Updated timeseries visualizers for kinematics model and mashup visualizers

src/Bonsai.ML.Visualizers/KinematicStateVisualizer.cs

@@ -0,0 +1,180 @@
+using Bonsai.Design;
+using Bonsai;
+using Bonsai.ML.LinearDynamicalSystems.Kinematics;
+using Bonsai.ML.Visualizers;
+using System.Collections.Generic;
+using System;
+using System.Windows.Forms;
+using System.Reactive.Linq;
+using System.Linq;
+using System.Reactive;
+
+[assembly: TypeVisualizer(typeof(KinematicStateVisualizer), Target = typeof(KinematicState))]
+
+namespace Bonsai.ML.Visualizers
+{
+
+    /// <summary>
+    /// Provides a type visualizer to display the state components of a Kalman Filter Kinematics model.
+    /// </summary>
+    public class KinematicStateVisualizer : MashupVisualizer
+    {
+        private TableLayoutPanel container;
+        private int updateFrequency = 1000 / 50;
+        private bool resetAxes = true;
+        private int rowCount = 3;
+        private int columnCount = 2;
+
+        internal List<StateComponentVisualizer> ComponentVisualizers { get; private set; } = new();
+
+        internal string[] Labels = new string[] { 
+            "Position X", 
+            "Position Y", 
+            "Velocity X", 
+            "Velocity Y", 
+            "Acceleration X", 
+            "Acceleration Y" 
+        };
+
+        /// <inheritdoc/>
+        public override void Load(IServiceProvider provider)
+        {
+            container = new TableLayoutPanel
+            {
+                ColumnCount = columnCount,
+                RowCount = rowCount,
+                Dock = DockStyle.Fill
+            };
+
+            for (int i = 0; i < container.RowCount; i++)
+            {
+                container.RowStyles.Add(new RowStyle(SizeType.Percent, 100f / rowCount));
+            }
+
+            for (int i = 0; i < container.ColumnCount; i++)
+            {
+                container.ColumnStyles.Add(new ColumnStyle(SizeType.Percent, 100f / columnCount));
+            }
+
+            for (int i = 0 ; i < rowCount; i++)
+            {
+                for (int j = 0; j < columnCount; j++)
+                {
+                    var StateComponentVisualizer = new StateComponentVisualizer() {
+                        Label = Labels[i * columnCount + j]
+                    };
+                    StateComponentVisualizer.Load(provider);
+                    container.Controls.Add(StateComponentVisualizer.Plot, j, i);
+                    ComponentVisualizers.Add(StateComponentVisualizer);
+                }
+            }
+
+            var visualizerService = (IDialogTypeVisualizerService)provider.GetService(typeof(IDialogTypeVisualizerService));
+
+            if (visualizerService != null)
+            {
+                visualizerService.AddControl(container);
+            }
+
+            base.Load(provider);
+        }
+
+
+        /// <inheritdoc/>
+        public override void Show(object value)
+        {
+        }
+
+        /// <inheritdoc/>
+        public void ShowBuffer(IList<Timestamped<object>> values)
+        {
+            List<Timestamped<object>> positionX = new();
+            List<Timestamped<object>> positionY = new();
+            List<Timestamped<object>> velocityX = new();
+            List<Timestamped<object>> velocityY = new();
+            List<Timestamped<object>> accelerationX = new();
+            List<Timestamped<object>> accelerationY = new();
+
+            foreach (var value in values)
+            {
+                positionX.Add(new Timestamped<object>(((KinematicState)value.Value).Position.X, value.Timestamp));
+                positionY.Add(new Timestamped<object>(((KinematicState)value.Value).Position.Y, value.Timestamp));
+                velocityX.Add(new Timestamped<object>(((KinematicState)value.Value).Velocity.X, value.Timestamp));
+                velocityY.Add(new Timestamped<object>(((KinematicState)value.Value).Velocity.Y, value.Timestamp));
+                accelerationX.Add(new Timestamped<object>(((KinematicState)value.Value).Acceleration.X, value.Timestamp));
+                accelerationY.Add(new Timestamped<object>(((KinematicState)value.Value).Acceleration.Y, value.Timestamp));
+            }
+
+            ComponentVisualizers[0].ShowDataBuffer(positionX, resetAxes);
+            ComponentVisualizers[1].ShowDataBuffer(positionY, resetAxes);
+            ComponentVisualizers[2].ShowDataBuffer(velocityX, resetAxes);
+            ComponentVisualizers[3].ShowDataBuffer(velocityY, resetAxes);
+            ComponentVisualizers[4].ShowDataBuffer(accelerationX, resetAxes);
+            ComponentVisualizers[5].ShowDataBuffer(accelerationY, resetAxes);
+        }
+
+        /// <inheritdoc/>
+        public override IObservable<object> Visualize(IObservable<IObservable<object>> source, IServiceProvider provider)
+        {
+            if (provider.GetService(typeof(IDialogTypeVisualizerService)) is not Control visualizerControl)
+            {
+                return source;
+            }
+
+            var visualizerSource = VisualizeSource(source, visualizerControl);
+
+            if (MashupSources.Count == 0)
+            {
+                resetAxes = true;
+                return visualizerSource;
+            }
+
+            resetAxes = false;
+
+            var mashupSourceStreams = MashupSources.Select(mashupSource =>
+                mashupSource.Visualizer.Visualize(mashupSource.Source.Output, provider)
+                    .Do(value => mashupSource.Visualizer.Show(value)));
+
+            var mergedMashupSources = Observable.Merge(mashupSourceStreams);
+
+            return Observable.Merge(mergedMashupSources, visualizerSource);
+        }
+
+        private IObservable<object> VisualizeSource(IObservable<IObservable<object>> source, Control visualizerControl)
+        {
+            return Observable.Using(
+                () => new Timer(),
+                timer =>
+                {
+                    timer.Interval = updateFrequency;
+                    var timerTick = Observable.FromEventPattern<EventHandler, EventArgs>(
+                        handler => timer.Tick += handler,
+                        handler => timer.Tick -= handler);
+                    timer.Start();
+                    var mergedSource = source.SelectMany(xs => xs.Do(
+                        _ => { },
+                        () => visualizerControl.BeginInvoke((Action)SequenceCompleted)));
+                    return mergedSource
+                        .Timestamp(HighResolutionScheduler.Default)
+                        .Buffer(() => timerTick)
+                        .Do(ShowBuffer)
+                        .Finally(timer.Stop);
+                });
+        }
+
+        /// <inheritdoc/>
+        public override void Unload()
+        {
+            foreach (var componentVisualizer in ComponentVisualizers) 
+            {
+                componentVisualizer.Unload();
+            }
+            if (ComponentVisualizers.Count > 0) 
+            {
+                ComponentVisualizers.Clear();
+                ComponentVisualizers = new();
+            }
+            if (!container.IsDisposed) container.Dispose();
+        }
+    }
+}