Merge pull request #298 from tinymovr/develop

Version 1.6.2 (supplemental)

studio/Python/tinymovr/dfu.py

@@ -1,12 +1,15 @@
 """
 Usage:
-    dfu.py --node_id=ID [--bin=PATH | --recovery] [--no-reset]
+    dfu.py --node_id=ID [--bin=PATH | --recovery] [--no-reset] [--bus=<bus>] [--chan=<chan>] [--bitrate=<bitrate>]
 
 Options:
     --node_id=ID The CAN Node ID of the device in DFU mode.
     --bin=PATH   The path of the .bin file to upload.
     --recovery   Perform recovery procedure for inaccessible DFU bootloader.
     --no-reset   Do not perform a reset following successful flashing.
+    --bus=<bus>  One or more interfaces to use, first available is used [default: canine,slcan_disco].
+    --chan=<chan>  The bus device "channel".
+    --bitrate=<bitrate>  CAN bitrate [default: 1000000].
 """
 
 import sys
@@ -123,15 +126,22 @@ def upload_bin(device, bin_path):
 
 def spawn():
     # Parse command line arguments
-    args = docopt(__doc__)
-    node_id = int(args["--node_id"])
-    bin_path = args["--bin"]
+    arguments = docopt(__doc__)
+    node_id = int(arguments["--node_id"])
+    bin_path = arguments["--bin"]
 
     # Set up the device
-    params = get_bus_config(["canine", "slcan_disco"])
-    params["bitrate"] = 1000000
+    buses = arguments["--bus"].rsplit(sep=",")
+    channel = arguments["--chan"]
+    bitrate = int(arguments["--bitrate"])
 
-    if args["--recovery"]:
+    if not channel:
+        params = get_bus_config(buses)
+        params["bitrate"] = bitrate
+    else:
+        params = {"bustype": buses[0], "channel": channel, "bitrate": bitrate}
+
+    if arguments["--recovery"]:
 
         input("Please power off the device and then press any key to continue...")
         print("Now power on the device.")
@@ -162,7 +172,7 @@ def spawn():
             else:
                 upload_bin(device, bin_path)
                 compare_bin_w_device(device, bin_path, string="Verifying")
-                if not args["--no-reset"]:
+                if not arguments["--no-reset"]:
                     print("Resetting device...")
                     device.reset()
     destroy_tee()

studio/Python/tinymovr/gui/window.py

@@ -319,9 +319,9 @@ def timings_updated(self, timings_dict):
         meas_freq = timings_dict["meas_freq"]
         meas_freq_str = "-" if meas_freq == 0 else "{:.1f}Hz".format(meas_freq)
         self.status_label.setText(
-            "{}\t CH:{:.0f}%\t RT:{:.1f}ms".format(
+            "{}\t Load:{:.0f}%\t RT:{:.1f}ms".format(
                 meas_freq_str,
-                timings_dict["load"],
+                timings_dict["load"] * 100,
                 timings_dict["getter_dt"] * 1000,
             )
         )

studio/Python/tinymovr/gui/worker.py

@@ -43,6 +43,10 @@ def __init__(self, busparams, logger):
         )
         self.timed_getter = TimedGetter()
 
+        self.dt_update = 1
+        self.dt_load = 0
+        self.t_last_update = time.time()
+
     @QtCore.Slot()
     def stop(self):
         destroy_tee()
@@ -102,12 +106,17 @@ def _init_containers(self):
         self.dynamic_attrs_last_update = {}
 
     def _update(self):
+        t = time.time()
+        self.dt_update = self.dt_update * 0.95 + (t - self.t_last_update) * 0.05
+        self.t_last_update = t
         self.mutx.lock()
+        t = time.time()
         last_updated = self._get_attr_values()
+        self.dt_load = self.dt_load * 0.95 + (time.time() - t) * 0.05
         if len(last_updated) > 0:
             self.updateAttrsSignal.emit(last_updated)
             self.updateTimingsSignal.emit(
-                {"meas_freq": 0, "load": 0, "getter_dt": self.timed_getter.dt}
+                {"meas_freq": 1/self.dt_update, "load": self.dt_load/self.dt_update, "getter_dt": self.timed_getter.dt}
             )
         self.mutx.unlock()