1# Copyright (c) Acconeer AB, 2022-2024
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 Processor,
19 ProcessorConfig,
20 ProcessorContext,
21 ProcessorResult,
22 get_high_frequency_config,
23)
24from acconeer.exptool.a121.algo.vibration._processor import RANGE_SUBSWEEP
25
26
27def main():
28 args = a121.ExampleArgumentParser().parse_args()
29 et.utils.config_logging(args)
30
31 sensor_config = ExampleApp._get_sensor_config(get_high_frequency_config())
32
33 client = a121.Client.open(**a121.get_client_args(args))
34 metadata = client.setup_session(sensor_config)
35
36 processor = Processor(
37 sensor_config=sensor_config,
38 metadata=metadata,
39 processor_config=ProcessorConfig(),
40 context=ProcessorContext(),
41 )
42 pg_updater = PGUpdater(sensor_config)
43 pg_process = et.PGProcess(pg_updater)
44 pg_process.start()
45
46 client.start_session()
47 interrupt_handler = et.utils.ExampleInterruptHandler()
48 print("Press Ctrl-C to end session")
49
50 while not interrupt_handler.got_signal:
51 result = client.get_next()
52 plot_data = processor.process(result)
53 try:
54 pg_process.put_data(plot_data)
55 except et.PGProccessDiedException:
56 break
57
58 print("Disconnecting...")
59 client.close()
60
61
62class PGUpdater:
63 def __init__(self, sensor_config: a121.SensorConfig):
64 self.sensor_config = sensor_config.subsweeps[RANGE_SUBSWEEP]
65 self.meas_dist_m = self.sensor_config.start_point * APPROX_BASE_STEP_LENGTH_M
66
67 def setup(self, win):
68 pen_blue = et.utils.pg_pen_cycler(0)
69 pen_orange = et.utils.pg_pen_cycler(1)
70 brush = et.utils.pg_brush_cycler(0)
71 brush_dot = et.utils.pg_brush_cycler(1)
72 symbol_kw = dict(symbol="o", symbolSize=1, symbolBrush=brush, symbolPen="k")
73 feat_kw_blue = dict(pen=pen_blue, **symbol_kw)
74 feat_kw_orange = dict(pen=pen_orange)
75 symbol_dot_kw = dict(symbol="o", symbolSize=10, symbolBrush=brush_dot, symbolPen="k")
76
77 # presence plot
78 self.object_detection_plot = pg.PlotItem()
79 self.object_detection_plot.setMenuEnabled(False)
80 self.object_detection_plot.showGrid(x=False, y=True)
81 self.object_detection_plot.setLabel("left", "Max amplitude")
82 self.object_detection_plot.setLabel("bottom", "Distance (m)")
83 self.object_detection_plot.setXRange(self.meas_dist_m - 0.001, self.meas_dist_m + 0.001)
84 self.presence_curve = self.object_detection_plot.plot(
85 **dict(pen=pen_blue, **symbol_dot_kw)
86 )
87
88 self.presence_threshold = pg.InfiniteLine(pen=pen_blue, angle=0)
89 self.object_detection_plot.addItem(self.presence_threshold)
90 self.presence_threshold.show()
91
92 self.smooth_max_presence = et.utils.SmoothMax(tau_decay=10.0)
93
94 # sweep and threshold plot
95 self.time_series_plot = pg.PlotItem()
96 self.time_series_plot.setMenuEnabled(False)
97 self.time_series_plot.showGrid(x=True, y=True)
98 self.time_series_plot.setLabel("left", "Displacement (<font>μ</font>m)")
99 self.time_series_plot.setLabel("bottom", "History")
100 self.time_series_curve = self.time_series_plot.plot(**feat_kw_blue)
101
102 self.time_series_plot.setYRange(-1000, 1000)
103 self.time_series_plot.setXRange(0, 1024)
104
105 self.text_item_time_series = pg.TextItem(
106 fill=pg.mkColor(0xFF, 0x7F, 0x0E, 200),
107 anchor=(0.5, 0),
108 )
109 self.text_item_time_series.hide()
110 self.time_series_plot.addItem(self.text_item_time_series)
111
112 sublayout = win.addLayout(row=0, col=0)
113 sublayout.layout.setColumnStretchFactor(1, 5)
114 sublayout.addItem(self.object_detection_plot, row=0, col=0)
115 sublayout.addItem(self.time_series_plot, row=0, col=1)
116
117 self.smooth_lim_time_series = et.utils.SmoothLimits(tau_decay=0.5, tau_grow=0.1)
118
119 self.fft_plot = win.addPlot(col=0, row=1)
120 self.fft_plot.setMenuEnabled(False)
121 self.fft_plot.showGrid(x=True, y=True)
122 self.fft_plot.setLabel("left", "Displacement (<font>μ</font>m)")
123 self.fft_plot.setLabel("bottom", "Frequency (Hz)")
124 self.fft_plot.setLogMode(False, True)
125 self.fft_plot.addItem(pg.PlotDataItem())
126 self.fft_curve = [
127 self.fft_plot.plot(**feat_kw_blue),
128 self.fft_plot.plot(**feat_kw_orange),
129 self.fft_plot.plot(**dict(pen=pen_blue, **symbol_dot_kw)),
130 ]
131
132 self.text_item_fft = pg.TextItem(
133 fill=pg.mkColor(0xFF, 0x7F, 0x0E, 200),
134 anchor=(0.5, 0),
135 )
136 self.text_item_fft.hide()
137 self.fft_plot.addItem(self.text_item_fft)
138
139 self.smooth_max_fft = et.utils.SmoothMax()
140
141 def update(self, processor_result: ProcessorResult) -> None:
142 # Extra result
143 time_series = processor_result.extra_result.zm_time_series
144 lp_displacements_threshold = processor_result.extra_result.lp_displacements_threshold
145 amplitude_threshold = processor_result.extra_result.amplitude_threshold
146
147 # Processor result
148 lp_displacements = processor_result.lp_displacements
149 lp_displacements_freqs = processor_result.lp_displacements_freqs
150 max_amplitude = processor_result.max_sweep_amplitude
151 max_displacement = processor_result.max_displacement
152 max_displacement_freq = processor_result.max_displacement_freq
153 time_series_rms = processor_result.time_series_std
154
155 # Plot object presence metric
156 self.presence_curve.setData([self.meas_dist_m], [max_amplitude])
157 self.presence_threshold.setValue(amplitude_threshold)
158 lim = self.smooth_max_presence.update(max_amplitude)
159 self.object_detection_plot.setYRange(0, max(1000.0, lim))
160
161 # Plot time series
162 if time_series is not None and amplitude_threshold < max_amplitude:
163 assert time_series_rms is not None
164 lim = self.smooth_lim_time_series.update(time_series)
165 self.time_series_plot.setYRange(lim[0], lim[1])
166 self.time_series_plot.setXRange(0, time_series.shape[0])
167
168 self.text_item_time_series.setPos(time_series.size / 2, lim[1] * 0.95)
169 html_format = (
170 '<div style="text-align: center">'
171 '<span style="color: #FFFFFF;font-size:15pt;">'
172 "{}</span></div>".format("RMS : " + str(int(time_series_rms)))
173 )
174 self.text_item_time_series.setHtml(html_format)
175 self.text_item_time_series.show()
176 self.time_series_curve.setData(time_series)
177
178 # Plot spectrum
179 if lp_displacements is not None:
180 assert time_series is not None
181 assert lp_displacements is not None
182
183 self.fft_curve[0].setData(lp_displacements_freqs, lp_displacements)
184 self.fft_curve[1].setData(lp_displacements_freqs, lp_displacements_threshold)
185 lim = self.smooth_max_fft.update(np.max(lp_displacements))
186 self.fft_plot.setYRange(-1, np.log10(lim))
187
188 if max_displacement_freq is not None and max_displacement is not None:
189 self.fft_curve[2].setData([max_displacement_freq], [max_displacement])
190
191 # Place text box centered at the top of the plotting window
192 self.text_item_fft.setPos(max(lp_displacements_freqs) / 2, np.log10(lim) * 0.95)
193 html_format = (
194 '<div style="text-align: center">'
195 '<span style="color: #FFFFFF;font-size:15pt;">'
196 "{}</span></div>".format(
197 "Frequency: "
198 + str(int(max_displacement_freq))
199 + "Hz Displacement: "
200 + str(int(max_displacement))
201 + "<font>μ</font>m"
202 )
203 )
204 self.text_item_fft.setHtml(html_format)
205 self.text_item_fft.show()
206 else:
207 self.fft_curve[2].setData([], [])
208 self.text_item_fft.hide()
209
210
211if __name__ == "__main__":
212 main()
