FEATURE: integrate tempcal_IMU.py into the tool

MethodicConfigurator/backend_filesystem.py

@@ -440,3 +440,7 @@ def valid_directory_name(dir_name: str):
         # Include os.sep in the pattern
         pattern = r'^[\w' + re_escape(os_sep) + '-]+$'
         return re_match(pattern, dir_name) is not None
+
+    def tempcal_imu_result_param_tuple(self):
+        tempcal_imu_result_param_filename = "03_imu_temperature_calibration_results.param"
+        return [tempcal_imu_result_param_filename, os_path.join(self.vehicle_dir, tempcal_imu_result_param_filename)]

MethodicConfigurator/frontend_tkinter.py

@@ -13,6 +13,7 @@
 import tkinter as tk
 from tkinter import messagebox
 from tkinter import ttk
+from tkinter import filedialog
 
 from logging import debug as logging_debug
 from logging import info as logging_info
@@ -45,7 +46,6 @@
 from tempcal_imu import IMUfit
 
 
-
 class DocumentationFrame:  # pylint: disable=too-few-public-methods
     """
     A class to manage and display documentation within the GUI.
@@ -313,6 +313,27 @@ def on_param_file_combobox_change(self, _event, forced: bool = False):
         selected_file = self.file_selection_combobox.get()
         if self.current_file != selected_file or forced:
             self.write_changes_to_intermediate_parameter_file()
+            tempcal_imu_result_param_filename, tempcal_imu_result_param_fullpath = \
+                self.local_filesystem.tempcal_imu_result_param_tuple()
+            if selected_file == tempcal_imu_result_param_filename:
+                if messagebox.askyesno("IMU temperature calibration",
+                                       f"If you proceed the {tempcal_imu_result_param_filename}\n"
+                                       "will be overwritten with the new calibration results.\n"
+                                       "Do you want to provide a .bin log file and\n"
+                                       "run the IMU temperature calibration using it?"):
+                    # file selection dialog to select the *.bin file to be used in the IMUfit temperature calibration
+                    filename = filedialog.askopenfilename(filetypes=[("ArduPilot binary log files", "*.bin")])
+                    if filename:
+                        [self.param_read_progress_window,
+                        self.param_read_progress_bar,
+                        self.param_read_progress_label] = self.create_progress_window("Reading IMU calibration messages")
+                        # Pass the selected filename to the IMUfit class
+                        IMUfit(filename, tempcal_imu_result_param_fullpath, False, False, False, False,
+                               self.local_filesystem.vehicle_dir, self.update_param_download_progress_bar)
+                        self.param_read_progress_window.destroy()
+                        self.local_filesystem.file_parameters = self.local_filesystem.read_params_from_files()
+                        self.at_least_one_param_edited = True  # force writing doc annotations to file
+
             # Update the current_file attribute to the selected file
             self.current_file = selected_file
             self.at_least_one_changed_parameter_written = False
@@ -548,7 +569,7 @@ def update_reset_progress_bar(self, current_value: int, max_value: int):
         if current_value == max_value:
             self.reset_progress_window.destroy()
 
-    def update_param_download_progress_bar(self, current_value: int, max_value: int):
+    def update_param_download_progress_bar(self, current_value: int, max_value: int=0):
         """
         Update the FC parameter read progress bar the progress message with the current progress.
 
@@ -559,14 +580,17 @@ def update_param_download_progress_bar(self, current_value: int, max_value: int)
         self.param_read_progress_window.lift()
 
         self.param_read_progress_bar['value'] = current_value
-        self.param_read_progress_bar['maximum'] = max_value
+        self.param_read_progress_bar['maximum'] = 100 if max_value == 0 else max_value
         self.param_read_progress_bar.update()
 
         # Update the param read progress message
-        self.param_read_progress_label.config(text=f"Reading parameter {current_value} of {max_value}")
+        if max_value == 0:
+            self.param_read_progress_label.config(text=f"{current_value} percent complete")
+        else:
+            self.param_read_progress_label.config(text=f"Reading parameter {current_value} of {max_value}")
 
         # Close the param read progress window when the process is complete
-        if current_value == max_value:
+        if current_value == max_value and max_value != 0:
             self.param_read_progress_window.destroy()
 
     def param_edit_widgets_event_generate_focus_out(self):

MethodicConfigurator/tempcal_IMU.py

@@ -15,6 +15,7 @@
 import math
 import re
 import sys
+import os
 from argparse import ArgumentParser
 
 import numpy as np
@@ -277,11 +278,13 @@ def constrain(value, minv, maxv):
     return value
 
 
-def IMUfit(logfile, outfile, no_graph, log_parm, online, tclr):  # pylint: disable=too-many-locals, too-many-branches,
-                                                                 # pylint: disable=too-many-statements, too-many-arguments
+def IMUfit(logfile, outfile,     # pylint: disable=too-many-locals, too-many-branches, too-many-statements, too-many-arguments
+           no_graph, log_parm,
+           online, tclr, figpath,
+           progress_callback):
     '''find IMU calibration parameters from a log file'''
     print(f"Processing log {logfile}")
-    mlog = mavutil.mavlink_connection(logfile)
+    mlog = mavutil.mavlink_connection(logfile, progress_callback=progress_callback)
 
     data = IMUData()
 
@@ -295,15 +298,25 @@ def IMUfit(logfile, outfile, no_graph, log_parm, online, tclr):  # pylint: disab
     else:
         messages = ['PARM', 'IMU']
 
+    # Pre-compile regular expressions used frequently inside the loop
+    enable_pattern = re.compile(r"^INS_TCAL(\d)_ENABLE$")
+    coeff_pattern = re.compile(r"^INS_TCAL(\d)_(ACC|GYR)([1-3])_([XYZ])$")
+    tmin_pattern = re.compile(r"^INS_TCAL(\d)_TMIN$")
+    tmax_pattern = re.compile(r"^INS_TCAL(\d)_TMAX$")
+    gyr_caltemp_pattern = re.compile(r"^INS_GYR(\d)_CALTEMP")
+    acc_caltemp_pattern = re.compile(r"^INS_ACC(\d)_CALTEMP")
+    offset_pattern = re.compile(r"^INS_(ACC|GYR)(\d?)OFFS_([XYZ])$")
+
     while True:
         msg = mlog.recv_match(type=messages)
         if msg is None:
             break
 
-        if msg.get_type() == 'PARM':
+        msg_type = msg.get_type()
+        if msg_type == 'PARM':
             # build up the old coefficients so we can remove the impact of
             # existing coefficients from the data
-            m = re.match(r"^INS_TCAL(\d)_ENABLE$", msg.Name)
+            m = enable_pattern.match(msg.Name)
             if m:
                 imu = int(m.group(1))-1
                 if stop_capture[imu]:
@@ -317,7 +330,8 @@ def IMUfit(logfile, outfile, no_graph, log_parm, online, tclr):  # pylint: disab
                     stop_capture[imu] = True
                     continue
                 c.set_enable(imu, msg.Value)
-            m = re.match(r"^INS_TCAL(\d)_(ACC|GYR)([1-3])_([XYZ])$", msg.Name)
+                continue
+            m = coeff_pattern.match(msg.Name)
             if m:
                 imu = int(m.group(1))-1
                 stype = m.group(2)
@@ -329,31 +343,36 @@ def IMUfit(logfile, outfile, no_graph, log_parm, online, tclr):  # pylint: disab
                     c.set_acoeff(imu, axis, p, msg.Value/SCALE_FACTOR)
                 if stype == 'GYR':
                     c.set_gcoeff(imu, axis, p, msg.Value/SCALE_FACTOR)
-            m = re.match(r"^INS_TCAL(\d)_TMIN$", msg.Name)
+                continue
+            m = tmin_pattern.match(msg.Name)
             if m:
                 imu = int(m.group(1))-1
                 if stop_capture[imu]:
                     continue
                 c.set_tmin(imu, msg.Value)
-            m = re.match(r"^INS_TCAL(\d)_TMAX", msg.Name)
+                continue
+            m = tmax_pattern.match(msg.Name)
             if m:
                 imu = int(m.group(1))-1
                 if stop_capture[imu]:
                     continue
                 c.set_tmax(imu, msg.Value)
-            m = re.match(r"^INS_GYR(\d)_CALTEMP", msg.Name)
+                continue
+            m = gyr_caltemp_pattern.match(msg.Name)
             if m:
                 imu = int(m.group(1))-1
                 if stop_capture[imu]:
                     continue
                 c.set_gyro_tcal(imu, msg.Value)
-            m = re.match(r"^INS_ACC(\d)_CALTEMP", msg.Name)
+                continue
+            m = acc_caltemp_pattern.match(msg.Name)
             if m:
                 imu = int(m.group(1))-1
                 if stop_capture[imu]:
                     continue
                 c.set_accel_tcal(imu, msg.Value)
-            m = re.match(r"^INS_(ACC|GYR)(\d?)OFFS_([XYZ])$", msg.Name)
+                continue
+            m = offset_pattern.match(msg.Name)
             if m:
                 stype = m.group(1)
                 if m.group(2) == "":
@@ -367,11 +386,13 @@ def IMUfit(logfile, outfile, no_graph, log_parm, online, tclr):  # pylint: disab
                     c.set_aoffset(imu, axis, msg.Value)
                 if stype == 'GYR':
                     c.set_goffset(imu, axis, msg.Value)
+                continue
             if msg.Name == 'AHRS_ORIENTATION':
                 orientation = int(msg.Value)
                 print(f"Using orientation {orientation}")
+                continue
 
-        if msg.get_type() == 'TCLR' and tclr:
+        if msg_type == 'TCLR' and tclr:
             imu = msg.I
 
             T = msg.Temp
@@ -385,8 +406,9 @@ def IMUfit(logfile, outfile, no_graph, log_parm, online, tclr):  # pylint: disab
                 gyr = Vector3(msg.X, msg.Y, msg.Z)
                 time = msg.TimeUS*1.0e-6
                 data.add_gyro(imu, T, time, gyr)
+            continue
 
-        if msg.get_type() == 'IMU' and not tclr:
+        if msg_type == 'IMU' and not tclr:
             imu = msg.I
 
             if stop_capture[imu]:
@@ -489,6 +511,9 @@ def IMUfit(logfile, outfile, no_graph, log_parm, online, tclr):  # pylint: disab
         axs[imu].legend(loc='upper left')
         axs[imu].set_title(f'IMU[{imu}] Gyro (deg/s)')
 
+    if figpath:
+        _fig.savefig(os.path.join(figpath, 'tempcal_gyro.png'))
+
     _fig, axs = pyplot.subplots(num_imus, 1, sharex=True)
     if num_imus == 1:
         axs = [axs]
@@ -520,6 +545,9 @@ def IMUfit(logfile, outfile, no_graph, log_parm, online, tclr):  # pylint: disab
         axs[imu].legend(loc='upper left')
         axs[imu].set_title(f'IMU[{imu}] Accel (m/s^2)')
 
+    if figpath:
+        _fig.savefig(os.path.join(figpath, 'tempcal_acc.png'))
+
     pyplot.show()
 
 
@@ -539,7 +567,7 @@ def main():
 
     args = parser.parse_args()
 
-    IMUfit(args.log, args.outfile, args.no_graph, args.log_parm, args.online, args.tclr)
+    IMUfit(args.log, args.outfile, args.no_graph, args.log_parm, args.online, args.tclr, None, None)
 
 if __name__ == "__main__":
     main()

setup.py

@@ -74,6 +74,8 @@ def package_files(directory):
     author_email='[email protected]',
     packages=find_packages(),
     install_requires=[
+        'matplotlib',
+        'numpy',
         'pymavlink',
         'pyserial',
         'pillow',