1# Copyright (c) Acconeer AB, 2024
2# All rights reserved
3
4from __future__ import annotations
5
6import numpy as np
7
8# Added here to force pyqtgraph to choose PySide
9import PySide6 # noqa: F401
10
11import pyqtgraph as pg
12
13import acconeer.exptool as et
14from acconeer.exptool import a121
15from acconeer.exptool.a121.algo._utils import APPROX_BASE_STEP_LENGTH_M
16from acconeer.exptool.a121.algo.vibration import (
17 ExampleApp,
18 ExampleAppConfig,
19 ExampleAppResult,
20 get_high_frequency_config,
21)
22
23
24SENSOR_ID = 1
25
26
27def main():
28 args = a121.ExampleArgumentParser().parse_args()
29 et.utils.config_logging(args)
30
31 example_app_config = get_high_frequency_config()
32
33 client = a121.Client.open(**a121.get_client_args(args))
34
35 example_app = ExampleApp(
36 client=client,
37 sensor_id=SENSOR_ID,
38 example_app_config=example_app_config,
39 )
40
41 pg_updater = PGUpdater(example_app_config)
42 pg_process = et.PGProcess(pg_updater)
43
44 example_app.start()
45 pg_process.start()
46
47 interrupt_handler = et.utils.ExampleInterruptHandler()
48 print("Press Ctrl-C to end session")
49
50 while not interrupt_handler.got_signal:
51 example_app_result = example_app.get_next()
52
53 try:
54 pg_process.put_data(example_app_result)
55 except et.PGProccessDiedException:
56 break
57
58 print("Disconnecting...")
59 pg_process.close()
60 example_app.stop()
61
62
63class PGUpdater:
64 def __init__(self, example_app_config: ExampleAppConfig):
65 self.sensor_config = ExampleApp._get_sensor_config(example_app_config)
66 self.meas_dist_m = example_app_config.measured_point * APPROX_BASE_STEP_LENGTH_M
67
68 def setup(self, win):
69 pen_blue = et.utils.pg_pen_cycler(0)
70 pen_orange = et.utils.pg_pen_cycler(1)
71 brush = et.utils.pg_brush_cycler(0)
72 brush_dot = et.utils.pg_brush_cycler(1)
73 symbol_kw = dict(symbol="o", symbolSize=1, symbolBrush=brush, symbolPen="k")
74 feat_kw_blue = dict(pen=pen_blue, **symbol_kw)
75 feat_kw_orange = dict(pen=pen_orange)
76 symbol_dot_kw = dict(symbol="o", symbolSize=10, symbolBrush=brush_dot, symbolPen="k")
77
78 # presence plot
79 self.object_detection_plot = pg.PlotItem()
80 self.object_detection_plot.setMenuEnabled(False)
81 self.object_detection_plot.showGrid(x=False, y=True)
82 self.object_detection_plot.setLabel("left", "Max amplitude")
83 self.object_detection_plot.setLabel("bottom", "Distance (m)")
84 self.object_detection_plot.setXRange(self.meas_dist_m - 0.001, self.meas_dist_m + 0.001)
85 self.presence_curve = self.object_detection_plot.plot(
86 **dict(pen=pen_blue, **symbol_dot_kw)
87 )
88
89 self.presence_threshold = pg.InfiniteLine(pen=pen_blue, angle=0)
90 self.object_detection_plot.addItem(self.presence_threshold)
91 self.presence_threshold.show()
92
93 self.smooth_max_presence = et.utils.SmoothMax(tau_decay=10.0)
94
95 # sweep and threshold plot
96 self.time_series_plot = pg.PlotItem()
97 self.time_series_plot.setMenuEnabled(False)
98 self.time_series_plot.showGrid(x=True, y=True)
99 self.time_series_plot.setLabel("left", "Displacement (<font>μ</font>m)")
100 self.time_series_plot.setLabel("bottom", "History")
101 self.time_series_curve = self.time_series_plot.plot(**feat_kw_blue)
102
103 self.time_series_plot.setYRange(-1000, 1000)
104 self.time_series_plot.setXRange(0, 1024)
105
106 self.text_item_time_series = pg.TextItem(
107 fill=pg.mkColor(0xFF, 0x7F, 0x0E, 200),
108 anchor=(0.5, 0),
109 )
110 self.text_item_time_series.hide()
111 self.time_series_plot.addItem(self.text_item_time_series)
112
113 sublayout = win.addLayout(row=0, col=0)
114 sublayout.layout.setColumnStretchFactor(1, 5)
115 sublayout.addItem(self.object_detection_plot, row=0, col=0)
116 sublayout.addItem(self.time_series_plot, row=0, col=1)
117
118 self.smooth_lim_time_series = et.utils.SmoothLimits(tau_decay=0.5, tau_grow=0.1)
119
120 self.fft_plot = win.addPlot(col=0, row=1)
121 self.fft_plot.setMenuEnabled(False)
122 self.fft_plot.showGrid(x=True, y=True)
123 self.fft_plot.setLabel("left", "Displacement (<font>μ</font>m)")
124 self.fft_plot.setLabel("bottom", "Frequency (Hz)")
125 self.fft_plot.setLogMode(False, True)
126 self.fft_plot.addItem(pg.PlotDataItem())
127 self.fft_curve = [
128 self.fft_plot.plot(**feat_kw_blue),
129 self.fft_plot.plot(**feat_kw_orange),
130 self.fft_plot.plot(**dict(pen=pen_blue, **symbol_dot_kw)),
131 ]
132
133 self.text_item_fft = pg.TextItem(
134 fill=pg.mkColor(0xFF, 0x7F, 0x0E, 200),
135 anchor=(0.5, 0),
136 )
137 self.text_item_fft.hide()
138 self.fft_plot.addItem(self.text_item_fft)
139
140 self.smooth_max_fft = et.utils.SmoothMax()
141
142 def update(self, example_app_result: ExampleAppResult) -> None:
143 # Extra result
144 time_series = example_app_result.processor_extra_result.zm_time_series
145 lp_displacements_threshold = (
146 example_app_result.processor_extra_result.lp_displacements_threshold
147 )
148 amplitude_threshold = example_app_result.processor_extra_result.amplitude_threshold
149
150 # Processor result
151 lp_displacements = example_app_result.lp_displacements
152 lp_displacements_freqs = example_app_result.lp_displacements_freqs
153 max_amplitude = example_app_result.max_sweep_amplitude
154 max_displacement = example_app_result.max_displacement
155 max_displacement_freq = example_app_result.max_displacement_freq
156 time_series_rms = example_app_result.time_series_std
157
158 # Plot object presence metric
159 self.presence_curve.setData([self.meas_dist_m], [max_amplitude])
160 self.presence_threshold.setValue(amplitude_threshold)
161 lim = self.smooth_max_presence.update(max_amplitude)
162 self.object_detection_plot.setYRange(0, max(1000.0, lim))
163
164 # Plot time series
165 if time_series is not None and amplitude_threshold < max_amplitude:
166 assert time_series_rms is not None
167 lim = self.smooth_lim_time_series.update(time_series)
168 self.time_series_plot.setYRange(lim[0], lim[1])
169 self.time_series_plot.setXRange(0, time_series.shape[0])
170
171 self.text_item_time_series.setPos(time_series.size / 2, lim[1] * 0.95)
172 html_format = (
173 '<div style="text-align: center">'
174 '<span style="color: #FFFFFF;font-size:15pt;">'
175 "{}</span></div>".format("RMS : " + str(int(time_series_rms)))
176 )
177 self.text_item_time_series.setHtml(html_format)
178 self.text_item_time_series.show()
179 self.time_series_curve.setData(time_series)
180
181 # Plot spectrum
182 if lp_displacements is not None:
183 assert time_series is not None
184 assert lp_displacements is not None
185
186 self.fft_curve[0].setData(lp_displacements_freqs, lp_displacements)
187 self.fft_curve[1].setData(lp_displacements_freqs, lp_displacements_threshold)
188 lim = self.smooth_max_fft.update(np.max(lp_displacements))
189 self.fft_plot.setYRange(-1, np.log10(lim))
190
191 if max_displacement_freq is not None and max_displacement is not None:
192 self.fft_curve[2].setData([max_displacement_freq], [max_displacement])
193
194 # Place text box centered at the top of the plotting window
195 self.text_item_fft.setPos(max(lp_displacements_freqs) / 2, np.log10(lim) * 0.95)
196 html_format = (
197 '<div style="text-align: center">'
198 '<span style="color: #FFFFFF;font-size:15pt;">'
199 "{}</span></div>".format(
200 "Frequency: "
201 + str(int(max_displacement_freq))
202 + "Hz Displacement: "
203 + str(int(max_displacement))
204 + "<font>μ</font>m"
205 )
206 )
207 self.text_item_fft.setHtml(html_format)
208 self.text_item_fft.show()
209 else:
210 self.fft_curve[2].setData([], [])
211 self.text_item_fft.hide()
212
213
214if __name__ == "__main__":
215 main()
