework/gui/main_gui.py b/controller_framework/gui/main_gui.py index ebea07b..639718c 100644 --- a/controller_framework/gui/main_gui.py +++ b/controller_framework/gui/main_gui.py @@ -75,9 +75,9 @@ def toggle_hide_mode(self): if self.hide_mode: if self.tabs.currentIndex() == 0: self.plotter_gui.sidebar.show() - self.plotter_gui.layout.insertWidget(0, self.plotter_gui.sidebar, 1) - self.plotter_gui.layout.setStretchFactor(self.plotter_gui.sidebar, 1) - self.plotter_gui.layout.setStretchFactor( + self.plotter_gui.main_layout.insertWidget(0, self.plotter_gui.sidebar, 1) + self.plotter_gui.main_layout.setStretchFactor(self.plotter_gui.sidebar, 1) + self.plotter_gui.main_layout.setStretchFactor( self.plotter_gui.plotter_gui, 4 ) elif self.tabs.currentIndex() == 1: diff --git a/controller_framework/gui/plotter_gui.py b/controller_framework/gui/plotter_gui.py index 409b2ff..6b3bda4 100644 --- a/controller_framework/gui/plotter_gui.py +++ b/controller_framework/gui/plotter_gui.py @@ -53,7 +53,7 @@ class ControlGUI(QWidget): def __init__(self, *, parent, app_mirror, x_label: str, y_label: str): super().__init__(parent) - self.parent = parent + self.parent_gui = parent from controller_framework.core import AppManager assert isinstance(app_mirror, AppManager) @@ -71,8 +71,8 @@ def __init__(self, *, parent, app_mirror, x_label: str, y_label: str): self.plot_views = ["ALL"] + self.sensor_labels self.current_mode = -1 - self.layout = QVBoxLayout() - self.setLayout(self.layout) + self.main_layout = QVBoxLayout() + self.setLayout(self.main_layout) self.container = QWidget() self.container_layout = QVBoxLayout() @@ -87,14 +87,14 @@ def __init__(self, *, parent, app_mirror, x_label: str, y_label: str): self.container_layout.addWidget(self.temp_input) self.temp_input.returnPressed.connect(self.__on_return_pressed) - self.layout.addWidget(self.container) + self.main_layout.addWidget(self.container) self.container.keyPressEvent = partial(self.key_press_handle, self.container.keyPressEvent) log_path = "./temp_logs/" if not os.path.exists(log_path): os.makedirs(log_path) - self.parent.log.debug("Salvando dados em %s", log_path, extra={'method':'init'}) + self.parent_gui.log.debug("Salvando dados em %s", log_path, extra={'method':'init'}) datetime = pd.Timestamp.now() sensor_columns = [f"sensor_{i}" for i in range(self.app_mirror.num_sensors)] @@ -135,16 +135,16 @@ def __on_return_pressed(self): self.app_mirror.update_setpoint(setpoint) - self.parent.command_triggered.emit("update_setpoint", {"value": setpoint}) + self.parent_gui.command_triggered.emit("update_setpoint", {"value": setpoint}) - def update_setpoint_label(self): - self.current_setpoint_line.setValue(self.app_mirror.get_setpoint()) - self.current_setpoint_line.label.setText(f"Temperatura desejada [{self.app_mirror.get_setpoint()}°C]") - self.current_setpoint_line.update() - try: - return self.app_mirror.queue_to_gui.get(timeout=timeout) - except queue.Empty: - return None + # def update_setpoint_label(self): + # self.current_setpoint_line.setValue(self.app_mirror.get_setpoint()) + # self.current_setpoint_line.label.setText(f"Temperatura desejada [{self.app_mirror.get_setpoint()}°C]") + # self.current_setpoint_line.update() + # try: + # return self.app_mirror.queue_to_gui.get(timeout=timeout) + # except queue.Empty: + # return None def __process_message(self, data): command = data.get('type') @@ -250,7 +250,7 @@ def update_plots(self): legenda = f"{var_name}: {sensor_data[-1]:.4f} {props['unit']}" self.plot_widget.update_legend(text=legenda, plot_n=0, idx=0) case _: - self.parent.log.warning("Visualização '%s' não reconhecida.", view, extra={'method':'update plot'}) + self.parent_gui.log.warning("Visualização '%s' não reconhecida.", view, extra={'method':'update plot'}) def toggle_plot_view(self): self.current_mode = (self.current_mode + 1) % len(self.plot_views) @@ -279,7 +279,7 @@ def toggle_plot_view(self): self.plot_widget.add_legend(text=var_name, color=props['color'], plot_n=0) case _: - self.parent.log.warning("Visualização '%s' não reconhecida.", view, extra={'method':'toggle plot'}) + self.parent_gui.log.warning("Visualização '%s' não reconhecida.", view, extra={'method':'toggle plot'}) def reset_data(self): self.plot_seconds = [] @@ -317,14 +317,14 @@ def __init__(self, parent, app_mirror, control_gui): assert isinstance(app_mirror, AppManager) self.app_mirror = app_mirror - self.parent = parent + self.parent_gui = parent self.control_gui = control_gui self.current_control = None self.input_fields = {} - self.layout = QVBoxLayout() - self.setLayout(self.layout) + self.main_layout = QVBoxLayout() + self.setLayout(self.main_layout) self.controls_group = QGroupBox("Controles Disponíveis") self.controls_layout = QVBoxLayout() @@ -340,13 +340,13 @@ def __init__(self, parent, app_mirror, control_gui): self.btn_deactivate_control.clicked.connect(self.deactivate_control) self.btn_deactivate_control.setEnabled(False) - self.layout.addWidget(self.controls_group) + self.main_layout.addWidget(self.controls_group) self.hbox = QHBoxLayout() self.hbox.addWidget(self.btn_activate_control) self.hbox.addWidget(self.btn_deactivate_control) - self.layout.addLayout(self.hbox) + self.main_layout.addLayout(self.hbox) self.settings_group = QGroupBox("Configurações do Controle") self.settings_group.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter) @@ -359,8 +359,8 @@ def __init__(self, parent, app_mirror, control_gui): self.scroll_area.setWidget(self.settings_group) self.btn_update_settings = QPushButton("Atualizar Configurações") - self.layout.addWidget(self.scroll_area) - self.layout.addWidget(self.btn_update_settings) + self.main_layout.addWidget(self.scroll_area) + self.main_layout.addWidget(self.btn_update_settings) self.control_list.itemSelectionChanged.connect(self.update_config_fields) self.btn_update_settings.clicked.connect(self.update_control_settings) @@ -416,7 +416,7 @@ def update_config_fields(self): label = QLabel(f"{var_name}") label.setStyleSheet("QLabel { font-size: 14px; }") - if var_type == bool: + if var_type is bool: input_field = QCheckBox() input_field.setChecked(bool(value)) input_field.setStyleSheet("QCheckBox { font-size: 14px; }") @@ -451,25 +451,25 @@ def update_control_settings(self): "new_value": new_value } - self.parent.command_triggered.emit(command, payload) + self.parent_gui.command_triggered.emit(command, payload) except ValueError: - self.parent.log.error("Entrada inválida para '%s'", var_name, extra={'method':'update control'}) + self.parent_gui.log.error("Entrada inválida para '%s'", var_name, extra={'method':'update control'}) if(self.app_mirror.running_instance and self.app_mirror.running_instance.label == self.current_control.label): self.app_mirror.update_setpoint(self.current_control.setpoints) - self.parent.command_triggered.emit("update_setpoint", {"value": self.current_control.setpoints}) + self.parent_gui.command_triggered.emit("update_setpoint", {"value": self.current_control.setpoints}) def activate_control(self): current_control = self.control_list.currentItem() - if(current_control != None): + if(current_control is not None): current_control_label = current_control.text() self.app_mirror.update_setpoint(self.current_control.setpoints) self.app_mirror.running_instance = self.app_mirror.get_instance(current_control_label) - self.parent.command_triggered.emit("start_controller", {"control_name": current_control_label}) - self.parent.command_triggered.emit("update_setpoint", {"value": self.current_control.setpoints}) + self.parent_gui.command_triggered.emit("start_controller", {"control_name": current_control_label}) + self.parent_gui.command_triggered.emit("update_setpoint", {"value": self.current_control.setpoints}) # self.control_gui.update_setpoint_label() @@ -477,7 +477,7 @@ def activate_control(self): def deactivate_control(self): self.app_mirror.stop_controller() - self.parent.command_triggered.emit("stop_controller", {}) + self.parent_gui.command_triggered.emit("stop_controller", {}) self.btn_deactivate_control.setEnabled(False) @@ -494,26 +494,26 @@ def __init__(self, app_mirror): self.log_manager = LogManager('Plotter', logging.DEBUG) self.log = self.log_manager.get_logger(component='PLOTTER') - self.layout = QHBoxLayout() - self.setLayout(self.layout) + self.main_layout = QHBoxLayout() + self.setLayout(self.main_layout) self.plotter_gui = ControlGUI(parent=self, app_mirror=self.app_mirror, x_label="Tempo decorrido (s)", y_label="Temperatura (°C)") self.sidebar = SidebarGUI(parent=self, app_mirror=self.app_mirror, control_gui=self.plotter_gui) - self.layout.addWidget(self.sidebar, 1) - self.layout.addWidget(self.plotter_gui, 4) + self.main_layout.addWidget(self.sidebar, 1) + self.main_layout.addWidget(self.plotter_gui, 4) self.hide_mode = False def toggle_hide_mode(self): if self.hide_mode: self.sidebar.show() - self.layout.insertWidget(0, self.sidebar, 1) - self.layout.setStretchFactor(self.sidebar, 1) - self.layout.setStretchFactor(self.plotter_gui, 4) + self.main_layout.insertWidget(0, self.sidebar, 1) + self.main_layout.setStretchFactor(self.sidebar, 1) + self.main_layout.setStretchFactor(self.plotter_gui, 4) else: self.sidebar.hide() - self.layout.setStretchFactor(self, 5) + self.main_layout.setStretchFactor(self, 5) self.hide_mode = not self.hide_mode diff --git a/controller_framework/gui/utils_gui.py b/controller_framework/gui/utils_gui.py index 63c22a9..d455cca 100644 --- a/controller_framework/gui/utils_gui.py +++ b/controller_framework/gui/utils_gui.py @@ -1,8 +1,6 @@ from enum import Enum -import time import numpy as np import pyqtgraph as pg -from PySide6 import QtCore class MarkerPlot: def __init__(self, plot, x_data=None, y_data=None, threshold=10): @@ -46,7 +44,7 @@ class Mode(Enum): PLOTTER = 'plotter' class PlotWidget: - def __init__(self, layout, mode: int = None): + def __init__(self, layout, mode: Mode = None): self.plot_widget = pg.GraphicsLayoutWidget() self.plot_widget.setBackground('w') layout.addWidget(self.plot_widget) @@ -54,7 +52,6 @@ def __init__(self, layout, mode: int = None): self._init_containers() def _init_containers(self): - # Initialize curves and legends storage based on modes self._curves = { Mode.CLOSED: [], Mode.OPEN: {0: [], 1: []}, @@ -63,8 +60,7 @@ def _init_containers(self): self._legends = {0: [], 1: []} def clear(self): - # Clear all plots, curves, and legends - curves = self._curves.get(self.mode) + curves: pg.PlotCurveItem = self._curves.get(self.mode) if isinstance(curves, dict): for lst in curves.values(): lst.clear() @@ -113,7 +109,7 @@ def clear_plots(self, plot_n: int = 0): curves.clear() def add_legend(self, text: str = '', size: int = 11, - color: str = 'black', style=pg.QtCore.Qt.SolidLine, plot_n: int = 0): + color: str = 'black', style=pg.QtCore.Qt.PenStyle.SolidLine, plot_n: int = 0): if not text: return plot, _, legends = self._get_plot_and_containers(plot_n) From 15c449cd70eb8fcfc6edf5bacb6ddecf19274205 Mon Sep 17 00:00:00 2001 From: Higor Lima Date: Thu, 29 May 2025 16:27:27 -0300 Subject: [PATCH 05/59] =?UTF-8?q?refactor:=20remove=20algumas=20variaveis?= =?UTF-8?q?=20n=C3=A3o=20utilizadas?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- controller_framework/core/app.py | 9 +-------- controller_framework/core/mcu_driver.py | 7 ++++--- controller_framework/gui/plotter_gui.py | 2 -- 3 files changed, 5 insertions(+), 13 deletions(-) diff --git a/controller_framework/core/app.py b/controller_framework/core/app.py index 2b2d728..4479f66 100644 --- a/controller_framework/core/app.py +++ b/controller_framework/core/app.py @@ -50,8 +50,6 @@ def __init__(self, mcu_type: MCUType, sample_time = 1, flush_time= 100, **kwargs self.gui = None - self.reading_buffer = Queue() - self.queue_to_gui = mp.Queue() self.queue_from_gui = mp.Queue() self.data_updated = False @@ -65,12 +63,10 @@ def __init__(self, mcu_type: MCUType, sample_time = 1, flush_time= 100, **kwargs def __getstate__(self): state = self.__dict__.copy() - del state['reading_buffer_semaphore'] del state['reading_stop_event'] del state['command_stop_event'] del state['reading_thread'] del state['command_thread'] - del state['reading_buffer'] del state['ipcmanager'] del state['_AppManager__mcu'] @@ -84,12 +80,10 @@ def __getstate__(self): def __setstate__(self, state): self.__dict__.update(state) - self.reading_buffer_semaphore = threading.Semaphore() self.reading_stop_event = threading.Event() self.command_stop_event = threading.Event() self.reading_thread = None self.command_thread = None - self.reading_buffer = Queue() self.ipcmanager = IPCManager(self, self.queue_to_gui, self.queue_from_gui) mcu_config = state.pop('mcu_config') @@ -204,12 +198,11 @@ def init(self): self.gui_process = mp.Process(target=MainGUI.start_gui, args=(self,)) self.gui_process.start() self.gui_process.join() - self.reading_stop_event.set() self.reading_thread.join() - self.ipcmanager.stop() + def start_controller(self, label): if label in self.control_instances: if self.running_instance != None: diff --git a/controller_framework/core/mcu_driver.py b/controller_framework/core/mcu_driver.py index 963ab7a..16eef1e 100644 --- a/controller_framework/core/mcu_driver.py +++ b/controller_framework/core/mcu_driver.py @@ -139,6 +139,7 @@ def _step(self, V, T_current): dT = (P - (T_current - self.Tamb)/self.Rth) * (self.dt / self.Cth) return T_current + dT + class TCLABDriver(MCUDriver): def __init__(self, mcu_type, timeout=0.1, **kwargs): super().__init__(mcu_type, **kwargs) @@ -166,6 +167,7 @@ def convert_raw(raw_adc, aref=3.3): def send(self, out1=0.0, out2=0.0): self.ser.write(f"SET_PWM:{out1},{out2}\n".encode()) + class VirtualBallNPlate(MCUDriver): def __init__(self, mcu_type, **kwargs): super().__init__(mcu_type, **kwargs) @@ -210,6 +212,5 @@ def read(self): return (self.x, self.y), (0.0, 0.0) - def send(self, x_cmd, y_cmd): - pkt = struct.pack('!ff', x_cmd, y_cmd) - self.sock.sendto(pkt, self.udp_addr) + def send(self, *outs): + pass \ No newline at end of file diff --git a/controller_framework/gui/plotter_gui.py b/controller_framework/gui/plotter_gui.py index 6b3bda4..4fdbb6c 100644 --- a/controller_framework/gui/plotter_gui.py +++ b/controller_framework/gui/plotter_gui.py @@ -59,8 +59,6 @@ def __init__(self, *, parent, app_mirror, x_label: str, y_label: str): assert isinstance(app_mirror, AppManager) self.app_mirror = app_mirror - self.fullscreen = False - self.init_timestamp = None self.plot_seconds = [] self.actuator_data = [[] for _ in range(self.app_mirror.num_actuators)] From e7afce8e63c52d6a11cfb4b57264ff5405d58768 Mon Sep 17 00:00:00 2001 From: Higor Lima Date: Thu, 29 May 2025 18:13:18 -0300 Subject: [PATCH 06/59] feat: tira fullscreen e coloca maximized --- controller_framework/gui/main_gui.py | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/controller_framework/gui/main_gui.py b/controller_framework/gui/main_gui.py index 639718c..c6721a7 100644 --- a/controller_framework/gui/main_gui.py +++ b/controller_framework/gui/main_gui.py @@ -40,7 +40,7 @@ def __init__(self, app_mirror): self.installEventFilter(self) self.esc_shortcut = QtGui.QShortcut(QtGui.QKeySequence(QtCore.Qt.Key.Key_Escape), self) - self.esc_shortcut.activated.connect(self.on_escape_pressed) + self.esc_shortcut.activated.connect(self.close_gui) self.plotter_gui.command_triggered.connect(self.send_command) @@ -57,10 +57,10 @@ def eventFilter(self, obj, event): def start_gui(app_mirror): app = QApplication(sys.argv) window = MainGUI(app_mirror) - window.showFullScreen() + window.showMaximized() sys.exit(app.exec()) - def on_escape_pressed(self): + def close_gui(self): res = self.plotter_gui.close() if res: sys.exit(0) @@ -99,6 +99,12 @@ def toggle_hide_mode(self): def on_tab_changed(self, index): self.plotter_gui.toggle_select(index == 0) + def closeEvent(self, event): + self.log.info("Fechando janela principal") + self.close_gui() + QApplication.quit() + event.accept() + @QtCore.Slot(str, object) def send_command(self, command, value): data = { From daf007ce43c9039d168ae6a4098bf52ee411cea6 Mon Sep 17 00:00:00 2001 From: Higor Lima Date: Thu, 29 May 2025 18:14:19 -0300 Subject: [PATCH 07/59] =?UTF-8?q?fix:=20remove=20bug=20de=20n=C3=A3o=20fec?= =?UTF-8?q?har=20no=20terminal=20quando=20a=20aplica=C3=A7=C3=A3o=20encerr?= =?UTF-8?q?a?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- controller_framework/core/app.py | 8 +++++--- controller_framework/core/ipcmanager.py | 7 +++++++ 2 files changed, 12 insertions(+), 3 deletions(-) diff --git a/controller_framework/core/app.py b/controller_framework/core/app.py index 4479f66..0e046b4 100644 --- a/controller_framework/core/app.py +++ b/controller_framework/core/app.py @@ -1,5 +1,3 @@ -from queue import Queue -import random import threading import time from typing import Optional @@ -159,6 +157,8 @@ def __read_values(self): next_read_time = time.perf_counter() next_read_time += target_dt_s + + self.log.info('stopped', extra={'method':'read'}) def __feedback(self): self.__mcu.send(*self.running_instance.actuator_values) @@ -197,11 +197,13 @@ def init(self): self.gui_process = mp.Process(target=MainGUI.start_gui, args=(self,)) self.gui_process.start() + self.gui_process.join() + self.reading_stop_event.set() self.reading_thread.join() - self.ipcmanager.stop() + self.ipcmanager.stop() def start_controller(self, label): if label in self.control_instances: diff --git a/controller_framework/core/ipcmanager.py b/controller_framework/core/ipcmanager.py index 223d3f6..67eccfc 100644 --- a/controller_framework/core/ipcmanager.py +++ b/controller_framework/core/ipcmanager.py @@ -55,6 +55,13 @@ def stop(self): self.thread_send.join() self.thread_recv.join() + self.tx_queue.close() + self.rx_queue.close() + + self.tx_queue.cancel_join_thread() + self.rx_queue.cancel_join_thread() + self.log.info('stopped') + def __send(self, command, payload): data = {"type": command, "payload": payload} From 283dd8519cdf7c0993eaf36e6887331386fbd030 Mon Sep 17 00:00:00 2001 From: Higor Lima Date: Fri, 30 May 2025 09:28:49 -0300 Subject: [PATCH 08/59] refactor: move a parte de limpar os caches para um novo metodo --- controller_framework/core/ipcmanager.py | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) diff --git a/controller_framework/core/ipcmanager.py b/controller_framework/core/ipcmanager.py index 67eccfc..40d4067 100644 --- a/controller_framework/core/ipcmanager.py +++ b/controller_framework/core/ipcmanager.py @@ -38,12 +38,6 @@ def __init__(self, app_manager, queue_to_gui, queue_from_gui): "update_setpoint": self.handler_update_setpoint, } - def __run(self): - self.log.info('started', extra={'method':'run'}) - while not self.stop_event.is_set(): - self.__send_full_state() - time.sleep(0.03) - def init(self): self.thread_send = threading.Thread(target=self.__run, daemon=True) self.thread_recv = threading.Thread(target=self.__parse_command, daemon=True) @@ -62,6 +56,12 @@ def stop(self): self.rx_queue.cancel_join_thread() self.log.info('stopped') + def __run(self): + self.log.info('started', extra={'method':'run'}) + while not self.stop_event.is_set(): + self.__send_full_state() + time.sleep(0.03) + def __send(self, command, payload): data = {"type": command, "payload": payload} @@ -79,7 +79,9 @@ def __send_full_state(self): } self.__send(command, payload) + self._clear_caches() + def _clear_caches(self): for values in self.core.sensor_cache: values.clear() From 69a2d3c17d7e4f4a8b3a43bec34a54519cc4293b Mon Sep 17 00:00:00 2001 From: Higor Lima Date: Wed, 11 Jun 2025 10:11:02 -0300 Subject: [PATCH 09/59] fix: conserta tamanho das fontes --- controller_framework/gui/analyzer_gui.py | 10 +++++----- controller_framework/gui/utils_gui.py | 18 +++++++++++------- 2 files changed, 16 insertions(+), 12 deletions(-) diff --git a/controller_framework/gui/analyzer_gui.py b/controller_framework/gui/analyzer_gui.py index 36792b9..cac820e 100644 --- a/controller_framework/gui/analyzer_gui.py +++ b/controller_framework/gui/analyzer_gui.py @@ -115,7 +115,7 @@ def update_analyzer(self, x_data, y_data, mode): def closed_loop_analyzer(self): self.plot_widget.marker_closed.set_data(self.x_data, self.y_data) self.plot_widget.add_curve(self.x_data, self.y_data, 'blue', 1.5, 0) - self.plot_widget.add_legend(text="Temperatura", color= 'blue') + self.plot_widget.add_legend(text="Temperatura", color= 'blue', size=16) temp_inicial = self.y_data[0] h_line_init = pg.InfiniteLine(pos=temp_inicial, angle=0, pen=pg.mkPen("green", width=2, style=pg.QtCore.Qt.PenStyle.DashLine)) @@ -127,8 +127,8 @@ def closed_loop_analyzer(self): self.plot_widget.add_item(h_line_max) self.reference_lines.append(h_line_max) - self.plot_widget.add_legend(text=f"Temperatura inicial ({temp_inicial:.2f}ºC)", color= "green", style=pg.QtCore.Qt.PenStyle.DashLine) - self.plot_widget.add_legend(text=f"Máximo Sobressinal ({max_over_signal:.2f}ºC)", color= "red", style=pg.QtCore.Qt.PenStyle.DashLine) + self.plot_widget.add_legend(size=16,text=f"Temperatura inicial ({temp_inicial:.2f}ºC)", color= "green", style=pg.QtCore.Qt.PenStyle.DashLine) + self.plot_widget.add_legend(size=16,text=f"Máximo Sobressinal ({max_over_signal:.2f}ºC)", color= "red", style=pg.QtCore.Qt.PenStyle.DashLine) targets = np.array(self.parent_gui.df["target"]) label_targets = "" @@ -139,8 +139,8 @@ def closed_loop_analyzer(self): label_targets += f"{t}ºC, " label_targets = label_targets[:-2] - self.plot_widget.add_legend(text=f"Temperaturas desejadas\n[{label_targets}]", color="orange") - self.plot_widget.add_curve(self.x_data, targets, 'orange', 1) + self.plot_widget.add_legend(size=16,text=f"Temperaturas desejadas\n[{label_targets}]", color="orange") + self.plot_widget.add_curve(self.x_data, targets, 'orange', plot_n=1, width=2) def open_loop_analyzer(self): x = self.x_data diff --git a/controller_framework/gui/utils_gui.py b/controller_framework/gui/utils_gui.py index d455cca..8484290 100644 --- a/controller_framework/gui/utils_gui.py +++ b/controller_framework/gui/utils_gui.py @@ -113,11 +113,12 @@ def add_legend(self, text: str = '', size: int = 11, if not text: return plot, _, legends = self._get_plot_and_containers(plot_n) - legend = plot.addLegend(labelTextSize=str(size)) + + legend = plot.addLegend(labelTextSize=f'{str(size)}pt') if style != 'dot': item = plot.plot([], [], pen=pg.mkPen(color, width=3, style=style)) else: - item = pg.ScatterPlotItem(size=3, brush=pg.mkBrush(color), pen=None, symbol='o') + item = pg.ScatterPlotItem(size=4, brush=pg.mkBrush(color), pen=None, symbol='o') legend.addItem(item, text) legends.append((legend, item)) @@ -136,15 +137,18 @@ def add_item(self, item, plot_n: int = 0): def closed_loop_plot(self): self.mode = Mode.CLOSED self.clear() - self.plot = self.plot_widget.addPlot(title='Análise de Malha Fechada') + self.plot = self.plot_widget.addPlot() + self.plot.setTitle('Análise de Malha Fechada', size='20pt') self._setup_plot(self.plot) self.marker_closed = MarkerPlot(self.plot) def open_loop_plot(self): self.mode = Mode.OPEN self.clear() - self.plot_temp = self.plot_widget.addPlot(row=0, col=0, title='Análise de Malha Aberta') - self.plot_derivative = self.plot_widget.addPlot(row=1, col=0, title='Derivada dT/t') + self.plot_temp = self.plot_widget.addPlot(row=0, col=0) + self.plot_temp.setTitle('Análise de Malha Aberta', size='14pt') + self.plot_derivative = self.plot_widget.addPlot(row=1, col=0) + self.plot_derivative.setTitle(title='Derivada dT/t', size='14pt') self._setup_plot(self.plot_temp) self._setup_plot(self.plot_derivative) self.marker_temp = MarkerPlot(self.plot_temp) @@ -175,10 +179,10 @@ def _setup_plot(self, plot): text_pen = pg.mkPen('k') plot.showGrid(x=True, y=True, alpha=0.2) - + for axis in ('left', 'bottom'): ax = plot.getAxis(axis) ax.setPen(text_pen) ax.setTextPen(text_pen) - plot.setLabel('bottom', 'Tempo', units='s', **{'color': text_pen.color().name()}) \ No newline at end of file + plot.setLabel('bottom', 'Tempo', units='s', **{'color': text_pen.color().name(), 'font-size': '12pt'}) \ No newline at end of file From 2c33135c02403714d3b27d49fbb44731eb61081d Mon Sep 17 00:00:00 2001 From: Paulo Santos Date: Wed, 11 Jun 2025 10:50:16 -0300 Subject: [PATCH 10/59] =?UTF-8?q?chore:=20atualiza=20infraestrutura=20de?= =?UTF-8?q?=20an=C3=A1lise.?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Paulo Santos --- controller_framework/core/app.py | 11 +- controller_framework/core/mcu_driver.py | 7 +- controller_framework/gui/analyzer_gui.py | 99 ++++++++++-------- controller_framework/gui/plotter_gui.py | 127 ++++++++++++----------- controller_framework/gui/utils_gui.py | 4 +- examples/thermal_plant.py | 60 +++++++++++ 6 files changed, 195 insertions(+), 113 deletions(-) create mode 100644 examples/thermal_plant.py diff --git a/controller_framework/core/app.py b/controller_framework/core/app.py index 0e046b4..8eeec34 100644 --- a/controller_framework/core/app.py +++ b/controller_framework/core/app.py @@ -1,3 +1,4 @@ +import logging import threading import time from typing import Optional @@ -55,7 +56,7 @@ def __init__(self, mcu_type: MCUType, sample_time = 1, flush_time= 100, **kwargs self.color_index = 0 - self.log_manager = LogManager('APP') + self.log_manager = LogManager('APP', logging.CRITICAL) self.log = self.log_manager.get_logger(component='APP') def __getstate__(self): @@ -113,9 +114,13 @@ def __read_values(self): read_start = time.perf_counter() try: self.last_timestamp = now - sensor_values, actuator_values = self.__mcu.read() + values = list(self.__mcu.read()) + self.log.info(values) self.data_updated = True + sensor_values = values[0:self.num_sensors] + actuator_values = values[self.num_sensors:] + self.update_actuator_vars(actuator_values) self.update_sensors_vars(sensor_values) @@ -305,4 +310,4 @@ def update_actuator_vars(self, new_values): self.__update_var(self.actuator_vars, new_values) def update_sensors_vars(self, new_values): - self.__update_var(self.sensor_vars, new_values) \ No newline at end of file + self.__update_var(self.sensor_vars, new_values) diff --git a/controller_framework/core/mcu_driver.py b/controller_framework/core/mcu_driver.py index 16eef1e..ecda270 100644 --- a/controller_framework/core/mcu_driver.py +++ b/controller_framework/core/mcu_driver.py @@ -83,10 +83,7 @@ def __read_float(_from: int) -> float: for i, (kw, _) in enumerate(self.kwargs.items()): self.kwargs[kw] = control_floats[i] - sensor1, sensor2, out1, out2 = self.kwargs.values() - - return (sensor1, sensor2),\ - (out1, out2) + return self.kwargs.values() def connect(self): self.ser = ConnectHelper.session_with_chosen_probe(target_override="STM32F103RC", connect_mode="attach") @@ -213,4 +210,4 @@ def read(self): return (self.x, self.y), (0.0, 0.0) def send(self, *outs): - pass \ No newline at end of file + pass diff --git a/controller_framework/gui/analyzer_gui.py b/controller_framework/gui/analyzer_gui.py index cac820e..da2f84d 100644 --- a/controller_framework/gui/analyzer_gui.py +++ b/controller_framework/gui/analyzer_gui.py @@ -11,6 +11,7 @@ from .utils_gui import PlotWidget + class SidebarAnalyzer(QWidget): def __init__(self, parent): super().__init__(parent) @@ -23,7 +24,7 @@ def __init__(self, parent): self.file_list = QListWidget() self.file_list.itemClicked.connect(self.file_selected) self.main_layout.addWidget(self.file_list) - + self.variable_list = QListWidget() self.main_layout.addWidget(self.variable_list) @@ -79,11 +80,11 @@ def file_selected(self, item): def start_analysis(self): mode = "closed" if self.radio_closed.isChecked() else "open" - selected_var = self.variable_list.selectedItems()[0]\ - .text()\ - .lower()\ - .replace(' ', '_') - + selected_var = self.variable_list.selectedItems()[0] \ + .text() \ + .lower() \ + .replace(' ', '_') + self.parent_gui.start_analysis(self.selected_file, selected_var, mode) @@ -95,11 +96,11 @@ def __init__(self, parent): self.setLayout(self.main_layout) self.plot_widget: PlotWidget = PlotWidget(self.main_layout) - + self.df = None self.x_data = [] self.y_data = [] - self.reference_lines = [] + self.reference_lines = [] def update_analyzer(self, x_data, y_data, mode): self.x_data = x_data @@ -111,25 +112,28 @@ def update_analyzer(self, x_data, y_data, mode): elif mode == "open": self.plot_widget.open_loop_plot() self.open_loop_analyzer() - + def closed_loop_analyzer(self): self.plot_widget.marker_closed.set_data(self.x_data, self.y_data) self.plot_widget.add_curve(self.x_data, self.y_data, 'blue', 1.5, 0) - self.plot_widget.add_legend(text="Temperatura", color= 'blue', size=16) + self.plot_widget.add_legend(text="Temperatura", color='blue', size=16) temp_inicial = self.y_data[0] - h_line_init = pg.InfiniteLine(pos=temp_inicial, angle=0, pen=pg.mkPen("green", width=2, style=pg.QtCore.Qt.PenStyle.DashLine)) + h_line_init = pg.InfiniteLine(pos=temp_inicial, angle=0, + pen=pg.mkPen("green", width=2, style=pg.QtCore.Qt.PenStyle.DashLine)) self.plot_widget.add_item(h_line_init) self.reference_lines.append(h_line_init) max_over_signal = np.max(self.y_data) - h_line_max = pg.InfiniteLine(pos=max_over_signal, angle=0, pen=pg.mkPen("red", width=2, style=pg.QtCore.Qt.PenStyle.DashLine)) + h_line_max = pg.InfiniteLine(pos=max_over_signal, angle=0, + pen=pg.mkPen("red", width=2, style=pg.QtCore.Qt.PenStyle.DashLine)) self.plot_widget.add_item(h_line_max) self.reference_lines.append(h_line_max) - - self.plot_widget.add_legend(size=16,text=f"Temperatura inicial ({temp_inicial:.2f}ºC)", color= "green", style=pg.QtCore.Qt.PenStyle.DashLine) - self.plot_widget.add_legend(size=16,text=f"Máximo Sobressinal ({max_over_signal:.2f}ºC)", color= "red", style=pg.QtCore.Qt.PenStyle.DashLine) - + + self.plot_widget.add_legend(size=16,text=f"Temperatura inicial ({temp_inicial:.2f}ºC)", color="green", + style=pg.QtCore.Qt.PenStyle.DashLine) + self.plot_widget.add_legend(size=16,text=f"Máximo Sobressinal ({max_over_signal:.2f}ºC)", color="red", + style=pg.QtCore.Qt.PenStyle.DashLine) targets = np.array(self.parent_gui.df["target"]) label_targets = "" last_target = targets[0] - 1 @@ -138,47 +142,51 @@ def closed_loop_analyzer(self): last_target = t label_targets += f"{t}ºC, " label_targets = label_targets[:-2] - + self.plot_widget.add_legend(size=16,text=f"Temperaturas desejadas\n[{label_targets}]", color="orange") self.plot_widget.add_curve(self.x_data, targets, 'orange', plot_n=1, width=2) - def open_loop_analyzer(self): - x = self.x_data - temps = self.y_data - - f_temps = np.array(sig.savgol_filter(temps, int(len(x) * 0.02), 6)) - f_temps_dt = np.gradient(f_temps, x, edge_order=1) + f_temps = np.array(sig.savgol_filter(self.y_data, 100, 3)) + f_temps = np.array(sig.savgol_filter(f_temps, 2000, 3)) + f_temps_dt = np.gradient(f_temps, self.x_data, edge_order=1) + f_temps_dt = np.array(sig.savgol_filter(f_temps_dt, 2000, 3)) - 0.005 max_dv_i = np.argmax(f_temps_dt) self.y_data = f_temps - self.x_data = x + f_temps = np.array(sig.savgol_filter(f_temps, 20, 3)) self.plot_widget.marker_temp.set_data(self.x_data, self.y_data) self.plot_widget.marker_derivative.set_data(self.x_data, f_temps_dt) - self.plot_widget.add_curve(x, f_temps, 'blue', 1.5, 0) - self.plot_widget.add_curve(x, f_temps_dt, 'blue', 1.5, 1) + self.plot_widget.add_curve(self.x_data, f_temps, 'blue', 1.5, 0) + self.plot_widget.add_curve(self.x_data, f_temps_dt, 'blue', 1.5, 1) - h_line_max = pg.InfiniteLine(pos=x[max_dv_i], angle=90, pen=pg.mkPen("red", width=2, style=pg.QtCore.Qt.PenStyle.DashLine)) + h_line_max = pg.InfiniteLine(pos=self.x_data[max_dv_i], angle=90, + pen=pg.mkPen("red", width=2, style=pg.QtCore.Qt.PenStyle.DashLine)) self.plot_widget.add_item(h_line_max, 1) - - L = x[max_dv_i] - ((f_temps[max_dv_i] - f_temps[0]) / f_temps_dt[max_dv_i]) + + L = self.x_data[max_dv_i] - ((f_temps[max_dv_i] - f_temps[0]) / f_temps_dt[max_dv_i]) T = ((f_temps[-1] - f_temps[0]) / f_temps_dt[max_dv_i]) neighborhood = np.linspace(L, T + L) max_dv_scarter = pg.ScatterPlotItem(size=5, brush=pg.mkBrush("r"), pen=pg.mkPen(None), symbol='o') - max_dv_scarter.setData(pos=[(x[max_dv_i], f_temps[max_dv_i])]) + max_dv_scarter.setData(pos=[(self.x_data[max_dv_i], f_temps[max_dv_i])]) self.plot_widget.add_curve(neighborhood, - [(((x0 - x[max_dv_i]) * f_temps_dt[max_dv_i]) + f_temps[max_dv_i]) for x0 in neighborhood], + [(((x0 - self.x_data[max_dv_i]) * f_temps_dt[max_dv_i]) + f_temps[max_dv_i]) for x0 + in neighborhood], 'red') - - v_initial_line = pg.InfiniteLine(pos=x[0], angle=90, pen=pg.mkPen("black", width=2, style=pg.QtCore.Qt.PenStyle.DashLine)) - h_initial_line = pg.InfiniteLine(pos=f_temps[0], angle=0, pen=pg.mkPen("black", width=2, style=pg.QtCore.Qt.PenStyle.DashLine)) - v_final_line = pg.InfiniteLine(pos=x[-1], angle=90, pen=pg.mkPen("black", width=2, style=pg.QtCore.Qt.PenStyle.DashLine)) - h_final_line = pg.InfiniteLine(pos=f_temps[-1], angle=0, pen=pg.mkPen("black", width=2, style=pg.QtCore.Qt.PenStyle.DashLine)) + v_initial_line = pg.InfiniteLine(pos=self.x_data[0], angle=90, + pen=pg.mkPen("black", width=2, style=pg.QtCore.Qt.PenStyle.DashLine)) + h_initial_line = pg.InfiniteLine(pos=f_temps[0], angle=0, + pen=pg.mkPen("black", width=2, style=pg.QtCore.Qt.PenStyle.DashLine)) + + v_final_line = pg.InfiniteLine(pos=self.x_data[-1], angle=90, + pen=pg.mkPen("black", width=2, style=pg.QtCore.Qt.PenStyle.DashLine)) + h_final_line = pg.InfiniteLine(pos=f_temps[-1], angle=0, + pen=pg.mkPen("black", width=2, style=pg.QtCore.Qt.PenStyle.DashLine)) self.plot_widget.add_item(max_dv_scarter, 0) self.plot_widget.add_item(h_initial_line, 0) @@ -186,12 +194,16 @@ def open_loop_analyzer(self): self.plot_widget.add_item(v_final_line, 0) self.plot_widget.add_item(h_final_line, 0) - self.plot_widget.add_legend(text='Temperatura (ºC)', color='blue', plot_n=0) - self.plot_widget.add_legend(text='Ponto de maior derivada', color='red', style='dot', plot_n=0) - self.plot_widget.add_legend(text=f'Temperatura inicial ({f_temps[0]:.3f}ºC)', color='black', style=pg.QtCore.Qt.PenStyle.DashLine, plot_n=0) - self.plot_widget.add_legend(text=f'Temperatura final ({f_temps[-1]:.3f}ºC)', color='black', style=pg.QtCore.Qt.PenStyle.DashLine, plot_n=0) + self.plot_widget.add_legend(text='Temperatura (ºC)', color='blue', plot_n=0, size=10) + self.plot_widget.add_legend(text='Ponto de maior derivada', color='red', style='dot', plot_n=0, size=10) + self.plot_widget.add_legend(text=f'Temperatura inicial ({f_temps[0]:.3f}ºC)', color='black', + style=pg.QtCore.Qt.PenStyle.DashLine, plot_n=0, size=10) + self.plot_widget.add_legend(text=f'Temperatura final ({f_temps[-1]:.3f}ºC)', color='black', + style=pg.QtCore.Qt.PenStyle.DashLine, plot_n=0, size="15pt") + + self.plot_widget.plot_temp.setTitle( + f"L = {L:.2f}, T (+L) = {T:.2f} (+{L:.2f}); Temperatura registrada", size="20pt", color="#000000") - self.plot_widget.plot_temp.setTitle(f"Temperatura registrada - L = {L:.2f}, T (+L) = {T:.2f} (+{L:.2f})") class AnalyzerGUI(QWidget): def __init__(self, app_mirror): @@ -216,10 +228,7 @@ def start_analysis(self, file_path, sensor_variable, mode): self.mode = mode self.df = pd.read_csv(file_path) x_data = [float(row["seconds"]) - self.df.iloc[0]["seconds"] for _, row in self.df.iterrows()] - #temps = (self.df["temp_a"] + self.df["temp_b"]) / 2 + # temps = (self.df["temp_a"] + self.df["temp_b"]) / 2 temps = self.df[sensor_variable] - if mode == "open": - temps = np.array(sig.savgol_filter(temps, int(len(x_data) * 0.02), 6)) - self.plotter_gui.update_analyzer(x_data=x_data, y_data=temps, mode=mode) diff --git a/controller_framework/gui/plotter_gui.py b/controller_framework/gui/plotter_gui.py index 4fdbb6c..e5bdc2c 100644 --- a/controller_framework/gui/plotter_gui.py +++ b/controller_framework/gui/plotter_gui.py @@ -9,8 +9,8 @@ import pandas as pd from PySide6 import QtCore -from PySide6.QtWidgets import ( QGroupBox, QFormLayout, QVBoxLayout, QWidget, QLabel, QScrollArea, - QPushButton, QHBoxLayout, QLineEdit, QListWidget, QCheckBox ) +from PySide6.QtWidgets import (QGroupBox, QFormLayout, QVBoxLayout, QWidget, QLabel, QScrollArea, + QPushButton, QHBoxLayout, QLineEdit, QListWidget, QCheckBox) import re @@ -18,6 +18,7 @@ from .utils_gui import PlotWidget, Mode + class DataWorker(QtCore.QObject): dataReady = QtCore.Signal() @@ -47,6 +48,7 @@ def stop(self): if self._timer is not None and self._timer.isActive(): self._timer.stop() + class ControlGUI(QWidget): stopWorker = QtCore.Signal() @@ -64,7 +66,7 @@ def __init__(self, *, parent, app_mirror, x_label: str, y_label: str): self.actuator_data = [[] for _ in range(self.app_mirror.num_actuators)] self.sensor_data = [[] for _ in range(self.app_mirror.num_sensors)] - self.sensor_labels = [chr(ord("A")+i) for i in range(self.app_mirror.num_sensors)] + self.sensor_labels = [chr(ord("A") + i) for i in range(self.app_mirror.num_sensors)] self.plot_views = ["ALL"] + self.sensor_labels self.current_mode = -1 @@ -75,7 +77,7 @@ def __init__(self, *, parent, app_mirror, x_label: str, y_label: str): self.container = QWidget() self.container_layout = QVBoxLayout() self.container.setLayout(self.container_layout) - + self.plot_widget = PlotWidget(self.container_layout, Mode.PLOTTER) self.toggle_plot_view() @@ -88,20 +90,20 @@ def __init__(self, *, parent, app_mirror, x_label: str, y_label: str): self.main_layout.addWidget(self.container) self.container.keyPressEvent = partial(self.key_press_handle, self.container.keyPressEvent) - + log_path = "./temp_logs/" if not os.path.exists(log_path): os.makedirs(log_path) - self.parent_gui.log.debug("Salvando dados em %s", log_path, extra={'method':'init'}) - + self.parent_gui.log.debug("Salvando dados em %s", log_path, extra={'method': 'init'}) + datetime = pd.Timestamp.now() sensor_columns = [f"sensor_{i}" for i in range(self.app_mirror.num_sensors)] actuator_columns = [f"actuator_{i}" for i in range(self.app_mirror.num_actuators)] - columns = ["timestamp", "seconds"] + sensor_columns + actuator_columns + ["target"] + columns = ["seconds"] + sensor_columns + actuator_columns + ["target"] self.df = pd.DataFrame(columns=columns) - + self.log_file_path = log_path + f"log_{datetime.year}-{datetime.month}-{datetime.day}-{datetime.hour}-{datetime.minute}-{datetime.second}.csv" self.df.to_csv(self.log_file_path, index=False) @@ -143,7 +145,7 @@ def __on_return_pressed(self): # return self.app_mirror.queue_to_gui.get(timeout=timeout) # except queue.Empty: # return None - + def __process_message(self, data): command = data.get('type') payload = data.get('payload') @@ -176,24 +178,24 @@ def __append_plot_data(self): for lista, cache_values in zip(self.actuator_data, self.actuators_cache): lista.extend(cache_values) - def __write_csv(self, sensor_cache, actuator_cache): + def __write_csv(self): target_str = '"' + " ".join(map(str, self.app_mirror.setpoints)) + '"' - rows = [{ - "timestamp": self.last_timestamp, - "seconds": f"{self.plot_seconds[-1]:.4f}", + for j in range(len(self.cache_timestamp)): + rows = [{ + "seconds": f"{self.cache_timestamp[j] - self.init_timestamp:.4f}", - **{f"sensor_{i}": f"{sensor_values[i]:.4f}" - for i in range(self.app_mirror.num_sensors)}, + **{f"sensor_{i}": f"{self.sensors_cache[i][j]:.4f}" + for i in range(self.app_mirror.num_sensors)}, - **{f"actuator_{i}": f"{actuator_values[i]:.4f}" - for i in range(self.app_mirror.num_actuators)}, + **{f"actuator_{i}": f"{self.actuators_cache[i][j]:.4f}" + for i in range(self.app_mirror.num_actuators)}, - "target": target_str - } for sensor_values, actuator_values in zip(sensor_cache, actuator_cache)] + "target": target_str + }] with open(self.log_file_path, "a") as f: for row in rows: - data = ",".join(map(str, row.values())) + "\n" + data = ",".join(map(str, row.values())) + "\n" f.write(data) def update_data(self): @@ -205,10 +207,12 @@ def update_data(self): if not self.__process_message(data): continue - + with QtCore.QMutexLocker(self.mutex): self.__append_plot_data() + self.__write_csv() + except queue.Empty: break @@ -225,13 +229,15 @@ def update_plots(self): match view: case "ALL": - for (i, sensor_data), (var_name, props) in zip(enumerate(sensor_data_np), self.app_mirror.sensor_vars.items()): + for (i, sensor_data), (var_name, props) in zip(enumerate(sensor_data_np), + self.app_mirror.sensor_vars.items()): self.plot_widget.update_curve(plot_seconds_np, sensor_data, 0, i) legenda = f"{var_name}: {sensor_data[-1]:.4f} {props['unit']}" self.plot_widget.update_legend(text=legenda, plot_n=0, idx=i) - for (i, actuator_data), (var_name, props) in zip(enumerate(actuator_data_np), self.app_mirror.actuator_vars.items()): + for (i, actuator_data), (var_name, props) in zip(enumerate(actuator_data_np), + self.app_mirror.actuator_vars.items()): self.plot_widget.update_curve(plot_seconds_np, actuator_data, 1, i) legenda = f"{var_name}: {actuator_data[-1]:.4f} {props['unit']}" @@ -248,7 +254,7 @@ def update_plots(self): legenda = f"{var_name}: {sensor_data[-1]:.4f} {props['unit']}" self.plot_widget.update_legend(text=legenda, plot_n=0, idx=0) case _: - self.parent_gui.log.warning("Visualização '%s' não reconhecida.", view, extra={'method':'update plot'}) + self.parent_gui.log.warning("Visualização '%s' não reconhecida.", view, extra={'method': 'update plot'}) def toggle_plot_view(self): self.current_mode = (self.current_mode + 1) % len(self.plot_views) @@ -263,21 +269,21 @@ def toggle_plot_view(self): for i, (var_name, props) in enumerate(self.app_mirror.sensor_vars.items()): self.plot_widget.add_curve([0], [0], color=props['color'], plot_n=0) self.plot_widget.add_legend(text=var_name, color=props['color'], plot_n=0) - + for i, (var_name, props) in enumerate(self.app_mirror.actuator_vars.items()): self.plot_widget.add_curve([0], [0], color=props['color'], plot_n=1) self.plot_widget.add_legend(text=var_name, color=props['color'], plot_n=1) - + case _ if view in self.sensor_labels: idx = self.sensor_labels.index(view) var_name, props = list(self.app_mirror.sensor_vars.items())[idx] - self.plot_widget.plotter_single_plot(var_name) + self.plot_widget.plotter_single_plot(var_name) self.plot_widget.add_curve([0], [0], color=props['color']) self.plot_widget.add_legend(text=var_name, color=props['color'], plot_n=0) - + case _: - self.parent_gui.log.warning("Visualização '%s' não reconhecida.", view, extra={'method':'toggle plot'}) + self.parent_gui.log.warning("Visualização '%s' não reconhecida.", view, extra={'method': 'toggle plot'}) def reset_data(self): self.plot_seconds = [] @@ -307,10 +313,11 @@ def key_press_handle(self, super_press_handler: Callable, ev): elif ev.key() == QtCore.Qt.Key.Key_F: super_press_handler(ev) + class SidebarGUI(QWidget): def __init__(self, parent, app_mirror, control_gui): super().__init__(parent) - + from controller_framework.core import AppManager assert isinstance(app_mirror, AppManager) self.app_mirror = app_mirror @@ -330,27 +337,27 @@ def __init__(self, parent, app_mirror, control_gui): self.control_list = QListWidget() self.controls_layout.addWidget(self.control_list) - + self.btn_activate_control = QPushButton("Ativar Controle") self.btn_activate_control.clicked.connect(self.activate_control) - + self.btn_deactivate_control = QPushButton("Desativar Controle") self.btn_deactivate_control.clicked.connect(self.deactivate_control) self.btn_deactivate_control.setEnabled(False) self.main_layout.addWidget(self.controls_group) - + self.hbox = QHBoxLayout() self.hbox.addWidget(self.btn_activate_control) self.hbox.addWidget(self.btn_deactivate_control) - + self.main_layout.addLayout(self.hbox) self.settings_group = QGroupBox("Configurações do Controle") self.settings_group.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter) self.settings_layout = QFormLayout() self.settings_group.setLayout(self.settings_layout) - + self.scroll_area = QScrollArea() self.scroll_area.setWidgetResizable(True) self.scroll_area.setFixedHeight(300) @@ -362,16 +369,16 @@ def __init__(self, parent, app_mirror, control_gui): self.control_list.itemSelectionChanged.connect(self.update_config_fields) self.btn_update_settings.clicked.connect(self.update_control_settings) - + self.controls_group.setStyleSheet("QGroupBox { font-size: 16px; font-weight: bold; }") self.settings_group.setStyleSheet("QGroupBox { font-size: 16px; font-weight: bold; }") self.control_list.setStyleSheet("QListWidget { font-size: 14px; }") - + btn_label_style = "QPushButton { font-size: 14px; }" self.btn_activate_control.setStyleSheet(btn_label_style) self.btn_deactivate_control.setStyleSheet(btn_label_style) self.btn_update_settings.setStyleSheet(btn_label_style) - + self.scroll_area.setStyleSheet(""" QScrollBar:vertical { background: white; @@ -398,11 +405,11 @@ def update_control_list(self): def update_config_fields(self): selected_item = self.control_list.currentItem() - + if selected_item: control_name = selected_item.text() - self.current_control:Controller = self.app_mirror.control_instances[control_name] - + self.current_control: Controller = self.app_mirror.control_instances[control_name] + for i in reversed(range(self.settings_layout.count())): self.settings_layout.itemAt(i).widget().deleteLater() self.input_fields.clear() @@ -410,7 +417,7 @@ def update_config_fields(self): for var_name, var_data in self.current_control.configurable_vars.items(): value = var_data['value'] var_type = var_data['type'] - + label = QLabel(f"{var_name}") label.setStyleSheet("QLabel { font-size: 14px; }") @@ -450,18 +457,20 @@ def update_control_settings(self): } self.parent_gui.command_triggered.emit(command, payload) - + except ValueError: - self.parent_gui.log.error("Entrada inválida para '%s'", var_name, extra={'method':'update control'}) - - if(self.app_mirror.running_instance and self.app_mirror.running_instance.label == self.current_control.label): + self.parent_gui.log.error("Entrada inválida para '%s'", var_name, + extra={'method': 'update control'}) + + if ( + self.app_mirror.running_instance and self.app_mirror.running_instance.label == self.current_control.label): self.app_mirror.update_setpoint(self.current_control.setpoints) self.parent_gui.command_triggered.emit("update_setpoint", {"value": self.current_control.setpoints}) - + def activate_control(self): current_control = self.control_list.currentItem() - - if(current_control is not None): + + if (current_control is not None): current_control_label = current_control.text() self.app_mirror.update_setpoint(self.current_control.setpoints) @@ -470,21 +479,22 @@ def activate_control(self): self.parent_gui.command_triggered.emit("update_setpoint", {"value": self.current_control.setpoints}) # self.control_gui.update_setpoint_label() - + self.btn_deactivate_control.setEnabled(True) - + def deactivate_control(self): self.app_mirror.stop_controller() self.parent_gui.command_triggered.emit("stop_controller", {}) - + self.btn_deactivate_control.setEnabled(False) + class PlotterGUI(QWidget): command_triggered = QtCore.Signal(str, object) def __init__(self, app_mirror): super().__init__() - + from controller_framework.core import AppManager assert isinstance(app_mirror, AppManager) self.app_mirror = app_mirror @@ -495,14 +505,15 @@ def __init__(self, app_mirror): self.main_layout = QHBoxLayout() self.setLayout(self.main_layout) - self.plotter_gui = ControlGUI(parent=self, app_mirror=self.app_mirror, x_label="Tempo decorrido (s)", y_label="Temperatura (°C)") + self.plotter_gui = ControlGUI(parent=self, app_mirror=self.app_mirror, x_label="Tempo decorrido (s)", + y_label="Temperatura (°C)") self.sidebar = SidebarGUI(parent=self, app_mirror=self.app_mirror, control_gui=self.plotter_gui) self.main_layout.addWidget(self.sidebar, 1) self.main_layout.addWidget(self.plotter_gui, 4) - + self.hide_mode = False - + def toggle_hide_mode(self): if self.hide_mode: self.sidebar.show() @@ -521,4 +532,4 @@ def toggle_select(self, param): def close(self): self.plotter_gui.close() - return True \ No newline at end of file + return True diff --git a/controller_framework/gui/utils_gui.py b/controller_framework/gui/utils_gui.py index 8484290..5f4d737 100644 --- a/controller_framework/gui/utils_gui.py +++ b/controller_framework/gui/utils_gui.py @@ -179,10 +179,10 @@ def _setup_plot(self, plot): text_pen = pg.mkPen('k') plot.showGrid(x=True, y=True, alpha=0.2) - + for axis in ('left', 'bottom'): ax = plot.getAxis(axis) ax.setPen(text_pen) ax.setTextPen(text_pen) - plot.setLabel('bottom', 'Tempo', units='s', **{'color': text_pen.color().name(), 'font-size': '12pt'}) \ No newline at end of file + plot.setLabel('bottom', 'Tempo', units='s', **{'color': text_pen.color().name(), 'font-size': '12pt'}) diff --git a/examples/thermal_plant.py b/examples/thermal_plant.py new file mode 100644 index 0000000..bc48e9f --- /dev/null +++ b/examples/thermal_plant.py @@ -0,0 +1,60 @@ +import time +from controller_framework import AppManager +from controller_framework import Controller +from controller_framework import MCUType + + +class PIDControl(Controller): + def __init__(self, label, init_setpoint, l, t): + super().__init__(label, init_setpoint) + ti = (l / 0.3) + td = 0 + + self.open_loop = False + self.open_duty = 0 + + self.Kp = (0.9 * (t / l)) + self.Ki = (self.Kp / ti) + self.Kd = (self.Kp * td) + + self.error = [0 for _ in range(3)] + self.accumulated_I = [0 for _ in range(3)] + + def step(self, i, setpoint, measure): + dt_s = self.dt / 10 ** 6 + + err = setpoint - measure + P = self.Kp * err + i_inc = self.Ki * err * dt_s + D = self.Kd * (err - self.error[i]) / (dt_s + 0.000001) + + self.error[i] = err + + windup_check = P + self.accumulated_I[i] + i_inc + D + self.accumulated_I[i] += i_inc + + return max(0.0, min(100.0, windup_check)) + + def control(self): + result = [] + + if self.open_loop: + return [self.open_duty] + + for i, sensor_value in enumerate(self.sensor_values): + out = self.step(i, self.setpoints[i], sensor_value) + result.append(out) + + return result + + +if __name__ == '__main__': + plant = AppManager(mcu_type=MCUType.STM32, sample_time=20, ntc_a=0, ntc_b=0, duty=0) + plant.set_sensor_vars(("NTC 1", "ºC", float), ("NTC 2", "ºC", float)) + plant.set_actuator_vars(("Peltier", "%", float)) + + pid_control1 = PIDControl("PID Control 1", init_setpoint=25, l=9.02, t=344.21) + pid_control1.set_config_variable(("open_loop", bool), ("open_duty", float),("Kp", float), ("Ki", float), ("Kd", float)) + + plant.append_instance(pid_control1) + plant.init() From fc3d9a2190a96a63d6a2089649aef19a3650c659 Mon Sep 17 00:00:00 2001 From: Paulo Santos Date: Wed, 11 Jun 2025 12:10:43 -0300 Subject: [PATCH 11/59] =?UTF-8?q?feat:=20adiciona=20bot=C3=A3o=20de=20cone?= =?UTF-8?q?x=C3=A3o=20com=20a=20planta=20ao=20plotter.?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Paulo Santos --- controller_framework/core/app.py | 79 +- controller_framework/core/ipcmanager.py | 1 + controller_framework/gui/analyzer_gui.py | 30 +- controller_framework/gui/plotter_gui.py | 22 +- controller_framework/gui/utils_gui.py | 11 +- temp_logs/open_loop_30p.csv | 71058 +++++++++++++++++++++ 6 files changed, 71143 insertions(+), 58 deletions(-) create mode 100644 temp_logs/open_loop_30p.csv diff --git a/controller_framework/core/app.py b/controller_framework/core/app.py index 8eeec34..237c40f 100644 --- a/controller_framework/core/app.py +++ b/controller_framework/core/app.py @@ -14,7 +14,7 @@ class AppManager: - def __init__(self, mcu_type: MCUType, sample_time = 1, flush_time= 100, **kwargs): + def __init__(self, mcu_type: MCUType, sample_time=1, flush_time=100, **kwargs): if not isinstance(mcu_type, MCUType): raise ValueError(f"MCU inválida: {mcu_type}. Escolha entre {list(MCUType)}") self.__mcu: MCUDriver = MCUDriver.create_driver(mcu_type, **kwargs) @@ -22,12 +22,14 @@ def __init__(self, mcu_type: MCUType, sample_time = 1, flush_time= 100, **kwargs self.control_instances: dict[str, Controller] = {} self.running_instance: Optional[Controller] = None - self.sample_time = sample_time # ms - self.cache_flush_time = flush_time # ms + self.sample_time = sample_time # ms + self.cache_flush_time = flush_time # ms self.actuator_vars = {} self.sensor_vars = {} + self.is_connected = False + self.num_sensors = 0 self.num_actuators = 0 @@ -37,7 +39,7 @@ def __init__(self, mcu_type: MCUType, sample_time = 1, flush_time= 100, **kwargs self.dt = 0 self.setpoints = [] - self.actuator_cache = [[]] + self.actuator_cache = [[]] self.sensor_cache = [[]] self.timestamp_cache = [] @@ -70,7 +72,7 @@ def __getstate__(self): del state['_AppManager__mcu'] state['mcu_config'] = { - 'mcu_type': self.__mcu.mcu_type.name, + 'mcu_type': self.__mcu.mcu_type.name, 'kwargs': self.__mcu.kwargs, } @@ -78,7 +80,7 @@ def __getstate__(self): def __setstate__(self, state): self.__dict__.update(state) - + self.reading_stop_event = threading.Event() self.command_stop_event = threading.Event() self.reading_thread = None @@ -105,9 +107,9 @@ def __read_values(self): control_elapsed = 0 read_elapsed = 0 feedback_elapsed = 0 - + now = time.perf_counter() - + dt_s = now - self.__last_read_timestamp if self.__last_read_timestamp != 0 else target_dt_s dt_ms = dt_s * 1000.0 @@ -130,7 +132,7 @@ def __read_values(self): for i, val in enumerate(actuator_values): self.actuator_cache[i].append(val) except Exception as e: - self.log.error("Erro ao ler dados dos sensores: %s", e, extra={'method':'read'}) + self.log.error("Erro ao ler dados dos sensores: %s", e, extra={'method': 'read'}) read_elapsed = (time.perf_counter() - read_start) * 1e3 @@ -162,8 +164,8 @@ def __read_values(self): next_read_time = time.perf_counter() next_read_time += target_dt_s - - self.log.info('stopped', extra={'method':'read'}) + + self.log.info('stopped', extra={'method': 'read'}) def __feedback(self): self.__mcu.send(*self.running_instance.actuator_values) @@ -179,9 +181,9 @@ def __control(self): if not hasattr(self, '_control_worker'): self._control_worker = ControlWorker(self.running_instance) - result = self._control_worker.run(dt, timeout=(self.sample_time / 1000.0)*0.5) + result = self._control_worker.run(dt, timeout=(self.sample_time / 1000.0) * 0.5) if result is None: - self.log.warning('Controle demorou demais, usando valor anterior', extra={'method':'control'}) + self.log.warning('Controle demorou demais, usando valor anterior', extra={'method': 'control'}) else: self.running_instance.actuator_values = result @@ -191,12 +193,6 @@ def __connect(self): self.__mcu.connect() def init(self): - self.log.info("Try connect mcu", extra={'method':'init'}) - self.__connect() - - self.reading_thread = threading.Thread(target=self.__read_values, daemon=True) - self.reading_thread.start() - time.sleep(0.1) self.ipcmanager.init() @@ -205,26 +201,36 @@ def init(self): self.gui_process.join() - self.reading_stop_event.set() - self.reading_thread.join() + if self.is_connected: + self.reading_stop_event.set() + self.reading_thread.join() self.ipcmanager.stop() + def start_connection(self): + self.log.info("Try connect mcu", extra={'method':'init'}) + self.__connect() + + self.reading_thread = threading.Thread(target=self.__read_values, daemon=True) + self.reading_thread.start() + + self.is_connected = True + def start_controller(self, label): if label in self.control_instances: if self.running_instance != None: self.stop_controller() try: - self.log.info("Start controller: %s", label, extra={'method':'start control'}) + self.log.info("Start controller: %s", label, extra={'method': 'start control'}) self.running_instance = self.control_instances[label] self.update_setpoint(self.running_instance.setpoints) except Exception as e: - self.log.error("Erro ao inicializar controle: %s", e, extra={'method':'start control'}) + self.log.error("Erro ao inicializar controle: %s", e, extra={'method': 'start control'}) def stop_controller(self): if self.running_instance is not None: - self.log.info("Stop controller: %s", self.running_instance.label, extra={'method':'stop control'}) + self.log.info("Stop controller: %s", self.running_instance.label, extra={'method': 'stop control'}) self.running_instance = None def append_instance(self, instance: Controller): @@ -232,9 +238,9 @@ def append_instance(self, instance: Controller): def list_instances(self): return list(self.control_instances.keys()) - + def get_instance(self, label): - if(label in self.control_instances): + if (label in self.control_instances): return self.control_instances[label] else: return None @@ -242,7 +248,7 @@ def get_instance(self, label): def get_setpoint(self): if len(self.setpoints) == 0: return 0 - + return self.setpoints def update_setpoint(self, setpoints): @@ -263,14 +269,14 @@ def get_var_values(self, var_dict): values.append(var_value) return values - + def _random_color(self): n = 12 hue = (self.color_index / n) % 1.0 self.color_index += 2 r, g, b = colorsys.hsv_to_rgb(hue, 0.9, 0.9) - return '#{:02X}{:02X}{:02X}'.format(int(r*255), int(g*255), int(b*255)) + return '#{:02X}{:02X}{:02X}'.format(int(r * 255), int(g * 255), int(b * 255)) def __set_var(self, var_dict, *args): for var in args: @@ -282,32 +288,33 @@ def __set_var(self, var_dict, *args): "unit": var_unit, "color": self._random_color() } - + def set_actuator_vars(self, *args): self.num_actuators += len(args) self.__set_var(self.actuator_vars, *args) - + def set_sensor_vars(self, *args): self.num_sensors += len(args) self.__set_var(self.sensor_vars, *args) def get_actuator_values(self): return self.get_var_values(self.actuator_vars) - + def get_sensor_values(self): return self.get_var_values(self.sensor_vars) - + def __update_var(self, var_dict, new_values): for (var_name, value) in zip(var_dict, new_values): expected_type = var_dict[var_name]['type'] if not isinstance(value, expected_type): - raise TypeError(f"Variável '{var_name}' espera tipo {expected_type.__name__}, recebeu {type(value).__name__}") - + raise TypeError( + f"Variável '{var_name}' espera tipo {expected_type.__name__}, recebeu {type(value).__name__}") + var_dict[var_name]['value'] = value def update_actuator_vars(self, new_values): self.__update_var(self.actuator_vars, new_values) - + def update_sensors_vars(self, new_values): self.__update_var(self.sensor_vars, new_values) diff --git a/controller_framework/core/ipcmanager.py b/controller_framework/core/ipcmanager.py index 40d4067..b6f0052 100644 --- a/controller_framework/core/ipcmanager.py +++ b/controller_framework/core/ipcmanager.py @@ -33,6 +33,7 @@ def __init__(self, app_manager, queue_to_gui, queue_from_gui): self.command_registry = { "update_variable": self.handler_update_variable, + "connect_mcu": lambda core, _: core.start_connection(), "stop_controller": lambda core, _: core.stop_controller(), "start_controller": self.handler_start_control, "update_setpoint": self.handler_update_setpoint, diff --git a/controller_framework/gui/analyzer_gui.py b/controller_framework/gui/analyzer_gui.py index da2f84d..24e739f 100644 --- a/controller_framework/gui/analyzer_gui.py +++ b/controller_framework/gui/analyzer_gui.py @@ -115,8 +115,9 @@ def update_analyzer(self, x_data, y_data, mode): def closed_loop_analyzer(self): self.plot_widget.marker_closed.set_data(self.x_data, self.y_data) - self.plot_widget.add_curve(self.x_data, self.y_data, 'blue', 1.5, 0) - self.plot_widget.add_legend(text="Temperatura", color='blue', size=16) + self.plot_widget.add_curve(self.x_data, self.y_data, 'blue', 3, 0) + self.plot_widget.add_legend(text="Temperatura", color='blue', size=20, txt_color="#000000") + temp_inicial = self.y_data[0] h_line_init = pg.InfiniteLine(pos=temp_inicial, angle=0, @@ -130,9 +131,9 @@ def closed_loop_analyzer(self): self.plot_widget.add_item(h_line_max) self.reference_lines.append(h_line_max) - self.plot_widget.add_legend(size=16,text=f"Temperatura inicial ({temp_inicial:.2f}ºC)", color="green", - style=pg.QtCore.Qt.PenStyle.DashLine) - self.plot_widget.add_legend(size=16,text=f"Máximo Sobressinal ({max_over_signal:.2f}ºC)", color="red", + self.plot_widget.add_legend(size=20, text=f"Temperatura inicial ({temp_inicial:.2f}ºC)", color="green", + style=pg.QtCore.Qt.PenStyle.DashLine, txt_color="#000000") + self.plot_widget.add_legend(size=16, text=f"Máximo Sobressinal ({max_over_signal:.2f}ºC)", color="red", style=pg.QtCore.Qt.PenStyle.DashLine) targets = np.array(self.parent_gui.df["target"]) label_targets = "" @@ -143,8 +144,11 @@ def closed_loop_analyzer(self): label_targets += f"{t}ºC, " label_targets = label_targets[:-2] - self.plot_widget.add_legend(size=16,text=f"Temperaturas desejadas\n[{label_targets}]", color="orange") + self.plot_widget.add_legend(size=16, text=f"Temperaturas desejadas\n[{label_targets}]", color="orange") self.plot_widget.add_curve(self.x_data, targets, 'orange', plot_n=1, width=2) + + self.plot_widget.plot.setTitle("Análise de Malha Fechada", size="20pt", color="#000000") + def open_loop_analyzer(self): f_temps = np.array(sig.savgol_filter(self.y_data, 100, 3)) f_temps = np.array(sig.savgol_filter(f_temps, 2000, 3)) @@ -158,8 +162,8 @@ def open_loop_analyzer(self): self.plot_widget.marker_temp.set_data(self.x_data, self.y_data) self.plot_widget.marker_derivative.set_data(self.x_data, f_temps_dt) - self.plot_widget.add_curve(self.x_data, f_temps, 'blue', 1.5, 0) - self.plot_widget.add_curve(self.x_data, f_temps_dt, 'blue', 1.5, 1) + self.plot_widget.add_curve(self.x_data, f_temps, 'blue', 3, 0) + self.plot_widget.add_curve(self.x_data, f_temps_dt, 'blue', 3, 1) h_line_max = pg.InfiniteLine(pos=self.x_data[max_dv_i], angle=90, pen=pg.mkPen("red", width=2, style=pg.QtCore.Qt.PenStyle.DashLine)) @@ -176,7 +180,7 @@ def open_loop_analyzer(self): self.plot_widget.add_curve(neighborhood, [(((x0 - self.x_data[max_dv_i]) * f_temps_dt[max_dv_i]) + f_temps[max_dv_i]) for x0 in neighborhood], - 'red') + 'red', 3) v_initial_line = pg.InfiniteLine(pos=self.x_data[0], angle=90, pen=pg.mkPen("black", width=2, style=pg.QtCore.Qt.PenStyle.DashLine)) @@ -194,12 +198,12 @@ def open_loop_analyzer(self): self.plot_widget.add_item(v_final_line, 0) self.plot_widget.add_item(h_final_line, 0) - self.plot_widget.add_legend(text='Temperatura (ºC)', color='blue', plot_n=0, size=10) - self.plot_widget.add_legend(text='Ponto de maior derivada', color='red', style='dot', plot_n=0, size=10) + self.plot_widget.add_legend(text='Temperatura (ºC)', color='blue', plot_n=0, size=20, txt_color="#000000FF") + self.plot_widget.add_legend(text='Ponto de maior derivada', color='red', style='dot', plot_n=0) self.plot_widget.add_legend(text=f'Temperatura inicial ({f_temps[0]:.3f}ºC)', color='black', - style=pg.QtCore.Qt.PenStyle.DashLine, plot_n=0, size=10) + style=pg.QtCore.Qt.PenStyle.DashLine, plot_n=0) self.plot_widget.add_legend(text=f'Temperatura final ({f_temps[-1]:.3f}ºC)', color='black', - style=pg.QtCore.Qt.PenStyle.DashLine, plot_n=0, size="15pt") + style=pg.QtCore.Qt.PenStyle.DashLine, plot_n=0) self.plot_widget.plot_temp.setTitle( f"L = {L:.2f}, T (+L) = {T:.2f} (+{L:.2f}); Temperatura registrada", size="20pt", color="#000000") diff --git a/controller_framework/gui/plotter_gui.py b/controller_framework/gui/plotter_gui.py index e5bdc2c..6a4f21a 100644 --- a/controller_framework/gui/plotter_gui.py +++ b/controller_framework/gui/plotter_gui.py @@ -199,7 +199,7 @@ def __write_csv(self): f.write(data) def update_data(self): - while True: + while self.app_mirror.is_connected: try: data = self.app_mirror.queue_to_gui.get_nowait() if data is None: @@ -217,7 +217,7 @@ def update_data(self): break def update_plots(self): - if not self.is_selected: + if not (self.is_selected or self.app_mirror.is_connected): return view = self.plot_views[self.current_mode] @@ -232,15 +232,20 @@ def update_plots(self): for (i, sensor_data), (var_name, props) in zip(enumerate(sensor_data_np), self.app_mirror.sensor_vars.items()): self.plot_widget.update_curve(plot_seconds_np, sensor_data, 0, i) - - legenda = f"{var_name}: {sensor_data[-1]:.4f} {props['unit']}" + try: + legenda = f"{var_name}: {sensor_data[-1]:.4f} {props['unit']}" + except IndexError: + legenda = f"{var_name}: - {props['unit']}" self.plot_widget.update_legend(text=legenda, plot_n=0, idx=i) for (i, actuator_data), (var_name, props) in zip(enumerate(actuator_data_np), self.app_mirror.actuator_vars.items()): self.plot_widget.update_curve(plot_seconds_np, actuator_data, 1, i) - legenda = f"{var_name}: {actuator_data[-1]:.4f} {props['unit']}" + try: + legenda = f"{var_name}: {actuator_data[-1]:.4f} {props['unit']}" + except IndexError: + legenda = f"{var_name}: - {props['unit']}" self.plot_widget.update_legend(text=legenda, plot_n=1, idx=i) case _ if view in self.sensor_labels: @@ -331,6 +336,10 @@ def __init__(self, parent, app_mirror, control_gui): self.main_layout = QVBoxLayout() self.setLayout(self.main_layout) + self.btn_connect = QPushButton("Conectar Planta") + self.btn_connect.clicked.connect(self.connect) + self.main_layout.addWidget(self.btn_connect) + self.controls_group = QGroupBox("Controles Disponíveis") self.controls_layout = QVBoxLayout() self.controls_group.setLayout(self.controls_layout) @@ -467,6 +476,9 @@ def update_control_settings(self): self.app_mirror.update_setpoint(self.current_control.setpoints) self.parent_gui.command_triggered.emit("update_setpoint", {"value": self.current_control.setpoints}) + def connect(self): + self.parent_gui.command_triggered.emit("connect_mcu", {}) + def activate_control(self): current_control = self.control_list.currentItem() diff --git a/controller_framework/gui/utils_gui.py b/controller_framework/gui/utils_gui.py index 5f4d737..823bdd2 100644 --- a/controller_framework/gui/utils_gui.py +++ b/controller_framework/gui/utils_gui.py @@ -2,6 +2,7 @@ import numpy as np import pyqtgraph as pg + class MarkerPlot: def __init__(self, plot, x_data=None, y_data=None, threshold=10): self.plot = plot @@ -33,16 +34,18 @@ def on_mouse_moved(self, event): self.marker.setData([], []) self.marker.setToolTip('') return - + self.marker.setData([x_val], [y_val]) tooltip = f"Tempo: {x_val:.4f}s\nTemp: {y_val:.4f}°C" self.marker.setToolTip(tooltip) + class Mode(Enum): CLOSED = 'closed' OPEN = 'open' PLOTTER = 'plotter' + class PlotWidget: def __init__(self, layout, mode: Mode = None): self.plot_widget = pg.GraphicsLayoutWidget() @@ -60,7 +63,7 @@ def _init_containers(self): self._legends = {0: [], 1: []} def clear(self): - curves: pg.PlotCurveItem = self._curves.get(self.mode) + curves: pg.PlotCurveItem = self._curves.get(self.mode) if isinstance(curves, dict): for lst in curves.values(): lst.clear() @@ -109,12 +112,12 @@ def clear_plots(self, plot_n: int = 0): curves.clear() def add_legend(self, text: str = '', size: int = 11, - color: str = 'black', style=pg.QtCore.Qt.PenStyle.SolidLine, plot_n: int = 0): + color: str = 'black', txt_color="#808080FF", style=pg.QtCore.Qt.PenStyle.SolidLine, plot_n: int = 0): if not text: return plot, _, legends = self._get_plot_and_containers(plot_n) - legend = plot.addLegend(labelTextSize=f'{str(size)}pt') + legend = plot.addLegend(labelTextSize=f'{str(size)}pt', labelTextColor=txt_color) if style != 'dot': item = plot.plot([], [], pen=pg.mkPen(color, width=3, style=style)) else: diff --git a/temp_logs/open_loop_30p.csv b/temp_logs/open_loop_30p.csv new file mode 100644 index 0000000..5b6fd79 --- /dev/null +++ b/temp_logs/open_loop_30p.csv @@ -0,0 +1,71058 @@ +seconds,sensor_0,sensor_1,actuator_0,target +22.1001,26.3280,26.0480,30.0000,"25.0" +22.1400,26.3030,26.0990,30.0000,"25.0" +22.1600,26.3280,26.0990,30.0000,"25.0" +22.2000,26.3530,26.0990,30.0000,"25.0" 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+2164.5579,33.7600,33.4860,30.0000,"25.0" +2164.5978,33.7600,33.4860,30.0000,"25.0" +2164.6179,33.7320,33.4860,30.0000,"25.0" +2164.6579,33.7320,33.4860,30.0000,"25.0" From 7466a04c9d5daa26bbe09e1f24b5dcf5e90aaee6 Mon Sep 17 00:00:00 2001 From: Higor Lima Date: Tue, 17 Jun 2025 01:01:56 -0300 Subject: [PATCH 12/59] =?UTF-8?q?chore:=20commit=20inicial=20da=20vers?= =?UTF-8?q?=C3=A3o=20app=20do=20sistema?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .gitignore | 170 +----- controller_framework/__init__.py | 3 - controller_framework/core/__init__.py | 3 - controller_framework/core/app.py | 320 ---------- controller_framework/core/controller.py | 118 ---- controller_framework/core/ipcmanager.py | 156 ----- controller_framework/core/logmanager.py | 69 --- controller_framework/core/mcu_driver.py | 213 ------- controller_framework/gui/__init__.py | 3 - controller_framework/gui/analyzer_gui.py | 238 -------- controller_framework/gui/main_gui.py | 116 ---- controller_framework/gui/plotter_gui.py | 547 ------------------ controller_framework/gui/utils_gui.py | 191 ------ .../tests/core/unit/test_class_app.py | 113 ---- examples/ball_n_plate.py | 115 ---- examples/rdata.py | 94 --- examples/tclab_thermal.py | 72 --- examples/thermal_plant.png | Bin 127641 -> 0 bytes examples/thermal_plant.py | 60 -- examples/virtual.py | 80 --- pyproject.toml | 19 +- src/gui/__init__.py | 5 + src/gui/content/default-driver-content.py | 18 + src/gui/main_gui.py | 87 +++ src/gui/nav_bar.py | 256 ++++++++ src/gui/stylesheet/custom-dialog.qss | 79 +++ src/gui/stylesheet/main-gui.qss | 46 ++ src/gui/stylesheet/nav-bar.qss | 79 +++ src/gui/teste.py | 123 ++++ src/gui/utils_gui.py | 309 ++++++++++ 30 files changed, 1009 insertions(+), 2693 deletions(-) delete mode 100644 controller_framework/__init__.py delete mode 100644 controller_framework/core/__init__.py delete mode 100644 controller_framework/core/app.py delete mode 100644 controller_framework/core/controller.py delete mode 100644 controller_framework/core/ipcmanager.py delete mode 100644 controller_framework/core/logmanager.py delete mode 100644 controller_framework/core/mcu_driver.py delete mode 100644 controller_framework/gui/__init__.py delete mode 100644 controller_framework/gui/analyzer_gui.py delete mode 100644 controller_framework/gui/main_gui.py delete mode 100644 controller_framework/gui/plotter_gui.py delete mode 100644 controller_framework/gui/utils_gui.py delete mode 100644 controller_framework/tests/core/unit/test_class_app.py delete mode 100644 examples/ball_n_plate.py delete mode 100644 examples/rdata.py delete mode 100644 examples/tclab_thermal.py delete mode 100644 examples/thermal_plant.png delete mode 100644 examples/thermal_plant.py delete mode 100644 examples/virtual.py create mode 100644 src/gui/__init__.py create mode 100644 src/gui/content/default-driver-content.py create mode 100644 src/gui/main_gui.py create mode 100644 src/gui/nav_bar.py create mode 100644 src/gui/stylesheet/custom-dialog.qss create mode 100644 src/gui/stylesheet/main-gui.qss create mode 100644 src/gui/stylesheet/nav-bar.qss create mode 100644 src/gui/teste.py create mode 100644 src/gui/utils_gui.py diff --git a/.gitignore b/.gitignore index 3efccbb..ebd3d87 100644 --- a/.gitignore +++ b/.gitignore @@ -1,167 +1,3 @@ -# Byte-compiled / optimized / DLL files -__pycache__/ -*.py[cod] -*$py.class - -# C extensions -*.so - -# Distribution / packaging -.Python -build/ -develop-eggs/ -dist/ -downloads/ -eggs/ -.eggs/ -lib/ -lib64/ -parts/ -sdist/ -var/ -wheels/ -share/python-wheels/ -*.egg-info/ -.installed.cfg -*.egg -MANIFEST - -# PyInstaller -# Usually these files are written by a python script from a template -# before PyInstaller builds the exe, so as to inject date/other infos into it. -*.manifest -*.spec - -# Installer logs -pip-log.txt -pip-delete-this-directory.txt - -# Unit test / coverage reports -htmlcov/ -.tox/ -.nox/ -.coverage -.coverage.* -.cache -nosetests.xml -coverage.xml -*.cover -*.py,cover -.hypothesis/ -.pytest_cache/ -cover/ - -# Translations -*.mo -*.pot - -# Django stuff: -*.log -local_settings.py -db.sqlite3 -db.sqlite3-journal - -# Flask stuff: -instance/ -.webassets-cache - -# Scrapy stuff: -.scrapy - -# Sphinx documentation -docs/_build/ - -# PyBuilder -.pybuilder/ -target/ - -# Jupyter Notebook -.ipynb_checkpoints - -# IPython -profile_default/ -ipython_config.py - -# pyenv -# For a library or package, you might want to ignore these files since the code is -# intended to run in multiple environments; otherwise, check them in: -# .python-version - -# pipenv -# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. -# However, in case of collaboration, if having platform-specific dependencies or dependencies -# having no cross-platform support, pipenv may install dependencies that don't work, or not -# install all needed dependencies. -#Pipfile.lock - -# poetry -# Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control. -# This is especially recommended for binary packages to ensure reproducibility, and is more -# commonly ignored for libraries. -# https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control -#poetry.lock - -# pdm -# Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control. -#pdm.lock -# pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it -# in version control. -# https://pdm.fming.dev/latest/usage/project/#working-with-version-control -.pdm.toml -.pdm-python -.pdm-build/ - -# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm -__pypackages__/ - -# Celery stuff -celerybeat-schedule -celerybeat.pid - -# SageMath parsed files -*.sage.py - -# Environments -.env -.venv -env/ -venv/ -ENV/ -env.bak/ -venv.bak/ - -# Spyder project settings -.spyderproject -.spyproject - -# Rope project settings -.ropeproject - -# mkdocs documentation -/site - -# mypy -.mypy_cache/ -.dmypy.json -dmypy.json - -# Pyre type checker -.pyre/ - -# pytype static type analyzer -.pytype/ - -# Cython debug symbols -cython_debug/ - -# PyCharm -# JetBrains specific template is maintained in a separate JetBrains.gitignore that can -# be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore -# and can be added to the global gitignore or merged into this file. For a more nuclear -# option (not recommended) you can uncomment the following to ignore the entire idea folder. -#.idea/ - -temp_logs/ -.idea/ - -.vscode/ \ No newline at end of file +.venv/ +.vscode/ +__pycache__/ \ No newline at end of file diff --git a/controller_framework/__init__.py b/controller_framework/__init__.py deleted file mode 100644 index 7a3e8bb..0000000 --- a/controller_framework/__init__.py +++ /dev/null @@ -1,3 +0,0 @@ -from .core import AppManager -from .core import Controller -from .core import MCUType diff --git a/controller_framework/core/__init__.py b/controller_framework/core/__init__.py deleted file mode 100644 index 3f65af7..0000000 --- a/controller_framework/core/__init__.py +++ /dev/null @@ -1,3 +0,0 @@ -from .app import AppManager -from .controller import Controller -from .mcu_driver import MCUDriver, STM32Driver, RandomDataDriver, MCUType diff --git a/controller_framework/core/app.py b/controller_framework/core/app.py deleted file mode 100644 index 237c40f..0000000 --- a/controller_framework/core/app.py +++ /dev/null @@ -1,320 +0,0 @@ -import logging -import threading -import time -from typing import Optional -import colorsys - -from .mcu_driver import MCUDriver, MCUType -from .controller import ControlWorker, Controller -from .ipcmanager import IPCManager -from .logmanager import LogManager -from controller_framework.gui import MainGUI - -import multiprocessing as mp - - -class AppManager: - def __init__(self, mcu_type: MCUType, sample_time=1, flush_time=100, **kwargs): - if not isinstance(mcu_type, MCUType): - raise ValueError(f"MCU inválida: {mcu_type}. Escolha entre {list(MCUType)}") - self.__mcu: MCUDriver = MCUDriver.create_driver(mcu_type, **kwargs) - - self.control_instances: dict[str, Controller] = {} - self.running_instance: Optional[Controller] = None - - self.sample_time = sample_time # ms - self.cache_flush_time = flush_time # ms - - self.actuator_vars = {} - self.sensor_vars = {} - - self.is_connected = False - - self.num_sensors = 0 - self.num_actuators = 0 - - self.__last_read_timestamp = 0 - self.__last_control_timestamp = 0 - - self.dt = 0 - - self.setpoints = [] - self.actuator_cache = [[]] - self.sensor_cache = [[]] - self.timestamp_cache = [] - - self.reading_thread = None - self.reading_stop_event = threading.Event() - - self.command_thread = None - self.command_stop_event = threading.Event() - - self.gui = None - - self.queue_to_gui = mp.Queue() - self.queue_from_gui = mp.Queue() - self.data_updated = False - self.ipcmanager = IPCManager(self, self.queue_to_gui, self.queue_from_gui) - - self.color_index = 0 - - self.log_manager = LogManager('APP', logging.CRITICAL) - self.log = self.log_manager.get_logger(component='APP') - - def __getstate__(self): - state = self.__dict__.copy() - - del state['reading_stop_event'] - del state['command_stop_event'] - del state['reading_thread'] - del state['command_thread'] - del state['ipcmanager'] - del state['_AppManager__mcu'] - - state['mcu_config'] = { - 'mcu_type': self.__mcu.mcu_type.name, - 'kwargs': self.__mcu.kwargs, - } - - return state - - def __setstate__(self, state): - self.__dict__.update(state) - - self.reading_stop_event = threading.Event() - self.command_stop_event = threading.Event() - self.reading_thread = None - self.command_thread = None - self.ipcmanager = IPCManager(self, self.queue_to_gui, self.queue_from_gui) - - mcu_config = state.pop('mcu_config') - self.__mcu = MCUDriver.create_driver( - MCUType[mcu_config['mcu_type']], - **mcu_config['kwargs'], - ) - - def __read_values(self): - self.log.info('started', extra={'method': 'read'}) - now = time.perf_counter() - target_dt_s = self.sample_time / 1000.0 - next_read_time = now + target_dt_s - - self.actuator_cache = [[] for _ in range(self.num_actuators)] - self.sensor_cache = [[] for _ in range(self.num_sensors)] - - while not self.reading_stop_event.is_set(): - elapsed = 0 - control_elapsed = 0 - read_elapsed = 0 - feedback_elapsed = 0 - - now = time.perf_counter() - - dt_s = now - self.__last_read_timestamp if self.__last_read_timestamp != 0 else target_dt_s - dt_ms = dt_s * 1000.0 - - read_start = time.perf_counter() - try: - self.last_timestamp = now - values = list(self.__mcu.read()) - self.log.info(values) - self.data_updated = True - - sensor_values = values[0:self.num_sensors] - actuator_values = values[self.num_sensors:] - - self.update_actuator_vars(actuator_values) - self.update_sensors_vars(sensor_values) - - self.timestamp_cache.append(now) - for i, val in enumerate(sensor_values): - self.sensor_cache[i].append(val) - for i, val in enumerate(actuator_values): - self.actuator_cache[i].append(val) - except Exception as e: - self.log.error("Erro ao ler dados dos sensores: %s", e, extra={'method': 'read'}) - - read_elapsed = (time.perf_counter() - read_start) * 1e3 - - if self.running_instance is not None: - control_start = time.perf_counter() - self.__control() - control_elapsed = (time.perf_counter() - control_start) * 1e3 - - feedback_start = time.perf_counter() - self.__feedback() - feedback_elapsed = (time.perf_counter() - feedback_start) * 1e3 - - self.__last_read_timestamp = now - - elapsed = (time.perf_counter() - now) * 1e3 - sleep_time = next_read_time - time.perf_counter() - - self.log.info( - "\ndt: %8.3f ms | all elapsed: %8.3f ms | sleep time: %8.3f ms\n" - "read elapsed: %8.3f ms | control elapsed: %8.3f ms | feedback elapsed: %8.3f ms", - dt_ms, elapsed, sleep_time * 1e3, read_elapsed, control_elapsed, feedback_elapsed, - extra={'method': 'read'} - ) - - if sleep_time > 0: - time.sleep(sleep_time) - else: - self.log.warning("Leitura atrasada.", extra={'method': 'read'}) - next_read_time = time.perf_counter() - - next_read_time += target_dt_s - - self.log.info('stopped', extra={'method': 'read'}) - - def __feedback(self): - self.__mcu.send(*self.running_instance.actuator_values) - - def __control(self): - now = time.perf_counter() - dt = now - self.__last_control_timestamp if self.__last_control_timestamp != 0 else 0 - self.dt = dt * 1e3 - - self.running_instance.actuator_values = self.get_actuator_values() - self.running_instance.sensor_values = self.get_sensor_values() - - if not hasattr(self, '_control_worker'): - self._control_worker = ControlWorker(self.running_instance) - - result = self._control_worker.run(dt, timeout=(self.sample_time / 1000.0) * 0.5) - if result is None: - self.log.warning('Controle demorou demais, usando valor anterior', extra={'method': 'control'}) - else: - self.running_instance.actuator_values = result - - self.__last_control_timestamp = time.perf_counter() - - def __connect(self): - self.__mcu.connect() - - def init(self): - time.sleep(0.1) - self.ipcmanager.init() - - self.gui_process = mp.Process(target=MainGUI.start_gui, args=(self,)) - self.gui_process.start() - - self.gui_process.join() - - if self.is_connected: - self.reading_stop_event.set() - self.reading_thread.join() - - self.ipcmanager.stop() - - def start_connection(self): - self.log.info("Try connect mcu", extra={'method':'init'}) - self.__connect() - - self.reading_thread = threading.Thread(target=self.__read_values, daemon=True) - self.reading_thread.start() - - self.is_connected = True - - def start_controller(self, label): - if label in self.control_instances: - if self.running_instance != None: - self.stop_controller() - - try: - self.log.info("Start controller: %s", label, extra={'method': 'start control'}) - self.running_instance = self.control_instances[label] - self.update_setpoint(self.running_instance.setpoints) - except Exception as e: - self.log.error("Erro ao inicializar controle: %s", e, extra={'method': 'start control'}) - - def stop_controller(self): - if self.running_instance is not None: - self.log.info("Stop controller: %s", self.running_instance.label, extra={'method': 'stop control'}) - self.running_instance = None - - def append_instance(self, instance: Controller): - self.control_instances[instance.label] = instance - - def list_instances(self): - return list(self.control_instances.keys()) - - def get_instance(self, label): - if (label in self.control_instances): - return self.control_instances[label] - else: - return None - - def get_setpoint(self): - if len(self.setpoints) == 0: - return 0 - - return self.setpoints - - def update_setpoint(self, setpoints): - tam = min(self.num_sensors, len(setpoints)) - self.setpoints[:tam] = map(float, setpoints[:tam]) - - if self.running_instance != None: - self.running_instance.setpoints = self.setpoints - - if "setpoints" in self.running_instance.configurable_vars: - self.running_instance.configurable_vars["setpoints"]["value"] = setpoints - - def get_var_values(self, var_dict): - values = [] - - for var_name in var_dict: - var_value = var_dict[var_name]['value'] - values.append(var_value) - - return values - - def _random_color(self): - n = 12 - hue = (self.color_index / n) % 1.0 - self.color_index += 2 - - r, g, b = colorsys.hsv_to_rgb(hue, 0.9, 0.9) - return '#{:02X}{:02X}{:02X}'.format(int(r * 255), int(g * 255), int(b * 255)) - - def __set_var(self, var_dict, *args): - for var in args: - var_name, var_unit, var_type = var - - var_dict[var_name] = { - "type": var_type, - "value": 0, - "unit": var_unit, - "color": self._random_color() - } - - def set_actuator_vars(self, *args): - self.num_actuators += len(args) - self.__set_var(self.actuator_vars, *args) - - def set_sensor_vars(self, *args): - self.num_sensors += len(args) - self.__set_var(self.sensor_vars, *args) - - def get_actuator_values(self): - return self.get_var_values(self.actuator_vars) - - def get_sensor_values(self): - return self.get_var_values(self.sensor_vars) - - def __update_var(self, var_dict, new_values): - for (var_name, value) in zip(var_dict, new_values): - expected_type = var_dict[var_name]['type'] - - if not isinstance(value, expected_type): - raise TypeError( - f"Variável '{var_name}' espera tipo {expected_type.__name__}, recebeu {type(value).__name__}") - - var_dict[var_name]['value'] = value - - def update_actuator_vars(self, new_values): - self.__update_var(self.actuator_vars, new_values) - - def update_sensors_vars(self, new_values): - self.__update_var(self.sensor_vars, new_values) diff --git a/controller_framework/core/controller.py b/controller_framework/core/controller.py deleted file mode 100644 index 25cd8e3..0000000 --- a/controller_framework/core/controller.py +++ /dev/null @@ -1,118 +0,0 @@ -from abc import ABC, abstractmethod -import ast -import queue -import threading - -from .logmanager import LogManager - -class ControlWorker: - def __init__(self, running_instance): - self.running_instance = running_instance - self.task_queue = queue.Queue() - self.result = None - self.done_event = threading.Event() - self.thread = threading.Thread(target=self._worker_loop, daemon=True) - self.thread.start() - - def _worker_loop(self): - while True: - dt = self.task_queue.get() - if dt is None: - break - try: - self.running_instance.set_dt(dt) - self.result = self.running_instance.control() - except Exception: - self.result = None - finally: - self.done_event.set() - - def run(self, dt, timeout): - self.done_event.clear() - self.task_queue.put(dt) - completed = self.done_event.wait(timeout) - if not completed: - return None - return self.result - -class Controller(ABC): - def __init__(self, label:str, setpoints:list): - self.log_manager = LogManager('Controller') - self.log = self.log_manager.get_logger(component='CONTROLLER') - - self.dt = 0 - - self.configurable_vars = {} - - self.setpoints = setpoints - self.sensor_values = [] - self.actuator_values = [] - self.set_config_variable(("setpoints", list)) - - self.label = label - - def __getstate__(self): - state = { - 'label': self.label, - 'setpoints': self.setpoints, - 'dt': self.dt, - 'configurable_vars': self.configurable_vars, - 'sensor_values': self.sensor_values, - 'actuator_values': self.actuator_values, - } - return state - - def __setstate__(self, state): - self.label = state['label'] - self.setpoints = state['setpoints'] - self.dt = state['dt'] - self.configurable_vars = state['configurable_vars'] - self.sensor_values = state.get('sensor_values', []) - self.actuator_values = state.get('actuator_values', []) - - self.log_manager = LogManager('Controller') - self.log = self.log_manager.get_logger(component='CONTROLLER') - - @abstractmethod - def control(self): - pass - - def set_dt(self, dt): - self.dt = dt - - def __set_var(self, var_dict, *args): - for var in args: - var_name, var_type = var - - if hasattr(self, var_name): - current_value = getattr(self, var_name) - - var_dict[var_name] = { - "value": current_value, - "type": var_type - } - else: - raise Exception(f"[ERRO] Variável '{var_name}' não encontrada em {self.__class__.__name__}.") - - def set_config_variable(self, *args): - self.__set_var(self.configurable_vars, *args) - - def update_variable(self, var_name, new_value): - if var_name in self.configurable_vars: - var_type = self.configurable_vars[var_name]["type"] - - try: - if var_name == 'setpoints': - casted_value = ast.literal_eval(new_value) - casted_value = [float(x) for x in casted_value] - else: - casted_value = var_type(new_value) - - setattr(self, var_name, casted_value) - self.configurable_vars[var_name]["value"] = casted_value - except ValueError: - self.log.error("Valor inválido para '%s'. Esperado %s, recebido '%s'", - var_name, var_type.__name__, new_value, extra={'method':'update var'} - ) - else: - self.log.error("Variável '%s' não está registrada como configurável.", var_name, extra={'method':'update var'}) diff --git a/controller_framework/core/ipcmanager.py b/controller_framework/core/ipcmanager.py deleted file mode 100644 index b6f0052..0000000 --- a/controller_framework/core/ipcmanager.py +++ /dev/null @@ -1,156 +0,0 @@ -import logging -import multiprocessing as mp -from queue import Empty -import threading -import time - -from .logmanager import LogManager - -# { -# "type": "update_variable", -# "payload": { -# "var_name": "setpoint", -# "new_value": 52.5 -# } -# } - - -class IPCManager: - def __init__(self, app_manager, queue_to_gui, queue_from_gui): - from controller_framework.core import AppManager - - assert isinstance(app_manager, AppManager) - self.core = app_manager - - self.log_manager = LogManager('IPC', logging.DEBUG) - self.log = self.log_manager.get_logger(component='IPC') - - self.tx_queue: mp.Queue = queue_to_gui - self.rx_queue: mp.Queue = queue_from_gui - - self.thread: threading.Thread = None - self.stop_event = threading.Event() - - self.command_registry = { - "update_variable": self.handler_update_variable, - "connect_mcu": lambda core, _: core.start_connection(), - "stop_controller": lambda core, _: core.stop_controller(), - "start_controller": self.handler_start_control, - "update_setpoint": self.handler_update_setpoint, - } - - def init(self): - self.thread_send = threading.Thread(target=self.__run, daemon=True) - self.thread_recv = threading.Thread(target=self.__parse_command, daemon=True) - self.thread_send.start() - self.thread_recv.start() - - def stop(self): - self.stop_event.set() - self.thread_send.join() - self.thread_recv.join() - - self.tx_queue.close() - self.rx_queue.close() - - self.tx_queue.cancel_join_thread() - self.rx_queue.cancel_join_thread() - self.log.info('stopped') - - def __run(self): - self.log.info('started', extra={'method':'run'}) - while not self.stop_event.is_set(): - self.__send_full_state() - time.sleep(0.03) - - def __send(self, command, payload): - data = {"type": command, "payload": payload} - - self.tx_queue.put(data) - - def __send_full_state(self): - command = "full_state" - payload = { - "sensors": [values.copy() for values in self.core.sensor_cache], - "actuators": [values.copy() for values in self.core.actuator_cache], - "setpoints": self.core.setpoints, - "running_instance": self.core.running_instance, - "control_instances": self.core.control_instances, - "cache_timestamp": self.core.timestamp_cache.copy(), - } - - self.__send(command, payload) - self._clear_caches() - - def _clear_caches(self): - for values in self.core.sensor_cache: - values.clear() - - for values in self.core.actuator_cache: - values.clear() - - self.core.timestamp_cache.clear() - - def __parse_command(self): - while not self.stop_event.is_set(): - try: - data = self.rx_queue.get_nowait() - command = data.get("type") - payload = data.get("payload", {}) - self.log.debug("%s recebido com payload: %s", command, payload, extra={'method':'parse'}) - - if not command: - self.log.warning("Comando sem 'type'. Ignorado.", extra={'method':'parse'}) - return - - handler = self.command_registry.get(command) - if not handler: - self.log.warning("Comando '%s' não registrado.", command, extra={'method':'parse'}) - return - - handler(self.core, payload) - - except Empty: - pass - except ValueError as e: - self.log.error("Erro de validação: %s", e, extra={'method':'parse'}) - except Exception as e: - self.log.error("[IPC] Erro ao executar comando '%s': %s", command, e, extra={'method':'parse'}) - self.log.debug("[IPC] Dados recebidos: %s", data, extra={'method':'parse'}) - - time.sleep(0.01) - - def handler_update_variable(self, core, payload): - control_name = payload.get("control_name") - var_name = payload.get("var_name") - new_value = payload.get("new_value") - - if not all([control_name, var_name]): - raise ValueError("[IPC] update_variable exige 'control_name' e 'var_name'") - - instance = core.get_instance(control_name) - instance.update_variable(var_name, new_value) - - def handler_start_control(self, core, payload): - control_name = payload.get("control_name") - - if not control_name: - raise ValueError("[IPC] start_control exige 'control_name'") - - if not isinstance(control_name, str): - raise ValueError("[IPC] 'control_name' para start_control deve ser str") - - core.start_controller(control_name) - - def handler_update_setpoint(self, core, payload): - value = payload.get("value") - - if not value: - raise ValueError("[IPC] update_setpoint exige 'value'") - - if not isinstance(value, (list)): - raise ValueError( - "[IPC] 'value' para 'update_setpoint' deve ser int ou float" - ) - - core.update_setpoint(value) diff --git a/controller_framework/core/logmanager.py b/controller_framework/core/logmanager.py deleted file mode 100644 index 1663ed8..0000000 --- a/controller_framework/core/logmanager.py +++ /dev/null @@ -1,69 +0,0 @@ -import logging - -class ColorLevelFormatter(logging.Formatter): - COLORS = { - 'DEBUG': "\033[90m", # cinza escuro - 'INFO': "\033[92m", # verde brilhante - 'WARNING': "\033[93m", # amarelo brilhante - 'ERROR': "\033[1;31m", # vermelho em negrito - 'CRITICAL': "\033[97;41m", # branco em fundo vermelho - } - RESET = "\033[0m" - BRIGHT_WHITE = "\033[97m" - - def format(self, record): - orig_level = record.levelname - orig_prefix = getattr(record, 'prefix', None) - - color = self.COLORS.get(orig_level, self.RESET) - record.levelname = f"{color}{orig_level}{self.RESET}" - - component = getattr(record, 'component', None) - method = getattr(record, 'method', None) - if component and method: - p = f"[{component}:{method}]" - elif component: - p = f"[{component}]" - else: - p = "" - record.prefix = (f"{self.BRIGHT_WHITE}{p}{self.RESET} " if p else "") - - formatted = super().format(record) - - record.levelname = orig_level - if orig_prefix is not None: - record.prefix = orig_prefix - else: - delattr(record, 'prefix') - - return formatted - - -class ContextLoggerAdapter(logging.LoggerAdapter): - def process(self, msg, kwargs): - call_extra = kwargs.get('extra', {}) - merged = {**self.extra, **call_extra} - kwargs['extra'] = merged - return msg, kwargs - - -class LogManager: - def __init__(self, name=__name__, level=logging.INFO): - self.logger = logging.getLogger(name) - self.logger.setLevel(level) - - self.logger.propagate = False - - if not self.logger.handlers: - ch = logging.StreamHandler() - fmt = '%(asctime)s - %(levelname)s - %(prefix)s%(message)s' - ch.setFormatter(ColorLevelFormatter(fmt)) - self.logger.addHandler(ch) - - def get_logger(self, component: str = None, method: str = None): - extra = {} - if component: - extra['component'] = component - if method: - extra['method'] = method - return ContextLoggerAdapter(self.logger, extra) \ No newline at end of file diff --git a/controller_framework/core/mcu_driver.py b/controller_framework/core/mcu_driver.py deleted file mode 100644 index ecda270..0000000 --- a/controller_framework/core/mcu_driver.py +++ /dev/null @@ -1,213 +0,0 @@ -from abc import ABC, abstractmethod -from enum import Enum -from typing import Tuple -import socket -import struct -import time -import serial -from pyocd.core.helpers import ConnectHelper, Session - -import socket -import struct -import time -import errno - -from .logmanager import LogManager - - -class MCUType(Enum): - STM32 = "STM32" - RDATA = "RDATA" - TCLAB = "TCLAB" - VIRUTAL = "VIRTUAL" - - -class MCUDriver(ABC): - def __init__(self, mcu_type, **kwargs): - self.mcu_type: MCUType = mcu_type - self.kwargs = kwargs - - self.log_manager = LogManager('MCUDriver') - self.log = self.log_manager.get_logger(component='MCU') - - @abstractmethod - def send(self, *args): - pass - - @abstractmethod - def read(self) -> Tuple[tuple, tuple]: - pass - - @abstractmethod - def connect(self): - pass - - @staticmethod - def create_driver(mcu_type: MCUType, **kwargs): - driver_map = { - MCUType.RDATA: RandomDataDriver, - MCUType.STM32: STM32Driver, - MCUType.TCLAB: TCLABDriver, - MCUType.VIRUTAL: VirtualBallNPlate, - } - - if mcu_type not in driver_map: - raise ValueError(f"MCU não suportada: {mcu_type}") - - return driver_map[mcu_type](mcu_type, **kwargs) - - -class STM32Driver(MCUDriver): - def __init__(self, mcu_type, **kwargs): - super().__init__(mcu_type, **kwargs) - - self.control_block_addr = 0x0 - self.ram = None - self.ser: Session | None = None - - def send(self, *outs): - for i, out in enumerate(outs): - data_bytes = struct.pack(" float: - data_bytes = struct.pack(" 0: - self.variable_list.setCurrentRow(0) - self.analyze_button.setEnabled(True) - else: - self.analyze_button.setEnabled(False) - - def start_analysis(self): - mode = "closed" if self.radio_closed.isChecked() else "open" - selected_var = self.variable_list.selectedItems()[0] \ - .text() \ - .lower() \ - .replace(' ', '_') - - self.parent_gui.start_analysis(self.selected_file, selected_var, mode) - - -class PlotterAnalyzer(QWidget): - def __init__(self, parent): - super().__init__(parent) - self.parent_gui = parent - self.main_layout = QVBoxLayout() - self.setLayout(self.main_layout) - - self.plot_widget: PlotWidget = PlotWidget(self.main_layout) - - self.df = None - self.x_data = [] - self.y_data = [] - self.reference_lines = [] - - def update_analyzer(self, x_data, y_data, mode): - self.x_data = x_data - self.y_data = y_data - - if mode == "closed": - self.plot_widget.closed_loop_plot() - self.closed_loop_analyzer() - elif mode == "open": - self.plot_widget.open_loop_plot() - self.open_loop_analyzer() - - def closed_loop_analyzer(self): - self.plot_widget.marker_closed.set_data(self.x_data, self.y_data) - self.plot_widget.add_curve(self.x_data, self.y_data, 'blue', 3, 0) - self.plot_widget.add_legend(text="Temperatura", color='blue', size=20, txt_color="#000000") - - - temp_inicial = self.y_data[0] - h_line_init = pg.InfiniteLine(pos=temp_inicial, angle=0, - pen=pg.mkPen("green", width=2, style=pg.QtCore.Qt.PenStyle.DashLine)) - self.plot_widget.add_item(h_line_init) - self.reference_lines.append(h_line_init) - - max_over_signal = np.max(self.y_data) - h_line_max = pg.InfiniteLine(pos=max_over_signal, angle=0, - pen=pg.mkPen("red", width=2, style=pg.QtCore.Qt.PenStyle.DashLine)) - self.plot_widget.add_item(h_line_max) - self.reference_lines.append(h_line_max) - - self.plot_widget.add_legend(size=20, text=f"Temperatura inicial ({temp_inicial:.2f}ºC)", color="green", - style=pg.QtCore.Qt.PenStyle.DashLine, txt_color="#000000") - self.plot_widget.add_legend(size=16, text=f"Máximo Sobressinal ({max_over_signal:.2f}ºC)", color="red", - style=pg.QtCore.Qt.PenStyle.DashLine) - targets = np.array(self.parent_gui.df["target"]) - label_targets = "" - last_target = targets[0] - 1 - for t in targets: - if last_target != t: - last_target = t - label_targets += f"{t}ºC, " - label_targets = label_targets[:-2] - - self.plot_widget.add_legend(size=16, text=f"Temperaturas desejadas\n[{label_targets}]", color="orange") - self.plot_widget.add_curve(self.x_data, targets, 'orange', plot_n=1, width=2) - - self.plot_widget.plot.setTitle("Análise de Malha Fechada", size="20pt", color="#000000") - - def open_loop_analyzer(self): - f_temps = np.array(sig.savgol_filter(self.y_data, 100, 3)) - f_temps = np.array(sig.savgol_filter(f_temps, 2000, 3)) - f_temps_dt = np.gradient(f_temps, self.x_data, edge_order=1) - f_temps_dt = np.array(sig.savgol_filter(f_temps_dt, 2000, 3)) - 0.005 - - max_dv_i = np.argmax(f_temps_dt) - self.y_data = f_temps - f_temps = np.array(sig.savgol_filter(f_temps, 20, 3)) - - self.plot_widget.marker_temp.set_data(self.x_data, self.y_data) - self.plot_widget.marker_derivative.set_data(self.x_data, f_temps_dt) - - self.plot_widget.add_curve(self.x_data, f_temps, 'blue', 3, 0) - self.plot_widget.add_curve(self.x_data, f_temps_dt, 'blue', 3, 1) - - h_line_max = pg.InfiniteLine(pos=self.x_data[max_dv_i], angle=90, - pen=pg.mkPen("red", width=2, style=pg.QtCore.Qt.PenStyle.DashLine)) - - self.plot_widget.add_item(h_line_max, 1) - - L = self.x_data[max_dv_i] - ((f_temps[max_dv_i] - f_temps[0]) / f_temps_dt[max_dv_i]) - T = ((f_temps[-1] - f_temps[0]) / f_temps_dt[max_dv_i]) - - neighborhood = np.linspace(L, T + L) - max_dv_scarter = pg.ScatterPlotItem(size=5, brush=pg.mkBrush("r"), pen=pg.mkPen(None), symbol='o') - max_dv_scarter.setData(pos=[(self.x_data[max_dv_i], f_temps[max_dv_i])]) - - self.plot_widget.add_curve(neighborhood, - [(((x0 - self.x_data[max_dv_i]) * f_temps_dt[max_dv_i]) + f_temps[max_dv_i]) for x0 - in neighborhood], - 'red', 3) - - v_initial_line = pg.InfiniteLine(pos=self.x_data[0], angle=90, - pen=pg.mkPen("black", width=2, style=pg.QtCore.Qt.PenStyle.DashLine)) - h_initial_line = pg.InfiniteLine(pos=f_temps[0], angle=0, - pen=pg.mkPen("black", width=2, style=pg.QtCore.Qt.PenStyle.DashLine)) - - v_final_line = pg.InfiniteLine(pos=self.x_data[-1], angle=90, - pen=pg.mkPen("black", width=2, style=pg.QtCore.Qt.PenStyle.DashLine)) - h_final_line = pg.InfiniteLine(pos=f_temps[-1], angle=0, - pen=pg.mkPen("black", width=2, style=pg.QtCore.Qt.PenStyle.DashLine)) - - self.plot_widget.add_item(max_dv_scarter, 0) - self.plot_widget.add_item(h_initial_line, 0) - self.plot_widget.add_item(v_initial_line, 0) - self.plot_widget.add_item(v_final_line, 0) - self.plot_widget.add_item(h_final_line, 0) - - self.plot_widget.add_legend(text='Temperatura (ºC)', color='blue', plot_n=0, size=20, txt_color="#000000FF") - self.plot_widget.add_legend(text='Ponto de maior derivada', color='red', style='dot', plot_n=0) - self.plot_widget.add_legend(text=f'Temperatura inicial ({f_temps[0]:.3f}ºC)', color='black', - style=pg.QtCore.Qt.PenStyle.DashLine, plot_n=0) - self.plot_widget.add_legend(text=f'Temperatura final ({f_temps[-1]:.3f}ºC)', color='black', - style=pg.QtCore.Qt.PenStyle.DashLine, plot_n=0) - - self.plot_widget.plot_temp.setTitle( - f"L = {L:.2f}, T (+L) = {T:.2f} (+{L:.2f}); Temperatura registrada", size="20pt", color="#000000") - - -class AnalyzerGUI(QWidget): - def __init__(self, app_mirror): - super().__init__() - self.app_mirror = app_mirror - self.selected_file = None - - self.setWindowTitle("Thermal Analyzer") - self.setMinimumSize(900, 600) - - self.main_layout = QHBoxLayout() - self.setLayout(self.main_layout) - - self.sidebar = SidebarAnalyzer(self) - self.plotter_gui = PlotterAnalyzer(self) - - self.main_layout.addWidget(self.sidebar, 1) - self.main_layout.addWidget(self.plotter_gui, 4) - - def start_analysis(self, file_path, sensor_variable, mode): - if file_path: - self.mode = mode - self.df = pd.read_csv(file_path) - x_data = [float(row["seconds"]) - self.df.iloc[0]["seconds"] for _, row in self.df.iterrows()] - # temps = (self.df["temp_a"] + self.df["temp_b"]) / 2 - temps = self.df[sensor_variable] - - self.plotter_gui.update_analyzer(x_data=x_data, y_data=temps, mode=mode) diff --git a/controller_framework/gui/main_gui.py b/controller_framework/gui/main_gui.py deleted file mode 100644 index c6721a7..0000000 --- a/controller_framework/gui/main_gui.py +++ /dev/null @@ -1,116 +0,0 @@ -import logging -import sys - -from PySide6 import QtCore, QtGui -from PySide6.QtWidgets import QTabWidget, QApplication, QMainWindow - -from controller_framework.core.logmanager import LogManager - -from .plotter_gui import PlotterGUI -from .analyzer_gui import AnalyzerGUI - - -class MainGUI(QMainWindow): - def __init__(self, app_mirror): - super().__init__() - - from controller_framework.core import AppManager - assert isinstance(app_mirror, AppManager) - self.app_mirror = app_mirror - - self.log_manager = LogManager('MainGUI', logging.DEBUG) - self.log = self.log_manager.get_logger(component='MainGUI') - - self.setWindowTitle("Control System GUI") - self.setGeometry(100, 100, 1200, 800) - - self.tabs = QTabWidget() - self.setCentralWidget(self.tabs) - - self.plotter_gui = PlotterGUI(app_mirror=self.app_mirror) - self.analyzer_gui = AnalyzerGUI(app_mirror=self.app_mirror) - - self.tabs.addTab(self.plotter_gui, "PLOTTER") - self.tabs.addTab(self.analyzer_gui, "ANALYZER") - self.tabs.currentChanged.connect(self.on_tab_changed) - - self.hide_mode = False - - self.setFocusPolicy(QtCore.Qt.FocusPolicy.StrongFocus) - self.installEventFilter(self) - - self.esc_shortcut = QtGui.QShortcut(QtGui.QKeySequence(QtCore.Qt.Key.Key_Escape), self) - self.esc_shortcut.activated.connect(self.close_gui) - - self.plotter_gui.command_triggered.connect(self.send_command) - - def eventFilter(self, obj, event): - if event.type() == QtCore.QEvent.Type.KeyPress: - if event.key() == QtCore.Qt.Key.Key_F: - self.toggle_hide_mode() - elif event.key() == QtCore.Qt.Key.Key_Escape: - sys.exit(0) - return True - return super().eventFilter(obj, event) - - @staticmethod - def start_gui(app_mirror): - app = QApplication(sys.argv) - window = MainGUI(app_mirror) - window.showMaximized() - sys.exit(app.exec()) - - def close_gui(self): - res = self.plotter_gui.close() - if res: - sys.exit(0) - - def key_press_handle(self, super_press_handler, ev): - if ev.key() == QtCore.Qt.Key.Key_Escape: - sys.exit(0) - elif ev.key() == QtCore.Qt.Key.Key_F or ev.key() == 16777216: - self.toggle_hide_mode() - - def toggle_hide_mode(self): - if self.hide_mode: - if self.tabs.currentIndex() == 0: - self.plotter_gui.sidebar.show() - self.plotter_gui.main_layout.insertWidget(0, self.plotter_gui.sidebar, 1) - self.plotter_gui.main_layout.setStretchFactor(self.plotter_gui.sidebar, 1) - self.plotter_gui.main_layout.setStretchFactor( - self.plotter_gui.plotter_gui, 4 - ) - elif self.tabs.currentIndex() == 1: - self.analyzer_gui.sidebar.show() - self.analyzer_gui.layout.insertWidget(0, self.analyzer_gui.sidebar, 1) - self.analyzer_gui.layout.setStretchFactor(self.analyzer_gui.sidebar, 1) - self.analyzer_gui.layout.setStretchFactor( - self.analyzer_gui.plotter_gui, 4 - ) - else: - if self.tabs.currentIndex() == 0: - self.plotter_gui.sidebar.hide() - self.analyzer_gui.layout.setStretchFactor(self.plotter_gui, 5) - elif self.tabs.currentIndex() == 1: - self.analyzer_gui.sidebar.hide() - self.analyzer_gui.layout.setStretchFactor(self.analyzer_gui, 5) - self.hide_mode = not self.hide_mode - - def on_tab_changed(self, index): - self.plotter_gui.toggle_select(index == 0) - - def closeEvent(self, event): - self.log.info("Fechando janela principal") - self.close_gui() - QApplication.quit() - event.accept() - - @QtCore.Slot(str, object) - def send_command(self, command, value): - data = { - "type": command, - "payload": value - } - - self.app_mirror.queue_from_gui.put(data) - self.log.debug(f"Enviou '{command}' com valor {value} para o [APP]", extra={'method':'send command'}) \ No newline at end of file diff --git a/controller_framework/gui/plotter_gui.py b/controller_framework/gui/plotter_gui.py deleted file mode 100644 index 6a4f21a..0000000 --- a/controller_framework/gui/plotter_gui.py +++ /dev/null @@ -1,547 +0,0 @@ -from collections.abc import Callable -from functools import partial -import logging -import os -import queue - -from controller_framework.core.controller import Controller -import numpy as np -import pandas as pd - -from PySide6 import QtCore -from PySide6.QtWidgets import (QGroupBox, QFormLayout, QVBoxLayout, QWidget, QLabel, QScrollArea, - QPushButton, QHBoxLayout, QLineEdit, QListWidget, QCheckBox) - -import re - -from controller_framework.core.logmanager import LogManager - -from .utils_gui import PlotWidget, Mode - - -class DataWorker(QtCore.QObject): - dataReady = QtCore.Signal() - - def __init__(self, fn: Callable, interval_ms: int = 30): - super().__init__() - self.fn = fn - self.interval_ms = interval_ms - self._timer: QtCore.QTimer | None = None - - @QtCore.Slot() - def start(self): - self._timer = QtCore.QTimer(self) - self._timer.setTimerType(QtCore.Qt.TimerType.PreciseTimer) - self._timer.timeout.connect(self._on_timeout) - self._timer.start(self.interval_ms) - - @QtCore.Slot() - def _on_timeout(self): - try: - self.fn() - self.dataReady.emit() - except Exception as e: - print(f"[DataWorker] Erro em fn(): {e}") - - @QtCore.Slot() - def stop(self): - if self._timer is not None and self._timer.isActive(): - self._timer.stop() - - -class ControlGUI(QWidget): - stopWorker = QtCore.Signal() - - def __init__(self, *, parent, app_mirror, x_label: str, y_label: str): - super().__init__(parent) - - self.parent_gui = parent - - from controller_framework.core import AppManager - assert isinstance(app_mirror, AppManager) - self.app_mirror = app_mirror - - self.init_timestamp = None - self.plot_seconds = [] - self.actuator_data = [[] for _ in range(self.app_mirror.num_actuators)] - self.sensor_data = [[] for _ in range(self.app_mirror.num_sensors)] - - self.sensor_labels = [chr(ord("A") + i) for i in range(self.app_mirror.num_sensors)] - - self.plot_views = ["ALL"] + self.sensor_labels - self.current_mode = -1 - - self.main_layout = QVBoxLayout() - self.setLayout(self.main_layout) - - self.container = QWidget() - self.container_layout = QVBoxLayout() - self.container.setLayout(self.container_layout) - - self.plot_widget = PlotWidget(self.container_layout, Mode.PLOTTER) - self.toggle_plot_view() - - self.temp_input = QLineEdit() - self.temp_input.setPlaceholderText("Defina os setpoints desejados [separados por vírgulas ou espaços]") - self.temp_input.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter) - self.container_layout.addWidget(self.temp_input) - - self.temp_input.returnPressed.connect(self.__on_return_pressed) - self.main_layout.addWidget(self.container) - - self.container.keyPressEvent = partial(self.key_press_handle, self.container.keyPressEvent) - - log_path = "./temp_logs/" - if not os.path.exists(log_path): - os.makedirs(log_path) - self.parent_gui.log.debug("Salvando dados em %s", log_path, extra={'method': 'init'}) - - datetime = pd.Timestamp.now() - sensor_columns = [f"sensor_{i}" for i in range(self.app_mirror.num_sensors)] - actuator_columns = [f"actuator_{i}" for i in range(self.app_mirror.num_actuators)] - - columns = ["seconds"] + sensor_columns + actuator_columns + ["target"] - - self.df = pd.DataFrame(columns=columns) - - self.log_file_path = log_path + f"log_{datetime.year}-{datetime.month}-{datetime.day}-{datetime.hour}-{datetime.minute}-{datetime.second}.csv" - self.df.to_csv(self.log_file_path, index=False) - - self.sensors_cache: list[list] = [[]] - self.actuators_cache: list[list] = [[]] - self.is_selected = True - self.last_update = 0 - self.last_update_plot = 0 - - self._data_thread = QtCore.QThread(self) - self._data_worker = DataWorker(self.update_data, interval_ms=30) - self._data_worker.moveToThread(self._data_thread) - self._data_thread.started.connect(self._data_worker.start) - self._data_thread.finished.connect(self._data_worker.stop) - self.stopWorker.connect(self._data_worker.stop) - self._data_worker.dataReady.connect( - self.update_plots, - QtCore.Qt.ConnectionType.QueuedConnection - ) - self._data_thread.start() - - self.mutex = QtCore.QMutex() - - def __on_return_pressed(self): - setpoint_string = self.temp_input.text() - self.temp_input.clear() - - setpoint = re.split(r'[,\s]+', setpoint_string.strip()) - - self.app_mirror.update_setpoint(setpoint) - - self.parent_gui.command_triggered.emit("update_setpoint", {"value": setpoint}) - - # def update_setpoint_label(self): - # self.current_setpoint_line.setValue(self.app_mirror.get_setpoint()) - # self.current_setpoint_line.label.setText(f"Temperatura desejada [{self.app_mirror.get_setpoint()}°C]") - # self.current_setpoint_line.update() - # try: - # return self.app_mirror.queue_to_gui.get(timeout=timeout) - # except queue.Empty: - # return None - - def __process_message(self, data): - command = data.get('type') - payload = data.get('payload') - - if command == "full_state": - self.sensors_cache = payload.get('sensors') - self.actuators_cache = payload.get('actuators') - setpoints = payload.get('setpoints') - running_instance = payload.get('running_instance') - control_instances_data = payload.get('control_instances') - self.cache_timestamp = payload.get('cache_timestamp') - - if self.init_timestamp is None: - self.init_timestamp = self.cache_timestamp[0] - - self.app_mirror.running_instance = running_instance - self.app_mirror.control_instances = control_instances_data - self.app_mirror.update_setpoint(setpoints) - - return True - else: - return False - - def __append_plot_data(self): - self.plot_seconds.extend([val - self.init_timestamp for val in self.cache_timestamp]) - - for lista, cache_values in zip(self.sensor_data, self.sensors_cache): - lista.extend(cache_values) - - for lista, cache_values in zip(self.actuator_data, self.actuators_cache): - lista.extend(cache_values) - - def __write_csv(self): - target_str = '"' + " ".join(map(str, self.app_mirror.setpoints)) + '"' - for j in range(len(self.cache_timestamp)): - rows = [{ - "seconds": f"{self.cache_timestamp[j] - self.init_timestamp:.4f}", - - **{f"sensor_{i}": f"{self.sensors_cache[i][j]:.4f}" - for i in range(self.app_mirror.num_sensors)}, - - **{f"actuator_{i}": f"{self.actuators_cache[i][j]:.4f}" - for i in range(self.app_mirror.num_actuators)}, - - "target": target_str - }] - - with open(self.log_file_path, "a") as f: - for row in rows: - data = ",".join(map(str, row.values())) + "\n" - f.write(data) - - def update_data(self): - while self.app_mirror.is_connected: - try: - data = self.app_mirror.queue_to_gui.get_nowait() - if data is None: - break - - if not self.__process_message(data): - continue - - with QtCore.QMutexLocker(self.mutex): - self.__append_plot_data() - - self.__write_csv() - - except queue.Empty: - break - - def update_plots(self): - if not (self.is_selected or self.app_mirror.is_connected): - return - - view = self.plot_views[self.current_mode] - - with QtCore.QMutexLocker(self.mutex): - sensor_data_np = np.array(self.sensor_data) - actuator_data_np = np.array(self.actuator_data) - plot_seconds_np = np.array(self.plot_seconds) - - match view: - case "ALL": - for (i, sensor_data), (var_name, props) in zip(enumerate(sensor_data_np), - self.app_mirror.sensor_vars.items()): - self.plot_widget.update_curve(plot_seconds_np, sensor_data, 0, i) - try: - legenda = f"{var_name}: {sensor_data[-1]:.4f} {props['unit']}" - except IndexError: - legenda = f"{var_name}: - {props['unit']}" - self.plot_widget.update_legend(text=legenda, plot_n=0, idx=i) - - for (i, actuator_data), (var_name, props) in zip(enumerate(actuator_data_np), - self.app_mirror.actuator_vars.items()): - self.plot_widget.update_curve(plot_seconds_np, actuator_data, 1, i) - - try: - legenda = f"{var_name}: {actuator_data[-1]:.4f} {props['unit']}" - except IndexError: - legenda = f"{var_name}: - {props['unit']}" - self.plot_widget.update_legend(text=legenda, plot_n=1, idx=i) - - case _ if view in self.sensor_labels: - letters = self.sensor_labels - idx = letters.index(view) - - sensor_data = np.array(self.sensor_data[idx]) - self.plot_widget.update_curve(plot_seconds_np, sensor_data, plot_n=0, curve_n=0) - - var_name, props = list(self.app_mirror.sensor_vars.items())[idx] - legenda = f"{var_name}: {sensor_data[-1]:.4f} {props['unit']}" - self.plot_widget.update_legend(text=legenda, plot_n=0, idx=0) - case _: - self.parent_gui.log.warning("Visualização '%s' não reconhecida.", view, extra={'method': 'update plot'}) - - def toggle_plot_view(self): - self.current_mode = (self.current_mode + 1) % len(self.plot_views) - view = self.plot_views[self.current_mode] - - self.plot_widget.clear() - - match view: - case "ALL": - self.plot_widget.plotter_dual_plot('Sensors', 'Actuators') - - for i, (var_name, props) in enumerate(self.app_mirror.sensor_vars.items()): - self.plot_widget.add_curve([0], [0], color=props['color'], plot_n=0) - self.plot_widget.add_legend(text=var_name, color=props['color'], plot_n=0) - - for i, (var_name, props) in enumerate(self.app_mirror.actuator_vars.items()): - self.plot_widget.add_curve([0], [0], color=props['color'], plot_n=1) - self.plot_widget.add_legend(text=var_name, color=props['color'], plot_n=1) - - case _ if view in self.sensor_labels: - idx = self.sensor_labels.index(view) - var_name, props = list(self.app_mirror.sensor_vars.items())[idx] - - self.plot_widget.plotter_single_plot(var_name) - self.plot_widget.add_curve([0], [0], color=props['color']) - self.plot_widget.add_legend(text=var_name, color=props['color'], plot_n=0) - - case _: - self.parent_gui.log.warning("Visualização '%s' não reconhecida.", view, extra={'method': 'toggle plot'}) - - def reset_data(self): - self.plot_seconds = [] - self.actuator_data = [[] for _ in range(self.app_mirror.num_actuators)] - self.sensor_data = [[] for _ in range(self.app_mirror.num_sensors)] - self.init_timestamp = None - - self.df = pd.DataFrame(columns=self.df.columns) - self.df.to_csv(self.log_file_path, index=False) - - def close(self): - self.stopWorker.emit() - self._data_thread.quit() - self._data_thread.wait(1000) - return True - - def key_press_handle(self, super_press_handler: Callable, ev): - if self.temp_input.hasFocus(): - super_press_handler(ev) - else: - if ev.key() == QtCore.Qt.Key.Key_Space: - self.toggle_plot_view() - elif ev.key() == QtCore.Qt.Key.Key_E: - self.reset_data() - elif ev.key() == QtCore.Qt.Key.Key_Escape: - super_press_handler(ev) - elif ev.key() == QtCore.Qt.Key.Key_F: - super_press_handler(ev) - - -class SidebarGUI(QWidget): - def __init__(self, parent, app_mirror, control_gui): - super().__init__(parent) - - from controller_framework.core import AppManager - assert isinstance(app_mirror, AppManager) - self.app_mirror = app_mirror - - self.parent_gui = parent - - self.control_gui = control_gui - self.current_control = None - self.input_fields = {} - - self.main_layout = QVBoxLayout() - self.setLayout(self.main_layout) - - self.btn_connect = QPushButton("Conectar Planta") - self.btn_connect.clicked.connect(self.connect) - self.main_layout.addWidget(self.btn_connect) - - self.controls_group = QGroupBox("Controles Disponíveis") - self.controls_layout = QVBoxLayout() - self.controls_group.setLayout(self.controls_layout) - - self.control_list = QListWidget() - self.controls_layout.addWidget(self.control_list) - - self.btn_activate_control = QPushButton("Ativar Controle") - self.btn_activate_control.clicked.connect(self.activate_control) - - self.btn_deactivate_control = QPushButton("Desativar Controle") - self.btn_deactivate_control.clicked.connect(self.deactivate_control) - self.btn_deactivate_control.setEnabled(False) - - self.main_layout.addWidget(self.controls_group) - - self.hbox = QHBoxLayout() - self.hbox.addWidget(self.btn_activate_control) - self.hbox.addWidget(self.btn_deactivate_control) - - self.main_layout.addLayout(self.hbox) - - self.settings_group = QGroupBox("Configurações do Controle") - self.settings_group.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter) - self.settings_layout = QFormLayout() - self.settings_group.setLayout(self.settings_layout) - - self.scroll_area = QScrollArea() - self.scroll_area.setWidgetResizable(True) - self.scroll_area.setFixedHeight(300) - self.scroll_area.setWidget(self.settings_group) - - self.btn_update_settings = QPushButton("Atualizar Configurações") - self.main_layout.addWidget(self.scroll_area) - self.main_layout.addWidget(self.btn_update_settings) - - self.control_list.itemSelectionChanged.connect(self.update_config_fields) - self.btn_update_settings.clicked.connect(self.update_control_settings) - - self.controls_group.setStyleSheet("QGroupBox { font-size: 16px; font-weight: bold; }") - self.settings_group.setStyleSheet("QGroupBox { font-size: 16px; font-weight: bold; }") - self.control_list.setStyleSheet("QListWidget { font-size: 14px; }") - - btn_label_style = "QPushButton { font-size: 14px; }" - self.btn_activate_control.setStyleSheet(btn_label_style) - self.btn_deactivate_control.setStyleSheet(btn_label_style) - self.btn_update_settings.setStyleSheet(btn_label_style) - - self.scroll_area.setStyleSheet(""" - QScrollBar:vertical { - background: white; - width: 10px; - } - QScrollBar:horizontal { - background: white; - height: 10px; - } - QScrollBar::handle:vertical { - background: #f0f0f0; - } - QScrollBar::handle:horizontal { - background: #f0f0f0; - } - """) - - self.update_control_list() - - def update_control_list(self): - self.control_list.clear() - for control_name in self.app_mirror.list_instances(): - self.control_list.addItem(control_name) - - def update_config_fields(self): - selected_item = self.control_list.currentItem() - - if selected_item: - control_name = selected_item.text() - self.current_control: Controller = self.app_mirror.control_instances[control_name] - - for i in reversed(range(self.settings_layout.count())): - self.settings_layout.itemAt(i).widget().deleteLater() - self.input_fields.clear() - - for var_name, var_data in self.current_control.configurable_vars.items(): - value = var_data['value'] - var_type = var_data['type'] - - label = QLabel(f"{var_name}") - label.setStyleSheet("QLabel { font-size: 14px; }") - - if var_type is bool: - input_field = QCheckBox() - input_field.setChecked(bool(value)) - input_field.setStyleSheet("QCheckBox { font-size: 14px; }") - else: - input_field = QLineEdit() - input_field.setText(str(value)) - input_field.setStyleSheet("QLineEdit { font-size: 14px; }") - - self.settings_layout.addRow(label, input_field) - - self.input_fields[var_name] = input_field - - self.settings_group.setTitle(f"Configurações de {control_name}") - - def update_control_settings(self): - if self.current_control: - for var_name, widget in self.input_fields.items(): - try: - if isinstance(widget, QCheckBox): - new_value = widget.isChecked() - elif isinstance(widget, QLineEdit): - new_value = widget.text() - else: - continue - - self.current_control.update_variable(var_name, new_value) - - command = "update_variable" - payload = { - "control_name": self.current_control.label, - "var_name": var_name, - "new_value": new_value - } - - self.parent_gui.command_triggered.emit(command, payload) - - except ValueError: - self.parent_gui.log.error("Entrada inválida para '%s'", var_name, - extra={'method': 'update control'}) - - if ( - self.app_mirror.running_instance and self.app_mirror.running_instance.label == self.current_control.label): - self.app_mirror.update_setpoint(self.current_control.setpoints) - self.parent_gui.command_triggered.emit("update_setpoint", {"value": self.current_control.setpoints}) - - def connect(self): - self.parent_gui.command_triggered.emit("connect_mcu", {}) - - def activate_control(self): - current_control = self.control_list.currentItem() - - if (current_control is not None): - current_control_label = current_control.text() - self.app_mirror.update_setpoint(self.current_control.setpoints) - - self.app_mirror.running_instance = self.app_mirror.get_instance(current_control_label) - self.parent_gui.command_triggered.emit("start_controller", {"control_name": current_control_label}) - self.parent_gui.command_triggered.emit("update_setpoint", {"value": self.current_control.setpoints}) - - # self.control_gui.update_setpoint_label() - - self.btn_deactivate_control.setEnabled(True) - - def deactivate_control(self): - self.app_mirror.stop_controller() - self.parent_gui.command_triggered.emit("stop_controller", {}) - - self.btn_deactivate_control.setEnabled(False) - - -class PlotterGUI(QWidget): - command_triggered = QtCore.Signal(str, object) - - def __init__(self, app_mirror): - super().__init__() - - from controller_framework.core import AppManager - assert isinstance(app_mirror, AppManager) - self.app_mirror = app_mirror - - self.log_manager = LogManager('Plotter', logging.DEBUG) - self.log = self.log_manager.get_logger(component='PLOTTER') - - self.main_layout = QHBoxLayout() - self.setLayout(self.main_layout) - - self.plotter_gui = ControlGUI(parent=self, app_mirror=self.app_mirror, x_label="Tempo decorrido (s)", - y_label="Temperatura (°C)") - self.sidebar = SidebarGUI(parent=self, app_mirror=self.app_mirror, control_gui=self.plotter_gui) - - self.main_layout.addWidget(self.sidebar, 1) - self.main_layout.addWidget(self.plotter_gui, 4) - - self.hide_mode = False - - def toggle_hide_mode(self): - if self.hide_mode: - self.sidebar.show() - self.main_layout.insertWidget(0, self.sidebar, 1) - self.main_layout.setStretchFactor(self.sidebar, 1) - self.main_layout.setStretchFactor(self.plotter_gui, 4) - else: - self.sidebar.hide() - self.main_layout.setStretchFactor(self, 5) - - self.hide_mode = not self.hide_mode - - def toggle_select(self, param): - self.plotter_gui.is_selected = param - - def close(self): - self.plotter_gui.close() - - return True diff --git a/controller_framework/gui/utils_gui.py b/controller_framework/gui/utils_gui.py deleted file mode 100644 index 823bdd2..0000000 --- a/controller_framework/gui/utils_gui.py +++ /dev/null @@ -1,191 +0,0 @@ -from enum import Enum -import numpy as np -import pyqtgraph as pg - - -class MarkerPlot: - def __init__(self, plot, x_data=None, y_data=None, threshold=10): - self.plot = plot - self.x_data = np.array(x_data, dtype=np.float64) if x_data is not None else np.array([]) - self.y_data = np.array(y_data, dtype=np.float64) if y_data is not None else np.array([]) - self.threshold = threshold - - self.marker = pg.ScatterPlotItem(size=5, brush=pg.mkBrush("r"), pen=pg.mkPen(None), symbol='o') - self.marker.setZValue(10) - self.marker.setData([], []) - self.plot.addItem(self.marker) - - self.plot.scene().sigMouseMoved.connect(self.on_mouse_moved) - - def set_data(self, x_data, y_data): - self.x_data = np.array(x_data, dtype=np.float64) - self.y_data = np.array(y_data, dtype=np.float64) - - def on_mouse_moved(self, event): - if self.x_data.size == 0: - return - - pos = self.plot.vb.mapSceneToView(event) - idx = np.abs(self.x_data - pos.x()).argmin() - x_val, y_val = self.x_data[idx], self.y_data[idx] - dist = np.hypot(pos.x() - x_val, pos.y() - y_val) * 100 - - if dist > self.threshold: - self.marker.setData([], []) - self.marker.setToolTip('') - return - - self.marker.setData([x_val], [y_val]) - tooltip = f"Tempo: {x_val:.4f}s\nTemp: {y_val:.4f}°C" - self.marker.setToolTip(tooltip) - - -class Mode(Enum): - CLOSED = 'closed' - OPEN = 'open' - PLOTTER = 'plotter' - - -class PlotWidget: - def __init__(self, layout, mode: Mode = None): - self.plot_widget = pg.GraphicsLayoutWidget() - self.plot_widget.setBackground('w') - layout.addWidget(self.plot_widget) - self.mode = mode - self._init_containers() - - def _init_containers(self): - self._curves = { - Mode.CLOSED: [], - Mode.OPEN: {0: [], 1: []}, - Mode.PLOTTER: {0: [], 1: []} - } - self._legends = {0: [], 1: []} - - def clear(self): - curves: pg.PlotCurveItem = self._curves.get(self.mode) - if isinstance(curves, dict): - for lst in curves.values(): - lst.clear() - else: - curves.clear() - for lst in self._legends.values(): - lst.clear() - self.plot_widget.clear() - - def _get_plot_and_containers(self, plot_n: int = 0): - if self.mode == Mode.CLOSED: - return self.plot, self._curves[Mode.CLOSED], self._legends[plot_n] - if self.mode == Mode.OPEN: - key = 0 if plot_n == 0 else 1 - plot = self.plot_temp if key == 0 else self.plot_derivative - return plot, self._curves[Mode.OPEN][key], self._legends[plot_n] - if self.mode == Mode.PLOTTER: - plot = self.plot_sensor if plot_n == 0 else self.plot_actuators - return plot, self._curves[Mode.PLOTTER][plot_n], self._legends[plot_n] - raise ValueError(f"Invalid mode: {self.mode}") - - def add_curve(self, x, y, color='black', width=1.5, plot_n: int = 0): - if x is None or y is None: - return - plot, curves, _ = self._get_plot_and_containers(plot_n) - curve = plot.plot(x, y, pen=pg.mkPen(color, width=width)) - curves.append(curve) - - def update_curve(self, x, y, plot_n: int, curve_n: int): - if x is None or y is None: - return - plot, curves, _ = self._get_plot_and_containers(plot_n) - - curves[curve_n].setData(x, y) - - # if self.mode == Mode.PLOTTER: - # max_time = x[-1] - # min_time = max_time - 60 - # if min_time < 0: - # min_time = 0 - # plot.setXRange(min_time, max_time) - - def clear_plots(self, plot_n: int = 0): - plot, curves, _ = self._get_plot_and_containers(plot_n) - plot.clear() - curves.clear() - - def add_legend(self, text: str = '', size: int = 11, - color: str = 'black', txt_color="#808080FF", style=pg.QtCore.Qt.PenStyle.SolidLine, plot_n: int = 0): - if not text: - return - plot, _, legends = self._get_plot_and_containers(plot_n) - - legend = plot.addLegend(labelTextSize=f'{str(size)}pt', labelTextColor=txt_color) - if style != 'dot': - item = plot.plot([], [], pen=pg.mkPen(color, width=3, style=style)) - else: - item = pg.ScatterPlotItem(size=4, brush=pg.mkBrush(color), pen=None, symbol='o') - legend.addItem(item, text) - legends.append((legend, item)) - - def update_legend(self, text: str, idx: int, plot_n: int = 0): - _, _, legends = self._get_plot_and_containers(plot_n) - legend, item = legends[idx] - label = legend.getLabel(item) - label.setText(text) - - def add_item(self, item, plot_n: int = 0): - if item is None: - return - plot, _, _ = self._get_plot_and_containers(plot_n) - plot.addItem(item) - - def closed_loop_plot(self): - self.mode = Mode.CLOSED - self.clear() - self.plot = self.plot_widget.addPlot() - self.plot.setTitle('Análise de Malha Fechada', size='20pt') - self._setup_plot(self.plot) - self.marker_closed = MarkerPlot(self.plot) - - def open_loop_plot(self): - self.mode = Mode.OPEN - self.clear() - self.plot_temp = self.plot_widget.addPlot(row=0, col=0) - self.plot_temp.setTitle('Análise de Malha Aberta', size='14pt') - self.plot_derivative = self.plot_widget.addPlot(row=1, col=0) - self.plot_derivative.setTitle(title='Derivada dT/t', size='14pt') - self._setup_plot(self.plot_temp) - self._setup_plot(self.plot_derivative) - self.marker_temp = MarkerPlot(self.plot_temp) - self.marker_derivative = MarkerPlot(self.plot_derivative) - - def plotter_plot(self): - self.mode = Mode.PLOTTER - - def plotter_dual_plot(self, legend_1: str = '', legend_2: str = ''): - self.mode = Mode.PLOTTER - self.plot_sensor = self._init_subplot(0, title=legend_1) - self.plot_actuators = self._init_subplot(1, title=legend_2) - - def plotter_single_plot(self, legend_1: str = ''): - self.mode = Mode.PLOTTER - self.plot_sensor = self._init_subplot(0, title=legend_1) - - def _init_subplot(self, row: int, title: str): - plot = self.plot_widget.addPlot(row=row, col=0, title=title) - self._setup_plot(plot) - return plot - - def _setup_plot(self, plot): - if self.mode == Mode.PLOTTER: - self.plot_widget.setBackground('k') - text_pen = pg.mkPen('w') - else: - text_pen = pg.mkPen('k') - - plot.showGrid(x=True, y=True, alpha=0.2) - - for axis in ('left', 'bottom'): - ax = plot.getAxis(axis) - ax.setPen(text_pen) - ax.setTextPen(text_pen) - - plot.setLabel('bottom', 'Tempo', units='s', **{'color': text_pen.color().name(), 'font-size': '12pt'}) diff --git a/controller_framework/tests/core/unit/test_class_app.py b/controller_framework/tests/core/unit/test_class_app.py deleted file mode 100644 index 4842fb7..0000000 --- a/controller_framework/tests/core/unit/test_class_app.py +++ /dev/null @@ -1,113 +0,0 @@ -import pytest - -from controller_framework.core import (AppManager, MCUType) - -@pytest.fixture -def app(): - return AppManager(mcu_type=MCUType.RDATA, sample_time=1000, port="COM1", baud_rate=14000) - -class TestAppClass: - @pytest.mark.parametrize( - "setter, attr_name, entries", - [ - ("set_actuator_vars", "actuator_vars", - [("Act 1", "%", float), ("Act 2", "V", int), ("Act 3", "", bool)]), - ("set_sensor_vars", "sensor_vars", - [("Sensor 1", "ºC", float), ("Sensor 2", "V", float), ("Sensor 3", "A", float)]), - ], - ) - def test_set_vars(self, app, monkeypatch, setter, attr_name, entries): - """ Ensure that setter initialize actuator_vars and sensors_vars with the correct data """ - - monkeypatch.setattr(app, "_random_color", lambda: "#ABC123") - - getattr(app, setter)(*entries) - - result = getattr(app, attr_name) - expected = { - name: {"type": typ, "value": 0, "unit": unit, "color": "#ABC123"} - for name, unit, typ in entries - } - - assert result == expected - - @pytest.mark.parametrize( - "setter, update_method, attr_name, entries, new_values, expected_values", - [ - ( - "set_actuator_vars", - "update_actuator_vars", - "actuator_vars", - [("A1", "%", float), ("A2", "V", int), ("A3", "", bool)], - (1.23, 7, True), - {"A1": 1.23, "A2": 7, "A3": True}, - ), - ( - "set_sensor_vars", - "update_sensors_vars", - "sensor_vars", - [("S1", "ºC", float), ("S2", "V", float), ("S3", "A", float)], - (25.0, 12.7, 3.3), - {"S1": 25.0, "S2": 12.7, "S3": 3.3}, - ), - ], - ) - def test_update_vars_success(self, app, setter, update_method, attr_name, entries, new_values, expected_values,): - """ Ensure that the update methods update actuator_vars and sensor_vars with correct new values """ - - getattr(app, setter)(*entries) - getattr(app, update_method)(new_values) - - result = getattr(app, attr_name) - for name, expected in expected_values.items(): - assert result[name]["value"] == pytest.approx(expected) - - @pytest.mark.parametrize( - "setter, update_method, entries, bad_values, expected_type_name", - [ - ("set_actuator_vars", "update_actuator_vars", [("A", "", int)], ("oops",), "int"), - ("set_sensor_vars", "update_sensors_vars", [("S", "", bool)], ("oops",), "bool"), - ], - ) - def test_update_vars_type_error(self, app, setter, update_method, entries, bad_values, expected_type_name): - """Ensure that the update methods raise a TypeError when called with values of the wrong type.""" - - getattr(app, setter)(*entries) - - with pytest.raises(TypeError) as exc: - getattr(app, update_method)(*bad_values) - - assert expected_type_name in str(exc.value) - - @pytest.mark.parametrize( - "setter, getter, updater, entries, new_values, expected_values", - [ - ( - "set_actuator_vars", - "get_actuator_values", - "update_actuator_vars", - [("A1", "%", float), ("A2", "V", int), ("A3", "", bool)], - (1.23, 7, True), - [1.23, 7, True] - ), - ( - "set_sensor_vars", - "get_sensor_values", - "update_sensors_vars", - [("S1", "ºC", float), ("S2", "V", float), ("S3", "A", float)], - (25.0, 12.7, 3.3), - [25.0, 12.7, 3.3] - ) - ], - ) - def test_get_vars_values(self, app, setter, getter, updater, - entries, new_values, expected_values): - """ Ensure that the getter methods return the correct values """ - - getattr(app, setter)(*entries) - getattr(app, updater)(new_values) - - result = getattr(app, getter)() - - assert result == expected_values - \ No newline at end of file diff --git a/examples/ball_n_plate.py b/examples/ball_n_plate.py deleted file mode 100644 index 3ef82ea..0000000 --- a/examples/ball_n_plate.py +++ /dev/null @@ -1,115 +0,0 @@ -from controller_framework import AppManager -from controller_framework import Controller -from controller_framework import MCUType - - -class BallNPlateControler(Controller): - def __init__(self, label, setpoint): - super().__init__(label, setpoint) - - self.x_out = 1750 - self.y_out = 1750 - - self.closed_loop = True - - self.x_last = 0 - self.x_ierr = 0 - self.y_last = 0 - self.y_ierr = 0 - - def x_pid(self, sp, pv, pv_last, ierr, dt): - Kc = 4 # K/%Heater - tauI = 0.4 # sec - tauD = 0.06 # sec - # Parameters in terms of PID coefficients - KP = Kc - KI = Kc / tauI - KD = Kc * tauD - # ubias for controller (initial heater) - op0 = 400 - # upper and lower bounds on heater level - ophi = 750 - oplo = 15 - # calculate the error - error = (sp - pv) * 0.6 - print("x_err:", error) - # calculate the integral error - ierr = ierr + KI * error * dt - # calculate the measurement derivative - dpv = (pv - pv_last) / (dt + 0.000001) - # calculate the PID output - P = KP * error - I = ierr - D = -KD * dpv - op = op0 + P + I + D - # implement anti-reset 10windup - if op < oplo or op > ophi: - I = I - KI * error * dt - # clip output - op = max(oplo, min(ophi, op)) - # invert for x axis - # op = -op + ophi + oplo - # return the controller output and PID terms - return [op, P, I, D] - - def y_pid(self, sp, pv, pv_last, ierr, dt): - Kc = 3 # K/%Heater - tauI = 0.3 # sec - tauD = 0.08 # sec - # Parameters in terms of PID coefficients - KP = Kc - KI = Kc / tauI - KD = Kc * tauD - # ubias for controller (initial heater) - op0 = 350 - # upper and lower bounds on heater level - ophi = 750 - oplo = 15 - # calculate the error - error = sp - pv - print("y_err:", error) - # calculate the integral error - ierr = ierr + KI * error * dt - # calculate the measurement derivative - dpv = (pv - pv_last) / (dt + 0.000001) - # calculate the PID output - P = KP * error - I = ierr - D = -KD * dpv - op = op0 + P + I + D - # implement anti-reset windup - if op < oplo or op > ophi: - I = I - KI * error * dt - # clip output - op = max(oplo, min(ophi, op)) - # return the controller output and PID terms - return [op, P, I, D] - - def control(self): - if self.closed_loop: - if self.x_last == 0: - self.x_last = self.x_out - if self.y_last == 0: - self.y_last = self.y_out - - out_x, _, x_ierr, _ = self.x_pid(self.setpoints[0], self.sensor_values[0], self.x_last, self.x_ierr, self.dt) - out_y, _, y_ierr, _ = self.y_pid(self.setpoints[1], self.sensor_values[1], self.y_last, self.y_ierr, self.dt) - - self.x_last = self.sensor_values[0] - self.y_last = self.sensor_values[1] - self.x_ierr = x_ierr - self.y_ierr = y_ierr - self.out1 = out_x / 10 - self.out2 = out_y / 10 - return self.out1, self.out2 - - -if __name__ == '__main__': - ball_n_plate = BallNPlateControler("Ball and Plate Controller", [2400, 2400]) - ball_n_plate.set_config_variable(("closed_loop", bool)) - - app = AppManager(sample_time=10, mcu_type=MCUType.VIRUTAL, x_pos=2400.0, y_pos=2400.0, x_out=1750.0, y_out=1750.0) - app.append_instance(ball_n_plate) - app.set_actuator_vars(('Servo X', '', float), ('Servo Y', '', float)) - app.set_sensor_vars(('Pos X', '', float), ('Pos Y', '', float)) - app.init() diff --git a/examples/rdata.py b/examples/rdata.py deleted file mode 100644 index 97b5a94..0000000 --- a/examples/rdata.py +++ /dev/null @@ -1,94 +0,0 @@ -import time -from controller_framework import AppManager -from controller_framework import Controller -from controller_framework import MCUType - -class PIDControl(Controller): - def __init__(self, label, init_setpoint, l, t): - super().__init__(label, init_setpoint) - ti = (l / 0.3) - td = 0 - self.Kp = (0.9 * (t / l)) - self.Ki = (self.Kp / ti) - self.Kd = (self.Kp * td) - - self.error = [0 for _ in range(3)] - self.accumulated_I = [0 for _ in range(3)] - - - def step(self, i, setpoint, measure): - dt_s = self.dt / 10 ** 6 - - err = setpoint - measure - P = self.Kp * err - i_inc = self.Ki * err * dt_s - D = self.Kd * (err - self.error[i]) / (dt_s + 0.000001) - - self.error[i] = err - - windup_check = P + self.accumulated_I[i] + i_inc + D - self.accumulated_I[i] += i_inc - - return max(0.0, min(100.0, windup_check)) - - def control(self): - result = [] - - for i, sensor_value in enumerate(self.sensor_values): - out = self.step(i, self.setpoints[i], sensor_value) - result.append(out) - - return result - -class PIDControl2(Controller): - def __init__(self, label, setpoint, l, t): - super().__init__(label, setpoint) - ti = (l / 0.3) - td = 0 - self.Kp = (0.9 * (t / l)) - self.Ki = (self.Kp / ti) - self.Kd = (self.Kp * td) - - self.error = 0 - self.accumulated_I = 0 - - def control(self): - time.sleep(0.48) - - dt_s = self.dt - - measure = (self.sensor_a + self.sensor_b) / 2 - - err = self.setpoint - measure - P = self.Kp * err - i_inc = self.Ki * err * dt_s - D = self.Kd * (err - self.error) / (dt_s + 0.000001) - - self.error = err - - windup_check = P + self.accumulated_I + i_inc + D - - if windup_check > 100: - self.out = 100 - - if windup_check < -100: - self.out = -100 - - self.accumulated_I += i_inc - self.out = windup_check - -if __name__ == '__main__': - plant = AppManager(mcu_type=MCUType.RDATA, sample_time=20, port="COM1", baud_rate=14000) - plant.set_actuator_vars(("Heater 1", "%", float), ("Heater 2", "%", float), ("Heater 3", "%", float)) - plant.set_sensor_vars(("NTC 1", "ºC", float), ("NTC 2", "ºC", float ), ("NTC 3", "ºC", float)) - - pidcontrol1 = PIDControl("PID Control 1", init_setpoint=(40, 30, 50), l=9.02, t=344.21) - pidcontrol1.set_config_variable(("Kp", float), ("Ki", float), ("Kd", float)) - - # pidcontrol2 = PIDControl2("PID Control 2", 250, 15.02, 18.21) - # pidcontrol2.set_config_variable(("Kp", float)) - # pidcontrol2.set_config_variable(("Ki", float)) - # teste.append_instance(pidcontrol2) - - plant.append_instance(pidcontrol1) - plant.init() diff --git a/examples/tclab_thermal.py b/examples/tclab_thermal.py deleted file mode 100644 index cdd2d90..0000000 --- a/examples/tclab_thermal.py +++ /dev/null @@ -1,72 +0,0 @@ -import sys - -from controller_framework import AppManager -from controller_framework import Controller -from controller_framework import MCUType - -class ThermalControler(Controller): - def __init__(self, label, setpoint): - super().__init__(label, setpoint) - - self.out1 = 0.0 - self.out2 = 0.0 - - self.closed_loop = True - - self.sensor_a_last = 0 - self.ierr = 0 - - def pid(self, sp,pv,pv_last,ierr,dt): - Kc = 10.0 # K/%Heater - tauI = 50.0 # sec - tauD = 1.0 # sec - # Parameters in terms of PID coefficients - KP = Kc - KI = Kc/tauI - KD = Kc*tauD - # ubias for controller (initial heater) - op0 = 0 - # upper and lower bounds on heater level - ophi = 100 - oplo = 0 - # calculate the error - error = sp-pv - # calculate the integral error - ierr = ierr + KI * error * dt - # calculate the measurement derivative - dpv = (pv - pv_last) / (dt + 0.000001) - # calculate the PID output - P = KP * error - I = ierr - D = -KD * dpv - op = op0 + P + I + D - # implement anti-reset windup - if op < oplo or op > ophi: - I = I - KI * error * dt - # clip output - op = max(oplo,min(ophi,op)) - # return the controller output and PID terms - return [op,P,I,D] - - def control(self): - if self.closed_loop: - if self.sensor_a_last == 0: - self.sensor_a_last = self.sensor_a - - out, _, ierr, _ = self.pid(self.setpoint, self.sensor_a, self.sensor_a_last, self.ierr, self.dt) - - self.sensor_a_last = self.sensor_a - self.ierr = ierr - self.out1 = out - return self.out1 - -if __name__ == '__main__': - thermal = ThermalControler("Thermal Controller", 25) - thermal.set_config_variable(("out1", float)) - thermal.set_config_variable(("out2", float)) - thermal.set_config_variable(("closed_loop", bool)) - thermal.set_config_variable(("setpoint", float)) - - app = AppManager(MCUType.TCLAB, port=sys.argv[1], baud=sys.argv[2]) - app.append_instance(thermal) - app.init() diff --git a/examples/thermal_plant.png b/examples/thermal_plant.png deleted file mode 100644 index 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zIHMradAYd{X-Ejg*zu1sU{J9DvdSUFeHiGsc6Qc@h=_=fjU8-j`|><1yuH0$L`Wz-ER2%%X0tDg z*XQCIan#aTqaTYFdN}Og8N6x|USS9qOYqMhvd#g2CdJ^N)rbltO7^V4fnT7f!hXDn zXR=b%fH7)8+}Zf3G-g4Zk%?(|aWS*KqvIual*p4Od2@4SOZy%k$sH#5@L(LjZVGCJ zvo{Q5&)h!RO>XmrZPjF6P-Wei-3Zyafrr;VYa)V&CrC7hkB1i`cZ`RJXHFr5hu2L1 ih5Y}2{Qn%2^P7$`0x@wGOCw<5@KlvF6^rEG`28Pj(iHFj diff --git a/examples/thermal_plant.py b/examples/thermal_plant.py deleted file mode 100644 index bc48e9f..0000000 --- a/examples/thermal_plant.py +++ /dev/null @@ -1,60 +0,0 @@ -import time -from controller_framework import AppManager -from controller_framework import Controller -from controller_framework import MCUType - - -class PIDControl(Controller): - def __init__(self, label, init_setpoint, l, t): - super().__init__(label, init_setpoint) - ti = (l / 0.3) - td = 0 - - self.open_loop = False - self.open_duty = 0 - - self.Kp = (0.9 * (t / l)) - self.Ki = (self.Kp / ti) - self.Kd = (self.Kp * td) - - self.error = [0 for _ in range(3)] - self.accumulated_I = [0 for _ in range(3)] - - def step(self, i, setpoint, measure): - dt_s = self.dt / 10 ** 6 - - err = setpoint - measure - P = self.Kp * err - i_inc = self.Ki * err * dt_s - D = self.Kd * (err - self.error[i]) / (dt_s + 0.000001) - - self.error[i] = err - - windup_check = P + self.accumulated_I[i] + i_inc + D - self.accumulated_I[i] += i_inc - - return max(0.0, min(100.0, windup_check)) - - def control(self): - result = [] - - if self.open_loop: - return [self.open_duty] - - for i, sensor_value in enumerate(self.sensor_values): - out = self.step(i, self.setpoints[i], sensor_value) - result.append(out) - - return result - - -if __name__ == '__main__': - plant = AppManager(mcu_type=MCUType.STM32, sample_time=20, ntc_a=0, ntc_b=0, duty=0) - plant.set_sensor_vars(("NTC 1", "ºC", float), ("NTC 2", "ºC", float)) - plant.set_actuator_vars(("Peltier", "%", float)) - - pid_control1 = PIDControl("PID Control 1", init_setpoint=25, l=9.02, t=344.21) - pid_control1.set_config_variable(("open_loop", bool), ("open_duty", float),("Kp", float), ("Ki", float), ("Kd", float)) - - plant.append_instance(pid_control1) - plant.init() diff --git a/examples/virtual.py b/examples/virtual.py deleted file mode 100644 index 568838e..0000000 --- a/examples/virtual.py +++ /dev/null @@ -1,80 +0,0 @@ -import socket -import tkinter as tk -import logging - -logging.basicConfig( - level=logging.INFO, - format='%(asctime)s - %(levelname)s - %(message)s', - handlers=[ - logging.FileHandler('ball_plate_emulator.log'), - logging.StreamHandler() - ] -) -logger = logging.getLogger(__name__) - -UDP_ADDR = ("127.0.0.1", 5007) -UPDATE_INTERVAL = 5 # ms - -try: - sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) - logger.info("Socket UDP inicializado com sucesso") -except Exception as e: - logger.error(f"Erro ao inicializar o socket: {e}") - raise - -class BallPlateEmulator(tk.Canvas): - def __init__(self, root, width=800, height=700, ball_radius=15): - super().__init__(root, width=width, height=height, bg="white") - self.pack() - self.width = width - self.height = height - self.ball_radius = ball_radius - - self.ball_x = width / 2 - self.ball_y = height / 2 - - r = ball_radius - self.ball = self.create_oval( - self.ball_x - r, self.ball_y - r, - self.ball_x + r, self.ball_y + r, - fill="blue" - ) - - self.bind("", self.on_drag) - self.after(UPDATE_INTERVAL, self.send_position) - - logger.info(f"Emulador inicializado: width={width}, height={height}, ball_radius={ball_radius}") - - def on_drag(self, event): - try: - x = min(max(event.x, self.ball_radius), self.width - self.ball_radius) - y = min(max(event.y, self.ball_radius), self.height - self.ball_radius) - self.ball_x, self.ball_y = x, y - self.coords( - self.ball, - x - self.ball_radius, y - self.ball_radius, - x + self.ball_radius, y + self.ball_radius - ) - logger.debug(f"Bola movida para posição: x={x}, y={y}") - except Exception as e: - logger.error(f"Erro ao mover a bola: {e}") - - def send_position(self): - try: - msg = f"{float(self.ball_x):.2f},{float(self.ball_y):.2f}".encode() - sock.sendto(msg, UDP_ADDR) - logger.info(f"Posição enviada via UDP: x={self.ball_x:.2f}, y={self.ball_y:.2f}") - except Exception as e: - logger.error(f"Erro ao enviar posição via UDP: {e}") - self.after(UPDATE_INTERVAL, self.send_position) - -if __name__ == "__main__": - try: - root = tk.Tk() - root.title("Emulador Ball and Plate") - logger.info("Aplicação Tkinter iniciada") - BallPlateEmulator(root) - root.mainloop() - except Exception as e: - logger.error(f"Erro na execução da aplicação: {e}") - raise \ No newline at end of file diff --git a/pyproject.toml b/pyproject.toml index 1f55af2..49161dd 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -3,32 +3,21 @@ requires = ["setuptools", "wheel"] build-backend = "setuptools.build_meta" [project] -name = "controller-framework" -version = "0.0.2" -description = "A framework to simplify creation of controllers" +name = "splot-app" +version = "0.0.1" +description = "A app to simplify creation of controllers" authors = [ { name = "Paulo Santos", email = "pauloxrms@gmail.com" }, { name = "Higor Lima", email = "limahigor.g@gmail.com" }, { name = "Rita Lemos", email = "rklp@ic.ufal.br" }, { name = "Vinicius Rafael", email = "vinicius.rafael751@gmail.com" }, - ] +] license = { text = "GNU" } readme = "README.md" requires-python = ">=3.9" dependencies = [ "PySide6>=6.8.2", - "numpy>=2.1.2", - "pandas>=2.2.3", - "pyqtgraph>=0.13.7", - "pyserial>=3.5", - "python-dateutil>=2.9.0.post0", - "pytz>=2024.2", - "six>=1.16.0", - "tzdata>=2024.2", - "matplotlib~=3.9.2", - "scipy~=1.14.1", - "pyocd>=0.36.0", ] [tool.setuptools] diff --git a/src/gui/__init__.py b/src/gui/__init__.py new file mode 100644 index 0000000..77dfc94 --- /dev/null +++ b/src/gui/__init__.py @@ -0,0 +1,5 @@ +from .main_gui import MainWindow +from .nav_bar import NavBar +from .utils_gui import CustomDialog, CustomCodeDialog + +__all__ = ["MainGUI"] \ No newline at end of file diff --git a/src/gui/content/default-driver-content.py b/src/gui/content/default-driver-content.py new file mode 100644 index 0000000..52df7d8 --- /dev/null +++ b/src/gui/content/default-driver-content.py @@ -0,0 +1,18 @@ +class MyDriverName(MCUDriver): + def __init__(self, mcu_type, **kwargs): + super().__init__(mcu_type, **kwargs) + + def connect(self): + pass + + def disconnect(self): + pass + + def read(self): + # You should return a tuple with sensor values + actuator values + #return (sensor_values + actuator_values) + pass + + def send(self, *outs): + # You receive a tuple of outs and should send to your mcu + pass \ No newline at end of file diff --git a/src/gui/main_gui.py b/src/gui/main_gui.py new file mode 100644 index 0000000..8cb2fa3 --- /dev/null +++ b/src/gui/main_gui.py @@ -0,0 +1,87 @@ +import sys +from PySide6 import QtCore +from PySide6.QtWidgets import ( + QApplication, QWidget, QMainWindow, QHBoxLayout, QVBoxLayout, QLabel, QStackedWidget, QGraphicsDropShadowEffect, QPushButton +) +from PySide6.QtGui import ( + QColor, +) + +import qtawesome as qta + +from nav_bar import NavBar + +class MainWindow(QMainWindow): + def __init__(self): + super().__init__() + self.setWindowTitle("SPLOT") + + styleFile = QtCore.QFile('./src/gui/stylesheet/main-gui.qss') + styleFile.open(QtCore.QFile.OpenModeFlag.ReadOnly) + self.setStyleSheet(styleFile.readAll().data().decode()) + + self.setWindowFlags(QtCore.Qt.WindowType.FramelessWindowHint) + + self.plants = [] + + self._setup_ui() + + def _setup_ui(self): + self.central_widget = QWidget() + self.central_widget.setObjectName('centralWidget') + self.setCentralWidget(self.central_widget) + self.main_layout = QVBoxLayout(self.central_widget) + self.main_layout.setContentsMargins(0, 0, 0, 0) + + self.title_container = QWidget() + self.title_container.setObjectName('titleContainer') + self.title_layout = QHBoxLayout(self.title_container) + self.title_layout.setContentsMargins(0, 0, 0, 0) + # self.title_layout.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter) + self.main_layout.addWidget(self.title_container) + + self.title_layout.addStretch() + + self.app_title = QLabel("Senamby") + self.app_title.setAlignment(QtCore.Qt.AlignmentFlag.AlignBottom) + self.app_title.setObjectName("titleLabel") + self.title_layout.addWidget(self.app_title) + + self.title_layout.addStretch() + + self.close_icon = qta.icon('mdi6.close', color=QColor(255, 255, 255)) + self.close_icon_ver = qta.icon('mdi6.close', color=QColor(200, 200, 200)) + + self.close_button = QPushButton() + self.close_button.setIcon(self.close_icon) + + self.close_button.setIconSize(self.close_button.size()) + self.close_button.setIconSize(QtCore.QSize(32, 32)) + self.close_button.setObjectName('closeButton') + + self.close_button.enterEvent = lambda event: self.close_button.setIcon(self.close_icon_ver) + self.close_button.leaveEvent = lambda event: self.close_button.setIcon(self.close_icon) + self.close_button.clicked.connect(self._handle_close_dialog) + + self.title_layout.addWidget(self.close_button) + + self.nav_toolbar = NavBar(self) + self.main_layout.addWidget(self.nav_toolbar) + + self.main_content_widget = QStackedWidget() + self.main_content_widget.setObjectName("mainContentWidget") + self.main_layout.addWidget(self.main_content_widget) + shadow_effect = QGraphicsDropShadowEffect(self) + shadow_effect.setBlurRadius(10) + shadow_effect.setColor(QColor(0, 0, 0, 40)) + shadow_effect.setOffset(0, 3) + self.main_content_widget.setGraphicsEffect(shadow_effect) + + def _handle_close_dialog(self): + self.close() + +if __name__ == '__main__': + app = QApplication() + main_window = MainWindow() + main_window.showMaximized() + sys.exit(app.exec()) \ No newline at end of file diff --git a/src/gui/nav_bar.py b/src/gui/nav_bar.py new file mode 100644 index 0000000..cb67bf0 --- /dev/null +++ b/src/gui/nav_bar.py @@ -0,0 +1,256 @@ +import os +import qtawesome as qta +from PySide6 import QtCore +from PySide6.QtWidgets import ( + QHBoxLayout, QVBoxLayout, QWidget, QToolBar, QButtonGroup, QLabel, QToolButton, QGraphicsDropShadowEffect, + QComboBox, QPushButton, QStackedWidget, QLineEdit, QRadioButton, +) +from PySide6.QtGui import ( + QAction, QColor +) + +from utils_gui import CustomDialog, CustomCodeDialog + +class addPlantDialog(QWidget): + def __init__(self, parent=None): + super().__init__(parent) + + self.dialog: CustomDialog = None + + self._setup_ui() + + def exec(self): + if self.dialog is not None: + self.dialog.exec() + + def _setup_ui(self): + self.dialog_content_container = QWidget() + self.dialog_content_layout = QVBoxLayout(self.dialog_content_container) + + current_dir = os.path.dirname(os.path.abspath(__file__)) + style_file_path = os.path.join(current_dir, 'stylesheet', 'nav-bar.qss') + self.styleFile = QtCore.QFile(style_file_path) + self.styleFile.open(QtCore.QFile.OpenModeFlag.ReadOnly) + self.dialog_content_container.setStyleSheet(self.styleFile.readAll().data().decode()) + + self.dialog = CustomDialog('Gerenciar plantas') + + self._create_modes_buttons() + self._create_main_content() + self._create_rodape_content() + + self.dialog.addWidget(self.dialog_content_container, stretch=1) + + def _create_rodape_content(self): + self.rodape_container = QWidget() + self.rodape_container.setObjectName('rodapeContainer') + self.rodape_layout = QHBoxLayout(self.rodape_container) + self.rodape_layout.setAlignment(QtCore.Qt.AlignmentFlag.AlignHCenter) + self.ok_btn = QPushButton('Adicionar') + self.rodape_layout.addWidget(self.ok_btn) + self.dialog_content_layout.addWidget(self.rodape_container, stretch=0) + + def _create_main_content(self): + self.content_container = QWidget() + self.content_container.setObjectName('contentContainer') + self.content_layout = QVBoxLayout(self.content_container) + self.dialog_content_layout.addWidget(self.content_container, stretch=1) + + self.stacked_content_widget = QStackedWidget(self.content_container) + self.content_layout.addWidget(self.stacked_content_widget) + + self._create_new_plant_page() + self._create_existent_page() + + def _create_new_plant_page(self): + self.new_plant_page = QWidget() + self.new_plant_layout = QVBoxLayout(self.new_plant_page) + self.new_plant_layout.addStretch(1) + self.stacked_content_widget.addWidget(self.new_plant_page) + + self.plant_name_label = QLabel('Nome da planta:') + self.plant_name_input = QLineEdit() + self.new_plant_layout.addWidget(self.plant_name_label) + self.new_plant_layout.addWidget(self.plant_name_input) + + self.plant_driver_label = QLabel('Tipo de driver:') + self.new_plant_layout.addWidget(self.plant_driver_label) + + self.radio_driver_container = QWidget() + self.radio_driver_layout = QHBoxLayout(self.radio_driver_container) + self.new_plant_layout.addWidget(self.radio_driver_container) + + self.radio_driver_group = QButtonGroup(self.radio_driver_container) + + self.new_plant_default_driver = QRadioButton('Padrão') + self.radio_driver_layout.addWidget(self.new_plant_default_driver) + self.radio_driver_group.addButton(self.new_plant_default_driver, 0) + self.new_plant_default_driver.setChecked(True) + + self.new_plant_custom_driver = QRadioButton('Personalizado') + self.radio_driver_layout.addWidget(self.new_plant_custom_driver) + self.radio_driver_group.addButton(self.new_plant_custom_driver, 1) + + self.radio_driver_group.idToggled.connect(self._handle_change_radio_driver) + + self.driver_content_container = QWidget() + self.driver_content_container.setObjectName('driverContentContainer') + self.driver_content_layout = QVBoxLayout(self.driver_content_container) + + self.stacked_driver_content = QStackedWidget(self.driver_content_container) + self.driver_content_layout.addWidget(self.stacked_driver_content) + + self.new_plant_layout.addWidget(self.driver_content_container) + + self.default_driver_page = QWidget() + self.default_driver_page_layout = QVBoxLayout(self.default_driver_page) + + self.default_driver_combo_label = QLabel("Selecione o Driver Padrão:") + self.default_driver_page_layout.addWidget(self.default_driver_combo_label) + + self.default_driver_combo = QComboBox() + self.default_driver_combo.addItems(['STM32', 'Arduino', 'RDATA']) + self.default_driver_page_layout.addWidget(self.default_driver_combo) + self.default_driver_page_layout.addStretch(1) + self.stacked_driver_content.addWidget(self.default_driver_page) + + self._create_custom_driver_page() + + def _create_custom_driver_page(self): + self.custom_driver_page = QWidget() + self.custom_driver_layout = QVBoxLayout(self.custom_driver_page) + + self.stacked_driver_content.addWidget(self.custom_driver_page) + + self.add_code_btn = QPushButton('Abrir editor') + self.custom_driver_layout.addWidget(self.add_code_btn) + + self.add_code_btn.clicked.connect(self._create_code_dialog) + + def _create_code_dialog(self): + self.code_dialog = CustomCodeDialog('Editor de código') + self.code_dialog.exec() + + def _change_custom_driver_option_page(self, button_id: int, checked: bool): + if checked: + self.stacked_driver_content.setCurrentIndex(button_id) + self.adjustSize() + + def _create_existent_page(self): + self.existent_plant_page = QWidget() + self.existent_plant_layout = QVBoxLayout(self.existent_plant_page) + self.existent_plant_layout.addStretch(1) + self.stacked_content_widget.addWidget(self.existent_plant_page) + + self.radio_import_container = QWidget() + self.radio_import_layout = QHBoxLayout(self.radio_import_container) + self.existent_plant_layout.addWidget(self.radio_import_container) + + self.new_plant_default_driver = QRadioButton('teste') + self.existent_plant_layout.addWidget(self.new_plant_default_driver) + + self.new_plant_custom_driver = QRadioButton('teste2') + self.existent_plant_layout.addWidget(self.new_plant_custom_driver) + + def _create_modes_buttons(self): + self.buttons_mode_container = QWidget() + self.buttons_mode_container.setObjectName('btnsModeContainer') + self.buttons_mode_layout = QHBoxLayout(self.buttons_mode_container) + self.buttons_mode_group = QButtonGroup() + self.buttons_mode_group.setExclusive(True) + self.dialog_content_layout.addWidget(self.buttons_mode_container, stretch=0) + + self.new_plant_btn = QPushButton('Nova planta') + self.new_plant_btn.setCheckable(True) + self.buttons_mode_group.addButton(self.new_plant_btn, id=0) + self.buttons_mode_layout.addWidget(self.new_plant_btn) + + self.existent_plant_btn = QPushButton('Planta existente') + self.existent_plant_btn.setCheckable(True) + self.buttons_mode_group.addButton(self.existent_plant_btn, id=1) + self.buttons_mode_layout.addWidget(self.existent_plant_btn) + + self.new_plant_btn.setChecked(True) + + self.buttons_mode_group.idToggled.connect(self._handle_change_content_page) + + def _handle_change_content_page(self, btn_id: int, checked: bool): + if not checked: + return + + self.stacked_content_widget.setCurrentIndex(btn_id) + self.adjustSize() + + def _handle_change_radio_driver(self, btn_id: int, checked: bool): + if not checked: + return + + self.stacked_driver_content.setCurrentIndex(btn_id) + self.adjustSize() + +class NavBar(QWidget): + def __init__(self, main_window): + super().__init__() + self.main_window = main_window + current_dir = os.path.dirname(os.path.abspath(__file__)) + style_file_path = os.path.join(current_dir, 'stylesheet', 'nav-bar.qss') + self.styleFile = QtCore.QFile(style_file_path) + self.styleFile.open(QtCore.QFile.OpenModeFlag.ReadOnly) + + self.nav_layout = QHBoxLayout(self) + self._setup_ui() + + def _setup_ui(self): + self.nav_toolbar = QToolBar("Navegação da Planta") + self.nav_toolbar.setMovable(False) + self.nav_toolbar.setFloatable(False) + self.nav_toolbar.setIconSize(QtCore.QSize(32, 32)) + self.nav_toolbar.addWidget(QLabel(" ")) + self.nav_toolbar.setStyleSheet(self.styleFile.readAll().data().decode()) + + self.nav_layout.addWidget(self.nav_toolbar) + + self.plant_buttons_group = QButtonGroup(self) + self.plant_buttons_group.setExclusive(True) + + add_icon = qta.icon('ri.add-line', color=QColor('#ffffff')) + self.add_plant_action = QAction(add_icon, '', self) + self.add_plant_action.triggered.connect(self._add_plant_window) + self.nav_toolbar.addAction(self.add_plant_action) + add_plant_button = self.nav_toolbar.widgetForAction(self.add_plant_action) + add_plant_button.setObjectName("addPlantButton") + + save_icon = qta.icon('ri.save-line', color=QColor('#ffffff')) + self.save_plant_action = QAction(save_icon, "", self) + self.nav_toolbar.addAction(self.save_plant_action) + save_plant_button = self.nav_toolbar.widgetForAction(self.save_plant_action) + save_plant_button.setObjectName("savePlantButton") + + self._create_test_plant_button("Planta 1") + self._create_test_plant_button("Planta 2") + self._create_test_plant_button("Planta 3") + self._create_test_plant_button("Planta 4") + + for tool_button in self.nav_toolbar.findChildren(QToolButton): + shadow_effect = QGraphicsDropShadowEffect(self) + shadow_effect.setBlurRadius(10) + shadow_effect.setColor(QColor(0, 0, 0, 40)) + shadow_effect.setOffset(3, 3) + tool_button.setGraphicsEffect(shadow_effect) + + def _add_plant_window(self): + dialog = addPlantDialog(self.main_window) + # dialog.plant_added.connect(self._add_new_plant_from_dialog) + # dialog.plants_loaded.connect(self._handle_loaded_plants) + dialog.exec() + + def _create_test_plant_button(self, txt): + test_button = QToolButton() + test_button.setText(txt) + test_button.setCheckable(True) + test_button.setToolButtonStyle(QtCore.Qt.ToolButtonTextOnly) + + self.plant_buttons_group.addButton(test_button) + self.nav_toolbar.insertWidget(None, test_button) + + return test_button \ No newline at end of file diff --git a/src/gui/stylesheet/custom-dialog.qss b/src/gui/stylesheet/custom-dialog.qss new file mode 100644 index 0000000..e15faf3 --- /dev/null +++ b/src/gui/stylesheet/custom-dialog.qss @@ -0,0 +1,79 @@ +#mainContainer{ + margin: 0; + padding: 0; + border: none; + + background-color: rgb(249, 250, 251); +} + +#titleDialogContainer{ + /* border: 1px solid red; */ + max-height: 50px; + + background-color: rgb(31, 41, 55); + + border-bottom-left-radius: 10px; + border-bottom-right-radius: 10px; +} + +#titleDialogContainer > QLabel{ + color: rgb(255, 255, 255); + + font-size: 24px; + font-weight: bold; +} + +#titleDialogContainer > QPushButton{ + background-color: transparent; + border: none; +} + +#contentDialogContainer{ + /* border: 1px solid green; */ +} + + +/* CODE DIALOG */ + +QTextEdit { + font-size: 16px; + background-color: rgb(39, 40, 34); +} + +#importCodeBtn{ + margin: 0px; + padding: 0px; + + min-height: 40px; + max-height: 40px; + + min-width: 160px; + max-width: 160px; + + font-size: 16px; + + background-color: rgb(75, 85, 99); +} + +#importCodeBtn:hover{ + background-color: rgb(65, 70, 78); +} + +#addCodeBtn{ + margin: 0px; + padding: 0px; + + min-height: 40px; + max-height: 40px; + + min-width: 150px; + max-width: 150px; + + font-size: 16px; + + background-color: rgb(59, 130, 246); +} + +#addCodeBtn:hover{ + background-color: rgb(51, 117, 224); +} \ No newline at end of file diff --git a/src/gui/stylesheet/main-gui.qss b/src/gui/stylesheet/main-gui.qss new file mode 100644 index 0000000..37752c6 --- /dev/null +++ b/src/gui/stylesheet/main-gui.qss @@ -0,0 +1,46 @@ +#centralWidget { + margin: 0px; + padding: 0px; + background-color: rgb(249, 250, 251); +} + +#titleContainer { + background-color: #1f2937; + + border: none; + + border-bottom-left-radius: 10px; + border-bottom-right-radius: 10px; + + padding: 0; + margin: 0; +} + +#titleContainer QLabel { + font-size: 24px; + font-weight: bold; + color: rgb(255, 255, 255); + + margin: 0; + padding: 0; + margin: 1px; +} + +#mainContentWidget { + /* border: 1px solid green; */ + background-color: rgb(255, 255, 255); + + border-top-left-radius: 10px; + border-top-right-radius: 10px; + + margin: 0px 10px 0 10px; +} + +QPushButton#closeButton{ + background-color: transparent; + border: none; + + margin: 0; + margin-right: 20px; + padding: 0; +} \ No newline at end of file diff --git a/src/gui/stylesheet/nav-bar.qss b/src/gui/stylesheet/nav-bar.qss new file mode 100644 index 0000000..b3616c1 --- /dev/null +++ b/src/gui/stylesheet/nav-bar.qss @@ -0,0 +1,79 @@ +QToolBar { + margin: 5px 0 5px 0; + padding: 0; + /* border: 1px solid red; */ +} + +QToolButton { + border: none; + padding: 10px 20px; + border-radius: 6px; + margin: 0 0 0 10px; + + background-color: rgb(229, 231, 235); + + color: rgb(55, 65, 81); + font-size: 14px; +} + +QToolButton:checked{ + background-color: rgb(37, 99, 235); + color: rgb(255, 255, 255); +} + +QToolButton:hover:!checked{ + background-color: rgb(209, 213, 219) +} + +QToolBar QToolButton#addPlantButton { + padding: 2px; + background-color: rgb(34, 197, 94); + color: white; +} + +QToolBar QToolButton#addPlantButton:hover { + background-color: rgb(28, 166, 79); + color: white; +} + +QToolBar QToolButton#savePlantButton { + padding: 2px; + margin: 0 5px 0 10px; + background-color: rgb(20, 184, 166); + color: white; +} + +QToolBar QToolButton#savePlantButton:hover { + background-color: rgb(16, 159, 142); + color: white; +} + +QDialog QLabel{ + color: rgb(47, 0, 20); + border: 1px solid green; +} + +QRadioButton { + color: rgb(47, 0, 20); +} + +#btnsModeContainer{ + border: 1px solid blue; + padding: 0; +} + +#contentContainer{ + border: 1px solid yellow; +} + +#contentContainer QLabel{ + font-size: 16px; +} + +#rodapeContainer{ + border: 1px solid cyan; +} + +#driverContentContainer{ + border: 1px solid red; +} \ No newline at end of file diff --git a/src/gui/teste.py b/src/gui/teste.py new file mode 100644 index 0000000..856d642 --- /dev/null +++ b/src/gui/teste.py @@ -0,0 +1,123 @@ +# Copyright (C) 2013 Riverbank Computing Limited. +# Copyright (C) 2022 The Qt Company Ltd. +# SPDX-License-Identifier: LicenseRef-Qt-Commercial OR BSD-3-Clause +from __future__ import annotations + +"""PySide6 port of the widgets/layouts/flowlayout example from Qt v6.x""" + +import sys +from PySide6.QtCore import Qt, QMargins, QPoint, QRect, QSize +from PySide6.QtWidgets import QApplication, QLayout, QPushButton, QSizePolicy, QWidget + + +class Window(QWidget): + def __init__(self): + super().__init__() + + flow_layout = FlowLayout(self) + flow_layout.addWidget(QPushButton("Short")) + flow_layout.addWidget(QPushButton("Longer")) + flow_layout.addWidget(QPushButton("Different text")) + flow_layout.addWidget(QPushButton("More text")) + flow_layout.addWidget(QPushButton("Even longer button text")) + + self.setWindowTitle("Flow Layout") + + +class FlowLayout(QLayout): + def __init__(self, parent=None): + super().__init__(parent) + + if parent is not None: + self.setContentsMargins(QMargins(0, 0, 0, 0)) + + self._item_list = [] + + def __del__(self): + item = self.takeAt(0) + while item: + item = self.takeAt(0) + + def addItem(self, item): + self._item_list.append(item) + + def count(self): + return len(self._item_list) + + def itemAt(self, index): + if 0 <= index < len(self._item_list): + return self._item_list[index] + + return None + + def takeAt(self, index): + if 0 <= index < len(self._item_list): + return self._item_list.pop(index) + + return None + + def expandingDirections(self): + return Qt.Orientation(0) + + def hasHeightForWidth(self): + return True + + def heightForWidth(self, width): + height = self._do_layout(QRect(0, 0, width, 0), True) + return height + + def setGeometry(self, rect): + super(FlowLayout, self).setGeometry(rect) + self._do_layout(rect, False) + + def sizeHint(self): + return self.minimumSize() + + def minimumSize(self): + size = QSize() + + for item in self._item_list: + size = size.expandedTo(item.minimumSize()) + + size += QSize(2 * self.contentsMargins().top(), 2 * self.contentsMargins().top()) + return size + + def _do_layout(self, rect, test_only): + x = rect.x() + y = rect.y() + line_height = 0 + spacing = self.spacing() + + for item in self._item_list: + style = item.widget().style() + layout_spacing_x = style.layoutSpacing( + QSizePolicy.ControlType.PushButton, QSizePolicy.ControlType.PushButton, + Qt.Orientation.Horizontal + ) + layout_spacing_y = style.layoutSpacing( + QSizePolicy.ControlType.PushButton, QSizePolicy.ControlType.PushButton, + Qt.Orientation.Vertical + ) + space_x = spacing + layout_spacing_x + space_y = spacing + layout_spacing_y + next_x = x + item.sizeHint().width() + space_x + if next_x - space_x > rect.right() and line_height > 0: + x = rect.x() + y = y + line_height + space_y + next_x = x + item.sizeHint().width() + space_x + line_height = 0 + + if not test_only: + item.setGeometry(QRect(QPoint(x, y), item.sizeHint())) + + x = next_x + line_height = max(line_height, item.sizeHint().height()) + + return y + line_height - rect.y() + + +if __name__ == "__main__": + app = QApplication(sys.argv) + main_win = Window() + main_win.show() + sys.exit(app.exec()) diff --git a/src/gui/utils_gui.py b/src/gui/utils_gui.py new file mode 100644 index 0000000..236adbf --- /dev/null +++ b/src/gui/utils_gui.py @@ -0,0 +1,309 @@ +import os +import qtawesome as qta +from PySide6 import QtCore +from PySide6.QtWidgets import ( + QHBoxLayout, QVBoxLayout, QApplication, QWidget, QTextEdit, QLabel, QDialog, QPushButton, QGraphicsDropShadowEffect, + QFileDialog, +) +from PySide6.QtGui import ( + QMouseEvent, QColor, QSyntaxHighlighter, QTextCharFormat, QFont, QFontMetrics, +) + +class CustomDialog(QDialog): + def __init__(self, title=''): + super().__init__() + self.win_title = title + + self._old_pos = None + + self.setWindowFlags(QtCore.Qt.WindowType.FramelessWindowHint) + self.setAttribute(QtCore.Qt.WidgetAttribute.WA_TranslucentBackground) + + self.dialog_layout = QVBoxLayout(self) + + self.setMinimumSize(400, 400) + self.setMaximumSize(900, 800) + + self.main_container = QWidget() + self.main_container.setObjectName('mainContainer') + self.main_layout = QVBoxLayout(self.main_container) + self.main_layout.setContentsMargins(0, 0, 0, 0) + self.main_layout.setSpacing(0) + + shadow_effect = QGraphicsDropShadowEffect(self) + shadow_effect.setBlurRadius(10) + shadow_effect.setColor(QColor(0, 0, 0, 40)) + shadow_effect.setOffset(0, 3) + self.main_container.setGraphicsEffect(shadow_effect) + + self.dialog_layout.addWidget(self.main_container) + + self._create_dialog_title() + self._set_qss('custom-dialog.qss') + + self.content_container = QWidget() + self.content_container.setObjectName('contentDialogContainer') + self.content_layout = QVBoxLayout(self.content_container) + self.content_layout.setContentsMargins(0, 0, 0, 0) + self.content_layout.setSpacing(0) + self.main_layout.addWidget(self.content_container, stretch=1) + + def addWidget(self, widget: QWidget, stretch=None): + self.content_layout.addWidget(widget, stretch=stretch) + + def showEvent(self, event): + super().showEvent(event) + self.layout().activate() + + size = self.layout().minimumSize() + size = size.expandedTo(self.minimumSize()) + size = size.boundedTo(self.maximumSize()) + self.resize(size) + + self._center_on_screen() + + def _center_on_screen(self): + screen_geo = QApplication.primaryScreen().availableGeometry() + geo = self.frameGeometry() + geo.moveCenter(screen_geo.center()) + self.move(geo.topLeft()) + + def _set_qss(self, file=''): + if file == '': + return + + current_dir = os.path.dirname(os.path.abspath(__file__)) + style_file_path = os.path.join(current_dir, 'stylesheet', file) + self.styleFile = QtCore.QFile(style_file_path) + self.styleFile.open(QtCore.QFile.OpenModeFlag.ReadOnly) + self.setStyleSheet(self.styleFile.readAll().data().decode()) + + def _create_dialog_title(self): + self.title_container = QWidget() + self.title_container.setObjectName('titleDialogContainer') + + self.title_layout = QHBoxLayout(self.title_container) + self.title_layout.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter) + + self.dialog_title = QLabel(self.win_title) + self.title_layout.addWidget(self.dialog_title) + self.dialog_title.setAlignment(QtCore.Qt.AlignmentFlag.AlignLeft) + + self.title_layout.addStretch() + + self.close_icon = qta.icon('mdi6.close', color=QColor(255, 255, 255)) + self.close_icon_ver = qta.icon('mdi6.close', color=QColor(200, 200, 200)) + + self.close_button = QPushButton() + self.close_button.setIcon(self.close_icon) + + self.close_button.setIconSize(self.close_button.size()) + self.close_button.setIconSize(QtCore.QSize(32, 32)) + self.close_button.setObjectName('closeButton') + + self.close_button.enterEvent = lambda event: self.close_button.setIcon(self.close_icon_ver) + self.close_button.leaveEvent = lambda event: self.close_button.setIcon(self.close_icon) + self.close_button.clicked.connect(self._handle_close_dialog) + + self.title_layout.addWidget(self.close_button) + + self.main_layout.addWidget(self.title_container) + + def mousePressEvent(self, event: QMouseEvent): + if event.button() == QtCore.Qt.MouseButton.LeftButton and \ + self.title_container.underMouse(): + self._old_pos = event.globalPosition().toPoint() + super().mousePressEvent(event) + + def mouseMoveEvent(self, event: QMouseEvent): + if event.buttons() == QtCore.Qt.MouseButton.LeftButton and self._old_pos: + delta = event.globalPosition().toPoint() - self._old_pos + self.move(self.pos() + delta) + self._old_pos = event.globalPosition().toPoint() + super().mouseMoveEvent(event) + + def mouseReleaseEvent(self, event: QMouseEvent): + self._old_pos = None + super().mouseReleaseEvent(event) + + def _handle_close_dialog(self): + self.close() + +class CustomCodeDialog(QWidget): + class CodeEdit(QTextEdit): + class PythonHighlighter(QSyntaxHighlighter): + def __init__(self, document): + super().__init__(document) + + # --- Definição de formatos --- + # Palavras-chave + keyword_format = QTextCharFormat() + keyword_format.setForeground(QColor("#569CD6")) + keyword_format.setFontWeight(QFont.Bold) + keywords = [ + "and", "as", "assert", "break", "class", "continue", "def", "del", + "elif", "else", "except", "finally", "for", "from", "global", + "if", "import", "in", "is", "lambda", "nonlocal", "not", "or", + "pass", "raise", "return", "try", "while", "with", "yield" + ] + + # Builtins + builtin_format = QTextCharFormat() + builtin_format.setForeground(QColor("#9CDCFE")) + builtins = [ + "True", "False", "None", "list", "dict", "set", "tuple", "int", + "float", "str", "print", "len", "open", "range", "isinstance" + ] + + # Decorators + decorator_format = QTextCharFormat() + decorator_format.setForeground(QColor("#C586C0")) + decorator_format.setFontItalic(True) + + # Números + number_format = QTextCharFormat() + number_format.setForeground(QColor("#B5CEA8")) + + # Comentários + comment_format = QTextCharFormat() + comment_format.setForeground(QColor("#6A9955")) + comment_format.setFontItalic(True) + + # Strings + string_format = QTextCharFormat() + string_format.setForeground(QColor("#CE9178")) + + # Lista de regras regex -> formato + self.rules = [] + for kw in keywords: + pattern = QtCore.QRegularExpression(rf"\b{kw}\b") + self.rules.append((pattern, keyword_format)) + for bi in builtins: + pattern = QtCore.QRegularExpression(rf"\b{bi}\b") + self.rules.append((pattern, builtin_format)) + + # Decorators: linhas que começam com @ + self.rules.append((QtCore.QRegularExpression(r"@\w+"), decorator_format)) + + # Números (inteiros e floats) + self.rules.append((QtCore.QRegularExpression(r"\b\d+(\.\d+)?\b"), number_format)) + + # Comentários de linha + self.rules.append((QtCore.QRegularExpression(r"#.*"), comment_format)) + + # Strings simples (entre aspas simples ou duplas) + self.rules.append((QtCore.QRegularExpression(r"\".*?\""), string_format)) + self.rules.append((QtCore.QRegularExpression(r"'.*?'"), string_format)) + + # Delimitadores para strings multilinha + self.tri_single = QtCore.QRegularExpression("'''") + self.tri_double = QtCore.QRegularExpression('"""') + self.multi_single_format = QTextCharFormat(string_format) + self.multi_double_format = QTextCharFormat(string_format) + + def highlightBlock(self, text): + for regex, fmt in self.rules: + it = regex.globalMatch(text) + while it.hasNext(): + match = it.next() + start = match.capturedStart() + length = match.capturedLength() + self.setFormat(start, length, fmt) + self.setCurrentBlockState(0) + + def __init__(self): + super().__init__() + self.highlighter = self.PythonHighlighter(self) + self.tab_width = 4 + + self.setTabChangesFocus(False) + + metrics = QFontMetrics(self.font()) + self.setTabStopDistance(self.tab_width * metrics.averageCharWidth()) + + def keyPressEvent(self, event): + if event.key() == QtCore.Qt.Key.Key_Tab: + self.insertPlainText(" " * self.tab_width) + elif event.key() == QtCore.Qt.Key.Key_Backtab: + cursor = self.textCursor() + pos = cursor.position() + cursor.movePosition(cursor.MoveOperation.Left, cursor.MoveMode.KeepAnchor, self.tab_width) + selected = cursor.selectedText() + if selected == " " * self.tab_width: + cursor.removeSelectedText() + else: + cursor.clearSelection() + cursor.setPosition(pos - 1) + self.setTextCursor(cursor) + else: + super().keyPressEvent(event) + + def __init__(self, title): + super().__init__() + self.dialog = CustomDialog(title) + + self.main_container = QWidget() + self.main_layout = QVBoxLayout(self.main_container) + self.dialog.addWidget(self.main_container, stretch=1) + + self.content_container = QWidget() + self.content_layout = QVBoxLayout(self.content_container) + self.main_layout.addWidget(self.content_container) + + self.rodape_container = QWidget() + self.rodape_layout = QHBoxLayout(self.rodape_container) + self.main_layout.addWidget(self.rodape_container) + + self._create_text_area() + self._create_rodape() + + def exec(self): + self.dialog.exec() + + def _create_text_area(self): + self.text_editor = self.CodeEdit() + self.text_editor.setMinimumSize(900, 700) + self.content_layout.addWidget(self.text_editor, stretch=1, alignment=QtCore.Qt.AlignmentFlag.AlignCenter) + + self._set_text_from_file('default-driver-content.py') + + def _create_rodape(self): + self.rodape_layout.setAlignment(QtCore.Qt.AlignmentFlag.AlignLeft) + add_code_icon = qta.icon('ri.add-line') + self.add_code_btn = QPushButton(text='Adicionar', icon=add_code_icon) + + self.add_code_btn.setIconSize(QtCore.QSize(32, 32)) + self.add_code_btn.setObjectName('addCodeBtn') + + self.rodape_layout.addWidget(self.add_code_btn) + + import_icon = qta.icon('ph.upload-simple') + self.import_code_btn = QPushButton(text='Importar Código', icon=import_icon) + + self.import_code_btn.setIconSize(QtCore.QSize(32, 32)) + self.import_code_btn.setObjectName('importCodeBtn') + + self.import_code_btn.clicked.connect(self._handle_import_code_btn) + self.rodape_layout.addWidget(self.import_code_btn) + + def _set_text_from_file(self, file_name = '', file_path=None): + if file_path is None: + current_dir = os.path.dirname(os.path.abspath(__file__)) + file_path = os.path.join(current_dir, 'content', file_name) + + self.default_text = QtCore.QFile(file_path) + self.default_text.open(QtCore.QFile.OpenModeFlag.ReadOnly) + + self.text_editor.setText(self.default_text.readAll().toStdString()) + + def _handle_import_code_btn(self): + file_path, _ = QFileDialog.getOpenFileName( + parent=self, + caption="Importar código Python", + dir="", + filter="Python files (*.py)" + ) + + if file_path: + self._set_text_from_file(file_path) + From 75e0fc698bb44348f37bacc008fc462a25b62472 Mon Sep 17 00:00:00 2001 From: Higor Lima Date: Wed, 7 Jan 2026 01:49:09 -0300 Subject: [PATCH 13/59] chore: change app version to rust Tauri + Svelte --- .gitignore | 38 +- Cargo.lock | 5204 ++ Cargo.toml | 3 + LICENSE | 674 - README.md | 96 - apps/desktop/package.json | 29 + apps/desktop/pnpm-lock.yaml | 1159 + apps/desktop/pnpm-workspace.yaml | 2 + apps/desktop/src-tauri/.gitignore | 7 + apps/desktop/src-tauri/Cargo.toml | 25 + apps/desktop/src-tauri/build.rs | 3 + .../src-tauri/capabilities/default.json | 10 + apps/desktop/src-tauri/icons/128x128.png | Bin 0 -> 3512 bytes apps/desktop/src-tauri/icons/128x128@2x.png | Bin 0 -> 7012 bytes apps/desktop/src-tauri/icons/32x32.png | Bin 0 -> 974 bytes .../src-tauri/icons/Square107x107Logo.png | Bin 0 -> 2863 bytes .../src-tauri/icons/Square142x142Logo.png | Bin 0 -> 3858 bytes .../src-tauri/icons/Square150x150Logo.png | Bin 0 -> 3966 bytes .../src-tauri/icons/Square284x284Logo.png | Bin 0 -> 7737 bytes .../src-tauri/icons/Square30x30Logo.png | Bin 0 -> 903 bytes .../src-tauri/icons/Square310x310Logo.png | Bin 0 -> 8591 bytes .../src-tauri/icons/Square44x44Logo.png | Bin 0 -> 1299 bytes .../src-tauri/icons/Square71x71Logo.png | Bin 0 -> 2011 bytes .../src-tauri/icons/Square89x89Logo.png | Bin 0 -> 2468 bytes apps/desktop/src-tauri/icons/StoreLogo.png | Bin 0 -> 1523 bytes apps/desktop/src-tauri/icons/icon.icns | Bin 0 -> 98451 bytes apps/desktop/src-tauri/icons/icon.ico | Bin 0 -> 37710 bytes apps/desktop/src-tauri/icons/icon.png | Bin 0 -> 14183 bytes apps/desktop/src-tauri/src/lib.rs | 14 + apps/desktop/src-tauri/src/main.rs | 6 + apps/desktop/src-tauri/tauri.conf.json | 35 + apps/desktop/src/app.html | 13 + apps/desktop/src/routes/+layout.ts | 5 + apps/desktop/src/routes/+page.svelte | 156 + apps/desktop/static/favicon.png | Bin 0 -> 1571 bytes apps/desktop/static/svelte.svg | 1 + apps/desktop/static/tauri.svg | 6 + apps/desktop/static/vite.svg | 1 + apps/desktop/svelte.config.js | 18 + apps/desktop/tsconfig.json | 19 + apps/desktop/vite.config.js | 32 + crates/supervisor/Cargo.toml | 22 + mise.toml | 5 + pyproject.toml | 24 - src/gui/__init__.py | 5 - src/gui/content/default-driver-content.py | 18 - src/gui/main_gui.py | 87 - src/gui/nav_bar.py | 256 - src/gui/stylesheet/custom-dialog.qss | 79 - src/gui/stylesheet/main-gui.qss | 46 - src/gui/stylesheet/nav-bar.qss | 79 - src/gui/teste.py | 123 - src/gui/utils_gui.py | 309 - temp_logs/log_simulacao.csv | 12668 --- temp_logs/log_simulacao_perturbacao.csv | 12402 --- temp_logs/open_loop_30p.csv | 71058 ---------------- 56 files changed, 6811 insertions(+), 97926 deletions(-) create mode 100644 Cargo.lock create mode 100644 Cargo.toml delete mode 100644 LICENSE delete mode 100644 README.md create mode 100644 apps/desktop/package.json create mode 100644 apps/desktop/pnpm-lock.yaml create mode 100644 apps/desktop/pnpm-workspace.yaml create mode 100644 apps/desktop/src-tauri/.gitignore create mode 100644 apps/desktop/src-tauri/Cargo.toml create mode 100644 apps/desktop/src-tauri/build.rs create mode 100644 apps/desktop/src-tauri/capabilities/default.json create mode 100644 apps/desktop/src-tauri/icons/128x128.png create mode 100644 apps/desktop/src-tauri/icons/128x128@2x.png create mode 100644 apps/desktop/src-tauri/icons/32x32.png create mode 100644 apps/desktop/src-tauri/icons/Square107x107Logo.png create mode 100644 apps/desktop/src-tauri/icons/Square142x142Logo.png create mode 100644 apps/desktop/src-tauri/icons/Square150x150Logo.png create mode 100644 apps/desktop/src-tauri/icons/Square284x284Logo.png create mode 100644 apps/desktop/src-tauri/icons/Square30x30Logo.png create mode 100644 apps/desktop/src-tauri/icons/Square310x310Logo.png create mode 100644 apps/desktop/src-tauri/icons/Square44x44Logo.png create mode 100644 apps/desktop/src-tauri/icons/Square71x71Logo.png create mode 100644 apps/desktop/src-tauri/icons/Square89x89Logo.png create mode 100644 apps/desktop/src-tauri/icons/StoreLogo.png create mode 100644 apps/desktop/src-tauri/icons/icon.icns create mode 100644 apps/desktop/src-tauri/icons/icon.ico create mode 100644 apps/desktop/src-tauri/icons/icon.png create mode 100644 apps/desktop/src-tauri/src/lib.rs create mode 100644 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If your program is a subroutine library, you -may consider it more useful to permit linking proprietary applications with -the library. If this is what you want to do, use the GNU Lesser General -Public License instead of this License. But first, please read -. diff --git a/README.md b/README.md deleted file mode 100644 index 6254215..0000000 --- a/README.md +++ /dev/null @@ -1,96 +0,0 @@ -# splot - Visualizador e Analisador de Controle Térmico - -O **splot** é uma ferramenta para visualizar e analisar o comportamento de um sistema de controle térmico. Ele permite **selecionar controladores ativos**, ajustar suas configurações em tempo real e visualizar a resposta do sistema. Além disso, é possível alternar para a aba **Analyzer** e **analisar logs de execuções anteriores**. - -### Instalação - -Garanta que você tem Python 3.7 ou mais recente instalado: - -```shell -python --version -``` - -> [!NOTE] -> [Opcional] Crie um ambiente virtual e o ative para instalação do script. - -Para instalar o plotter: - -```shell -cd serial-plotter -pip install -e . -``` - -## Como usar - -Para executar o `splot`, utilize o seguinte comando: - -```sh -cd examples -python main.py -``` - -## Modos - -### Plotter (Execução em tempo real) - -- Exibe os dados do controlador e da planta em tempo real. -- Permite selecionar e configurar diferentes controladores. -- Mostra a resposta da planta ao longo do tempo. - -### Analyzer (Análise de logs) - -- Permite carregar **logs de execuções anteriores**. -- Plota **temperatura e derivada dT/dt** em gráficos interativos. -- Indica **pontos críticos** (ex.: ponto de maior derivada). -- Possibilita comparar diferentes execuções. - -## Funcionalidades do Plotter - -- Selecionar o controlador ativo e editá-lo em tempo real. -- Ajustar parâmetros do controlador, como **Setpoint, Kp, Ki, Kd**. -- Visualizar a resposta da planta em gráficos interativos. -- Alternar entre os modos de exibição para melhor visualização. - -## Funcionalidades do Analyzer -- Carregar e analisar logs de execuções anteriores. -- Fazer analise em malha aberta para calcular parâmetros de sintonia -- Fazer analise em malha fechada par analisar a resposta do sistema - -## Navegação - -- Space → Alterna entre as visões (`Plotter` e `Analyzer`). -- Escape → Finaliza o programa. -- **Campo de entrada** → Define a temperatura desejada (`Setpoint`) e a envia ao controlador. - -## Estrutura do Projeto - -```sh -serial-plotter/ -├── controller_framework/ -│ ├── core/ # Lógica principal do framework -│ ├── gui/ # Interface gráfica (Plotter e Analyzer) -│ ├── __init__.py -│ └── ... -├── examples/ -│ ├── main.py # Arquivo principal para rodar o splot -│ ├── temp_logs/ # Pasta com logs de execuções anteriores -├── pyproject.toml # Configuração do pacote -``` - -## Exemplo de Uso - -1. **Executar o `splot`** - ```sh - cd examples - python main.py - ``` -2. **Selecionar o controlador ativo** no menu lateral. -3. **Editar os parâmetros** (Setpoint, Kp, Ki, Kd). -4. **Visualizar a resposta da planta** no gráfico. -5. **Alternar para `Analyzer`** para carregar logs anteriores. - -## Planta utilizada -![Planta](https://raw.githubusercontent.com/limahigor/serial-plotter/c5f47e3c2436e8b601071a4ce413bb77daab515d/controller_framework/examples/thermal_plant.png) - - -[Link para o modelo 3D](https://cad.onshape.com/documents/2719c8d20779534c7559f55d/w/e520d6a9af3b32d2f18ef8f3/e/bb6b8d18dfe883fe6632567b). diff --git a/apps/desktop/package.json b/apps/desktop/package.json new file mode 100644 index 0000000..b8225dd --- /dev/null +++ b/apps/desktop/package.json @@ -0,0 +1,29 @@ +{ + "name": "senamby", + "version": "0.1.0", + "description": "", + "type": "module", + "scripts": { + "dev": "vite dev", + "build": "vite build", + "preview": "vite preview", + "check": "svelte-kit sync && svelte-check --tsconfig ./tsconfig.json", + "check:watch": "svelte-kit sync && svelte-check --tsconfig ./tsconfig.json --watch", + "tauri": "tauri" + }, + "license": "MIT", + "dependencies": { + "@tauri-apps/api": "^2", + "@tauri-apps/plugin-opener": "^2" + }, + "devDependencies": { + "@sveltejs/adapter-static": "^3.0.6", + "@sveltejs/kit": "^2.9.0", + "@sveltejs/vite-plugin-svelte": "^5.0.0", + "svelte": "^5.0.0", + "svelte-check": "^4.0.0", + "typescript": "~5.6.2", + "vite": "^6.0.3", + "@tauri-apps/cli": "^2" + } +} diff --git a/apps/desktop/pnpm-lock.yaml b/apps/desktop/pnpm-lock.yaml new file mode 100644 index 0000000..9f5de19 --- /dev/null +++ b/apps/desktop/pnpm-lock.yaml @@ -0,0 +1,1159 @@ +lockfileVersion: '9.0' + +settings: + autoInstallPeers: true + excludeLinksFromLockfile: false + +importers: + + .: + dependencies: + '@tauri-apps/api': + 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b/apps/desktop/src-tauri/.gitignore new file mode 100644 index 0000000..b21bd68 --- /dev/null +++ b/apps/desktop/src-tauri/.gitignore @@ -0,0 +1,7 @@ +# Generated by Cargo +# will have compiled files and executables +/target/ + +# Generated by Tauri +# will have schema files for capabilities auto-completion +/gen/schemas diff --git a/apps/desktop/src-tauri/Cargo.toml b/apps/desktop/src-tauri/Cargo.toml new file mode 100644 index 0000000..6f2ef8c --- /dev/null +++ b/apps/desktop/src-tauri/Cargo.toml @@ -0,0 +1,25 @@ +[package] +name = "senamby" +version = "0.1.0" +description = "A Tauri App" +authors = ["you"] +edition = "2021" + +# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html + +[lib] +# The `_lib` suffix may seem redundant but it is necessary +# to make the lib name unique and wouldn't conflict with the bin name. +# This seems to be only an issue on Windows, see https://github.com/rust-lang/cargo/issues/8519 +name = "senamby_lib" +crate-type = ["staticlib", "cdylib", "rlib"] + +[build-dependencies] +tauri-build = { version = "2", features = [] } + +[dependencies] +tauri = { version = "2", features = [] } +tauri-plugin-opener = "2" +serde = { version = "1", features = ["derive"] } +serde_json = "1" + diff --git a/apps/desktop/src-tauri/build.rs b/apps/desktop/src-tauri/build.rs new file mode 100644 index 0000000..d860e1e --- /dev/null +++ b/apps/desktop/src-tauri/build.rs @@ -0,0 +1,3 @@ +fn main() { + tauri_build::build() +} diff --git a/apps/desktop/src-tauri/capabilities/default.json b/apps/desktop/src-tauri/capabilities/default.json new file mode 100644 index 0000000..4cdbf49 --- /dev/null +++ b/apps/desktop/src-tauri/capabilities/default.json @@ -0,0 +1,10 @@ +{ + "$schema": "../gen/schemas/desktop-schema.json", + "identifier": "default", + "description": "Capability for the main window", + "windows": ["main"], + "permissions": [ + "core:default", + "opener:default" + ] +} diff --git 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You've been greeted from Rust!", name) +} + +#[cfg_attr(mobile, tauri::mobile_entry_point)] +pub fn run() { + tauri::Builder::default() + .plugin(tauri_plugin_opener::init()) + .invoke_handler(tauri::generate_handler![greet]) + .run(tauri::generate_context!()) + .expect("error while running tauri application"); +} diff --git a/apps/desktop/src-tauri/src/main.rs b/apps/desktop/src-tauri/src/main.rs new file mode 100644 index 0000000..653ed6a --- /dev/null +++ b/apps/desktop/src-tauri/src/main.rs @@ -0,0 +1,6 @@ +// Prevents additional console window on Windows in release, DO NOT REMOVE!! +#![cfg_attr(not(debug_assertions), windows_subsystem = "windows")] + +fn main() { + senamby_lib::run() +} diff --git a/apps/desktop/src-tauri/tauri.conf.json b/apps/desktop/src-tauri/tauri.conf.json new file mode 100644 index 0000000..c578375 --- /dev/null +++ b/apps/desktop/src-tauri/tauri.conf.json @@ -0,0 +1,35 @@ +{ + "$schema": "https://schema.tauri.app/config/2", + "productName": "senamby", + "version": "0.1.0", + "identifier": "com.senamby.senamy-plotter-app", + "build": { + "beforeDevCommand": "pnpm dev", + "devUrl": "http://localhost:1420", + "beforeBuildCommand": "pnpm build", + "frontendDist": "../build" + }, + "app": { + "windows": [ + { + "title": "senamby", + "width": 800, + "height": 600 + } + ], + "security": { + "csp": null + } + }, + "bundle": { + "active": true, + "targets": "all", + "icon": [ + "icons/32x32.png", + "icons/128x128.png", + "icons/128x128@2x.png", + "icons/icon.icns", + "icons/icon.ico" + ] + } +} diff --git a/apps/desktop/src/app.html b/apps/desktop/src/app.html new file mode 100644 index 0000000..92e7e33 --- /dev/null +++ b/apps/desktop/src/app.html @@ -0,0 +1,13 @@ + + + + + + + Tauri + SvelteKit + Typescript App + %sveltekit.head% + + +

+ + diff --git a/apps/desktop/src/routes/+layout.ts b/apps/desktop/src/routes/+layout.ts new file mode 100644 index 0000000..9d24899 --- /dev/null +++ b/apps/desktop/src/routes/+layout.ts @@ -0,0 +1,5 @@ +// Tauri doesn't have a Node.js server to do proper SSR +// so we use adapter-static with a fallback to index.html to put the site in SPA mode +// See: https://svelte.dev/docs/kit/single-page-apps +// See: https://v2.tauri.app/start/frontend/sveltekit/ for more info +export const ssr = false; diff --git a/apps/desktop/src/routes/+page.svelte b/apps/desktop/src/routes/+page.svelte new file mode 100644 index 0000000..2a0845b --- /dev/null +++ b/apps/desktop/src/routes/+page.svelte @@ -0,0 +1,156 @@ + + +
+

Welcome to Tauri + Svelte

+ +
+ + + + + + + + + +
+

Click on the Tauri, Vite, and SvelteKit logos to learn more.

+ +
+ + +
+

{greetMsg}

+
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