| John Park | 91e6973 | 2019-03-03 13:12:43 -0800 | [diff] [blame] | 1 | from constants import * |
| 2 | import cairo |
| 3 | from color import Color, palette |
| 4 | from points import Points |
| 5 | from drawing_constants import * |
| 6 | from libspline import Spline, DistanceSpline, Trajectory |
| 7 | |
| 8 | AXIS_MARGIN_SPACE = 40 |
| 9 | |
| 10 | |
| 11 | class Graph(): # (TODO): Remove Computer Calculation |
| 12 | def __init__(self, cr, mypoints): |
| 13 | # Background Box |
| 14 | set_color(cr, palette["WHITE"]) |
| 15 | cr.rectangle(-1.0 * SCREEN_SIZE, -0.5 * SCREEN_SIZE, SCREEN_SIZE, |
| 16 | SCREEN_SIZE * 0.6) |
| 17 | cr.fill() |
| 18 | |
| 19 | cr.set_source_rgb(0, 0, 0) |
| 20 | cr.rectangle(-1.0 * SCREEN_SIZE, -0.5 * SCREEN_SIZE, SCREEN_SIZE, |
| 21 | SCREEN_SIZE * 0.6) |
| 22 | #Axis |
| 23 | cr.move_to(-1.0 * SCREEN_SIZE + AXIS_MARGIN_SPACE, |
| 24 | -0.5 * SCREEN_SIZE + AXIS_MARGIN_SPACE) # Y |
| 25 | cr.line_to(-1.0 * SCREEN_SIZE + AXIS_MARGIN_SPACE, |
| 26 | 0.1 * SCREEN_SIZE - 10) |
| 27 | |
| 28 | cr.move_to(-1.0 * SCREEN_SIZE + AXIS_MARGIN_SPACE, |
| 29 | -0.5 * SCREEN_SIZE + AXIS_MARGIN_SPACE) # X |
| 30 | cr.line_to(-10, -0.5 * SCREEN_SIZE + AXIS_MARGIN_SPACE) |
| 31 | cr.stroke() |
| 32 | |
| 33 | skip = 2 |
| 34 | dT = 0.00505 |
| 35 | start = AXIS_MARGIN_SPACE - SCREEN_SIZE |
| 36 | end = -2.0 * AXIS_MARGIN_SPACE |
| 37 | height = 0.5 * (SCREEN_SIZE) - AXIS_MARGIN_SPACE |
| 38 | zero = AXIS_MARGIN_SPACE - SCREEN_SIZE / 2.0 |
| 39 | if mypoints.getLibsplines(): |
| 40 | distanceSpline = DistanceSpline(mypoints.getLibsplines()) |
| 41 | traj = Trajectory(distanceSpline) |
| 42 | traj.Plan() |
| 43 | XVA = traj.GetPlanXVA(dT) |
| James Kuszmaul | 4d3c264 | 2020-03-05 07:32:39 -0800 | [diff] [blame] | 44 | if len(XVA[0]) > 0: |
| 45 | self.draw_x_axis(cr, start, height, zero, XVA, end) |
| 46 | self.drawVelocity(cr, XVA, start, height, skip, zero, end) |
| 47 | self.drawAcceleration(cr, XVA, start, height, skip, zero, |
| 48 | AXIS_MARGIN_SPACE, end) |
| 49 | self.drawVoltage(cr, XVA, start, height, skip, traj, zero, end) |
| 50 | cr.set_source_rgb(0, 0, 0) |
| 51 | cr.move_to(-1.0 * AXIS_MARGIN_SPACE, zero + height / 2.0) |
| 52 | cr.line_to(AXIS_MARGIN_SPACE - SCREEN_SIZE, zero + height / 2.0) |
| John Park | 91e6973 | 2019-03-03 13:12:43 -0800 | [diff] [blame] | 53 | cr.stroke() |
| 54 | |
| 55 | def connectLines(self, cr, points, color): |
| 56 | for i in range(0, len(points) - 1): |
| 57 | set_color(cr, color) |
| 58 | cr.move_to(points[i][0], points[i][1]) |
| 59 | cr.line_to(points[i + 1][0], points[i + 1][1]) |
| 60 | cr.stroke() |
| 61 | |
| 62 | def draw_x_axis(self, cr, start, height, zero, xva, end): |
| 63 | total_time = 0.00505 * len(xva[0]) |
| 64 | for k in np.linspace(0, 1, 11): |
| 65 | self.tickMark(cr, |
| 66 | k * np.abs(start - end) + start, zero + height / 2.0, |
| 67 | 10, palette["BLACK"]) |
| 68 | cr.move_to(k * np.abs(start - end) + start, |
| 69 | 10 + zero + height / 2.0) |
| 70 | txt_scale = SCREEN_SIZE / 1000.0 |
| 71 | display_text(cr, str(round(k * total_time, 3)), txt_scale, |
| 72 | txt_scale, 1.0 / txt_scale, 1.0 / txt_scale) |
| 73 | cr.stroke() |
| 74 | |
| 75 | def tickMark(self, cr, x, y, height, COLOR): |
| 76 | # X, Y is in the middle of the tick mark |
| 77 | set_color(cr, COLOR) |
| 78 | cr.move_to(x, y + (height / 2)) |
| 79 | cr.line_to(x, y - (height / 2)) |
| 80 | cr.stroke() |
| 81 | |
| 82 | def HtickMark(self, cr, x, y, width, COLOR): |
| 83 | # X, Y is in the middle of the tick mark |
| 84 | set_color(cr, COLOR) |
| 85 | cr.move_to(x + (width / 2), y) |
| 86 | cr.line_to(x - (width / 2), y) |
| 87 | cr.stroke() |
| 88 | |
| 89 | def drawVelocity(self, cr, xva, start, height, skip, zero, end): |
| 90 | COLOR = palette["RED"] |
| 91 | velocity = xva[1] |
| 92 | n_timesteps = len(velocity) |
| 93 | max_v = np.amax(velocity) |
| 94 | spacing = np.abs(start - end) / float(n_timesteps) |
| 95 | scaler = height / max_v |
| 96 | cr.set_source_rgb(1, 0, 0) |
| 97 | points = [] |
| 98 | for i in range(0, len(velocity)): |
| 99 | if i % skip == 0: |
| 100 | points.append([ |
| 101 | start + (i * spacing), |
| 102 | zero + height / 2.0 + (velocity[i] * scaler / 2.0) |
| 103 | ]) |
| 104 | self.connectLines(cr, points, COLOR) |
| 105 | |
| 106 | # draw axes marking |
| 107 | for i in np.linspace(-1, 1, 11): |
| 108 | self.HtickMark(cr, start, zero + i * height / 2.0 + height / 2.0, |
| 109 | 10, palette["BLACK"]) |
| 110 | cr.set_source_rgb(1, 0, 0) |
| 111 | cr.move_to(start + 5, zero + i * height / 2.0 + height / 2.0) |
| 112 | txt_scale = SCREEN_SIZE / 1000.0 |
| 113 | display_text(cr, str(round(i * max_v, 2)), txt_scale, txt_scale, |
| 114 | 1.0 / txt_scale, 1.0 / txt_scale) |
| 115 | cr.stroke() |
| 116 | |
| 117 | def drawAcceleration(self, cr, xva, start, height, skip, zero, margin, |
| 118 | end): |
| 119 | COLOR = palette["BLUE"] |
| 120 | accel = xva[2] |
| 121 | max_a = np.amax(accel) |
| 122 | min_a = np.amin(accel) |
| 123 | n_timesteps = len(accel) |
| 124 | spacing = np.abs(start - end) / float(n_timesteps) |
| 125 | scaler = height / (max_a - min_a) |
| 126 | cr.set_source_rgb(1, 0, 0) |
| 127 | points = [] |
| 128 | for i in range(0, len(accel)): |
| 129 | if i % skip == 0: |
| 130 | points.append([ |
| 131 | start + (i * spacing), zero + ((accel[i] - min_a) * scaler) |
| 132 | ]) |
| 133 | self.connectLines(cr, points, COLOR) |
| 134 | |
| 135 | # draw axes marking |
| 136 | for i in np.linspace(0, 1, 11): |
| 137 | self.HtickMark(cr, -1.5 * margin, zero + i * height, 10, |
| 138 | palette["BLACK"]) |
| 139 | cr.set_source_rgb(0, 0, 1) |
| 140 | cr.move_to(-1.2 * margin, zero + i * height) |
| 141 | txt_scale = SCREEN_SIZE / 1000.0 |
| 142 | display_text(cr, str(round(i * (max_a - min_a) + min_a, |
| 143 | 2)), txt_scale, txt_scale, |
| 144 | 1.0 / txt_scale, 1.0 / txt_scale) |
| 145 | cr.stroke() |
| 146 | |
| 147 | def drawVoltage(self, cr, xva, start, height, skip, traj, zero, end): |
| 148 | COLOR1 = palette["GREEN"] |
| 149 | COLOR2 = palette["CYAN"] |
| 150 | poses = xva[0] |
| 151 | n_timesteps = len(poses) |
| 152 | spacing = np.abs(start - end) / float(n_timesteps) |
| 153 | points1 = [] |
| 154 | points2 = [] |
| 155 | for i in range(0, len(poses)): |
| 156 | if i % skip == 0: |
| 157 | voltage = traj.Voltage(poses[i]) |
| 158 | points1.append([ |
| 159 | start + (i * spacing), |
| 160 | zero + height / 2 + height * (voltage[0] / 24.0) |
| 161 | ]) |
| 162 | points2.append([ |
| 163 | start + (i * spacing), |
| 164 | zero + height / 2 + height * (voltage[1] / 24.0) |
| 165 | ]) |
| 166 | self.connectLines(cr, points1, COLOR1) |
| 167 | self.connectLines(cr, points2, COLOR2) |
| 168 | |
| 169 | for i in np.linspace(-1, 1, 7): |
| 170 | self.HtickMark(cr, -1.0 * SCREEN_SIZE, |
| 171 | zero + i * height / 2.0 + height / 2.0, 10, |
| 172 | palette["BLACK"]) |
| 173 | cr.set_source_rgb(0, 1, 1) |
| 174 | cr.move_to(-1.0 * SCREEN_SIZE, |
| 175 | zero + i * height / 2.0 + height / 2.0) |
| 176 | txt_scale = SCREEN_SIZE / 1000.0 |
| 177 | display_text(cr, str(round(i * 12.0, 2)), txt_scale, txt_scale, |
| 178 | 1.0 / txt_scale, 1.0 / txt_scale) |
| 179 | cr.stroke() |