388 lines
18 KiB
Python
388 lines
18 KiB
Python
# target_simulator/gui/ppi_display.py
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"""
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A reusable Tkinter widget that displays a Plan Position Indicator (PPI)
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using Matplotlib, capable of showing both live targets and trajectory previews.
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"""
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import tkinter as tk
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from tkinter import ttk
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import math
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import numpy as np
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import copy
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from matplotlib.figure import Figure
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from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
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from target_simulator.core.models import NM_TO_FT
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# Use absolute imports
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from target_simulator.core.models import Target, Waypoint, ManeuverType
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from typing import List, Optional
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class PPIDisplay(ttk.Frame):
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def clear_previews(self):
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"""Clears all preview artists from the plot."""
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for artist in self.preview_artists:
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artist.set_data([], [])
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self.canvas.draw()
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def _on_motion(self, event):
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# Stub: implementazione futura per tooltip/mouseover
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pass
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"""A custom, reusable widget for the PPI radar display."""
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def __init__(self, master, max_range_nm: int = 100, scan_limit_deg: int = 60):
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super().__init__(master)
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self.max_range = max_range_nm
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self.scan_limit_deg = scan_limit_deg
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self.target_artists = []
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self.active_targets: List[Target] = []
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self._target_dots = []
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self.preview_artists = []
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self._create_controls()
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self._create_plot()
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def _create_controls(self):
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"""Creates the control widgets for the PPI display."""
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self.controls_frame = ttk.Frame(self)
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self.controls_frame.pack(side=tk.TOP, fill=tk.X, padx=5, pady=5)
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ttk.Label(self.controls_frame, text="Range (NM):").pack(side=tk.LEFT)
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# Create a list of valid range steps up to the theoretical max_range
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all_steps = [10, 20, 40, 80, 100, 160]
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valid_steps = sorted([s for s in all_steps if s <= self.max_range])
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if not valid_steps:
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valid_steps = [self.max_range]
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# Ensure the initial max range is in the list if not a standard step
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if self.max_range not in valid_steps:
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valid_steps.append(self.max_range)
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valid_steps.sort()
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# The initial value for the combobox is the max_range passed to the constructor
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self.range_var = tk.IntVar(value=self.max_range)
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self.range_selector = ttk.Combobox(
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self.controls_frame, textvariable=self.range_var,
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values=valid_steps, state="readonly", width=5
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)
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self.range_selector.pack(side=tk.LEFT, padx=5)
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self.range_selector.bind("<<ComboboxSelected>>", self._on_range_selected)
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def _create_plot(self):
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"""Initializes the Matplotlib polar plot."""
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fig = Figure(figsize=(5, 5), dpi=100, facecolor='#3E3E3E')
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fig.subplots_adjust(left=0.05, right=0.95, top=0.85, bottom=0.05)
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self.ax = fig.add_subplot(111, projection='polar', facecolor='#2E2E2E')
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self.ax.set_theta_zero_location('N')
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self.ax.set_theta_direction(-1)
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self.ax.set_rlabel_position(90)
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self.ax.set_ylim(0, self.range_var.get())
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angles = np.arange(0, 360, 30)
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labels = [f"{angle}°" if angle == 0 else f"+{angle}°" if angle < 180 else "±180°" if angle == 180 else f"-{360 - angle}°" for angle in angles]
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self.ax.set_thetagrids(angles, labels)
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self.ax.tick_params(axis='x', colors='white', labelsize=8)
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self.ax.tick_params(axis='y', colors='white', labelsize=8)
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self.ax.grid(color='white', linestyle='--', linewidth=0.5, alpha=0.5)
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self.ax.spines['polar'].set_color('white')
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self.ax.set_title("PPI Display", color='white', y=1.08)
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# --- Artists for drawing ---
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self._start_plot, = self.ax.plot([], [], 'go', markersize=8)
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self._waypoints_plot, = self.ax.plot([], [], 'y+', markersize=10, mew=2, linestyle='None')
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self._path_plot, = self.ax.plot([], [], 'g--', linewidth=1.5)
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self._preview_artist, = self.ax.plot([], [], color="orange", linestyle="--", linewidth=2, alpha=0.7)
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self._heading_artist, = self.ax.plot([], [], color='red', linewidth=1, alpha=0.8)
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self.preview_artists = [self._start_plot, self._waypoints_plot, self._path_plot, self._preview_artist, self._heading_artist]
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# --- NEW: Create artists for scan lines ---
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limit_rad = np.deg2rad(self.scan_limit_deg)
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self._scan_line_1, = self.ax.plot([limit_rad, limit_rad], [0, self.max_range], color='yellow', linestyle='--', linewidth=1)
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self._scan_line_2, = self.ax.plot([-limit_rad, -limit_rad], [0, self.max_range], color='yellow', linestyle='--', linewidth=1)
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self._tooltip_label = None
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self.canvas = FigureCanvasTkAgg(fig, master=self)
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self.canvas.draw()
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self.canvas.get_tk_widget().pack(side=tk.TOP, fill=tk.BOTH, expand=True)
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self.canvas.mpl_connect('motion_notify_event', self._on_motion)
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# --- NEW: Initial draw of scan lines ---
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self._update_scan_lines()
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def _update_scan_lines(self):
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"""Updates the length of the scan sector lines to match the current range."""
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current_range_max = self.ax.get_ylim()[1]
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self._scan_line_1.set_ydata([0, current_range_max])
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self._scan_line_2.set_ydata([0, current_range_max])
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def _on_range_selected(self, event=None):
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"""Handles the selection of a new range."""
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new_range = self.range_var.get()
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self.ax.set_ylim(0, new_range)
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# --- NEW: Update scan lines on zoom change ---
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self._update_scan_lines()
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self.update_targets(self.active_targets)
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self.canvas.draw()
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# ... il resto dei metodi rimane invariato ...
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def update_targets(self, targets: List[Target]):
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# (This method is unchanged)
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self.active_targets = [t for t in targets if t.active]
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for artist in self.target_artists: artist.remove()
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self.target_artists.clear()
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self._target_dots.clear()
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vector_len = self.range_var.get() / 25
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for target in self.active_targets:
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r = target.current_range_nm
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theta = np.deg2rad(target.current_azimuth_deg)
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dot, = self.ax.plot(theta, r, 'o', markersize=5, color='red')
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self.target_artists.append(dot)
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self._target_dots.append((dot, target))
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x1, y1 = r * np.sin(theta), r * np.cos(theta)
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h_rad = np.deg2rad(target.current_heading_deg)
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dx, dy = vector_len * np.sin(h_rad), vector_len * np.cos(h_rad)
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x2, y2 = x1 + dx, y1 + dy
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r2, th2 = np.sqrt(x2**2 + y2**2), np.arctan2(x2, y2)
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line, = self.ax.plot([theta, th2], [r, r2], color='red', linewidth=1.2)
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self.target_artists.append(line)
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self.canvas.draw()
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def draw_trajectory_preview(self, trajectory):
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"""
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Simulates and draws a trajectory preview.
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Accepts either a list of Waypoint or a Target object.
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"""
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# Pulisci tutto prima di ridisegnare
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self.clear_previews()
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self._waypoints_plot.set_data([], [])
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self._start_plot.set_data([], [])
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if hasattr(self, '_preview_artist'):
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self._preview_artist.set_data([], [])
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# Rimuovi eventuali artisti extra creati manualmente (puntini/linee)
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if hasattr(self, '_preview_extra_artists'):
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for a in self._preview_extra_artists:
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try:
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a.remove()
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except Exception:
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pass
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self._preview_extra_artists.clear()
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else:
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self._preview_extra_artists = []
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# Forza la pulizia della canvas
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self.canvas.draw()
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self._on_range_selected()
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# Determine input type
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if isinstance(trajectory, list):
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self._spline_preview_active = False
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waypoints = trajectory
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if not waypoints:
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self.canvas.draw()
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return
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if all(getattr(wp, 'maneuver_type', None) != ManeuverType.FLY_TO_POINT for wp in waypoints):
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self.canvas.draw()
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return
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# Classic preview (polyline) SOLO se spline non attiva
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# (la preview spline cancella la classica)
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# Costruisci la lista dei punti da visualizzare
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points = []
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# Stato corrente: range/azimuth
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curr_r = None
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curr_theta = None
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for i, wp in enumerate(waypoints):
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if getattr(wp, 'maneuver_type', None) == ManeuverType.FLY_TO_POINT:
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curr_r = getattr(wp, 'target_range_nm', 0)
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curr_theta = math.radians(getattr(wp, 'target_azimuth_deg', 0))
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points.append((curr_theta, curr_r, wp))
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elif getattr(wp, 'maneuver_type', None) == ManeuverType.FLY_FOR_DURATION:
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# Se non c'è punto iniziale, ignora
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if curr_r is None or curr_theta is None:
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continue
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vel_fps = getattr(wp, 'target_velocity_fps', 0)
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vel_nmps = vel_fps / NM_TO_FT if vel_fps else 0
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duration = getattr(wp, 'duration_s', 0)
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heading_deg = getattr(wp, 'target_heading_deg', 0)
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heading_rad = math.radians(heading_deg)
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# Calcola delta x/y in coordinate polari
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dr = vel_nmps * duration
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theta1 = curr_theta + heading_rad
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r1 = curr_r + dr
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curr_r = r1
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curr_theta = theta1
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points.append((curr_theta, curr_r, wp))
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thetas = [p[0] for p in points]
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rs = [p[1] for p in points]
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if len(thetas) == 1:
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# Mostra solo il punto iniziale con stile simulazione
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self._preview_artist.set_data([], [])
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self._waypoints_plot.set_data([], [])
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self._start_plot.set_data([], [])
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wp0 = waypoints[0]
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start_theta = thetas[0]
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start_r = rs[0]
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self._preview_extra_artists = []
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# Puntino rosso
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dot, = self.ax.plot([start_theta], [start_r], 'o', markersize=5, color='red')
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self._preview_extra_artists.append(dot)
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# Linea di heading corta
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heading_deg = getattr(wp0, 'target_heading_deg', None)
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if heading_deg is not None:
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h_rad = math.radians(heading_deg)
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vector_len = self.max_range / 25
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x1, y1 = start_r * math.sin(start_theta), start_r * math.cos(start_theta)
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dx, dy = vector_len * math.sin(h_rad), vector_len * math.cos(h_rad)
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x2, y2 = x1 + dx, y1 + dy
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r2, th2 = math.sqrt(x2**2 + y2**2), math.atan2(x2, y2)
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line, = self.ax.plot([start_theta, th2], [start_r, r2], color='red', linewidth=1.2)
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self._preview_extra_artists.append(line)
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self.canvas.draw()
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return
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if len(thetas) < 2:
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self.canvas.draw()
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return
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# Verifica se la preview è per spline: se sì, non disegnare la linea classica
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if hasattr(self, '_spline_preview_active') and self._spline_preview_active:
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self._preview_artist.set_data([], [])
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else:
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self._preview_artist.set_data(thetas, rs)
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self._waypoints_plot.set_data(thetas, rs)
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start_theta = thetas[0]
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start_r = rs[0]
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self._start_plot.set_data([start_theta], [start_r])
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# Heading dal primo waypoint
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wp0 = points[0][2]
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heading_deg = getattr(wp0, 'target_heading_deg', None)
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if heading_deg is not None:
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h_rad = math.radians(heading_deg)
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vector_len = self.max_range / 25
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x1, y1 = start_r * math.sin(start_theta), start_r * math.cos(start_theta)
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dx, dy = vector_len * math.sin(h_rad), vector_len * math.cos(h_rad)
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x2, y2 = x1 + dx, y1 + dy
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r2, th2 = math.sqrt(x2**2 + y2**2), math.atan2(x2, y2)
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if hasattr(self, '_heading_artist'):
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self._heading_artist.remove()
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self._heading_artist, = self.ax.plot([start_theta, th2], [start_r, r2], color='red', linewidth=1.2)
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# Heading per ogni punto finale FLY_FOR_DURATION
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for i, (theta, r, wp) in enumerate(points):
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if i == 0:
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continue
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if getattr(wp, 'maneuver_type', None) == ManeuverType.FLY_FOR_DURATION:
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heading_deg = getattr(wp, 'target_heading_deg', None)
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if heading_deg is not None:
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h_rad = math.radians(heading_deg)
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vector_len = self.max_range / 25
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x1, y1 = r * math.sin(theta), r * math.cos(theta)
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dx, dy = vector_len * math.sin(h_rad), vector_len * math.cos(h_rad)
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x2, y2 = x1 + dx, y1 + dy
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r2, th2 = math.sqrt(x2**2 + y2**2), math.atan2(x2, y2)
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self.ax.plot([theta, th2], [r, r2], color='red', linewidth=1.2)
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else:
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# Assume Target object with trajectory and use_spline
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waypoints = getattr(trajectory, "trajectory", [])
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if len(waypoints) < 2:
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self.canvas.draw()
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return
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if getattr(trajectory, "use_spline", False):
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self._spline_preview_active = True
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from target_simulator.utils.spline import catmull_rom_spline
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# Converte i waypoint da polari a cartesiane (x, y) in NM
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points = []
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for wp in waypoints:
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r_nm = getattr(wp, 'target_range_nm', 0)
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theta_deg = getattr(wp, 'target_azimuth_deg', 0)
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theta_rad = math.radians(theta_deg)
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x_nm = r_nm * math.sin(theta_rad)
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y_nm = r_nm * math.cos(theta_rad)
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points.append((x_nm, y_nm))
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if len(points) < 4:
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spline_pts = points
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else:
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try:
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spline_pts = catmull_rom_spline(points)
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# DEBUG: salva i punti spline in un file CSV
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import csv, os
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temp_path = os.path.join(os.path.dirname(__file__), '..', '..', 'Temp', 'spline_preview.csv')
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with open(temp_path, 'w', newline='') as csvfile:
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writer = csv.writer(csvfile)
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writer.writerow(['x_nm', 'y_nm'])
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for pt in spline_pts:
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writer.writerow([pt[0], pt[1]])
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except Exception:
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spline_pts = points
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# Converte i punti spline da x/y a (theta, r) in NM
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spline_thetas = []
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spline_rs = []
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for x_nm, y_nm in spline_pts:
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r_nm = (x_nm**2 + y_nm**2)**0.5
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theta = math.atan2(x_nm, y_nm)
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spline_thetas.append(theta)
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spline_rs.append(r_nm)
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self._preview_artist.set_data(spline_thetas, spline_rs)
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wp_thetas = []
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wp_rs = []
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for x_nm, y_nm in points:
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r_nm = (x_nm**2 + y_nm**2)**0.5
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theta = math.atan2(x_nm, y_nm)
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wp_thetas.append(theta)
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wp_rs.append(r_nm)
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self._waypoints_plot.set_data(wp_thetas, wp_rs)
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start_x_nm, start_y_nm = points[0]
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start_r_nm = (start_x_nm**2 + start_y_nm**2)**0.5
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start_theta = math.atan2(start_x_nm, start_y_nm)
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self._start_plot.set_data([start_theta], [start_r_nm])
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if hasattr(self, '_heading_artist'):
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self._heading_artist.remove()
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if len(points) > 1:
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dx = points[1][0] - points[0][0]
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dy = points[1][1] - points[0][1]
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norm = (dx**2 + dy**2)**0.5
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if norm > 0:
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heading_len = 3
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hx_nm = start_x_nm + heading_len * dx / norm
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hy_nm = start_y_nm + heading_len * dy / norm
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h_r_nm = (hx_nm**2 + hy_nm**2)**0.5
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h_theta = math.atan2(hx_nm, hy_nm)
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self._heading_artist, = self.ax.plot([start_theta, h_theta], [start_r_nm, h_r_nm], color='red', linewidth=1, alpha=0.8)
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else:
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self._spline_preview_active = False
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xs = [wp.x for wp in waypoints]
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ys = [wp.y for wp in waypoints]
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self._preview_artist, = self.ax.plot(xs, ys, color="orange", linestyle="--", linewidth=2, alpha=0.7)
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# ...rimosso blocco duplicato/non valido...
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self._update_scan_lines()
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self.canvas.draw()
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def reconfigure_radar(self, max_range_nm: int, scan_limit_deg: int):
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"""
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Updates the radar parameters (range, scan limit) of an existing PPI display.
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"""
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self.max_range = max_range_nm
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self.scan_limit_deg = scan_limit_deg
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# Update the range combobox values
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steps = [10, 20, 40, 80, 100, 160]
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valid_steps = sorted([s for s in steps if s <= self.max_range])
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if not valid_steps: valid_steps = [self.max_range]
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if self.max_range not in valid_steps:
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valid_steps.append(self.max_range)
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valid_steps.sort()
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self.range_selector['values'] = valid_steps
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self.range_var.set(self.max_range) # Set to the new max range
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# Update the scan limit lines
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limit_rad = np.deg2rad(self.scan_limit_deg)
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self._scan_line_1.set_xdata([limit_rad, limit_rad])
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self._scan_line_2.set_xdata([-limit_rad, -limit_rad])
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# Apply the new range and redraw everything
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self._on_range_selected() |