jensandClaude Sonnet 5
2dba3a9a2f
Add the Ver message parser and a fixed UbxQuery (was unused and had a broken semaphore/state bug) to poll MON-VER once on connect. The CLI prints hw/sw version and extensions; the GUI polls it per receiver, pre-fills the read-only ID field with a connection counter and rewrites it from the MOD= extension once the device answers, and propagates the resolved display name to the Sky and Plot tabs so they no longer show the stale placeholder ID. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01XM4FNUjhu9x8df5Dp1hHvd
325 lines
14 KiB
Python
325 lines
14 KiB
Python
import sys, os
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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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for _p in [_root, _gui]:
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if _p not in sys.path:
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sys.path.insert(0, _p)
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from PyQt5.QtWidgets import (
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QWidget, QHBoxLayout, QVBoxLayout, QLabel, QListWidget,
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QListWidgetItem, QTableWidget, QTableWidgetItem, QHeaderView,
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QSplitter, QGroupBox, QFrame, QCheckBox, QSpinBox,
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)
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from PyQt5.QtCore import Qt, QTimer
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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', 'Msg']
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_COL_MSG = len(_COL_HEADERS) - 1
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_TRAIL_MAXLEN = 86400 # 24 hours at 1 Hz
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_TRAIL_MAX_HOURS = 24
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_MSG_HIGHLIGHT_MS = 10_000
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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._name_labels: dict = {} # rid -> QLabel (receiver display name)
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self._trail: dict = {} # (rid, gnss_id, sv_id) -> deque[(elev, azim)]
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self._hi_timers: dict = {} # (rid, gnss_id, sv_id) -> QTimer
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outer = QVBoxLayout(self)
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outer.setContentsMargins(4, 4, 4, 4)
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outer.setSpacing(4)
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# ── Source selector + trail toggle ────────────────────────────────────
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src_box = QGroupBox("Receiver Sources (check to include)")
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src_box.setMaximumHeight(80)
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src_bl = QHBoxLayout(src_box)
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src_bl.setContentsMargins(4, 2, 4, 2)
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src_bl.setSpacing(8)
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self._src_list = QListWidget()
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self._src_list.setFlow(QListWidget.LeftToRight)
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self._src_list.setWrapping(True)
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self._src_list.setResizeMode(QListWidget.Adjust)
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self._src_list.itemChanged.connect(self._refresh_immediate)
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src_bl.addWidget(self._src_list)
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self._trail_cb = QCheckBox("Show Trails")
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self._trail_cb.setChecked(False)
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self._trail_cb.toggled.connect(self._on_trail_toggled)
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src_bl.addWidget(self._trail_cb)
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self._trail_spin = QSpinBox()
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self._trail_spin.setRange(0, _TRAIL_MAX_HOURS)
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self._trail_spin.setValue(1)
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self._trail_spin.setSuffix(" h")
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self._trail_spin.setFixedWidth(58)
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self._trail_spin.setEnabled(False)
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self._trail_spin.valueChanged.connect(self._on_trail_toggled)
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src_bl.addWidget(self._trail_spin)
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outer.addWidget(src_box)
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# ── Info bar (one card per receiver) ──────────────────────────────────
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info_frame = QFrame()
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info_frame.setFrameShape(QFrame.StyledPanel)
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info_frame.setMaximumHeight(42)
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self._info_layout = QHBoxLayout(info_frame)
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self._info_layout.setContentsMargins(6, 2, 6, 2)
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self._info_layout.setSpacing(12)
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self._info_layout.addStretch()
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outer.addWidget(info_frame)
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# ── Sky plot + satellite table ─────────────────────────────────────────
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splitter = QSplitter(Qt.Horizontal)
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self._sky = SkyPlotWidget()
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splitter.addWidget(self._sky)
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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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hdr = self._table.horizontalHeader()
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hdr.setSectionResizeMode(QHeaderView.ResizeToContents)
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hdr.setSectionResizeMode(_COL_MSG, QHeaderView.Fixed)
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hdr.setStretchLastSection(False)
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self._table.setColumnWidth(_COL_MSG, 36)
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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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splitter.addWidget(self._table)
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splitter.setStretchFactor(0, 2)
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splitter.setStretchFactor(1, 1)
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outer.addWidget(splitter)
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# ── Table throttle timer (max ~2 Hz rebuilds) ─────────────────────────
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self._table_timer = QTimer(self)
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self._table_timer.setSingleShot(True)
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self._table_timer.setInterval(500)
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self._table_timer.timeout.connect(self._rebuild_table_from_store)
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# ── Model signals ─────────────────────────────────────────────────────
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model.receiver_added.connect(self._on_receiver_added)
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model.receiver_removed.connect(self._on_receiver_removed)
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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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model.version_update.connect(self._on_version_update)
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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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item.setFlags(item.flags() | Qt.ItemIsUserCheckable)
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item.setCheckState(Qt.Checked)
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item.setData(Qt.UserRole, rid)
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self._src_list.addItem(item)
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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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lbl_pdop = QLabel("pDOP: —")
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lbl_visible = QLabel("Visible: —")
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lbl_used = QLabel("Used: —")
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for w in (name_lbl, lbl_pdop, lbl_visible, lbl_used):
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cl.addWidget(w)
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self._info_cards[rid] = card
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self._info_labels[rid] = (lbl_pdop, lbl_visible, lbl_used)
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self._name_labels[rid] = name_lbl
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self._info_layout.insertWidget(self._info_layout.count() - 1, card)
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def _on_receiver_removed(self, rid: str):
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for i in range(self._src_list.count()):
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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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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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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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self._info_layout.removeWidget(card)
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card.deleteLater()
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self._info_labels.pop(rid, None)
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self._name_labels.pop(rid, None)
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self._refresh_immediate()
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def _on_version_update(self, rid: str, device_id: str, sw_version: str):
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label = self._model.display_name(rid)
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for i in range(self._src_list.count()):
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item = self._src_list.item(i)
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if item.data(Qt.UserRole) == rid:
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item.setText(f" {label} ")
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break
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lbl = self._name_labels.get(rid)
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if lbl:
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lbl.setText(f"<b>{label}</b>")
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self._table_keys = [] # force a full rebuild so the Receiver column updates
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self._refresh_immediate()
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def _selected_rids(self) -> set:
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result = set()
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for i in range(self._src_list.count()):
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item = self._src_list.item(i)
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if item.checkState() == Qt.Checked:
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result.add(item.data(Qt.UserRole))
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return result
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def _visible_sats(self) -> list:
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selected = self._selected_rids()
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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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if not self._trail_cb.isChecked():
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return {}
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n_points = self._trail_spin.value() * 3600
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if n_points == 0:
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return {}
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selected = self._selected_rids()
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return {key: list(dq)[-n_points:]
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for key, dq in self._trail.items()
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if key[0] in selected}
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# ── Trail toggle ──────────────────────────────────────────────────────────
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def _on_trail_toggled(self, _value=None):
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self._trail_spin.setEnabled(self._trail_cb.isChecked())
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self._sky.update_data(self._visible_sats(), self._active_trails())
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# ── Info bar ──────────────────────────────────────────────────────────────
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def _update_info(self):
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for rid, (lbl_pdop, lbl_visible, lbl_used) in self._info_labels.items():
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sats = [self._store[k] for k in self._store if k[0] == rid]
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n_visible = len(sats)
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n_used = sum(1 for s in sats if s.used_in_fix)
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pdop = self._pdop.get(rid)
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lbl_pdop.setText( f"pDOP: {pdop:.1f}" if pdop is not None else "pDOP: —")
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lbl_visible.setText(f"Visible: {n_visible}")
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lbl_used.setText( f"Used: {n_used}")
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# ── Data update ───────────────────────────────────────────────────────────
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def _on_sat_update(self, rid: str, sats: list):
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selected = self._selected_rids()
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for sat in 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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if rid in selected:
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self._highlight_row(key)
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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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def _on_pdop_update(self, rid: str, pdop: float, _ts: float):
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self._pdop[rid] = pdop
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self._update_info()
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def _refresh_immediate(self):
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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, 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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# ── Row highlight on message receive ─────────────────────────────────────
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def _highlight_row(self, key):
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try:
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row = self._table_keys.index(key)
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except ValueError:
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return # row not in table yet (full rebuild pending)
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item = self._table.item(row, _COL_MSG)
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if item:
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item.setText("✓")
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t = self._hi_timers.get(key)
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if t:
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t.start(_MSG_HIGHLIGHT_MS)
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else:
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t = QTimer(self)
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t.setSingleShot(True)
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t.timeout.connect(lambda k=key, r=row: self._clear_highlight(k, r))
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t.start(_MSG_HIGHLIGHT_MS)
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self._hi_timers[key] = t
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def _clear_highlight(self, key, row):
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self._hi_timers.pop(key, None)
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if row >= self._table.rowCount() or row >= len(self._table_keys):
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return
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if self._table_keys[row] != key:
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return # row was reassigned during a full rebuild
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item = self._table.item(row, _COL_MSG)
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if item:
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item.setText("")
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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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if new_keys == self._table_keys:
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# Only values changed — update in place, scroll position untouched
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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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return
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# Satellite set changed — full rebuild
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self._table_keys = new_keys
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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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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.setAlpha(55)
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brush = QBrush(bg)
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def cell(text, br=brush):
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it = QTableWidgetItem(str(text))
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it.setTextAlignment(Qt.AlignCenter)
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it.setBackground(br)
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return it
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self._table.setItem(row, 0, cell(gnss_name))
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self._table.setItem(row, 1, cell(sat.sv_id))
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self._table.setItem(row, 2, cell(f"{sat.elevation:.0f}"))
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self._table.setItem(row, 3, cell(f"{sat.azimuth:.0f}"))
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self._table.setItem(row, 4, cell(f"{sat.cno:.1f}"))
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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(self._model.display_name(rid)))
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msg_item = QTableWidgetItem("")
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msg_item.setTextAlignment(Qt.AlignCenter)
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msg_item.setBackground(brush)
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self._table.setItem(row, _COL_MSG, msg_item)
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self._table.setSortingEnabled(True)
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vp.setUpdatesEnabled(True)
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