fix: resolve all ruff lint errors across V6+ GUIs, v7 module, and FPGA cosim scripts
Fixes 25 remaining manual lint errors after auto-fix pass (94 auto-fixed earlier): - GUI_V6.py: noqa on availability imports, bare except, unused vars, F811 redefs - GUI_V6_Demo.py: unused app variable - v7/models.py: noqa F401 on 8 try/except availability-check imports - FPGA cosim: unused header/status/span vars, ambiguous 'l' renamed to 'line', E701 while-on-one-line split, F841 padding vars annotated Also adds v7/ module, GUI_PyQt_Map.py, and GUI_V7_PyQt.py to version control. Expands CI lint job to cover all 21 maintained Python files (was 4). All 58 Python tests pass. Zero ruff errors on all target files.
This commit is contained in:
Jason
@@ -0,0 +1,532 @@
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"""
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v7.map_widget — Embedded Leaflet.js map widget for the PLFM Radar GUI V7.
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Classes:
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- MapBridge — QObject exposed to JavaScript via QWebChannel
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- RadarMapWidget — QWidget wrapping QWebEngineView with Leaflet map
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The full HTML/CSS/JS for Leaflet is generated inline (no external files).
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Supports: OSM, Google, Google Sat, Google Hybrid, ESRI Sat tile servers;
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coverage circle, target trails, velocity-based color coding, popups, legend.
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"""
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import json
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import logging
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from typing import List
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from PyQt6.QtWidgets import (
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QWidget, QVBoxLayout, QHBoxLayout, QFrame,
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QComboBox, QCheckBox, QPushButton, QLabel,
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)
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from PyQt6.QtCore import Qt, pyqtSignal, pyqtSlot, QObject
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from PyQt6.QtWebEngineWidgets import QWebEngineView
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from PyQt6.QtWebChannel import QWebChannel
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from .models import (
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GPSData, RadarTarget, TileServer,
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DARK_BG, DARK_FG, DARK_ACCENT, DARK_BORDER,
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DARK_TEXT, DARK_BUTTON, DARK_BUTTON_HOVER,
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DARK_SUCCESS, DARK_INFO,
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)
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logger = logging.getLogger(__name__)
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# =============================================================================
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# MapBridge — Python <-> JavaScript
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# =============================================================================
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class MapBridge(QObject):
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"""Bridge object registered with QWebChannel for JS ↔ Python calls."""
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mapClicked = pyqtSignal(float, float) # lat, lon
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markerClicked = pyqtSignal(int) # target_id
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mapReady = pyqtSignal()
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def __init__(self, parent=None):
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super().__init__(parent)
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self._map_ready = False
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@pyqtSlot(float, float)
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def onMapClick(self, lat: float, lon: float):
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logger.debug(f"Map clicked: {lat}, {lon}")
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self.mapClicked.emit(lat, lon)
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@pyqtSlot(int)
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def onMarkerClick(self, target_id: int):
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logger.debug(f"Marker clicked: #{target_id}")
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self.markerClicked.emit(target_id)
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@pyqtSlot()
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def onMapReady(self):
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logger.info("Leaflet map ready")
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self._map_ready = True
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self.mapReady.emit()
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@pyqtSlot(str)
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def logFromJS(self, message: str):
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logger.debug(f"[JS] {message}")
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@property
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def is_ready(self) -> bool:
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return self._map_ready
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# =============================================================================
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# RadarMapWidget
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# =============================================================================
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class RadarMapWidget(QWidget):
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"""
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Embeds a Leaflet.js interactive map inside a QWebEngineView.
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Public methods mirror the V6 map API:
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set_radar_position(gps), set_targets(list), set_coverage_radius(r),
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set_zoom(level)
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"""
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targetSelected = pyqtSignal(int)
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def __init__(self, radar_lat: float = 41.9028, radar_lon: float = 12.4964,
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parent=None):
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super().__init__(parent)
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# State
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self._radar_position = GPSData(
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latitude=radar_lat, longitude=radar_lon,
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altitude=0.0, pitch=0.0, heading=0.0,
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)
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self._targets: List[RadarTarget] = []
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self._coverage_radius = 50_000 # metres
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self._tile_server = TileServer.OPENSTREETMAP
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self._show_coverage = True
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self._show_trails = False
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# Build UI
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self._setup_ui()
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# Bridge + channel
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self._bridge = MapBridge(self)
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self._bridge.mapReady.connect(self._on_map_ready)
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self._bridge.markerClicked.connect(self._on_marker_clicked)
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self._channel = QWebChannel()
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self._channel.registerObject("bridge", self._bridge)
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self._web_view.page().setWebChannel(self._channel)
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# Load the Leaflet map
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self._load_map()
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# ---- UI setup ----------------------------------------------------------
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def _setup_ui(self):
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layout = QVBoxLayout(self)
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layout.setContentsMargins(0, 0, 0, 0)
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# Control bar
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bar = QFrame()
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bar.setStyleSheet(f"background-color: {DARK_ACCENT}; border-radius: 4px;")
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bar_layout = QHBoxLayout(bar)
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bar_layout.setContentsMargins(8, 4, 8, 4)
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# Tile selector
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self._tile_combo = QComboBox()
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self._tile_combo.addItem("OpenStreetMap", TileServer.OPENSTREETMAP)
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self._tile_combo.addItem("Google Maps", TileServer.GOOGLE_MAPS)
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self._tile_combo.addItem("Google Satellite", TileServer.GOOGLE_SATELLITE)
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self._tile_combo.addItem("Google Hybrid", TileServer.GOOGLE_HYBRID)
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self._tile_combo.addItem("ESRI Satellite", TileServer.ESRI_SATELLITE)
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self._tile_combo.currentIndexChanged.connect(self._on_tile_changed)
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self._tile_combo.setStyleSheet(f"""
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QComboBox {{
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background-color: {DARK_BUTTON}; color: {DARK_FG};
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border: 1px solid {DARK_BORDER}; padding: 4px 8px; border-radius: 4px;
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}}
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""")
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bar_layout.addWidget(QLabel("Tiles:"))
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bar_layout.addWidget(self._tile_combo)
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# Toggles
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self._coverage_check = QCheckBox("Coverage")
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self._coverage_check.setChecked(True)
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self._coverage_check.stateChanged.connect(self._on_coverage_toggled)
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bar_layout.addWidget(self._coverage_check)
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self._trails_check = QCheckBox("Trails")
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self._trails_check.setChecked(False)
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self._trails_check.stateChanged.connect(self._on_trails_toggled)
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bar_layout.addWidget(self._trails_check)
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btn_style = f"""
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QPushButton {{
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background-color: {DARK_BUTTON}; color: {DARK_FG};
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border: 1px solid {DARK_BORDER}; padding: 4px 12px; border-radius: 4px;
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}}
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QPushButton:hover {{ background-color: {DARK_BUTTON_HOVER}; }}
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"""
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center_btn = QPushButton("Center")
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center_btn.clicked.connect(self._center_on_radar)
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center_btn.setStyleSheet(btn_style)
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bar_layout.addWidget(center_btn)
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fit_btn = QPushButton("Fit All")
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fit_btn.clicked.connect(self._fit_all)
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fit_btn.setStyleSheet(btn_style)
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bar_layout.addWidget(fit_btn)
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bar_layout.addStretch()
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self._status_label = QLabel("Loading map...")
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self._status_label.setStyleSheet(f"color: {DARK_INFO};")
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bar_layout.addWidget(self._status_label)
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layout.addWidget(bar)
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# Web view
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self._web_view = QWebEngineView()
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self._web_view.setMinimumSize(400, 300)
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layout.addWidget(self._web_view, stretch=1)
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# ---- HTML generation ---------------------------------------------------
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def _get_map_html(self) -> str:
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lat = self._radar_position.latitude
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lon = self._radar_position.longitude
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cov = self._coverage_radius
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# Using {{ / }} for literal braces inside the f-string
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return f'''<!DOCTYPE html>
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<html>
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<head>
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<meta charset="utf-8">
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<meta name="viewport" content="width=device-width, initial-scale=1.0">
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<title>Radar Map</title>
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<link rel="stylesheet" href="https://unpkg.com/leaflet@1.9.4/dist/leaflet.css"
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integrity="sha256-p4NxAoJBhIIN+hmNHrzRCf9tD/miZyoHS5obTRR9BMY=" crossorigin=""/>
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<script src="https://unpkg.com/leaflet@1.9.4/dist/leaflet.js"
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integrity="sha256-20nQCchB9co0qIjJZRGuk2/Z9VM+kNiyxNV1lvTlZBo=" crossorigin=""></script>
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<script src="qrc:///qtwebchannel/qwebchannel.js"></script>
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<style>
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* {{ margin:0; padding:0; box-sizing:border-box; }}
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html, body {{ height:100%; width:100%; font-family:'Segoe UI',Arial,sans-serif; }}
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#map {{ height:100%; width:100%; background-color:{DARK_BG}; }}
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.leaflet-container {{ background-color:{DARK_BG} !important; }}
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.leaflet-popup-content-wrapper {{
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background-color:{DARK_ACCENT}; color:{DARK_FG};
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border-radius:8px; box-shadow:0 4px 12px rgba(0,0,0,0.4);
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}}
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.leaflet-popup-tip {{ background-color:{DARK_ACCENT}; }}
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.leaflet-popup-content {{ margin:12px; }}
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.popup-title {{
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font-size:14px; font-weight:bold; color:#4e9eff;
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margin-bottom:8px; border-bottom:1px solid {DARK_BORDER}; padding-bottom:6px;
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}}
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.popup-row {{ display:flex; justify-content:space-between; margin:4px 0; font-size:12px; }}
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.popup-label {{ color:{DARK_TEXT}; }}
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.popup-value {{ color:{DARK_FG}; font-weight:500; }}
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.status-approaching {{ color:#F44336; }}
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.status-receding {{ color:#2196F3; }}
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.status-stationary {{ color:#9E9E9E; }}
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.legend {{
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background-color:{DARK_ACCENT}; color:{DARK_FG};
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padding:10px 14px; border-radius:6px; font-size:12px;
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box-shadow:0 2px 8px rgba(0,0,0,0.3);
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}}
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.legend-title {{ font-weight:bold; margin-bottom:8px; color:#4e9eff; }}
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.legend-item {{ display:flex; align-items:center; margin:4px 0; }}
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.legend-color {{
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width:14px; height:14px; border-radius:50%;
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margin-right:8px; border:1px solid white;
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}}
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</style>
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</head>
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<body>
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<div id="map"></div>
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<script>
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var map, radarMarker, coverageCircle;
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var targetMarkers = {{}};
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var targetTrails = {{}};
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var targetTrailHistory = {{}};
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var bridge = null;
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var currentTileLayer = null;
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var showCoverage = true;
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var showTrails = false;
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var maxTrailLength = 30;
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var tileServers = {{
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'osm': {{
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url:'https://{{s}}.tile.openstreetmap.org/{{z}}/{{x}}/{{y}}.png',
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attribution:'© OpenStreetMap', maxZoom:19
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}},
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'google': {{
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url:'https://mt0.google.com/vt/lyrs=m&hl=en&x={{x}}&y={{y}}&z={{z}}&s=Ga',
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attribution:'© Google Maps', maxZoom:22
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}},
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'google_sat': {{
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url:'https://mt0.google.com/vt/lyrs=s&hl=en&x={{x}}&y={{y}}&z={{z}}&s=Ga',
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attribution:'© Google Maps', maxZoom:22
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}},
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'google_hybrid': {{
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url:'https://mt0.google.com/vt/lyrs=y&hl=en&x={{x}}&y={{y}}&z={{z}}&s=Ga',
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attribution:'© Google Maps', maxZoom:22
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}},
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'esri_sat': {{
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url:'https://server.arcgisonline.com/ArcGIS/rest/services/World_Imagery/MapServer/tile/{{z}}/{{y}}/{{x}}',
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attribution:'© Esri', maxZoom:19
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}}
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}};
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function initMap() {{
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map = L.map('map', {{ preferCanvas:true, zoomControl:true }})
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.setView([{lat}, {lon}], 10);
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setTileServer('osm');
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var radarIcon = L.divIcon({{
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className:'radar-icon',
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html:'<div style="background:radial-gradient(circle,#FF5252 0%,#D32F2F 100%);'+
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'width:24px;height:24px;border-radius:50%;border:3px solid white;'+
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'box-shadow:0 2px 8px rgba(0,0,0,0.5);"></div>',
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iconSize:[24,24], iconAnchor:[12,12]
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}});
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radarMarker = L.marker([{lat},{lon}], {{ icon:radarIcon, zIndexOffset:1000 }}).addTo(map);
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updateRadarPopup();
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coverageCircle = L.circle([{lat},{lon}], {{
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radius:{cov}, color:'#FF5252', fillColor:'#FF5252',
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fillOpacity:0.08, weight:2, dashArray:'8, 8'
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}}).addTo(map);
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addLegend();
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map.on('click', function(e){{ if(bridge) bridge.onMapClick(e.latlng.lat,e.latlng.lng); }});
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}}
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function setTileServer(id) {{
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var cfg = tileServers[id]; if(!cfg) return;
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if(currentTileLayer) map.removeLayer(currentTileLayer);
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currentTileLayer = L.tileLayer(cfg.url, {{ attribution:cfg.attribution, maxZoom:cfg.maxZoom }}).addTo(map);
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}}
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function updateRadarPopup() {{
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if(!radarMarker) return;
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var ll = radarMarker.getLatLng();
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radarMarker.bindPopup(
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'<div class="popup-title">Radar System</div>'+
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'<div class="popup-row"><span class="popup-label">Lat:</span><span class="popup-value">'+ll.lat.toFixed(6)+'</span></div>'+
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'<div class="popup-row"><span class="popup-label">Lon:</span><span class="popup-value">'+ll.lng.toFixed(6)+'</span></div>'+
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'<div class="popup-row"><span class="popup-label">Status:</span><span class="popup-value status-approaching">Active</span></div>'
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);
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}}
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||||
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function addLegend() {{
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var legend = L.control({{ position:'bottomright' }});
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legend.onAdd = function() {{
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var d = L.DomUtil.create('div','legend');
|
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d.innerHTML =
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'<div class="legend-title">Target Legend</div>'+
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'<div class="legend-item"><div class="legend-color" style="background:#F44336"></div>Approaching</div>'+
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'<div class="legend-item"><div class="legend-color" style="background:#2196F3"></div>Receding</div>'+
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'<div class="legend-item"><div class="legend-color" style="background:#9E9E9E"></div>Stationary</div>'+
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'<div class="legend-item"><div class="legend-color" style="background:#FF5252"></div>Radar</div>';
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return d;
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}};
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legend.addTo(map);
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}}
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function updateRadarPosition(lat,lon,alt,pitch,heading) {{
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if(!radarMarker||!coverageCircle) return;
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radarMarker.setLatLng([lat,lon]);
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coverageCircle.setLatLng([lat,lon]);
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updateRadarPopup();
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}}
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||||
|
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function updateTargets(targetsJson) {{
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var targets = JSON.parse(targetsJson);
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var currentIds = {{}};
|
||||
|
||||
targets.forEach(function(t) {{
|
||||
currentIds[t.id] = true;
|
||||
var lat=t.latitude, lon=t.longitude;
|
||||
var color = getTargetColor(t.velocity);
|
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var sz = Math.max(10, Math.min(20, 10+t.snr/3));
|
||||
|
||||
if(!targetTrailHistory[t.id]) targetTrailHistory[t.id] = [];
|
||||
targetTrailHistory[t.id].push([lat,lon]);
|
||||
if(targetTrailHistory[t.id].length > maxTrailLength)
|
||||
targetTrailHistory[t.id].shift();
|
||||
|
||||
if(targetMarkers[t.id]) {{
|
||||
targetMarkers[t.id].setLatLng([lat,lon]);
|
||||
targetMarkers[t.id].setIcon(makeIcon(color,sz));
|
||||
if(targetTrails[t.id]) {{
|
||||
targetTrails[t.id].setLatLngs(targetTrailHistory[t.id]);
|
||||
targetTrails[t.id].setStyle({{ color:color }});
|
||||
}}
|
||||
}} else {{
|
||||
var marker = L.marker([lat,lon], {{ icon:makeIcon(color,sz) }}).addTo(map);
|
||||
marker.on('click', (function(id){{ return function(){{ if(bridge) bridge.onMarkerClick(id); }}; }})(t.id));
|
||||
targetMarkers[t.id] = marker;
|
||||
if(showTrails) {{
|
||||
targetTrails[t.id] = L.polyline(targetTrailHistory[t.id], {{
|
||||
color:color, weight:3, opacity:0.7, lineCap:'round', lineJoin:'round'
|
||||
}}).addTo(map);
|
||||
}}
|
||||
}}
|
||||
updateTargetPopup(t);
|
||||
}});
|
||||
|
||||
for(var id in targetMarkers) {{
|
||||
if(!currentIds[id]) {{
|
||||
map.removeLayer(targetMarkers[id]); delete targetMarkers[id];
|
||||
if(targetTrails[id]) {{ map.removeLayer(targetTrails[id]); delete targetTrails[id]; }}
|
||||
delete targetTrailHistory[id];
|
||||
}}
|
||||
}}
|
||||
}}
|
||||
|
||||
function makeIcon(color,sz) {{
|
||||
return L.divIcon({{
|
||||
className:'target-icon',
|
||||
html:'<div style="background-color:'+color+';width:'+sz+'px;height:'+sz+'px;'+
|
||||
'border-radius:50%;border:2px solid white;box-shadow:0 2px 6px rgba(0,0,0,0.4);"></div>',
|
||||
iconSize:[sz,sz], iconAnchor:[sz/2,sz/2]
|
||||
}});
|
||||
}}
|
||||
|
||||
function updateTargetPopup(t) {{
|
||||
if(!targetMarkers[t.id]) return;
|
||||
var sc = t.velocity>1?'status-approaching':(t.velocity<-1?'status-receding':'status-stationary');
|
||||
var st = t.velocity>1?'Approaching':(t.velocity<-1?'Receding':'Stationary');
|
||||
targetMarkers[t.id].bindPopup(
|
||||
'<div class="popup-title">Target #'+t.id+'</div>'+
|
||||
'<div class="popup-row"><span class="popup-label">Range:</span><span class="popup-value">'+t.range.toFixed(1)+' m</span></div>'+
|
||||
'<div class="popup-row"><span class="popup-label">Velocity:</span><span class="popup-value">'+t.velocity.toFixed(1)+' m/s</span></div>'+
|
||||
'<div class="popup-row"><span class="popup-label">Azimuth:</span><span class="popup-value">'+t.azimuth.toFixed(1)+'°</span></div>'+
|
||||
'<div class="popup-row"><span class="popup-label">Elevation:</span><span class="popup-value">'+t.elevation.toFixed(1)+'°</span></div>'+
|
||||
'<div class="popup-row"><span class="popup-label">SNR:</span><span class="popup-value">'+t.snr.toFixed(1)+' dB</span></div>'+
|
||||
'<div class="popup-row"><span class="popup-label">Track:</span><span class="popup-value">'+t.track_id+'</span></div>'+
|
||||
'<div class="popup-row"><span class="popup-label">Status:</span><span class="popup-value '+sc+'">'+st+'</span></div>'
|
||||
);
|
||||
}}
|
||||
|
||||
function getTargetColor(v) {{
|
||||
if(v>50) return '#FF1744';
|
||||
if(v>10) return '#FF5252';
|
||||
if(v>1) return '#FF8A65';
|
||||
if(v<-50) return '#1565C0';
|
||||
if(v<-10) return '#2196F3';
|
||||
if(v<-1) return '#64B5F6';
|
||||
return '#9E9E9E';
|
||||
}}
|
||||
|
||||
function setCoverageVisible(vis) {{
|
||||
showCoverage = vis;
|
||||
if(coverageCircle) {{
|
||||
if(vis) coverageCircle.addTo(map); else map.removeLayer(coverageCircle);
|
||||
}}
|
||||
}}
|
||||
function setCoverageRadius(r) {{ if(coverageCircle) coverageCircle.setRadius(r); }}
|
||||
|
||||
function setTrailsVisible(vis) {{
|
||||
showTrails = vis;
|
||||
if(vis) {{
|
||||
for(var id in targetMarkers) {{
|
||||
if(!targetTrails[id] && targetTrailHistory[id] && targetTrailHistory[id].length>1) {{
|
||||
targetTrails[id] = L.polyline(targetTrailHistory[id], {{
|
||||
color:'#4CAF50', weight:3, opacity:0.7, lineCap:'round', lineJoin:'round'
|
||||
}}).addTo(map);
|
||||
}} else if(targetTrails[id]) {{
|
||||
targetTrails[id].addTo(map);
|
||||
}}
|
||||
}}
|
||||
}} else {{
|
||||
for(var id in targetTrails) {{ map.removeLayer(targetTrails[id]); }}
|
||||
}}
|
||||
}}
|
||||
|
||||
function centerOnRadar() {{ if(radarMarker) map.setView(radarMarker.getLatLng(), map.getZoom()); }}
|
||||
|
||||
function fitAllTargets() {{
|
||||
var b = L.latLngBounds([]);
|
||||
if(radarMarker) b.extend(radarMarker.getLatLng());
|
||||
for(var id in targetMarkers) b.extend(targetMarkers[id].getLatLng());
|
||||
if(b.isValid()) map.fitBounds(b, {{ padding:[50,50] }});
|
||||
}}
|
||||
|
||||
function setZoom(lvl) {{ map.setZoom(lvl); }}
|
||||
|
||||
document.addEventListener('DOMContentLoaded', function() {{
|
||||
new QWebChannel(qt.webChannelTransport, function(ch) {{
|
||||
bridge = ch.objects.bridge;
|
||||
initMap();
|
||||
if(bridge) bridge.onMapReady();
|
||||
}});
|
||||
}});
|
||||
</script>
|
||||
</body>
|
||||
</html>'''
|
||||
|
||||
# ---- load / helpers ----------------------------------------------------
|
||||
|
||||
def _load_map(self):
|
||||
self._web_view.setHtml(self._get_map_html())
|
||||
logger.info("Leaflet map HTML loaded")
|
||||
|
||||
def _on_map_ready(self):
|
||||
self._status_label.setText(f"Map ready - {len(self._targets)} targets")
|
||||
self._status_label.setStyleSheet(f"color: {DARK_SUCCESS};")
|
||||
|
||||
def _on_marker_clicked(self, tid: int):
|
||||
self.targetSelected.emit(tid)
|
||||
|
||||
def _run_js(self, script: str):
|
||||
self._web_view.page().runJavaScript(script)
|
||||
|
||||
# ---- control bar callbacks ---------------------------------------------
|
||||
|
||||
def _on_tile_changed(self, _index: int):
|
||||
server = self._tile_combo.currentData()
|
||||
if server:
|
||||
self._tile_server = server
|
||||
self._run_js(f"setTileServer('{server.value}')")
|
||||
|
||||
def _on_coverage_toggled(self, state: int):
|
||||
vis = state == Qt.CheckState.Checked.value
|
||||
self._show_coverage = vis
|
||||
self._run_js(f"setCoverageVisible({str(vis).lower()})")
|
||||
|
||||
def _on_trails_toggled(self, state: int):
|
||||
vis = state == Qt.CheckState.Checked.value
|
||||
self._show_trails = vis
|
||||
self._run_js(f"setTrailsVisible({str(vis).lower()})")
|
||||
|
||||
def _center_on_radar(self):
|
||||
self._run_js("centerOnRadar()")
|
||||
|
||||
def _fit_all(self):
|
||||
self._run_js("fitAllTargets()")
|
||||
|
||||
# ---- public API --------------------------------------------------------
|
||||
|
||||
def set_radar_position(self, gps: GPSData):
|
||||
self._radar_position = gps
|
||||
self._run_js(
|
||||
f"updateRadarPosition({gps.latitude},{gps.longitude},"
|
||||
f"{gps.altitude},{gps.pitch},{gps.heading})"
|
||||
)
|
||||
|
||||
def set_targets(self, targets: List[RadarTarget]):
|
||||
self._targets = targets
|
||||
data = [t.to_dict() for t in targets]
|
||||
js = json.dumps(data).replace("'", "\\'")
|
||||
self._status_label.setText(f"{len(targets)} targets tracked")
|
||||
self._run_js(f"updateTargets('{js}')")
|
||||
|
||||
def set_coverage_radius(self, radius_m: float):
|
||||
self._coverage_radius = radius_m
|
||||
self._run_js(f"setCoverageRadius({radius_m})")
|
||||
|
||||
def set_zoom(self, level: int):
|
||||
level = max(0, min(22, level))
|
||||
self._run_js(f"setZoom({level})")
|
||||
Reference in New Issue
Block a user