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#! /usr/bin/env python3 |
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import logging |
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from PyQt5.QtCore import QTimer, Qt |
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from PyQt5.QtWidgets import QLabel |
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from opcua import ua |
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from opcua import Node |
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from uawidgets.utils import trycatchslot |
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use_graph = True |
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try: |
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import pyqtgraph as pg |
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import numpy as np |
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except ImportError: |
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print("pyqtgraph or numpy are not installed, use of graph feature disabled") |
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use_graph = False |
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if use_graph: |
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pg.setConfigOptions(antialias=True) |
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pg.setConfigOption('background', 'w') |
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pg.setConfigOption('foreground', 'k') |
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logger = logging.getLogger(__name__) |
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class GraphUI(object): |
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# use tango color schema (public domain) |
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colorCycle = ['#4e9a06ff', '#ce5c00ff', '#3465a4ff', '#75507bff', '#cc0000ff', '#edd400ff'] |
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acceptedDatatypes = ['Decimal128', 'Double', 'Float', 'Integer', 'UInteger'] |
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def __init__(self, window, uaclient): |
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self.window = window |
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self.uaclient = uaclient |
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# exit if the modules are not present |
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if not use_graph: |
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self.window.ui.graphLayout.addWidget(QLabel("pyqtgraph or numpy not installed")) |
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return |
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self._node_list = [] # holds the nodes to poll |
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self._channels = [] # holds the actual data |
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self._curves = [] # holds the curve objects |
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self.pw = pg.PlotWidget(name='Plot1') |
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self.pw.showGrid(x = True, y = True, alpha = 0.3) |
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self.legend = self.pw.addLegend() |
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self.window.ui.graphLayout.addWidget(self.pw) |
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self.window.ui.actionAddToGraph.triggered.connect(self._add_node_to_channel) |
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self.window.ui.actionRemoveFromGraph.triggered.connect(self._remove_node_from_channel) |
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# populate contextual menu |
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self.window.ui.treeView.addAction(self.window.ui.actionAddToGraph) |
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self.window.ui.treeView.addAction(self.window.ui.actionRemoveFromGraph) |
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# connect Apply button |
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self.window.ui.buttonApply.clicked.connect(self.restartTimer) |
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self.restartTimer() |
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def restartTimer(self): |
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# stop current timer, if it exists |
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if hasattr(self ,'timer') and self.timer.isActive(): |
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self.timer.stop() |
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# define the number of polls displayed in graph |
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self.N = self.window.ui.spinBoxNumberOfPoints.value() |
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self.ts = np.arange(self.N) |
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# define the poll intervall |
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self.intervall = self.window.ui.spinBoxIntervall.value( ) *1000 |
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# overwrite current channel buffers with zeros of current length and add to curves again |
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for i ,channel in enumerate(self._channels): |
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self._channels[i] = np.zeros(self.N) |
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self._curves[i].setData(self._channels[i]) |
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# starting new timer |
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self.timer = QTimer() |
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self.timer.setInterval(self.intervall) |
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self.timer.timeout.connect(self.pushtoGraph) |
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self.timer.start() |
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@trycatchslot |
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def _add_node_to_channel(self ,node=None): |
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if not isinstance(node, Node): |
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node = self.window.get_current_node() |
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if node is None: |
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return |
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if node not in self._node_list: |
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dtype = node.get_attribute(ua.AttributeIds.DataType) |
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dtypeStr = ua.ObjectIdNames[dtype.Value.Value.Identifier] |
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if dtypeStr in self.acceptedDatatypes and not isinstance(node.get_value() ,list): |
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self._node_list.append(node) |
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displayName = node.get_display_name().Text |
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colorIndex = len(self._node_list) % len(self.colorCycle) |
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self._curves.append \ |
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(self.pw.plot(pen=pg.mkPen(color=self.colorCycle[colorIndex] ,width=3 ,style=Qt.SolidLine), name=displayName)) |
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# set initial data to zero |
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self._channels.append(np.zeros(self.N)) # init data sequence with zeros |
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# add the new channel data to the new curve |
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self._curves[-1].setData(self._channels[-1]) |
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logger.info("Variable %s added to graph", displayName) |
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else: |
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logger.info("Variable cannot be added to graph because it is of type %s or an array", dtypeStr) |
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@trycatchslot |
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def _remove_node_from_channel(self ,node=None): |
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if not isinstance(node, Node): |
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node = self.window.get_current_node() |
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if node is None: |
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return |
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if node in self._node_list: |
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idx = self._node_list.index(node) |
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self._node_list.pop(idx) |
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displayName = node.get_display_name().Text |
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self.legend.removeItem(displayName) |
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self.pw.removeItem(self._curves[idx]) |
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self._curves.pop(idx) |
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self._channels.pop(idx) |
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def pushtoGraph(self): |
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# ringbuffer: shift and replace last |
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for i ,node in enumerate(self._node_list): |
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self._channels[i] = np.roll(self._channels[i] ,-1) # shift elements to the left by one |
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self._channels[i][-1] = float(node.get_value()) |
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self._curves[i].setData(self.ts ,self._channels[i]) |
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def clear(self): |
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pass |
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def show_error(self, *args): |
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self.window.show_error(*args) |
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FreeOpcUa /
opcua-client-gui
