Added graphic interface to trajectory implementation"

.gitignore

@@ -87,3 +87,4 @@ ENV/
 
 # Rope project settings
 .ropeproject
+.DS_Store

isstools/gui.py

@@ -30,22 +30,34 @@ def __init__(self, plan_func, parent=None):
         super().__init__(parent)
         self.plan_func = plan_func
         self.setupUi(self)
-        self.fig = fig = self.figure_content()
-        self.addCanvas(fig)
+        #self.fig = fig = self.figure_content()
+        self.addCanvas()
         self.run_start.clicked.connect(self.test)
         self.push_build_trajectory.clicked.connect(self.build_trajectory)
         self.push_save_trajectory.clicked.connect(self.save_trajectory)
 
-    def addCanvas(self, fig):
-        self.canvas = FigureCanvas(fig)
-
-        self.toolbar = NavigationToolbar(self.canvas,
-                                         self.tab_2, coordinates=True)
-        self.toolbar.setMaximumHeight(18)
+    def addCanvas(self):
+        self.figure = Figure()
+        self.canvas = FigureCanvas(self.figure)
+        self.toolbar = NavigationToolbar(self.canvas, self.tab_2, coordinates=True)
+        self.toolbar.setMaximumHeight(25)
         self.plots.addWidget(self.toolbar)
         self.plots.addWidget(self.canvas)
         self.canvas.draw()
 
+        self.figure_single_trajectory = Figure()
+        self.figure_single_trajectory.set_facecolor(color='0.89')
+        self.canvas_single_trajectory = FigureCanvas(self.figure_single_trajectory)
+        self.plot_single_trajectory.addWidget(self.canvas_single_trajectory)
+        self.canvas_single_trajectory.draw()
+
+        self.figure_full_trajectory= Figure()
+        self.figure_full_trajectory.set_facecolor(color='0.89')
+        self.canvas_full_trajectory = FigureCanvas(self.figure_full_trajectory)
+        self.plot_full_trajectory.addWidget(self.canvas_full_trajectory)
+        self.plot_full_trajectory.addWidget(self.canvas_full_trajectory)
+        self.canvas_full_trajectory.draw()
+
     @property
     def plot_x(self):
         return self.plot_selection_dropdown.value()
@@ -61,33 +73,57 @@ def figure_content(self):
 
     def build_trajectory(self):
         E0 = int(self.edit_E0.text())
-
         preedge_lo = int(self.edit_preedge_lo.text())
         preedge_hi = int(self.edit_preedge_hi.text())
-        edge_lo = preedge_hi
         edge_hi = int(self.edit_edge_hi.text())
-        postedge_lo = edge_hi
         postedge_hi = int(self.edit_postedge_hi.text())
 
-        velocity_preedge = int (self.velocity_preedge.text())
-        velocity_edge = int(self.velocity_edge.text())
-        velocity_postedge = int(self.velocity_postedge.text())
+        velocity_preedge = int (self.edit_velocity_preedge.text())
+        velocity_edge = int(self.edit_velocity_edge.text())
+        velocity_postedge = int(self.edit_velocity_postedge.text())
 
-        preedge_stitch_lo = int(self.preedge_stitch_lo.text())
-        preedge_stitch_hi = int(self.preedge_stitch_hi.text())
-        edge_stitch_lo =  int(self.edge_stitch_lo.text())
-        edge_stitch_hi = int(self.edge_stitch_hi.text())
-        postedge_stitch_lo = int(self.postedge_stitch_lo.text())
-        postedge_stitch_hi = int(self.postedge_stitch_hi.text())
+        preedge_stitch_lo = int(self.edit_preedge_stitch_lo.text())
+        preedge_stitch_hi = int(self.edit_preedge_stitch_hi.text())
+        edge_stitch_lo =  int(self.edit_edge_stitch_lo.text())
+        edge_stitch_hi = int(self.edit_edge_stitch_hi.text())
+        postedge_stitch_lo = int(self.edit_postedge_stitch_lo.text())
+        postedge_stitch_hi = int(self.edit_postedge_stitch_hi.text())
 
-        padding_preedge = int(self.padding_preedge.text())
-        padding_postedge = int(self.padding_postedge.text())
+        padding_preedge = int(self.edit_padding_preedge.text())
+        padding_postedge = int(self.edit_padding_postedge.text())
 
-        traj=trajectory(edge_energy = E0, offsets = ([preedge_lo,preedge_hi,edge_hi,postedge_hi]),velocities = ([velocity_preedge, velocity_edge, velocity_postedge]),
-                        stitching = ([preedge_stitch_lo, preedge_stitch_hi, edge_stitch_lo, edge_stitch_hi, postedge_stitch_lo, postedge_stitch_hi]),
+        #Create and interpolate trajectory
+        traj = trajectory()
+        traj.define(edge_energy = E0, offsets = ([preedge_lo,preedge_hi,edge_hi,postedge_hi]),velocities = ([velocity_preedge, velocity_edge, velocity_postedge]),\
+                        stitching = ([preedge_stitch_lo, preedge_stitch_hi, edge_stitch_lo, edge_stitch_hi, postedge_stitch_lo, postedge_stitch_hi]),\
                         servocycle = 16000, padding_lo = padding_preedge ,padding_hi=padding_postedge)
-
-    def save_trajectory(selfself):
+        traj.interpolate()
+
+        #Plot single trajectory motion
+        ax = self.figure_single_trajectory.add_subplot(111)
+        ax.hold(False)
+        ax.plot(traj.time, traj.energy, 'r*')
+        ax.hold(True)
+        ax.plot(traj.time_grid, traj.energy_grid, 'b')
+        ax.set_xlabel('Time /s')
+        ax.set_ylabel('Energy /eV')
+        ax2 = ax.twinx()
+        ax2.hold(False)
+        ax2.plot(traj.time_grid[0:-1], traj.energy_grid_der, 'r')
+        self.canvas_single_trajectory.draw()
+
+        # Tile trajectory
+        traj.tile(reps=5)
+        ax = self.figure_full_trajectory.add_subplot(111)
+        ax.hold(False)
+        ax.plot(traj.energy_grid, 'b')
+        ax.set_xlabel('Servo event / 1/16000 s')
+        ax.set_ylabel('Encoder count')
+        self.canvas_full_trajectory.draw()
+
+
+
+    def save_trajectory(self):
         pass
 
     def test(self):

isstools/trajectory/trajectory.py

@@ -62,15 +62,18 @@ def define(self, edge_energy = 11564, offsets = ([-200,-30,50,1000]),velocities
         e_padding_hi = postedge_hi+20
 
         # concatenate the arrays
-        self.time = np.array([t_padding_lo, t_preedge_lo, t_preedge_hi, t_edge_lo, t_edge_hi, t_postedge_lo, t_postedge_hi, t_padding_hi])
-        self.energy = np.array([e_padding_lo, e_preedge_lo, e_preedge_hi, e_edge_lo, e_edge_hi, e_postedge_lo, e_postedge_hi,e_padding_hi])
+        self.time = np.array([t_padding_lo, t_preedge_lo, t_preedge_hi, \
+                              t_edge_lo, t_edge_hi, t_postedge_lo, t_postedge_hi, t_padding_hi])
+        self.energy = np.array([e_padding_lo, e_preedge_lo, e_preedge_hi,\
+                                e_edge_lo, e_edge_hi, e_postedge_lo, e_postedge_hi,e_padding_hi])
 
 
 
     def interpolate(self):
         cs = interpolate.CubicSpline(self.time,self.energy, bc_type='clamped')
         self.time_grid = np.arange(self.time[0], self.time[-1], 1 / self.servocycle)
         self.energy_grid=cs(self.time_grid)
+        self.energy_grid_der=np.diff(self.energy_grid)
 
 
     def tile (self,reps = 1):
@@ -79,6 +82,9 @@ def tile (self,reps = 1):
         self.time_grid = np.tile(self.time_grid, reps)
         self.energy_grid = np.tile(self.energy_grid, reps)
 
+    def e2encoder(self):
+        self.encoder_grid=[]
+
 
     def plot(self):
         plt.plot(self.time, self.energy, 'r+')

isstools/ui/XLive.ui

@@ -84,7 +84,7 @@
         </widget>
        </item>
        <item row="3" column="1">
-        <widget class="QLineEdit" name="edit_edhe_hi">
+        <widget class="QLineEdit" name="edit_edge_hi">
          <property name="text">
           <string>50</string>
          </property>
@@ -275,7 +275,7 @@
           </font>
          </property>
          <property name="text">
-          <string>Vellocities</string>
+          <string>Velocities</string>
          </property>
         </widget>
        </item>
@@ -382,7 +382,7 @@
         </widget>
        </item>
        <item row="6" column="1">
-        <widget class="QLineEdit" name="edit_edhe_hi_6">
+        <widget class="QLineEdit" name="edit_postedge_stitch_hi">
          <property name="text">
           <string>100</string>
          </property>
@@ -471,7 +471,7 @@
       <property name="geometry">
        <rect>
         <x>1140</x>
-        <y>90</y>
+        <y>80</y>
         <width>201</width>
         <height>61</height>
        </rect>
@@ -485,8 +485,8 @@
        <rect>
         <x>700</x>
         <y>10</y>
-        <width>121</width>
-        <height>81</height>
+        <width>141</width>
+        <height>91</height>
        </rect>
       </property>
       <layout class="QGridLayout" name="gridLayout_6">
@@ -790,19 +790,6 @@
      </widget>
     </widget>
    </widget>
-   <widget class="QLabel" name="label_38">
-    <property name="geometry">
-     <rect>
-      <x>690</x>
-      <y>890</y>
-      <width>16</width>
-      <height>21</height>
-     </rect>
-    </property>
-    <property name="text">
-     <string>eV</string>
-    </property>
-   </widget>
   </widget>
   <widget class="QMenuBar" name="menubar">
    <property name="geometry">