S1005403_RisCC/target_simulator/gui/analysis_window.py

# target_simulator/gui/analysis_window.py
"""
A Toplevel window for displaying real-time performance analysis, including
error statistics and plots.
"""

import tkinter as tk
from tkinter import ttk, messagebox
from typing import Optional, Dict

from target_simulator.analysis.performance_analyzer import PerformanceAnalyzer
from target_simulator.analysis.simulation_state_hub import SimulationStateHub

try:
    from matplotlib.figure import Figure
    from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg

    MATPLOTLIB_AVAILABLE = True
except ImportError:
    MATPLOTLIB_AVAILABLE = False

UPDATE_INTERVAL_MS = 1000  # Update analysis every second


class AnalysisWindow(tk.Toplevel):
    """
    A window that displays real-time analysis of tracking performance.
    """

    def __init__(self, master, analyzer: PerformanceAnalyzer, hub: SimulationStateHub):
        super().__init__(master)
        self.title("Performance Analysis")
        self.geometry("800x600")
        self.transient(master)

        if not MATPLOTLIB_AVAILABLE:
            messagebox.showerror(
                "Dependency Missing",
                "Matplotlib is required for the analysis window. Please install it (`pip install matplotlib`).",
                parent=self,
            )
            self.destroy()
            return

        self._analyzer = analyzer
        self._hub = hub
        self._active = True

        # Cache last displayed state so we can preserve it between simulations.
        # If no new analysis data is available (e.g. simulation stopped), we
        # will keep showing these values until a new simulation populates the hub.
        self._last_displayed_target_id = None
        self._has_last_values = False

        self.selected_target_id = tk.IntVar()

        self._create_widgets()
        self._update_loop()

        self.protocol("WM_DELETE_WINDOW", self._on_close)

    def _create_widgets(self):
        main_pane = ttk.PanedWindow(self, orient=tk.VERTICAL)
        main_pane.pack(fill=tk.BOTH, expand=True, padx=10, pady=10)

        # --- Top Frame for Stats Table ---
        stats_frame = ttk.LabelFrame(main_pane, text="Error Statistics (feet)")
        main_pane.add(stats_frame, weight=1)
        self._create_stats_widgets(stats_frame)

        # --- Bottom Frame for Plot ---
        plot_frame = ttk.LabelFrame(main_pane, text="Error Over Time (feet)")
        main_pane.add(plot_frame, weight=3)
        self._create_plot_widgets(plot_frame)

    def _create_stats_widgets(self, parent):
        top_bar = ttk.Frame(parent)
        top_bar.pack(fill=tk.X, padx=5, pady=5)

        ttk.Label(top_bar, text="Select Target ID:").pack(side=tk.LEFT)
        self.target_selector = ttk.Combobox(
            top_bar, textvariable=self.selected_target_id, state="readonly", width=5
        )
        self.target_selector.pack(side=tk.LEFT, padx=5)
        self.target_selector.bind("<<ComboboxSelected>>", self._on_target_select)

        columns = ("metric", "x_error", "y_error", "z_error")
        self.stats_tree = ttk.Treeview(parent, columns=columns, show="headings")

        self.stats_tree.heading("metric", text="Metric")
        self.stats_tree.heading("x_error", text="Error X")
        self.stats_tree.heading("y_error", text="Error Y")
        self.stats_tree.heading("z_error", text="Error Z")

        self.stats_tree.column("metric", width=120, anchor=tk.W)
        self.stats_tree.column("x_error", anchor=tk.E)
        self.stats_tree.column("y_error", anchor=tk.E)
        self.stats_tree.column("z_error", anchor=tk.E)

        self.stats_tree.pack(fill=tk.BOTH, expand=True, padx=5, pady=5)

    def _create_plot_widgets(self, parent):
        fig = Figure(figsize=(5, 3), dpi=100)
        self.ax = fig.add_subplot(111)

        self.ax.set_title("Instantaneous Error")
        self.ax.set_xlabel("Time (s)")
        self.ax.set_ylabel("Error (ft)")

        (self.line_x,) = self.ax.plot([], [], lw=2, label="Error X")
        (self.line_y,) = self.ax.plot([], [], lw=2, label="Error Y")
        (self.line_z,) = self.ax.plot([], [], lw=2, label="Error Z")

        self.ax.legend()
        self.ax.grid(True)
        fig.tight_layout()

        self.canvas = FigureCanvasTkAgg(fig, master=parent)
        self.canvas.draw()
        self.canvas.get_tk_widget().pack(fill=tk.BOTH, expand=True)

    def _update_loop(self):
        if not self._active:
            return

        self._update_target_selector()
        # If the simulation is not running, do not process new analysis data.
        # Keep showing the last cached values (if any) until a simulation is
        # actively running again.
        try:
            running = False
            if hasattr(self.master, "is_simulation_running"):
                try:
                    running = bool(self.master.is_simulation_running.get())
                except Exception:
                    running = False
        except Exception:
            running = False

        sel = self.selected_target_id.get()

        if not running:
            # Simulation not running: do not call analyze or update plots.
            # Preserve last displayed values to avoid UI flicker/clearing.
            # However, if there are no cached values, show a message in the
            # stats table to indicate data will appear when simulation runs.
            if not self._has_last_values:
                self.stats_tree.delete(*self.stats_tree.get_children())
                self.stats_tree.insert(
                    "",
                    "end",
                    values=("No Data", "-", "-", "-"),
                )
            self.after(UPDATE_INTERVAL_MS, self._update_loop)
            return

        # When running, perform live analysis and update views.
        analysis_results = self._analyzer.analyze()

        if sel in analysis_results:
            # We have fresh analysis for the selected target: update and cache
            self._update_stats_table(analysis_results[sel])
            self._update_plot(sel)
            self._last_displayed_target_id = sel
            self._has_last_values = True
        else:
            # No fresh analysis for selected target. Decide whether to clear or
            # keep the last displayed values. If the hub currently reports any
            # active real targets, it means data should be cleared for missing
            # selection; otherwise preserve.
            try:
                if self._hub and hasattr(self._hub, "has_active_real_targets") and self._hub.has_active_real_targets():
                    self._clear_views()
                    self._has_last_values = False
                else:
                    pass
            except Exception:
                self._clear_views()
                self._has_last_values = False

        self.after(UPDATE_INTERVAL_MS, self._update_loop)

    def _update_target_selector(self):
        # Only update the combobox values when the hub reports target ids.
        # This prevents the selector from being emptied when the hub is cleared
        # at the end of a simulation and allows the analysis window to continue
        # showing the last results until the next simulation starts.
        try:
            target_ids = sorted(self._hub.get_all_target_ids())
        except Exception:
            target_ids = []

        if target_ids:
            self.target_selector["values"] = target_ids

            if self.selected_target_id.get() not in target_ids:
                # If previous selection isn't available, pick the first available
                self.selected_target_id.set(target_ids[0])
        else:
            # Do not overwrite existing combobox values when no targets are present.
            # This preserves the user's last view after a simulation ends.
            pass

    def _on_target_select(self, event=None):
        # Trigger an immediate update when user changes selection
        # Only perform an immediate analysis if the simulation is running.
        running = False
        try:
            if hasattr(self.master, "is_simulation_running"):
                running = bool(self.master.is_simulation_running.get())
        except Exception:
            running = False

        sel = self.selected_target_id.get()

        if not running:
            # If we have cached values for this selection, keep them; otherwise
            # show a placeholder and don't call the analyzer.
            if self._has_last_values and self._last_displayed_target_id == sel:
                return
            else:
                self.stats_tree.delete(*self.stats_tree.get_children())
                self.stats_tree.insert(
                    "",
                    "end",
                    values=("No Data", "-", "-", "-"),
                )
                self._has_last_values = False
                return

        # Simulation running -> perform analysis for selection
        analysis_results = self._analyzer.analyze()
        if sel in analysis_results:
            self._update_stats_table(analysis_results[sel])
            self._update_plot(sel)
            self._last_displayed_target_id = sel
            self._has_last_values = True
        else:
            try:
                if self._hub and hasattr(self._hub, "has_active_real_targets") and self._hub.has_active_real_targets():
                    self._clear_views()
                    self._has_last_values = False
                else:
                    pass
            except Exception:
                self._clear_views()
                self._has_last_values = False

    def _update_stats_table(self, results: Dict):
        self.stats_tree.delete(*self.stats_tree.get_children())

        metrics = ["mean", "std_dev", "rmse"]
        for metric in metrics:
            self.stats_tree.insert(
                "",
                "end",
                values=(
                    metric.replace("_", " ").title(),
                    f"{results['x'][metric]:.3f}",
                    f"{results['y'][metric]:.3f}",
                    f"{results['z'][metric]:.3f}",
                ),
            )

    def _update_plot(self, target_id: int):
        history = self._hub.get_target_history(target_id)
        if not history or not history["real"] or len(history["simulated"]) < 2:
            self.line_x.set_data([], [])
            self.line_y.set_data([], [])
            self.line_z.set_data([], [])
            self.ax.relim()
            self.ax.autoscale_view()
            self.canvas.draw_idle()
            return

        times, errors_x, errors_y, errors_z = [], [], [], []

        sim_hist = sorted(history["simulated"])

        for real_state in history["real"]:
            real_ts, real_x, real_y, real_z = real_state
            p1, p2 = self._analyzer._find_bracketing_points(real_ts, sim_hist)
            if p1 and p2:
                interp_state = self._analyzer._interpolate(real_ts, p1, p2)
                _ts, interp_x, interp_y, interp_z = interp_state

                times.append(real_ts)
                errors_x.append(real_x - interp_x)
                errors_y.append(real_y - interp_y)
                errors_z.append(real_z - interp_z)

        self.line_x.set_data(times, errors_x)
        self.line_y.set_data(times, errors_y)
        self.line_z.set_data(times, errors_z)

        self.ax.relim()
        self.ax.autoscale_view()
        self.canvas.draw_idle()

    def _clear_views(self):
        self.stats_tree.delete(*self.stats_tree.get_children())
        self.line_x.set_data([], [])
        self.line_y.set_data([], [])
        self.line_z.set_data([], [])
        self.ax.relim()
        self.ax.autoscale_view()
        self.canvas.draw_idle()

    def _on_close(self):
        self._active = False
        self.destroy()