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359 lines
13 KiB
359 lines
13 KiB
import os
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import re
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import uuid
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import threading
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import numpy as np
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from collections import deque
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import dearpygui.dearpygui as dpg
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from abc import ABC, abstractmethod
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from openpilot.tools.jotpluggler.data import DataManager
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class ViewPanel(ABC):
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"""Abstract base class for all view panels that can be displayed in a plot container"""
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def __init__(self, panel_id: str = None):
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self.panel_id = panel_id or str(uuid.uuid4())
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self.title = "Untitled Panel"
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@abstractmethod
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def clear(self):
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pass
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@abstractmethod
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def create_ui(self, parent_tag: str):
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pass
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@abstractmethod
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def destroy_ui(self):
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pass
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@abstractmethod
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def get_panel_type(self) -> str:
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pass
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@abstractmethod
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def update(self):
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pass
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class TimeSeriesPanel(ViewPanel):
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def __init__(self, data_manager: DataManager, playback_manager, panel_id: str | None = None):
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super().__init__(panel_id)
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self.data_manager = data_manager
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self.playback_manager = playback_manager
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self.title = "Time Series Plot"
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self.plot_tag: str | None = None
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self.x_axis_tag: str | None = None
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self.y_axis_tag: str | None = None
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self.timeline_indicator_tag: str | None = None
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self._ui_created = False
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self._series_data: dict[str, tuple] = {}
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self.data_manager.add_observer(self.on_data_loaded)
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def create_ui(self, parent_tag: str):
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self.plot_tag = f"plot_{self.panel_id}"
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self.x_axis_tag = f"{self.plot_tag}_x_axis"
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self.y_axis_tag = f"{self.plot_tag}_y_axis"
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self.timeline_indicator_tag = f"{self.plot_tag}_timeline"
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with dpg.plot(height=-1, width=-1, tag=self.plot_tag, parent=parent_tag, drop_callback=self._on_series_drop, payload_type="TIMESERIES_PAYLOAD"):
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dpg.add_plot_legend()
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dpg.add_plot_axis(dpg.mvXAxis, no_label=True, tag=self.x_axis_tag)
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dpg.add_plot_axis(dpg.mvYAxis, no_label=True, tag=self.y_axis_tag)
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timeline_series_tag = dpg.add_inf_line_series(x=[0], label="Timeline", parent=self.y_axis_tag, tag=self.timeline_indicator_tag)
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dpg.bind_item_theme(timeline_series_tag, "global_timeline_theme")
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for series_path in list(self._series_data.keys()):
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self.add_series(series_path)
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self._ui_created = True
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def update(self):
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if self._ui_created:
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self.update_timeline_indicator(self.playback_manager.current_time_s)
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def update_timeline_indicator(self, current_time_s: float):
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if not self._ui_created or not dpg.does_item_exist(self.timeline_indicator_tag):
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return
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dpg.set_value(self.timeline_indicator_tag, [[current_time_s], [0]])
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for series_path, (rel_time_array, value_array) in self._series_data.items():
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position = np.searchsorted(rel_time_array, current_time_s, side='right') - 1
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value = None
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if position >= 0 and (current_time_s - rel_time_array[position]) <= 1.0:
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value = value_array[position]
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if value is not None:
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if np.issubdtype(type(value), np.floating):
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formatted_value = f"{value:.5f}"
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else:
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formatted_value = str(value)
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series_tag = f"series_{self.panel_id}_{series_path}"
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legend_label = f"{series_path}: {formatted_value}"
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if dpg.does_item_exist(series_tag):
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dpg.configure_item(series_tag, label=legend_label)
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def add_series(self, series_path: str, update: bool = False) -> bool:
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if update or series_path not in self._series_data:
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self._series_data[series_path] = self.data_manager.get_timeseries(series_path)
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rel_time_array, value_array = self._series_data[series_path]
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series_tag = f"series_{self.panel_id}_{series_path}"
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if dpg.does_item_exist(series_tag):
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dpg.set_value(series_tag, [rel_time_array, value_array])
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else:
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line_series_tag = dpg.add_line_series(x=rel_time_array, y=value_array, label=series_path, parent=self.y_axis_tag, tag=series_tag)
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dpg.bind_item_theme(line_series_tag, "global_line_theme")
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dpg.fit_axis_data(self.x_axis_tag)
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dpg.fit_axis_data(self.y_axis_tag)
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return True
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def destroy_ui(self):
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if self.plot_tag and dpg.does_item_exist(self.plot_tag):
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dpg.delete_item(self.plot_tag)
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self._ui_created = False
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def get_panel_type(self) -> str:
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return "timeseries"
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def clear(self):
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for series_path in list(self._series_data.keys()):
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self.remove_series(series_path)
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def remove_series(self, series_path: str):
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if series_path in self._series_data:
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series_tag = f"series_{self.panel_id}_{series_path}"
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if dpg.does_item_exist(series_tag):
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dpg.delete_item(series_tag)
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del self._series_data[series_path]
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def on_data_loaded(self, data: dict):
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for series_path in list(self._series_data.keys()):
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self.add_series(series_path, update=True)
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def _on_series_drop(self, sender, app_data, user_data):
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self.add_series(app_data)
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class DataTreeNode:
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def __init__(self, name: str, full_path: str = ""):
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self.name = name
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self.full_path = full_path
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self.children: dict[str, DataTreeNode] = {}
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self.is_leaf = False
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self.child_count = 0
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self.is_plottable_cached: bool | None = None
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self.ui_created = False
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self.ui_tag: str | None = None
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class DataTreeView:
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MAX_ITEMS_PER_FRAME = 50
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def __init__(self, data_manager: DataManager, ui_lock: threading.Lock):
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self.data_manager = data_manager
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self.ui_lock = ui_lock
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self.current_search = ""
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self.data_tree = DataTreeNode(name="root")
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self.ui_render_queue: deque[tuple[DataTreeNode, str, str, bool]] = deque() # (node, parent_tag, search_term, is_leaf)
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self.visible_expanded_nodes: set[str] = set()
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self.created_leaf_paths: set[str] = set()
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self._all_paths_cache: list[str] = []
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self._previous_paths_set: set[str] = set()
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self.data_manager.add_observer(self._on_data_loaded)
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def _on_data_loaded(self, data: dict):
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with self.ui_lock:
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if data.get('segment_added'):
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current_paths = set(self.data_manager.get_all_paths())
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new_paths = current_paths - self._previous_paths_set
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if new_paths:
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self._all_paths_cache = list(current_paths)
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if not self._previous_paths_set:
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self._populate_tree()
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else:
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self._add_paths_to_tree(new_paths, incremental=True)
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self._previous_paths_set = current_paths.copy()
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def _populate_tree(self):
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self._clear_ui()
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search_term = self.current_search.strip().lower()
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self.data_tree = self._add_paths_to_tree(self._all_paths_cache, incremental=False)
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for child in sorted(self.data_tree.children.values(), key=self._natural_sort_key):
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self.ui_render_queue.append((child, "data_tree_container", search_term, child.is_leaf))
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def _add_paths_to_tree(self, paths, incremental=False):
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search_term = self.current_search.strip().lower()
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filtered_paths = [path for path in paths if self._should_show_path(path, search_term)]
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target_tree = self.data_tree if incremental else DataTreeNode(name="root")
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if not filtered_paths:
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return target_tree
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nodes_to_update = set() if incremental else None
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for path in sorted(filtered_paths):
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parts = path.split('/')
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current_node = target_tree
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current_path_prefix = ""
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for i, part in enumerate(parts):
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current_path_prefix = f"{current_path_prefix}/{part}" if current_path_prefix else part
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if part not in current_node.children:
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current_node.children[part] = DataTreeNode(name=part, full_path=current_path_prefix)
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if incremental:
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nodes_to_update.add(current_node)
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current_node = current_node.children[part]
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if incremental and i < len(parts) - 1:
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nodes_to_update.add(current_node)
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if not current_node.is_leaf:
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current_node.is_leaf = True
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if incremental:
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nodes_to_update.add(current_node)
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self._calculate_child_counts(target_tree)
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if incremental:
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self._queue_new_ui_items(filtered_paths, search_term)
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return target_tree
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def _queue_new_ui_items(self, new_paths, search_term):
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for path in new_paths:
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parts = path.split('/')
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parent_path = '/'.join(parts[:-1]) if len(parts) > 1 else ""
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if parent_path == "" or parent_path in self.visible_expanded_nodes:
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parent_tag = "data_tree_container" if parent_path == "" else f"tree_{parent_path}"
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if dpg.does_item_exist(parent_tag):
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node = self.data_tree
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for part in parts:
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node = node.children[part]
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self.ui_render_queue.append((node, parent_tag, search_term, True))
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def update_frame(self):
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items_processed = 0
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while self.ui_render_queue and items_processed < self.MAX_ITEMS_PER_FRAME: # process up to MAX_ITEMS_PER_FRAME to maintain performance
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node, parent_tag, search_term, is_leaf = self.ui_render_queue.popleft()
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if is_leaf:
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self._create_leaf_ui(node, parent_tag)
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else:
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self._create_node_ui(node, parent_tag, search_term)
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items_processed += 1
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def search_data(self, search_term: str):
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self.current_search = search_term
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self._all_paths_cache = self.data_manager.get_all_paths()
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self._previous_paths_set = set(self._all_paths_cache) # Reset tracking after search
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self._populate_tree()
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def _clear_ui(self):
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dpg.delete_item("data_tree_container", children_only=True)
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self.ui_render_queue.clear()
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self.visible_expanded_nodes.clear()
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self.created_leaf_paths.clear()
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def _calculate_child_counts(self, node: DataTreeNode):
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if node.is_leaf:
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node.child_count = 0
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else:
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node.child_count = len(node.children)
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for child in node.children.values():
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self._calculate_child_counts(child)
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def _create_node_ui(self, node: DataTreeNode, parent_tag: str, search_term: str):
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if node.is_leaf:
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self._create_leaf_ui(node, parent_tag)
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else:
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self._create_tree_node_ui(node, parent_tag, search_term)
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def _create_tree_node_ui(self, node: DataTreeNode, parent_tag: str, search_term: str):
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if not dpg.does_item_exist(parent_tag):
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return
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node_tag = f"tree_{node.full_path}"
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node.ui_tag = node_tag
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label = f"{node.name} ({node.child_count} fields)"
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should_open = bool(search_term) and len(search_term) > 1 and any(search_term in path for path in self._get_descendant_paths(node))
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with dpg.tree_node(label=label, parent=parent_tag, tag=node_tag, default_open=should_open, open_on_arrow=True, open_on_double_click=True) as tree_node:
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with dpg.item_handler_registry() as handler:
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dpg.add_item_toggled_open_handler(callback=lambda s, d, u: self._on_node_expanded(node, search_term))
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dpg.bind_item_handler_registry(tree_node, handler)
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node.ui_created = True
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if should_open:
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self.visible_expanded_nodes.add(node.full_path)
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self._queue_children(node, node_tag, search_term)
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def _create_leaf_ui(self, node: DataTreeNode, parent_tag: str):
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if not dpg.does_item_exist(parent_tag):
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return
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half_split_size = dpg.get_item_rect_size("data_pool_window")[0] // 2
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with dpg.group(parent=parent_tag, horizontal=True, xoffset=half_split_size, tag=f"group_{node.full_path}") as draggable_group:
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dpg.add_text(node.name)
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dpg.add_text("N/A", tag=f"value_{node.full_path}")
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if node.is_plottable_cached is None:
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node.is_plottable_cached = self.data_manager.is_plottable(node.full_path)
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if node.is_plottable_cached:
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with dpg.drag_payload(parent=draggable_group, drag_data=node.full_path, payload_type="TIMESERIES_PAYLOAD"):
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dpg.add_text(f"Plot: {node.full_path}")
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node.ui_created = True
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node.ui_tag = f"value_{node.full_path}"
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self.created_leaf_paths.add(node.full_path)
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def _queue_children(self, node: DataTreeNode, parent_tag: str, search_term: str):
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for child in sorted(node.children.values(), key=self._natural_sort_key):
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self.ui_render_queue.append((child, parent_tag, search_term, child.is_leaf))
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def _on_node_expanded(self, node: DataTreeNode, search_term: str):
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node_tag = f"tree_{node.full_path}"
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if not dpg.does_item_exist(node_tag):
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return
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is_expanded = dpg.get_value(node_tag)
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if is_expanded:
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if node.full_path not in self.visible_expanded_nodes:
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self.visible_expanded_nodes.add(node.full_path)
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self._queue_children(node, node_tag, search_term)
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else:
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self.visible_expanded_nodes.discard(node.full_path)
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self._remove_children_from_queue(node.full_path)
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def _remove_children_from_queue(self, collapsed_node_path: str):
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new_queue: deque[tuple] = deque()
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for node, parent_tag, search_term, is_leaf in self.ui_render_queue:
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# Keep items that are not children of the collapsed node
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if not node.full_path.startswith(collapsed_node_path + "/"):
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new_queue.append((node, parent_tag, search_term, is_leaf))
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self.ui_render_queue = new_queue
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def _should_show_path(self, path: str, search_term: str) -> bool:
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if 'DEPRECATED' in path and not os.environ.get('SHOW_DEPRECATED'):
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return False
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return not search_term or search_term in path.lower()
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def _natural_sort_key(self, node: DataTreeNode):
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node_type_key = node.is_leaf
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parts = [int(p) if p.isdigit() else p.lower() for p in re.split(r'(\d+)', node.name) if p]
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return (node_type_key, parts)
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def _get_descendant_paths(self, node: DataTreeNode):
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for child_name, child_node in node.children.items():
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child_name_lower = child_name.lower()
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if child_node.is_leaf:
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yield child_name_lower
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else:
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for path in self._get_descendant_paths(child_node):
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yield f"{child_name_lower}/{path}"
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