Feature 45 - Depth Widget

frontend/dashboard.py

@@ -68,6 +68,8 @@ def __init__(self, comms: Comms):
             1020, 68, 1330, 378, fill=accent_color, outline=accent_color
         )
 
+        depth_widget = DepthWidget((1030, 78), canvas)
+
         thruster_widget = ThrustersWidget((1020, 406), canvas)
 
         self.logo = PhotoImage(file="frontend/resources/logo.gif")
@@ -92,6 +94,7 @@ def __init__(self, comms: Comms):
             "GyroscopeWidget": gyro_widget,
             "PiConsoleWidget": console_widget,
             "VideoWidget": video_widget,
+            "DepthWidget": depth_widget
         }
 
     def update_widget(self, widget_name: str, data: dict):

frontend/widget/depth.py

@@ -1,22 +1,34 @@
 from .widget import Widget
+from PIL import Image, ImageTk
+from collections import deque
 
 
 class DepthWidget(Widget):
-
     WIDTH = 250
     HEIGHT = 350
 
+    # left corner of graph is approximately (left_x + 10, left_y-5)
+    # width of one block is approximately 58
+    # height of one meter is approximately 20
+
     def __init__(self, left_corner, canvas):
         self.left_x, self.left_y = left_corner
         self.canvas = canvas
-        canvas.create_rectangle(
-            self.left_x,
-            self.left_y,
-            self.left_x + self.WIDTH,
-            self.left_y + self.HEIGHT,
-            fill="green",
-            outline="yellow",
+        self.graph = myGraph = ImageTk.PhotoImage(Image.open(
+            "frontend/resources/DepthGraph.png"
+        ))
+        self.graph_id = canvas.create_image(
+            self.left_x + 145, self.left_y + 150, image=myGraph
         )
+        self.q = deque(maxlen=5)
+        self.lines = []
+        for i in range(5):
+            self.lines.append(canvas.create_line(self.left_x + 10, self.left_y - 5, self.left_x + 10, self.left_y - 5,
+                                                 fill="red", width=1.5))
 
     def update(self, data: dict):
-        raise NotImplementedError
+        self.q.append(data["depth"])
+        if len(self.q) > 1:
+            for k in range(len(self.q) - 1):
+                self.canvas.coords(self.lines[k], self.left_x + 10 + (58 * k), self.left_y - 5 + (self.q[k] * 20),
+                                   self.left_x + 10 + (58 * (k + 1)), self.left_y - 5 + (self.q[k + 1] * 20))

requirements.txt

@@ -1,3 +1,4 @@
+Pillow
 appdirs==1.4.3
 attrs==19.3.0
 black==19.10b0