sky plot: add per-satellite trajectory trails
- Store up to 1 hour of (elevation, azimuth) history per satellite/source - Trail column in satellite table (checkbox, default off); clicking the column header toggles all trails on/off - Trail rendered in GNSS color with alpha fading from 15 (oldest) to 200 (newest), subsampled to max 120 points for render performance - Trail column fixed at 42 px to avoid checkbox + empty-text visual split Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
This commit is contained in:
Claude Sonnet 4.6
+90
-21
@@ -1,4 +1,5 @@
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import sys, os
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import sys, os, time
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from collections import deque
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_root = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
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_gui = os.path.dirname(os.path.abspath(__file__))
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@@ -17,18 +18,22 @@ from PyQt5.QtGui import QColor, QBrush
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from data_model import ReceiverManager, GNSS_NAMES, GNSS_COLORS
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from sky_widget import SkyPlotWidget
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_COL_HEADERS = ['GNSS', 'SV', 'Elev °', 'Az °', 'C/N₀', 'Fix', 'Receiver']
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_COL_HEADERS = ['GNSS', 'SV', 'Elev °', 'Az °', 'C/N₀', 'Fix', 'Receiver', 'Trail']
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_COL_TRAIL = len(_COL_HEADERS) - 1
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_TRAIL_MAXLEN = 3600 # 1 hour at 1 Hz
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class SkyTab(QWidget):
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def __init__(self, model: ReceiverManager):
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super().__init__()
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self._model = model
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self._store: dict = {} # (rid, gnss_id, sv_id) -> SatelliteData
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self._table_keys: list = [] # current row order as (rid, gnss_id, sv_id)
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self._pdop: dict = {} # rid -> float
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self._info_cards: dict = {} # rid -> QFrame
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self._info_labels: dict = {} # rid -> (lbl_pdop, lbl_visible, lbl_used)
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self._store: dict = {} # (rid, gnss_id, sv_id) -> SatelliteData
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self._table_keys: list = [] # current row order as (rid, gnss_id, sv_id)
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self._pdop: dict = {} # rid -> float
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self._info_cards: dict = {} # rid -> QFrame
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self._info_labels: dict = {} # rid -> (lbl_pdop, lbl_visible, lbl_used)
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self._trail: dict = {} # (rid, gnss_id, sv_id) -> deque[(elev, azim)]
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self._trail_enabled: dict = {} # (rid, gnss_id, sv_id) -> bool
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outer = QVBoxLayout(self)
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outer.setContentsMargins(4, 4, 4, 4)
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@@ -66,11 +71,18 @@ class SkyTab(QWidget):
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self._table = QTableWidget()
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self._table.setColumnCount(len(_COL_HEADERS))
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self._table.setHorizontalHeaderLabels(_COL_HEADERS)
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self._table.horizontalHeader().setSectionResizeMode(QHeaderView.ResizeToContents)
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self._table.horizontalHeader().setStretchLastSection(True)
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hdr = self._table.horizontalHeader()
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hdr.setSectionResizeMode(QHeaderView.ResizeToContents)
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hdr.setSectionResizeMode(_COL_TRAIL, QHeaderView.Fixed)
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hdr.setStretchLastSection(False)
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hdr.sectionClicked.connect(self._on_header_clicked)
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self._table.setColumnWidth(_COL_TRAIL, 42)
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self._table.horizontalHeader().setToolTip(
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"Click 'Trail' header to select / deselect all")
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self._table.setEditTriggers(QTableWidget.NoEditTriggers)
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self._table.setSelectionBehavior(QTableWidget.SelectRows)
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self._table.setAlternatingRowColors(False)
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self._table.itemChanged.connect(self._on_table_item_changed)
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splitter.addWidget(self._table)
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splitter.setStretchFactor(0, 2)
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@@ -89,7 +101,7 @@ class SkyTab(QWidget):
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model.satellite_update.connect(self._on_sat_update)
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model.pdop_update.connect(self._on_pdop_update)
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# ── Source list management ────────────────────────────────────────────────
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# ── Source list management ───────────────────────────────────────────���────
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def _on_receiver_added(self, rid: str):
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item = QListWidgetItem(f" {rid} ")
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@@ -98,13 +110,12 @@ class SkyTab(QWidget):
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item.setData(Qt.UserRole, rid)
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self._src_list.addItem(item)
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# Info card for this receiver
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card = QFrame()
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card.setFrameShape(QFrame.Box)
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cl = QHBoxLayout(card)
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cl.setContentsMargins(8, 1, 8, 1)
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cl.setSpacing(10)
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name_lbl = QLabel(f"<b>{rid}</b>")
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name_lbl = QLabel(f"<b>{rid}</b>")
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lbl_pdop = QLabel("pDOP: —")
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lbl_visible = QLabel("Visible: —")
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lbl_used = QLabel("Used: —")
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@@ -119,9 +130,9 @@ class SkyTab(QWidget):
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if self._src_list.item(i).data(Qt.UserRole) == rid:
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self._src_list.takeItem(i)
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break
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keys = [k for k in self._store if k[0] == rid]
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for k in keys:
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del self._store[k]
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for k in [k for k in self._store if k[0] == rid]: del self._store[k]
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for k in [k for k in self._trail if k[0] == rid]: del self._trail[k]
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for k in [k for k in self._trail_enabled if k[0] == rid]: del self._trail_enabled[k]
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self._pdop.pop(rid, None)
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card = self._info_cards.pop(rid, None)
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if card:
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@@ -143,6 +154,14 @@ class SkyTab(QWidget):
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return [(k[0], self._store[k])
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for k in self._store if k[0] in selected]
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def _active_trails(self) -> dict:
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selected = self._selected_rids()
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result = {}
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for key, dq in self._trail.items():
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if key[0] in selected and self._trail_enabled.get(key, False):
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result[key] = list(dq)
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return result
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# ── Info bar ──────────────────────────────────────────────────────────────
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def _update_info(self):
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@@ -159,8 +178,13 @@ class SkyTab(QWidget):
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def _on_sat_update(self, rid: str, sats: list):
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for sat in sats:
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self._store[(rid, sat.gnss_id, sat.sv_id)] = sat
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self._sky.update_data(self._visible_sats())
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key = (rid, sat.gnss_id, sat.sv_id)
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self._store[key] = sat
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if key not in self._trail:
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self._trail[key] = deque(maxlen=_TRAIL_MAXLEN)
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self._trail[key].append((sat.elevation, sat.azimuth))
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self._sky.update_data(self._visible_sats(), self._active_trails())
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self._update_info()
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if not self._table_timer.isActive():
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self._table_timer.start()
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@@ -170,41 +194,77 @@ class SkyTab(QWidget):
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self._update_info()
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def _refresh_immediate(self):
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"""Called on source-checkbox toggle or receiver removal — rebuild now."""
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self._table_timer.stop()
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visible = self._visible_sats()
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self._sky.update_data(visible)
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self._sky.update_data(visible, self._active_trails())
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self._update_info()
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self._rebuild_table(visible)
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def _rebuild_table_from_store(self):
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self._rebuild_table(self._visible_sats())
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# ── Trail toggle ──────────────────────────────────────────────────────────
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def _on_table_item_changed(self, item):
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if item.column() != _COL_TRAIL:
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return
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key = item.data(Qt.UserRole)
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if key is None:
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return
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self._trail_enabled[key] = (item.checkState() == Qt.Checked)
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self._sky.update_data(self._visible_sats(), self._active_trails())
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def _on_header_clicked(self, col: int):
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if col != _COL_TRAIL:
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return
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# Enable all if any are off, otherwise disable all
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rows = self._table.rowCount()
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any_off = any(
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self._table.item(r, _COL_TRAIL).checkState() != Qt.Checked
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for r in range(rows)
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if self._table.item(r, _COL_TRAIL)
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)
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new_state = Qt.Checked if any_off else Qt.Unchecked
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self._table.blockSignals(True)
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for r in range(rows):
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item = self._table.item(r, _COL_TRAIL)
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if item:
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key = item.data(Qt.UserRole)
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if key:
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self._trail_enabled[key] = (new_state == Qt.Checked)
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item.setCheckState(new_state)
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self._table.blockSignals(False)
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self._sky.update_data(self._visible_sats(), self._active_trails())
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# ── Table ─────────────────────────────────────────────────────────────────
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def _rebuild_table(self, sats: list):
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sorted_sats = sorted(sats, key=lambda x: (x[1].gnss_id, x[1].sv_id))
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new_keys = [(rid, sat.gnss_id, sat.sv_id) for rid, sat in sorted_sats]
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new_keys = [(rid, sat.gnss_id, sat.sv_id) for rid, sat in sorted_sats]
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if new_keys == self._table_keys:
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# Only values changed — update in place, scroll position untouched
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self._table.blockSignals(True)
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for row, (_, sat) in enumerate(sorted_sats):
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self._table.item(row, 2).setText(f"{sat.elevation:.0f}")
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self._table.item(row, 3).setText(f"{sat.azimuth:.0f}")
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self._table.item(row, 4).setText(f"{sat.cno:.1f}")
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self._table.item(row, 5).setText("✓" if sat.used_in_fix else "")
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self._table.blockSignals(False)
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return
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# Satellite set changed — full rebuild
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self._table_keys = new_keys
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self._table.blockSignals(True)
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vp = self._table.viewport()
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vp.setUpdatesEnabled(False)
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self._table.setSortingEnabled(False)
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self._table.setRowCount(len(sorted_sats))
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for row, (rid, sat) in enumerate(sorted_sats):
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key = (rid, sat.gnss_id, sat.sv_id)
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gnss_name = GNSS_NAMES.get(sat.gnss_id, f'SYS{sat.gnss_id}')
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bg = QColor(GNSS_COLORS.get(sat.gnss_id, '#9E9E9E'))
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bg = QColor(GNSS_COLORS.get(sat.gnss_id, '#9E9E9E'))
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bg.setAlpha(55)
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brush = QBrush(bg)
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@@ -222,5 +282,14 @@ class SkyTab(QWidget):
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self._table.setItem(row, 5, cell("✓" if sat.used_in_fix else ""))
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self._table.setItem(row, 6, cell(rid))
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trail_item = QTableWidgetItem()
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trail_item.setFlags(Qt.ItemIsUserCheckable | Qt.ItemIsEnabled)
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trail_item.setCheckState(
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Qt.Checked if self._trail_enabled.get(key, False) else Qt.Unchecked)
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trail_item.setData(Qt.UserRole, key)
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trail_item.setTextAlignment(Qt.AlignCenter)
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self._table.setItem(row, _COL_TRAIL, trail_item)
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self._table.setSortingEnabled(True)
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vp.setUpdatesEnabled(True)
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self._table.blockSignals(False)
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+36
-11
@@ -45,13 +45,13 @@ class SkyRenderThread(QThread):
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self._queue: Queue = Queue(maxsize=1)
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self._running = True
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def submit(self, sats: list, width: int, height: int):
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def submit(self, sats: list, trails: dict, width: int, height: int):
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# Discard any pending (not yet rendered) frame so we always render latest
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try:
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self._queue.get_nowait()
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except Empty:
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pass
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self._queue.put((list(sats), width, height))
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self._queue.put((list(sats), trails, width, height))
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def stop(self):
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self._running = False
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@@ -71,14 +71,14 @@ class SkyRenderThread(QThread):
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continue
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if item is None:
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break
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sats, w, h = item
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sats, trails, w, h = item
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if w > 0 and h > 0:
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img = self._render(sats, w, h)
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img = self._render(sats, trails, w, h)
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self.frame_ready.emit(img)
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# ── Drawing (runs in render thread — QPainter on QImage is thread-safe) ──
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def _render(self, sats: list, w: int, h: int) -> QImage:
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def _render(self, sats: list, trails: dict, w: int, h: int) -> QImage:
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img = QImage(w, h, QImage.Format_RGB32)
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p = QPainter(img)
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@@ -89,6 +89,8 @@ class SkyRenderThread(QThread):
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self._draw_bg(p, w, h)
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self._draw_grid(p, cx, cy, max_r)
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if trails:
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self._draw_trails(p, cx, cy, max_r, trails)
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self._draw_satellites(p, cx, cy, max_r, sats)
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self._draw_legend(p, sats)
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@@ -138,6 +140,27 @@ class SkyRenderThread(QThread):
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p.setPen(Qt.NoPen)
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p.drawEllipse(QPointF(cx, cy), 3, 3)
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def _draw_trails(self, p: QPainter, cx, cy, max_r, trails: dict):
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for (_, gnss_id, _), points in trails.items():
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n = len(points)
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if n < 2:
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continue
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base_color = _GNSS_QCOLORS.get(gnss_id, _C_LABEL)
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r, g, b = base_color.red(), base_color.green(), base_color.blue()
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# Subsample to at most 120 points so rendering stays fast
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step = max(1, n // 120)
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pts = points[::step]
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m = len(pts)
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for i in range(1, m):
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# Alpha fades from 15 (oldest) to 200 (newest)
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alpha = int(15 + 185 * i / m)
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p.setPen(QPen(QColor(r, g, b, alpha), 1.5))
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x1, y1 = _polar_xy(cx, cy, max_r, pts[i - 1][0], pts[i - 1][1])
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x2, y2 = _polar_xy(cx, cy, max_r, pts[i][0], pts[i][1])
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p.drawLine(QPointF(x1, y1), QPointF(x2, y2))
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def _draw_satellites(self, p: QPainter, cx, cy, max_r, sats):
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f = QFont(); f.setPointSize(7)
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p.setFont(f)
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@@ -188,8 +211,9 @@ class SkyPlotWidget(QWidget):
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def __init__(self):
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super().__init__()
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self._sats: list = []
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self._image: QImage = None
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self._sats: list = []
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self._trails: dict = {}
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self._image: QImage = None
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self.setMinimumSize(400, 400)
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self.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
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@@ -206,16 +230,17 @@ class SkyPlotWidget(QWidget):
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# ── Public API ────────────────────────────────────────────────────────────
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def update_data(self, sats: list):
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self._sats = sats
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self._thread.submit(sats, self.width(), self.height())
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def update_data(self, sats: list, trails: dict = None):
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self._sats = sats
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self._trails = trails or {}
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self._thread.submit(sats, self._trails, self.width(), self.height())
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# ── Qt events ─────────────────────────────────────────────────────────────
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def resizeEvent(self, event):
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super().resizeEvent(event)
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if self._sats:
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self._thread.submit(self._sats, self.width(), self.height())
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self._thread.submit(self._sats, self._trails, self.width(), self.height())
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def paintEvent(self, _event):
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p = QPainter(self)
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Block a user