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"""
Tinymovr GUI Window
Copyright 2020-2026 MotionLayer P.C.
The GUI Window class that subclasses QMainWindow
This program is free software: you can redistribute it and/or modify it under
the terms of the GNU General Public License as published by the Free Software
Foundation, either version 3 of the License, or (at your option) any later
version.
This program is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with
this program. If not, see <http://www.gnu.org/licenses/>.
"""
import sys
import time
import logging
from importlib.metadata import version as get_version
from contextlib import suppress
import json
from PySide6 import QtCore
from PySide6.QtCore import Signal, QTimer
from PySide6.QtWidgets import (
QMainWindow,
QMenu,
QMenuBar,
QWidget,
QFrame,
QVBoxLayout,
QHeaderView,
QLabel,
QMessageBox,
QTreeWidgetItem,
QSplitter,
QTextBrowser,
QInputDialog,
)
from PySide6.QtGui import QAction
import pyqtgraph as pg
from tinymovr.constants import app_name
from tinymovr.channel import ResponseError as ChannelResponseError
from tinymovr.config import get_bus_config, export_config, import_config
from avlos import get_registry
from avlos.datatypes import DataType
from avlos.json_codec import AvlosEncoder
from tinymovr.gui import (
NodeTreeWidgetItem,
AttrTreeWidgetItem,
FuncTreeWidgetItem,
OptionsTreeWidgetItem,
Worker,
PlaceholderQTreeWidget,
BoolTreeWidgetItem,
StreamRedirector,
QTextBrowserLogger,
format_value,
display_file_open_dialog,
display_file_save_dialog,
display_warning,
magnitude_of,
check_selected_items,
configure_pretty_errors,
)
class MainWindow(QMainWindow):
TreeItemCheckedSignal = Signal(dict)
updateVisibleAttrsSignal = Signal(set)
def __init__(self, app, arguments, logger):
super(MainWindow, self).__init__()
self.time_window = 10
# set units default format
get_registry().default_format = ".6f~"
self.start_time = time.time()
self.logger = logger if logger is not None else logging.getLogger("tinymovr")
configure_pretty_errors()
self.attr_widgets_by_id = {}
self.graphs_by_id = {}
self._devices_by_name = {}
self.setWindowTitle(app_name)
# Create a menu bar, menus and actions
self.menu_bar = QMenuBar()
self.file_menu = QMenu("File")
self.help_menu = QMenu("Help")
self.view_menu = QMenu("View")
self.export_action = QAction("Export Config...", self)
self.import_action = QAction("Import Config", self)
self.about_action = QAction("About", self)
self.export_action.triggered.connect(self.on_export)
self.import_action.triggered.connect(self.on_import)
self.about_action.triggered.connect(self.show_about_box)
self.file_menu.addAction(self.export_action)
self.file_menu.addAction(self.import_action)
self.help_menu.addAction(self.about_action)
self.toggle_tree_action = QAction(
"Hide Tree", self
) # Assume tree is visible initially
self.toggle_tree_action.triggered.connect(self.toggle_tree)
self.toggle_console_action = QAction(
"Hide Console", self
) # Assume console is visible initially
self.toggle_console_action.triggered.connect(self.toggle_console)
self.clear_console_action = QAction("Clear Console", self)
self.clear_console_action.triggered.connect(self.clear_console)
self.view_menu.addAction(self.clear_console_action)
self.view_menu.addAction(self.toggle_tree_action)
self.view_menu.addAction(self.toggle_console_action)
self.time_window_menu = QMenu("Set Time Window")
self.time_window_10s_action = QAction("10 seconds", self)
self.time_window_10s_action.triggered.connect(lambda: self.set_time_window(10))
self.time_window_30s_action = QAction("30 seconds", self)
self.time_window_30s_action.triggered.connect(lambda: self.set_time_window(30))
self.time_window_60s_action = QAction("60 seconds", self)
self.time_window_60s_action.triggered.connect(lambda: self.set_time_window(60))
self.time_window_menu.addAction(self.time_window_10s_action)
self.time_window_menu.addAction(self.time_window_30s_action)
self.time_window_menu.addAction(self.time_window_60s_action)
self.view_menu.addMenu(self.time_window_menu)
self.timer_rate_menu = QMenu("Set Timer Rate")
self.timer_rate_12_5_action = QAction("12.5 Hz", self)
self.timer_rate_12_5_action.triggered.connect(lambda: self.set_timer_rate(80))
self.timer_rate_25_action = QAction("25 Hz", self)
self.timer_rate_25_action.triggered.connect(lambda: self.set_timer_rate(40))
self.timer_rate_50_action = QAction("50 Hz", self)
self.timer_rate_50_action.triggered.connect(lambda: self.set_timer_rate(20))
self.timer_rate_100_action = QAction("100 Hz", self)
self.timer_rate_100_action.triggered.connect(lambda: self.set_timer_rate(10))
self.timer_rate_menu.addAction(self.timer_rate_12_5_action)
self.timer_rate_menu.addAction(self.timer_rate_25_action)
self.timer_rate_menu.addAction(self.timer_rate_50_action)
self.timer_rate_menu.addAction(self.timer_rate_100_action)
self.view_menu.addMenu(self.timer_rate_menu)
self.menu_bar.addMenu(self.file_menu)
self.menu_bar.addMenu(self.view_menu)
self.menu_bar.addMenu(self.help_menu)
self.setMenuBar(self.menu_bar)
self.tree_widget = PlaceholderQTreeWidget()
self.tree_widget.itemChanged.connect(self.item_changed)
self.tree_widget.itemExpanded.connect(self.update_visible_attrs)
self.tree_widget.itemCollapsed.connect(self.update_visible_attrs)
self.tree_widget.setHeaderLabels(["Attribute", "Value"])
self.status_label = QLabel()
self.status_label.setStyleSheet("margin: 5px;")
self.splitter = QSplitter(QtCore.Qt.Horizontal)
self.splitter.setHandleWidth(0)
self.splitter.splitterMoved.connect(self.check_tree_visibility)
self.left_frame = QFrame(self)
self.left_layout = QVBoxLayout()
self.left_layout.addWidget(self.tree_widget)
self.left_layout.setSpacing(0)
self.left_layout.setContentsMargins(0, 0, 0, 0)
self.left_frame.setLayout(self.left_layout)
self.left_frame.setMinimumWidth(320)
self.left_frame.setMaximumWidth(420)
self.left_frame.setStyleSheet("border:0;")
self.right_frame = QFrame(self)
self.right_layout = QVBoxLayout()
self.right_layout.setSpacing(0)
self.right_layout.setContentsMargins(0, 0, 0, 0)
self.right_frame.setLayout(self.right_layout)
self.splitter.addWidget(self.left_frame)
self.splitter.addWidget(self.right_frame)
self.console = QTextBrowser()
self.console.setReadOnly(True)
self.log_handler = QTextBrowserLogger(self.console)
self.logger.addHandler(self.log_handler)
self.main_splitter = QSplitter(QtCore.Qt.Vertical)
self.main_splitter.setHandleWidth(0)
self.main_splitter.showEvent = self.on_show_event
self.main_splitter.splitterMoved.connect(self.check_console_visibility)
self.main_splitter.addWidget(self.splitter)
self.main_splitter.addWidget(self.console)
main_layout = QVBoxLayout()
main_layout.addWidget(self.main_splitter)
main_layout.addWidget(self.status_label)
main_layout.setSpacing(0)
main_layout.setContentsMargins(0, 0, 0, 0)
main_widget = QWidget()
main_widget.setLayout(main_layout)
main_widget.setMinimumHeight(600)
self.setCentralWidget(main_widget)
self.timeout_count = 0
buses = arguments["--bus"].rsplit(sep=",")
channel = arguments["--chan"]
bitrate = int(arguments["--bitrate"])
self.max_timeouts = int(arguments["--max-timeouts"])
if channel == None:
params = get_bus_config(buses, bitrate=bitrate)
else:
params = {"bustype": buses[0], "channel": channel, "bitrate": bitrate}
self.worker = Worker(params, self.logger)
self.TreeItemCheckedSignal.connect(self.worker.update_active_attrs)
self.worker.handleErrorSignal.connect(
self.handle_worker_error, QtCore.Qt.QueuedConnection
)
self.worker.regenSignal.connect(self.regen_tree, QtCore.Qt.QueuedConnection)
self.worker.updateAttrsSignal.connect(
self.attrs_updated, QtCore.Qt.QueuedConnection
)
self.worker.updateTimingsSignal.connect(
self.timings_updated, QtCore.Qt.QueuedConnection
)
self.updateVisibleAttrsSignal.connect(self.worker.update_visible_attrs)
app.aboutToQuit.connect(self.about_to_quit)
self.worker_update_timer = QTimer(self)
self.worker_update_timer.timeout.connect(self.worker._update)
self.worker_update_timer.start(40)
self.visibility_update_timer = QTimer(self)
self.visibility_update_timer.timeout.connect(self.update_visible_attrs)
self.visibility_update_timer.start(1000)
def on_show_event(self, event):
total_height = self.splitter.size().height()
top_percentage = 0.75 # 75% for the top widget
bottom_percentage = 0.25 # 25% for the bottom widget
top_size = int(total_height * top_percentage)
bottom_size = int(total_height * bottom_percentage)
self.main_splitter.setSizes([top_size, bottom_size])
super(MainWindow, self).showEvent(event)
@QtCore.Slot()
def about_to_quit(self):
self.visibility_update_timer.stop()
self.worker_update_timer.stop()
self.worker.stop()
@QtCore.Slot()
def handle_worker_error(self, e):
if isinstance(e, ChannelResponseError):
if self.timeout_count > self.max_timeouts:
self.timeout_count = 0
self.logger.warn("Max timeouts exceeded. Triggering rescan...")
self.worker.reset()
else:
self.logger.warn("Timeout while getting value.")
self.timeout_count += 1
else:
raise e
def add_graph_for_attr(self, attr):
"""
Create a new pyqtgraph object, for the passed
attribute. Add a dictionary containing the
object and related data container to the local index.
"""
graph_widget = pg.PlotWidget(title=attr.full_name)
graph_widget.setMinimumWidth(800)
pi = graph_widget.getPlotItem()
pi.skipFiniteCheck = True
if attr.unit:
pi.setLabel(axis="left", text=attr.name, units=f"{attr.unit}")
else:
pi.setLabel(axis="left", text=attr.name)
pi.setLabel(axis="bottom", text="time", units="sec")
data = {"x": [], "y": []}
data_line = pg.PlotCurveItem(data["x"], data["y"], pen=pg.mkPen(width=1.00))
graph_widget.addItem(data_line)
self.graphs_by_id[attr.full_name] = {
"widget": graph_widget,
"data": data,
"data_line": data_line,
}
self.right_layout.addWidget(graph_widget)
@QtCore.Slot()
def update_visible_attrs(self):
"""
Collects names of visible attributes and emits a signal with these names.
"""
visible_attrs = {
attr_name
for attr_name, widget_info in self.attr_widgets_by_id.items()
if self.is_widget_visible(widget_info["widget"])
and self.is_item_visible_in_viewport(widget_info["widget"])
}
self.updateVisibleAttrsSignal.emit(visible_attrs)
@QtCore.Slot()
def regen_tree(self, devices_by_name):
"""
Regenerate the attribute tree
"""
self._devices_by_name = dict(devices_by_name)
self.delete_graphs()
self.attr_widgets_by_id = {}
self.tree_widget.clear()
self.tree_widget.setEnabled(False)
for name, device in devices_by_name.items():
widget = self.parse_node(device, name)
widget.add_to_tree(self.tree_widget)
header = self.tree_widget.header()
header.setSectionResizeMode(QHeaderView.ResizeToContents)
header.setStretchLastSection(True)
self.tree_widget.setEnabled(True)
def parse_node(self, node, name):
if hasattr(node, "remote_attributes"):
widget = NodeTreeWidgetItem(name, node)
for attr_name, attr in node.remote_attributes.items():
attr_widgets_node_widget = self.parse_node(attr, attr_name)
widget.addChild(attr_widgets_node_widget)
elif hasattr(node, "__call__"):
widget = FuncTreeWidgetItem(name, node)
else:
if hasattr(node, "options"):
widget = OptionsTreeWidgetItem(name, node)
elif hasattr(node, "get_value"):
if node.dtype == DataType.BOOL:
widget = BoolTreeWidgetItem(name, node)
else:
widget = AttrTreeWidgetItem(name, node)
self.attr_widgets_by_id[node.full_name] = {
"node": node,
"widget": widget,
}
return widget
@QtCore.Slot()
def item_changed(self, item):
if item._on_checkbox_changed():
attr = item._tm_node
attr_name = attr.full_name
checked = item._checked
self.TreeItemCheckedSignal.emit({"attr": attr, "checked": checked})
if checked and attr_name not in self.graphs_by_id:
self.add_graph_for_attr(attr)
elif not checked and attr_name in self.graphs_by_id:
self.delete_graph_by_attr_name(attr_name)
@QtCore.Slot()
def attrs_updated(self, data):
for attr_name, val in data.items():
try:
self.attr_widgets_by_id[attr_name]["widget"].set_text(format_value(val))
except RuntimeError:
self.logger.warn("Attribute widget disappeared while updating")
if attr_name in self.graphs_by_id:
graph_info = self.graphs_by_id[attr_name]
current_time = time.time() - self.start_time
x = graph_info["data"]["x"]
y = graph_info["data"]["y"]
# Remove data points outside the time window
while len(x) > 0 and current_time - x[0] > self.time_window:
x.pop(0)
y.pop(0)
x.append(current_time)
y.append(magnitude_of(val))
graph_info["data_line"].setData(x, y)
graph_info["widget"].update()
@QtCore.Slot()
def timings_updated(self, timings_dict):
meas_freq = timings_dict["meas_freq"]
meas_freq_str = "-" if meas_freq == 0 else "{:.1f}Hz".format(meas_freq)
self.status_label.setText(
"{}\t Load:{:.0f}%\t RT:{:.1f}ms".format(
meas_freq_str,
timings_dict["load"] * 100,
timings_dict["getter_dt"] * 1000,
)
)
def _root_from_item(self, item):
"""
Return the device root node for export/import, or None if the item
does not correspond to a device (e.g. invalid selection).
"""
if not hasattr(item, "_tm_node") or item._tm_node is None:
return None
node = item._tm_node
return getattr(node, "root", node)
def _resolve_export_import_root(self):
"""
Resolve which device root to use for export/import.
Returns (root_node, None) on success, or (None, error_message) on failure.
"""
selected_items = self.tree_widget.selectedItems()
if len(selected_items) == 1:
root_node = self._root_from_item(selected_items[0])
if root_node is None:
return None, "Select a device or a node under a device."
return root_node, None
if len(selected_items) > 1:
return None, "Multiple Tinymovr nodes selected.\nSelect a single node or none to choose a device."
# No selection
n = len(self._devices_by_name)
if n == 0:
return None, "No devices connected."
if n == 1:
return next(iter(self._devices_by_name.values())), None
# Multiple devices: show picker
names = list(self._devices_by_name.keys())
name, ok = QInputDialog.getItem(
self,
"Select device",
"Choose device to export/import:",
names,
0,
False,
)
if not ok or name not in self._devices_by_name:
return None, None # user cancelled, no error message
return self._devices_by_name[name], None
def on_export(self):
root_node, err = self._resolve_export_import_root()
if err:
display_warning("Invalid Selection", err)
return
if root_node is None:
return # user cancelled device picker
values_object = export_config(root_node)
json_data = json.dumps(values_object, cls=AvlosEncoder)
file_path = display_file_save_dialog()
with suppress(FileNotFoundError), open(file_path, "w") as file:
file.write(json_data)
def on_import(self):
root_node, err = self._resolve_export_import_root()
if err:
display_warning("Invalid Selection", err)
return
if root_node is None:
return # user cancelled device picker
file_path = display_file_open_dialog()
with suppress(FileNotFoundError), open(file_path, "r") as file:
values_object = json.load(file)
import_config(root_node, values_object)
time.sleep(0.1)
self.worker.force_regen()
def delete_graph_by_attr_name(self, attr_name):
self.graphs_by_id[attr_name]["widget"].deleteLater()
del self.graphs_by_id[attr_name]
def delete_graphs(self):
for attr_name in list(self.graphs_by_id.keys()):
self.delete_graph_by_attr_name(attr_name)
def show_about_box(self):
version_str = get_version("tinymovr")
app_str = "{} {}".format(app_name, version_str)
QMessageBox.about(
self,
"About Tinymovr",
"{}\nhttps://tinymovr.com\n\nCat Sleeping Icon by Denis Sazhin from Noun Project".format(
app_str
),
)
def toggle_tree(self):
"""
Toggle the visibility of the tree based on actual size.
"""
tree_size = self.splitter.sizes()[0]
if tree_size > 0:
self.tree_widget.setVisible(False)
self.splitter.setSizes([0, self.splitter.size().width()])
self.toggle_tree_action.setText("Show Tree")
else:
self.tree_widget.setVisible(True)
total_size = self.splitter.size().width()
left_size = int(total_size * 0.25)
right_size = int(total_size * 0.75)
self.splitter.setSizes([left_size, right_size])
self.toggle_tree_action.setText("Hide Tree")
def toggle_console(self):
"""
Toggle the visibility of the console based on actual size.
"""
console_height = self.main_splitter.sizes()[-1]
if console_height > 0:
self.console.setVisible(False)
self.main_splitter.setSizes([self.main_splitter.size().height(), 0])
self.toggle_console_action.setText("Show Console")
else:
self.console.setVisible(True)
total_height = self.main_splitter.size().height()
top_height = int(total_height * 0.75)
bottom_height = int(total_height * 0.25)
self.main_splitter.setSizes([top_height, bottom_height])
self.toggle_console_action.setText("Hide Console")
def clear_console(self):
"""
Clear the console output.
"""
self.console.clear()
def check_tree_visibility(self, pos, index):
"""
Check tree visibility after splitter is moved and update the action text.
"""
tree_size = self.splitter.sizes()[
0
] # Assuming tree is always the first widget in the splitter
if tree_size == 0:
self.toggle_tree_action.setText("Show Tree")
else:
self.toggle_tree_action.setText("Hide Tree")
def check_console_visibility(self, pos, index):
"""
Check console visibility after splitter is moved and update the action text.
"""
console_size = self.main_splitter.sizes()[
-1
] # Assuming console is always the last widget in the splitter
if console_size == 0:
self.toggle_console_action.setText("Show Console")
else:
self.toggle_console_action.setText("Hide Console")
def is_widget_visible(self, widget):
"""
Check if the given widget is visible, i.e., not hidden and all its
ancestor widgets are expanded.
"""
if widget.isHidden():
return False
parent = widget.parent()
while parent is not None:
if isinstance(parent, QTreeWidgetItem) and not parent.isExpanded():
return False
parent = parent.parent()
return True
def is_item_visible_in_viewport(self, item):
"""
Check if the QTreeWidgetItem is visible in the viewport of the QTreeWidget.
"""
# Get the item's rectangle in tree widget coordinates
rect = self.tree_widget.visualItemRect(item)
# Check if the rectangle is within the visible region of the tree widget
visible_region = self.tree_widget.visibleRegion()
return visible_region.contains(rect)
def set_timer_rate(self, interval_ms):
"""
Set the interval of the worker update timer.
:param interval_ms: Timer interval in milliseconds.
"""
self.worker_update_timer.setInterval(interval_ms)
self.logger.info(f"Worker update timer set to {1000 / interval_ms:.1f} Hz")
def set_time_window(self, time_window):
"""
Set the time window for the plots.
:param time_window: Time window in seconds.
"""
self.time_window = time_window
self.logger.info(f"Time window set to {time_window} seconds")
# # Clear existing data to apply the new time window
# for graph_info in self.graphs_by_id.values():
# graph_info["data"]["x"].clear()
# graph_info["data"]["y"].clear()
# graph_info["data_line"].setData([], [])