import matplotlib matplotlib.use("WXAgg") matplotlib.interactive(True) from matplotlib.backends.backend_wxagg import Toolbar, FigureCanvasWxAgg from matplotlib.figure import Figure import numpy as np import wx.lib.newevent import threading import comedi as c import os import struct ID_STARTBUTTON = 101 ID_STOPBUTTON = 102 ID_CLEARBUTTON = 103 ID_OKBUTTON = 104 ID_CONFIGUREBUTTON = 105 X_INIT = 0 Y_INIT = 65535 BUFFER_SIZE = 1000 PLOT_ARRAY_MAX_SIZE = 5000 DEBUG=1 ####### These elements are copied from comedilib's cmd.py - MM cmdtest_messages = [ "success", "invalid source", "source conflict", "invalid argument", "argument conflict", "invalid chanlist"] def dump_cmd(cmd): print "---------------------------" print "command structure contains:" print "cmd.subdev : ", cmd.subdev print "cmd.flags : ", cmd.flags print "cmd.start :\t", cmd.start_src, "\t", cmd.start_arg print "cmd.scan_beg :\t", cmd.scan_begin_src, "\t", cmd.scan_begin_arg print "cmd.convert :\t", cmd.convert_src, "\t", cmd.convert_arg print "cmd.scan_end :\t", cmd.scan_end_src, "\t", cmd.scan_end_arg print "cmd.stop :\t", cmd.stop_src, "\t", cmd.stop_arg print "cmd.chanlist : ", cmd.chanlist print "cmd.chanlist_len : ", cmd.chanlist_len print "cmd.data : ", cmd.data print "cmd.data_len : ", cmd.data_len print "---------------------------" ######## End copied part # this creates an UpdateCanvasEvent even class that will get created # and sent from the worker thread to the main thread (which is the # only place that updates to the GUI should happen...lest there be crashes) (UpdateCanvasEvent, EVT_UPDATE_CANVAS) = wx.lib.newevent.NewEvent() class MainWindow(wx.Frame): def __init__(self): wx.Frame.__init__(self, None, -1, "Free Period Calculation") self.arrayLock = threading.Semaphore(1) self.canvasLock = threading.Semaphore(1) self.dev = None self.subdev = None #create the preferences window self.prefwindow = self.createPreferencesWindow() self.figure = Figure((5, 4), 75) self.canvas = FigureCanvasWxAgg(self, -1, self.figure) self.toolbar = Toolbar(self.canvas) self.toolbar.Realize() self.sizerHoriz = wx.BoxSizer(wx.HORIZONTAL) self.startButton = wx.Button(self, ID_STARTBUTTON, "Start") wx.EVT_BUTTON(self, ID_STARTBUTTON, self.pressStartButton); self.stopButton = wx.Button(self, ID_STOPBUTTON, "Stop") self.stopButton.Enable(0) wx.EVT_BUTTON(self, ID_STOPBUTTON, self.pressStopButton); self.clearButton = wx.Button(self, ID_CLEARBUTTON, "Clear") wx.EVT_BUTTON(self, ID_CLEARBUTTON, self.pressClearButton); configureButton = wx.Button(self, ID_CONFIGUREBUTTON, "Configure") wx.EVT_BUTTON(self, ID_CONFIGUREBUTTON, self.pressConfigureButton) self.sizerHoriz.Add(self.startButton, 0, wx.ALL, 5) self.sizerHoriz.Add(self.stopButton, 0, wx.ALL, 5) self.sizerHoriz.Add(self.clearButton, 0, wx.ALL, 5) self.sizerHoriz.Add(configureButton, 0, wx.ALL, 5) # Use some sizers to see layout options self.sizerVert = wx.BoxSizer(wx.VERTICAL) self.sizerVert.Add(self.sizerHoriz, 0, wx.EXPAND) self.sizerVert.Add(self.canvas, 1, wx.EXPAND) self.sizerVert.Add(self.toolbar, 0, wx.GROW) #Bind the update canvas event to some function: self.Bind(EVT_UPDATE_CANVAS, self.onUpdateCanvas) #Layout sizers self.SetSizer(self.sizerVert) self.SetAutoLayout(1) self.sizerVert.Fit(self) self.initialize() self.Show(1) def GetToolBar(self): return self.toolbar def pressStartButton(self, event): print "Starting background thread." self.startButton.Enable(0) self.configuration = self.prefwindow.getConfiguration() #configure the comedi device self.dev = c.comedi_open(str(self.configuration['device'])) #and get a file-descriptor for reading fd = c.comedi_fileno(self.dev) if fd<=0: raise Exception("Error obtaining Comedi device file descriptor: %s"%(c.comedi_perror('comedi_fileno'))) self.subdev = 0 if not self.dev: raise Exception("Error opening Comedi device: %s"%c.comedi_perror(str(self.configuration['device']))) #create channel list nbChans = 2 myChanList = c.chanlist(nbChans) for i in range(nbChans): myChanList[i] = c.cr_pack(self.configuration['analog'][i][0],self.configuration['analog'][i][1],self.configuration['analog'][i][2]) #create a command structure cmd = c.comedi_cmd_struct() ret = c.comedi_get_cmd_generic_timed(self.dev,self.subdev,cmd,nbChans,self.configuration['analog_period_ns']) if ret: raise Exception("Error comedi_get_cmd_generic failed") cmd.chanlist = myChanList # adjust for our particular context cmd.chanlist_len = nbChans cmd.scan_end_arg = nbChans cmd.stop_src = c.TRIG_NONE if cmd.stop_src==c.TRIG_COUNT: cmd.stop_arg=BUFFER_SIZE if DEBUG: print "command before testing" dump_cmd(cmd) #test our comedi command a few times. ret = 0 for i in range(2): ret = c.comedi_command_test(self.dev,cmd) if DEBUG: print "Command test %d returns %s [%s]"%(i+1, ret, cmdtest_messages[ret]) dump_cmd(cmd) if ret<0: raise Exception("comedi_command_test failed: %s"%(c.comedi_perror('comedi_command_test'))) if ret <> 0: dump_cmd(cmd) raise Exception("Error preparing command") #Start the command ret = c.comedi_command(self.dev,cmd) if ret<>0: raise Exception("comedi_command failed... %s"%(c.comedi_perror('comedi_command'))) self.helper = helperThread(self, fd) self.helper.start() self.stopButton.Enable(1) print "Start button complete." def pressStopButton(self, event): self.stopButton.Enable(0) self.helper.stopFlag = 0 self.helper.join() print "Background thread stopped." self.helper = None c.comedi_cancel(self.dev,self.subdev) self.startButton.Enable(1) def pressClearButton(self, event): self.arrayLock.acquire() self.xarray = np.zeros(PLOT_ARRAY_MAX_SIZE) self.yarray = np.zeros(PLOT_ARRAY_MAX_SIZE) self.line.set_data(self.xarray, self.yarray) self.arrayLock.release() evt = UpdateCanvasEvent() wx.PostEvent(self, evt) def pressConfigureButton(self, event): self.prefwindow.Show(1) self.prefwindow.MakeModal(1) def initialize(self): self.subplot = self.figure.add_subplot(111) self.xarray = np.zeros(PLOT_ARRAY_MAX_SIZE) self.yarray = np.zeros(PLOT_ARRAY_MAX_SIZE) self.line, = self.subplot.plot(self.xarray, self.yarray, '-') self.toolbar.update() def onUpdateCanvas(self, evt): print "Updating the canvas..." self.canvasLock.acquire() self.canvas.draw() self.toolbar.update() self.canvasLock.release() def createPreferencesWindow(self): prefwindow = PreferencesFrame(self, "Preferences") prefwindow.CentreOnParent(wx.BOTH) return prefwindow class helperThread(threading.Thread): def __init__(self, window, fileDesc): threading.Thread.__init__(self) self.window = window self.fd = fileDesc def run(self): self.stopFlag = 1 linBuffer = np.array([]) while(self.stopFlag): try: data = os.read(self.fd,BUFFER_SIZE) except IOError: raise Exception("Fatal Error: %s"%(c.comedi_perror('read'))) n = len(data)/2 # 2 bytes per 'H' structFormat = `n`+'H' if DEBUG: print "=> got %d data point"%n linBuffer = np.append(linBuffer,struct.unpack(structFormat,data)) n = len(linBuffer) if DEBUG: print "==>linBuffer is now [%d] element"%n #calc the number of points once the data is deinterlaced mulLength = n if n%2>0: mulLength -= 1 twoDArray = linBuffer[:mulLength].reshape((-1,2)).transpose().copy() if mulLength<>n: linBuffer = linBuffer[mulLength:(n-mulLength)].copy() else: linBuffer = np.array([]) self.window.arrayLock.acquire() self.window.xarray = twoDArray[0] self.window.yarray = twoDArray[1] self.window.line.set_data(self.window.xarray, self.window.yarray) self.window.subplot.autoscale(True, 'both', False) self.window.arrayLock.release() evt = UpdateCanvasEvent() wx.PostEvent(self.window, evt) class PreferencesFrame(wx.Frame): def __init__(self, parent, title): wx.Frame.__init__(self, parent, -1, title) #p = wx.Panel(self, -1) vertSizer = wx.BoxSizer(wx.VERTICAL) titleLabel = wx.StaticText(self, -1, "Comedi Configuration") okButton = wx.Button(self, ID_OKBUTTON, "Save Changes") wx.EVT_BUTTON(self, ID_OKBUTTON, self.PressOkButton) sizer = wx.GridSizer(6, 2, 2, 2) #rows, columns, hgap, vgap vertSizer.Add(titleLabel, 0, wx.ALIGN_CENTER | wx.ALL, 8) vertSizer.Add(sizer) vertSizer.Add(okButton, 0, wx.ALIGN_RIGHT | wx.ALL, 15) deviceNameLabel = wx.StaticText(self, -1, "Device: ") self.deviceNameTextBox = wx.TextCtrl(self, -1, "/dev/comedi0") sizer.Add(deviceNameLabel, 0, wx.ALIGN_RIGHT) sizer.Add(self.deviceNameTextBox) xInputLabel = wx.StaticText(self, -1, "X Input Channel: ") self.xInputBox = wx.Choice(self, -1, choices=['0', '1', '2', '3', '4', '5', '6', '7']) self.xInputBox.SetSelection(0) sizer.Add(xInputLabel, 0, wx.ALIGN_RIGHT) sizer.Add(self.xInputBox) xInputRangeLabel = wx.StaticText(self, -1, "X Input Range: ") self.xInputRangeBox = wx.Choice(self, -1, choices=['0', '1', '2', '3']) self.xInputRangeBox.SetSelection(1) sizer.Add(xInputRangeLabel, 0, wx.ALIGN_RIGHT) sizer.Add(self.xInputRangeBox) xInputTypeLabel = wx.StaticText(self, -1, "X Input Type: ") self.xInputTypeBox = wx.Choice(self, -1, choices=['AREF_GROUND', 'AREF_COMMON', 'AREF_DIFF']) self.xInputTypeBox.SetSelection(2) sizer.Add(xInputTypeLabel, 0, wx.ALIGN_RIGHT) sizer.Add(self.xInputTypeBox) yInputLabel = wx.StaticText(self, -1, "Y Input Channel: ") self.yInputBox = wx.Choice(self, -1, choices=['0', '1', '2', '3', '4', '5', '6', '7']) self.yInputBox.SetSelection(2) sizer.Add(yInputLabel, 0, wx.ALIGN_RIGHT) sizer.Add(self.yInputBox) yInputRangeLabel = wx.StaticText(self, -1, "Y Input Range: ") self.yInputRangeBox = wx.Choice(self, -1, choices=['0', '1', '2', '3']) self.yInputRangeBox.SetSelection(1) sizer.Add(yInputRangeLabel, 0, wx.ALIGN_RIGHT) sizer.Add(self.yInputRangeBox) yInputTypeLabel = wx.StaticText(self, -1, "Y Input Type: ") self.yInputTypeBox = wx.Choice(self, -1, choices=['AREF_GROUND', 'AREF_COMMON', 'AREF_DIFF']) self.yInputTypeBox.SetSelection(2) sizer.Add(yInputTypeLabel, 0, wx.ALIGN_RIGHT) sizer.Add(self.yInputTypeBox) inputPeriodLabel = wx.StaticText(self, -1, "Samples per second: ") self.inputPeriodBox = wx.TextCtrl(self, -1, "3000") sizer.Add(inputPeriodLabel, 0, wx.ALIGN_RIGHT) sizer.Add(self.inputPeriodBox) self.SetSizer(vertSizer) self.Bind(wx.EVT_CLOSE, self.OnCloseWindow) self.Fit() def PressOkButton(self, event): self.Close(1) def OnCloseWindow(self, event): self.MakeModal(False) self.Show(0) print self.getConfiguration() #self.Destroy() def getConfiguration(self): config = dict() config["device"] = self.deviceNameTextBox.GetValue() config["analog_period_ns"] = int(1e9 / float(self.inputPeriodBox.GetValue())) x_channel = int(self.xInputBox.GetStringSelection()) x_range = int(self.xInputRangeBox.GetStringSelection()) x_aref_string = self.xInputTypeBox.GetStringSelection() x_aref=0 if x_aref_string=='AREF_GROUND': x_aref=c.AREF_GROUND elif x_aref_string=='AREF_COMMON': x_aref=c.AREF_COMMON elif x_aref_string=='AREF_DIFF': x_aref=c.AREF_DIFF else: x_aref=c.AREF_OTHER y_channel = int(self.yInputBox.GetStringSelection()) y_range = int(self.yInputRangeBox.GetStringSelection()) y_aref_string = self.yInputTypeBox.GetStringSelection() y_aref=0 if y_aref_string=='AREF_GROUND': y_aref=c.AREF_GROUND elif y_aref_string=='AREF_COMMON': y_aref=c.AREF_COMMON elif y_aref_string=='AREF_DIFF': y_aref=c.AREF_DIFF else: y_aref=c.AREF_OTHER config["analog"] = [[x_channel, x_range, x_aref], [y_channel, y_range, y_aref]] return config app = wx.PySimpleApp() frame = MainWindow() app.MainLoop()