Merge pull request #85 from introlab/dev

Main merge for 1.1.3 release

.gitignore

@@ -20,3 +20,4 @@ python-3.10
 *.dmg
 python-3.11
 build
+python-3.12

CMakeLists.txt

@@ -3,7 +3,7 @@ PROJECT (OpenIMU)
 set(CMAKE_VERBOSE_MAKEFILE ON)
 
 #Look for minimum cmake version
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.21)
 
 #Python
 add_subdirectory(python)

python/CMakeLists.txt

@@ -1,5 +1,5 @@
 #TODO MAKE THIS GENERIC
-set (PYTHON_VERSION 3.11)
+set (PYTHON_VERSION 3.12)
 add_subdirectory(env)
 
 set(PYTHON_ENV_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env/python-${PYTHON_VERSION})
@@ -113,6 +113,7 @@ message(STATUS ${python_files})
 # PyInstaller
 set (installer_args
     --hidden-import logging.config
+    --hidden-import scipy._lib.array_api_compat.numpy.fft
     --clean
     -y
     --windowed # If windowed, no console is displayed

python/OpenIMU.py

@@ -42,7 +42,7 @@ def except_hook(cls, exception, traceback):
     app = OpenIMUApp()
 
     # Route errors to error dialog
-    sys.excepthook = except_hook
+    # sys.excepthook = except_hook
 
     # Set current directory to home path
     QDir.setCurrent(QDir.homePath())

python/env/requirements.txt

@@ -1,8 +1,8 @@
 pypiwin32==223; sys_platform == 'win32'
-PySide6==6.6.3
-cython==3.0.10
-numpy==1.26.4
-scipy==1.11.4
-sqlalchemy==2.0.29
-alembic==1.13.1
+PySide6==6.8.1.1
+cython==3.0.11
+numpy==2.2.2
+scipy==1.15.1
+sqlalchemy==2.0.37
+alembic==1.14.1
 pyinstaller==5.13.2

python/libopenimu/db/DBManager.py

@@ -255,15 +255,16 @@ def delete_participant(self, part):
 
     #
     def add_sensor(self, _id_sensor_type, _name, _hw_name, _location, _sampling_rate, _data_rate,
-                   _settings: str | None = None):
+                   _settings: str | None = None, _hw_id: str | None = None):
         # Check if that sensor is already present in the database
         query = self.session.query(Sensor).filter((Sensor.id_sensor_type == _id_sensor_type) &
                                                   (Sensor.location == _location) &
                                                   (Sensor.name == _name) &
                                                   (Sensor.hw_name == _hw_name) &
                                                   (Sensor.sampling_rate == _sampling_rate) &
                                                   (Sensor.data_rate == _data_rate) &
-                                                  (Sensor.settings == _settings))
+                                                  (Sensor.settings == _settings) &
+                                                  (Sensor.hw_id == _hw_id))
 
         if query.first():
             # print("Sensor " + _name + " already present in DB!")
@@ -274,6 +275,7 @@ def add_sensor(self, _id_sensor_type, _name, _hw_name, _location, _sampling_rate
             id_sensor_type=_id_sensor_type,
             name=_name,
             hw_name=_hw_name,
+            hw_id=_hw_id,
             location=_location,
             sampling_rate=_sampling_rate,
             data_rate=_data_rate,

python/libopenimu/importers/BaseImporter.py

@@ -87,8 +87,8 @@ def add_recordset_to_db(self, name, start_timestamp, stop_timestamp):
         return recordset
 
     def add_sensor_to_db(self, sensor_type, name, hw_name, location, sampling_rate, data_rate,
-                         settings: str | None = None):
-        sensor = self.db.add_sensor(sensor_type, name, hw_name, location, sampling_rate, data_rate, settings)
+                         settings: str | None = None, hw_id: str | None = None):
+        sensor = self.db.add_sensor(sensor_type, name, hw_name, location, sampling_rate, data_rate, settings, hw_id)
         return sensor
 
     def add_channel_to_db(self, sensor, unit, data_format, label):

python/libopenimu/importers/wimu.py

@@ -30,11 +30,13 @@ class GPSGeodetic:
     magnetic_variation = np.int16(0)
     climb_rate = np.int16(0)
     heading_rate = np.int16(0)
+    accuracy = np.uint16(0)
+    altitude_accuracy = np.int16(0)
     original_data = bytes()
     valid = False
 
     def from_bytes(self, data, offset=0):
-        if len(data) != 91:
+        if len(data) != 91 and len(data) != 54:
             print('Error GPSGeo len:', len(data))
             self.valid = False
             return False
@@ -63,8 +65,9 @@ def from_bytes(self, data, offset=0):
         [self.magnetic_variation] = struct.unpack_from('>h', data, offset=44)
         [self.climb_rate] = struct.unpack_from('>h', data, offset=46)
         [self.heading_rate] = struct.unpack_from('>h', data, offset=48)
-
-        # TODO continue other fields
+        if len(data) == 54:
+            [self.accuracy] = struct.unpack_from('>H', data, offset=50)
+            [self.altitude_accuracy] = struct.unpack_from('>H', data, offset=52)
 
         # print('latitude', self.latitude / 1e7, 'longitude', self.longitude / 1e7)
 
@@ -84,10 +87,32 @@ def tobytes(self):
         if len(self.original_data) > 0:
             return self.original_data
         else:
-            # TODO Write all fields
-            data = np.zeros(91, dtype=np.uint8)
-            struct.pack_into('>i', data, 23, int(self.latitude))
-            struct.pack_into('>i', data, 27, int(self.longitude))
+            data = np.zeros(54, dtype=np.uint8)
+            struct.pack_into('>B', data, 0, self.message_id)
+            struct.pack_into('>H', data, 1, self.nav_valid)
+            struct.pack_into('>H', data, 3, self.nav_type)
+            struct.pack_into('>H', data, 5, self.extended_week_number)
+            struct.pack_into('>I', data, 7, self.tow)
+            struct.pack_into('>H', data, 11, self.year)
+            struct.pack_into('>B', data, 13, self.month)
+            struct.pack_into('>B', data, 14, self.day)
+            struct.pack_into('>B', data, 15, self.hour)
+            struct.pack_into('>B', data, 16, self.minute)
+            struct.pack_into('>H', data, 17, self.second)
+            struct.pack_into('>I', data, 19, self.satellite_id_list)
+            struct.pack_into('>i', data, 23, self.latitude)
+            struct.pack_into('>i', data, 27, self.longitude)
+            struct.pack_into('>i', data, 31, self.altitude_ellipsoid)
+            struct.pack_into('>i', data, 35, self.altitude_mls)
+            struct.pack_into('>b', data, 39, self.map_datum)
+            struct.pack_into('>H', data, 40, self.speed_over_ground)
+            struct.pack_into('>H', data, 42, self.course_over_ground)
+            struct.pack_into('>h', data, 44, self.magnetic_variation)
+            struct.pack_into('>h', data, 46, self.climb_rate)
+            struct.pack_into('>h', data, 48, self.heading_rate)
+            struct.pack_into('>H', data, 50, self.accuracy)
+            struct.pack_into('>H', data, 52, self.altitude_accuracy)
+
             return data
 
 

python/libopenimu/qt/BackgroundProcess.py

@@ -157,6 +157,8 @@ def __init__(self, bg_process: BackgroundProcess, job_title: string, parent=None
         self.UI = Ui_ProgressDialog()
         self.UI.setupUi(self)
         self.setWindowFlags(Qt.SplashScreen)
+        self.setWindowModality(Qt.WindowModality.ApplicationModal)
+        self.setModal(True)
 
         # self.UI.frameCancel.hide()  # Hide cancel frame
 

python/libopenimu/qt/ExportDialog.py

@@ -1,5 +1,5 @@
 from PySide6.QtWidgets import QDialog, QFileDialog, QMessageBox
-from PySide6.QtCore import Slot, Signal
+from PySide6.QtCore import Qt, Slot, Signal, QCoreApplication
 
 from resources.ui.python.ExportDialog_ui import Ui_ExportDialog
 
@@ -100,7 +100,8 @@ def export(self):
             shutil.rmtree(export_path, ignore_errors=True)
 
         if not os.path.exists(export_path):
-            os.mkdir(export_path)
+            #os.mkdir(export_path)
+            os.makedirs(export_path)
 
         # print('Should export in : ', directory)
 
@@ -189,7 +190,9 @@ def process(self):
 
         # Show dialog
         self.hide()
-        dialog.exec()
+        dialog.show()
+        while process.isRunning():
+            QCoreApplication.processEvents()
 
         # Show warning if errors
         if self.has_export_errors:

python/libopenimu/qt/ImportBrowser.py

@@ -1,4 +1,4 @@
-from PySide6.QtCore import Slot, Qt, Signal, QObject, QEvent, QFileInfo, QDirIterator, QDir
+from PySide6.QtCore import Slot, Qt, Signal, QObject, QEvent, QFileInfo, QDirIterator, QDir, QCoreApplication
 from PySide6.QtWidgets import QDialog, QTableWidgetItem, QComboBox, QApplication, QHBoxLayout, QFileDialog, QMessageBox
 from PySide6.QtGui import QDropEvent, QDragEnterEvent, QDragMoveEvent, QDragLeaveEvent, QIcon, QKeyEvent
 
@@ -189,7 +189,9 @@ def process(self):
 
         # Show progress dialog
         # self.showMinimized()
-        dialog.exec()
+        dialog.show()
+        while process.isRunning():
+            QCoreApplication.processEvents()
 
         if self.has_error:
             # Error occured while importing

python/libopenimu/qt/MainWindow.py

@@ -3,7 +3,7 @@
 from PySide6.QtWidgets import QMessageBox
 from PySide6.QtGui import QKeyEvent, QMouseEvent, QKeySequence
 
-from PySide6.QtCore import Slot, Signal, QObject, QEvent, Qt
+from PySide6.QtCore import Slot, Signal, QObject, QEvent, Qt, QCoreApplication
 import gc
 
 # UI
@@ -267,7 +267,7 @@ def toggle_log(self, visibility):
 
     @Slot()
     def import_requested(self):
-        importer = ImportBrowser(data_manager=self.dbMan)
+        importer = ImportBrowser(data_manager=self.dbMan, parent=self)
         importer.participant_added.connect(self.load_data_from_dataset)
         current_part_id = self.UI.treeDataSet.get_current_participant_id()
         if current_part_id >= 0:
@@ -276,7 +276,7 @@ def import_requested(self):
         # importer.setStyleSheet(self.styleSheet())
         if importer.exec() == QDialog.Accepted:
             self.load_data_from_dataset()
-            gc.collect()
+            # gc.collect()
 
     @Slot()
     def export_requested(self):
@@ -348,7 +348,9 @@ def db_compact_requested(self):
             process = BackgroundProcess([task])
             dialog = ProgressDialog(process, self.tr('Cleanup'), self)
             process.start()
-            dialog.exec()
+            dialog.show()
+            while process.isRunning():
+                QCoreApplication.processEvents()
 
     @Slot()
     def new_group_requested(self):
@@ -641,7 +643,9 @@ def delete_requested(self):
                 dialog = ProgressDialog(process, self.tr('Deleting'), self)
                 # Start tasks
                 process.start()
-                dialog.exec()
+                dialog.show()
+                while process.isRunning():
+                    QCoreApplication.processEvents()
                 # self.dbMan.clean_db()
 
             self.add_to_log(item_name + ' ' + self.tr('was deleted.'), LogTypes.LOGTYPE_DONE)

python/libopenimu/qt/ProcessSelectWindow.py

@@ -1,5 +1,5 @@
 from PySide6.QtWidgets import QDialog, QListWidgetItem, QVBoxLayout, QWidget
-from PySide6.QtCore import Slot
+from PySide6.QtCore import Qt, Slot, QCoreApplication
 from PySide6.QtGui import QIcon
 from resources.ui.python.ProcessSelectDialog_ui import Ui_dlgProcessSelect
 
@@ -130,7 +130,10 @@ def get_results(self):
             # process.trigger.connect(dialog.trigger)
             process.start()
 
-            dialog.exec()
+            # dialog.exec()
+            dialog.show()
+            while process.isRunning():
+                QCoreApplication.processEvents()
 
             results = processor.get_results()
 

python/libopenimu/qt/RecordsetWindow.py

@@ -2,7 +2,7 @@
 from PySide6.QtWidgets import QGraphicsScene, QApplication, QGraphicsRectItem, QGraphicsLineItem, QGraphicsItem
 from PySide6.QtWidgets import QMenu, QMessageBox, QMdiSubWindow
 from PySide6.QtGui import QBrush, QPen, QColor, QFont, QGuiApplication, QAction
-from PySide6.QtCore import Qt, Slot, Signal, QPoint, QRect, QObject, QRectF, QFile
+from PySide6.QtCore import Qt, Slot, Signal, QPoint, QRect, QObject, QRectF, QFile, QCoreApplication
 
 from resources.ui.python.RecordsetWidget_ui import Ui_frmRecordsets
 from libopenimu.qt.GraphWindow import GraphType, GraphWindow
@@ -509,7 +509,9 @@ def load_sensors_blocks(self):
         dialog = ProgressDialog(process, self.tr('Loading'), self)
 
         process.start()
-        dialog.exec()
+        dialog.show()
+        while process.isRunning():
+            QCoreApplication.processEvents()
         QGuiApplication.restoreOverrideCursor()
 
         # Combine tasks results
@@ -744,11 +746,14 @@ def get_sensor_data(self, sensor, start_time=None, end_time=None):
         process = BackgroundProcess([task], self)
         dialog = ProgressDialog(process, self.tr('Processing'), self)
         process.start()
-        dialog.exec()
+        dialog.show()
+        while process.isRunning():
+            QCoreApplication.processEvents()
         QGuiApplication.restoreOverrideCursor()
 
         return task.results['timeseries'], task.results['channel_data']
 
+
     def update_tile_buttons_state(self):
         if self.sensors_graphs.keys().__len__() > 1:
             self.UI.btnTileAuto.setEnabled(True)

python/resources/stylesheet.qss

@@ -124,6 +124,7 @@ QLineEdit, QPlainTextEdit, QComboBox, QDateEdit{
     border-radius: 5px;
     min-height: 24px;
     padding-left: 10px;
+    color: black;
 }
 
 QLineEdit:!enabled, QPlainTextEdit:!enabled, QComboBox:!enabled, QDateEdit:!enabled{
@@ -217,6 +218,7 @@ QToolButton#btnAddGroup, QToolButton#btnAddParticipant, QToolButton#btnDelete, Q
 QTreeWidget{
     background-color:rgba(200,200,200,75%);
     show-decoration-selected: 0;
+    color: black;
 }
 
 QTreeWidget::item:hover#treeDataSet,QTreeWidget::item:hover:selected#treeDataSet {
@@ -324,6 +326,10 @@ QTableWidget{
     text-align: center;
 }
 
+QTableWidget::item{
+    color: black;
+}
+
 QTableWidget QTableCornerButton::section {
     background: rgb(50,50,50);
     border: 2px outset grey;
@@ -404,6 +410,9 @@ QCheckBox:!checked{color:red;background-color:rgba(0,0,0,0%);}
 QComboBox QAbstractItemView {
     selection-color: blue;
 }
+QComboBox{
+    color: black;
+}
 
 /************************/
 /* QSpinBox            */
@@ -434,6 +443,12 @@ QScrollArea {
     border: 0px solid transparent;
 }
 
+/************************/
+/* QTextEdit            */
+/************************/
+QTextEdit{
+    background-color:rgba(200,200,200,75%);
+}
 
 /*QPushButton:hover,QToolButton:hover{border-radius: 5px; color:black;background-color: qlineargradient(x1:0, y1:0, x2:1, y2:1, stop:0 grey, stop: 0.2  rgb(200,200, 200), stop:1 grey);border: 2px solid rgb(186, 186, 186);}
 QPushButton,QToolButton{border-radius: 5px; color:white; background-color: qlineargradient(x1:0, y1:0, x2:1, y2:1, stop:0 black, stop: 0.2  rgb(200,200, 200), stop:1 black);border: 2px solid rgb(96, 96, 96);}