Merge branch 'master' of https://github.com/CS501ProSCE/DroneProject

gui/GUI_final.py → GUI/GUI_final.py

@@ -7,27 +7,28 @@
 import GUIFunctions
 # import SpliceDataFunctions
 # import Learn
+# import Learn_original
 import sys
 from parameterGUI import Ui_parameterSelection
 import multi_param_learn
-import Learn_original
 from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg as FigureCanvas
 from splicing import  Ui_Splicing_mode_Dialog
+
 # **************************** My import *********************************
 
 # **************************** Class Canvas  *****************************
-class Figure_Canvas(FigureCanvas):   # 通过继承FigureCanvas类，使得该类既是一个PyQt5的Qwidget，又是一个matplotlib的FigureCanvas，这是连接pyqt5与matplot                                          lib的关键
+class Figure_Canvas(FigureCanvas):
 
     def __init__(self, parent=None, width=3.28, height=2, dpi=100):
-        fig = Figure(figsize=(width, height), dpi=dpi)  # 创建一个Figure，注意：该Figure为matplotlib下的figure，不是matplotlib.pyplot下面的figure
+        fig = Figure(figsize=(width, height), dpi=dpi)
 
-        FigureCanvas.__init__(self, fig) # 初始化父类
+        FigureCanvas.__init__(self, fig) #
         FigureCanvas.updateGeometry(self)
         self.setParent(parent)
 
         # Figure_Canvas.set_window_title(self,"hello")
 
-        self.axes = fig.add_subplot(111) # 调用figure下面的add_subplot方法，类似于matplotlib.pyplot下面的subplot方法
+        self.axes = fig.add_subplot(111)
 
     def test(self,a):
         self.axes.plot(a)
@@ -168,6 +169,7 @@ def setupUi(self):
         self.tab.setCurrentIndex(0)
         QtCore.QMetaObject.connectSlotsByName(DroneGUI)
 
+
 # **************************** My Code_Multi-selectionmode *****************
         self.listWidget.setSelectionMode(QtWidgets.QAbstractItemView.ExtendedSelection)
         self.listWidget_2.setSelectionMode(QtWidgets.QAbstractItemView.ExtendedSelection)
@@ -301,15 +303,15 @@ def show_parameter(self):
 
 
     def confirmed(self):
-        self.para_dic2={"Pitch":"test_mavlink_ahrs3_t_pitch",
+        self.para_dic2={"Pitch":"mavlink_ahrs3_t_pitch",
                        "Yaw":"mavlink_ahrs3_t_yaw","Pitch rate":"mavlink_attitude_t_pitch rate",
                        "Roll rate":"mavlink_attitude_t_roll rate",
-                       "Yaw angle":"mavlink_attitude_t_yaw angle" ,"Roll":"mavlink_nav_controller_output_t_nav_roll",
-                       "Altitude":"mavlink_ahrs2_t_altitude","X Accel":"mavlink_raw_imu_t_Xaccel",
+                       "Yaw angle":"mavlink_attitude_t_yaw angle" ,"Roll":"mavlink_ahrs3_t_roll",
+                       "Altitude":"mavlink_ahrs3_t_altitude","X Accel":"mavlink_raw_imu_t_Xaccel",
                        "X Gyro": "mavlink_raw_imu_t_XGyro","X Mag": "mavlink_raw_imu_t_XMag",
                         "Y Accel":"mavlink_raw_imu_t_Yaccel", "Y Gyro":"mavlink_raw_imu_t_YGyro", "Y Mag": "mavlink_raw_imu_t_YMag",
-                       "Z Accel":"mavlink_raw_imu_t_Zaccel","Z Gyro":"mavlink_raw_imu_t_ZGyro","Z Mag:":"mavlink_raw_imu_t_ZMag",
-                        "Z vibration":"mavlink_vibration_t_vibration_z"}
+                       "Z Accel":"mavlink_raw_imu_t_Zaccel","Z Gyro":"mavlink_raw_imu_t_ZGyro","Z Mag":"mavlink_raw_imu_t_ZMag",
+                        "Z vibration":"mavlink_vibration_t_vibration_z","Yaw rate":"mavlink_attitude_t_yaw rate"}
         self.para_dic = {"Pitch": "pitch",
                          "Yaw": "yaw", "Pitch rate": "pitch rate",
                          "Roll rate": "roll rate",
@@ -320,8 +322,8 @@ def confirmed(self):
                          "Y Accel": "Yaccel", "Y Gyro": "YGyro",
                          "Y Mag": "YMag",
                          "Z Accel": "Zaccel", "Z Gyro": "ZGyro",
-                         "Z Mag:": "ZMag",
-                         "Z vibration": "vibration_z"}
+                         "Z Mag": "ZMag",
+                         "Z vibration": "vibration_z","Yaw rate":"yaw rate"}
 
         global selection
         global selection_name
@@ -379,6 +381,9 @@ def confirmed(self):
         if self.ui.Z_vibration.isChecked():
             # self.selection.append("mavlink_vibration_t_vibration_z")
             self.selection_name.append("Z vibration")
+        if self.ui.Yaw_rate.isChecked():
+            # self.selection.append("mavlink_vibration_t_vibration_z")
+            self.selection_name.append("Yaw rate")
         self.parameter.close()
 
 
@@ -411,62 +416,114 @@ def datasplicing_mode_selection(self):
         # self.ui.Confirmation_buttonBox.accepted.connect(self.confirmed)
 
     def datasplicing(self):
+        self.tab.setCurrentIndex(2)
+        self.para_selection = []
+        self.para_selection2 = []
+        self.para_selection_name = []
+        self.x_test_final = []
+
+        for i in range(self.listWidget_3.count()):
+            self.para_selection_name.append(self.listWidget_3.item(i).text())
+            self.para_selection.append(self.para_dic[self.listWidget_3.item(i).text()])
+            self.para_selection2.append(self.para_dic2[self.listWidget_3.item(i).text()])
+            self.readedFileList = [self.listWidget_2.item(i).text() for i in range(self.listWidget_2.count())]
+            # print (self.readedFileList,self.para_selection,self.para_selection_name,self.para_selection2)
 
-        if self.ui2.radioButton.isChecked():
-            self.tab.setCurrentIndex(2)
-            self.para_selection = []
-            self.para_selection2=[]
-            self.para_selection_name = []
-            for i in range(self.listWidget_3.count()):
-                self.para_selection_name.append(self.listWidget_3.item(i).text())
-                self.para_selection.append(self.para_dic[self.listWidget_3.item(i).text()])
-                self.para_selection2.append(self.para_dic2[self.listWidget_3.item(i).text()])
+        print("Selected parameters are:", self.para_selection_name)
 
-            print("Selected parameters are:", self.para_selection_name)
 
-            self.readedFileList = [self.listWidget_2.item(i).text() for i in range(self.listWidget_2.count())]
-            print (self.readedFileList,self.para_selection,self.para_selection_name,self.para_selection2)
 
-            GUIFunctions.main(self.readedFileList[0],self.para_selection[0],self.para_selection_name[0])
+        if self.ui2.radioButton.isChecked(): #manual
+            self.b = GUIFunctions.main(self.readedFileList[0], self.para_selection[0], self.para_selection_name[0])
+            self.x_test_final.append(self.b[4])
+            self.check = 0
+
+            for i in range (1,len(self.para_selection)):
+
+                self.x_test=GUIFunctions.main3(self.readedFileList[0],self.para_selection[i],self.b[3])
+                self.x_test_final.append(self.x_test)
 
 
-            # self.train_data_name = SpliceDataFunctions.main(self.readedFileList[0], self.para_selection[0],
-            #                                                 self.para_selection_name[0])
+        if self.ui2.radioButton_2.isChecked(): #automatic
+            self.check=1
+            self.b = GUIFunctions.main2(self.readedFileList[0], self.para_selection[0])
+            self.x_test_final.append(self.b[3])
 
-            # Make Canvas
-            self.dr = Figure_Canvas()
-            a=GUIFunctions.csvParaExtract(self.readedFileList[0],self.para_selection[0])[0]
+            for i in range(1, len(self.para_selection)):
+                # GUIFunctions.main3(self.readedFileList[0],self.para_selection[i],self.b[1])
+                self.x_test2=GUIFunctions.main4(self.readedFileList[0], self.para_selection[i], self.b[1])
 
-            # a = SpliceDataFunctions.getTSData(self.readedFileList[0])
-            self.dr.test(a)
-            self.graphicscene = QtWidgets.QGraphicsScene()  # 第三步，创建一个QGraphicsScene，因为加载的图形（FigureCanvas）不能直接放到graphicview控件中，必须先放到graphicScene，然后再把graphicscene放到graphicview中
-            self.graphicscene.addWidget(self.dr)  # 第四步，把图形放到QGraphicsScene中，注意：图形是作为一个QWidget放到QGraphicsScene中的
-            self.graphicsView.setScene(self.graphicscene)  # 第五步，把QGraphicsScene放入QGraphicsView
-            self.graphicsView.show()  # 最后，调用show方法呈现图形！Voila!!
-            # self.graphicsView.setAutoFillBackground()
+                self.x_test_final.append(self.x_test2)
 
-            # self.setCentralWidget(self.graphicsView)
-            # self.graphicsView.setFixedSize(100, 600)
+        self.dr = Figure_Canvas()
+
+        # a = GUIFunctions.csvParaExtract(self.readedFileList[0], self.para_selection[0])[0]
+
+        # a = SpliceDataFunctions.getTSData(self.readedFileList[0])
+        self.dr.test(self.b[0])
+        self.graphicscene = QtWidgets.QGraphicsScene()  #
+        self.graphicscene.addWidget(self.dr)  #
+        self.graphicsView.setScene(self.graphicscene)  #
+        self.graphicsView.show()  #
+        # self.graphicsView.setAutoFillBackground()
+
+        # self.setCentralWidget(self.graphicsView)
+        # self.graphicsView.setFixedSize(100, 600)
 
 
 # ****************************    My Code_data splice      ********************
 
 # ****************************    My Code_display prediction   ****************
     def machinelearning(self):
-        Learn_original.learn(self.para_selection2[0],self.para_selection_name)
+
+        text, ok = QInputDialog.getText(self, 'Input Dialog',
+                                    'Enter K value: ')
+        if ok:
+            self.k_value=int(text)
+            # print (self.k_value)
+
+
+            self.learning = multi_param_learn.multi_param_learn(self.para_selection2,None,'Data/')
+
+
+            # self.label_result=Learn_original.machine_learning(self.learning[0],self.learning[1],self.learning[2],self.learning[3])
+            self.label_result = multi_param_learn.machine_learning(self.x_test_final, self.learning[1], self.learning[2],self.learning[3],self.learning[4],self.learning[5],self.learning[6],self.k_value)
+
+            print ("detection result: ",self.label_result[0])
+
+            print("majority voting result: ",self.label_result[1])
+
+
+            multi_param_learn.test_data_plot(self.para_selection_name[0],self.x_test_final[0])
+            # print (self.label_result)
+            if self.check==0:
+                GUIFunctions.distLabel(self.b[0],self.b[1],self.label_result[1],self.para_selection_name[0])
+            if self.check==1:
+                GUIFunctions.distLabelAuto(self.b[0],self.b[1],self.label_result[1],self.para_selection_name[0])
+        else:
+            pass
+
+
+
 # ****************************    My Code_display prediction   ****************
 
 
 # ****************************    My Code_display training data     ************
     def traning_data_display(self):
-        multi_param_learn.multi_param_learn(self.para_selection2, None, self.para_selection_name)
+        learning = multi_param_learn.multi_param_learn(self.para_selection2,None,'Data/')
+        print (self.para_selection_name[0])
+        # print (learning[1][0])
+        # print (learning[2][0])
+        # print (learning[3][0])
+        multi_param_learn.training_data_plot(self.para_selection_name[0],learning[1][0],learning[2][0],learning[3])
+
 # ****************************    My Code_display training data     ************
 
 # ****************************    My Code_display test data         ************
     def test_data_display(self):
-        a= GUIFunctions.csvParaExtract(self.readedFileList[0],self.para_selection[0])[0]
+        self.a= GUIFunctions.csvParaExtract(self.readedFileList[0],self.para_selection[0])[0]
         # a= SpliceDataFunctions.getTSData(self.readedFileList[0])
-        GUIFunctions.plotTSData(a,self.para_selection_name[0])
+        GUIFunctions.plotTSData(self.a,self.para_selection_name[0])
         # SpliceDataFunctions.plotTSData()
 # ****************************    My Code_display test data         ************
 if __name__ == "__main__":