diff options
Diffstat (limited to 'tools/orientationplot/orientationplot.py')
| -rwxr-xr-x | tools/orientationplot/orientationplot.py | 116 |
1 files changed, 69 insertions, 47 deletions
diff --git a/tools/orientationplot/orientationplot.py b/tools/orientationplot/orientationplot.py index 3a44cb2..f4e6b45 100755 --- a/tools/orientationplot/orientationplot.py +++ b/tools/orientationplot/orientationplot.py @@ -82,6 +82,7 @@ class Plotter: self.raw_acceleration_x = self._make_timeseries() self.raw_acceleration_y = self._make_timeseries() self.raw_acceleration_z = self._make_timeseries() + self.raw_acceleration_magnitude = self._make_timeseries() self.raw_acceleration_axes = self._add_timeseries_axes( 1, 'Raw Acceleration', 'm/s^2', [-20, 20], yticks=range(-15, 16, 5)) @@ -91,6 +92,8 @@ class Plotter: self.raw_acceleration_axes, 'y', 'green') self.raw_acceleration_line_z = self._add_timeseries_line( self.raw_acceleration_axes, 'z', 'blue') + self.raw_acceleration_line_magnitude = self._add_timeseries_line( + self.raw_acceleration_axes, 'magnitude', 'orange', linewidth=2) self._add_timeseries_legend(self.raw_acceleration_axes) shared_axis = self.raw_acceleration_axes @@ -98,7 +101,7 @@ class Plotter: self.filtered_acceleration_x = self._make_timeseries() self.filtered_acceleration_y = self._make_timeseries() self.filtered_acceleration_z = self._make_timeseries() - self.magnitude = self._make_timeseries() + self.filtered_acceleration_magnitude = self._make_timeseries() self.filtered_acceleration_axes = self._add_timeseries_axes( 2, 'Filtered Acceleration', 'm/s^2', [-20, 20], sharex=shared_axis, @@ -109,7 +112,7 @@ class Plotter: self.filtered_acceleration_axes, 'y', 'green') self.filtered_acceleration_line_z = self._add_timeseries_line( self.filtered_acceleration_axes, 'z', 'blue') - self.magnitude_line = self._add_timeseries_line( + self.filtered_acceleration_line_magnitude = self._add_timeseries_line( self.filtered_acceleration_axes, 'magnitude', 'orange', linewidth=2) self._add_timeseries_legend(self.filtered_acceleration_axes) @@ -133,32 +136,46 @@ class Plotter: self.current_rotation = self._make_timeseries() self.proposed_rotation = self._make_timeseries() - self.proposal_rotation = self._make_timeseries() + self.predicted_rotation = self._make_timeseries() self.orientation_axes = self._add_timeseries_axes( - 5, 'Current / Proposed Orientation and Confidence', 'rotation', [-1, 4], + 5, 'Current / Proposed Orientation', 'rotation', [-1, 4], sharex=shared_axis, yticks=range(0, 4)) self.current_rotation_line = self._add_timeseries_line( self.orientation_axes, 'current', 'black', linewidth=2) - self.proposal_rotation_line = self._add_timeseries_line( - self.orientation_axes, 'proposal', 'purple', linewidth=3) + self.predicted_rotation_line = self._add_timeseries_line( + self.orientation_axes, 'predicted', 'purple', linewidth=3) self.proposed_rotation_line = self._add_timeseries_line( self.orientation_axes, 'proposed', 'green', linewidth=3) self._add_timeseries_legend(self.orientation_axes) - self.proposal_confidence = [[self._make_timeseries(), self._make_timeseries()] - for i in range(0, 4)] - self.proposal_confidence_polys = [] + self.time_until_settled = self._make_timeseries() + self.time_until_flat_delay_expired = self._make_timeseries() + self.time_until_swing_delay_expired = self._make_timeseries() + self.stability_axes = self._add_timeseries_axes( + 6, 'Proposal Stability', 'ms', [-10, 600], + sharex=shared_axis, + yticks=range(0, 600, 100)) + self.time_until_settled_line = self._add_timeseries_line( + self.stability_axes, 'time until settled', 'black', linewidth=2) + self.time_until_flat_delay_expired_line = self._add_timeseries_line( + self.stability_axes, 'time until flat delay expired', 'green') + self.time_until_swing_delay_expired_line = self._add_timeseries_line( + self.stability_axes, 'time until swing delay expired', 'blue') + self._add_timeseries_legend(self.stability_axes) self.sample_latency = self._make_timeseries() self.sample_latency_axes = self._add_timeseries_axes( - 6, 'Accelerometer Sampling Latency', 'ms', [-10, 500], + 7, 'Accelerometer Sampling Latency', 'ms', [-10, 500], sharex=shared_axis, yticks=range(0, 500, 100)) self.sample_latency_line = self._add_timeseries_line( self.sample_latency_axes, 'latency', 'black') self._add_timeseries_legend(self.sample_latency_axes) + self.fig.canvas.mpl_connect('button_press_event', self._on_click) + self.paused = False + self.timer = self.fig.canvas.new_timer(interval=100) self.timer.add_callback(lambda: self.update()) self.timer.start() @@ -166,13 +183,22 @@ class Plotter: self.timebase = None self._reset_parse_state() + # Handle a click event to pause or restart the timer. + def _on_click(self, ev): + if not self.paused: + self.paused = True + self.timer.stop() + else: + self.paused = False + self.timer.start() + # Initialize a time series. def _make_timeseries(self): return [[], []] # Add a subplot to the figure for a time series. def _add_timeseries_axes(self, index, title, ylabel, ylim, yticks, sharex=None): - num_graphs = 6 + num_graphs = 7 height = 0.9 / num_graphs top = 0.95 - height * index axes = self.fig.add_axes([0.1, top, 0.8, height], @@ -214,16 +240,19 @@ class Plotter: self.parse_raw_acceleration_x = None self.parse_raw_acceleration_y = None self.parse_raw_acceleration_z = None + self.parse_raw_acceleration_magnitude = None self.parse_filtered_acceleration_x = None self.parse_filtered_acceleration_y = None self.parse_filtered_acceleration_z = None - self.parse_magnitude = None + self.parse_filtered_acceleration_magnitude = None self.parse_tilt_angle = None self.parse_orientation_angle = None self.parse_current_rotation = None self.parse_proposed_rotation = None - self.parse_proposal_rotation = None - self.parse_proposal_confidence = None + self.parse_predicted_rotation = None + self.parse_time_until_settled = None + self.parse_time_until_flat_delay_expired = None + self.parse_time_until_swing_delay_expired = None self.parse_sample_latency = None # Update samples. @@ -252,14 +281,13 @@ class Plotter: self.parse_raw_acceleration_x = self._get_following_number(line, 'x=') self.parse_raw_acceleration_y = self._get_following_number(line, 'y=') self.parse_raw_acceleration_z = self._get_following_number(line, 'z=') + self.parse_raw_acceleration_magnitude = self._get_following_number(line, 'magnitude=') if line.find('Filtered acceleration vector:') != -1: self.parse_filtered_acceleration_x = self._get_following_number(line, 'x=') self.parse_filtered_acceleration_y = self._get_following_number(line, 'y=') self.parse_filtered_acceleration_z = self._get_following_number(line, 'z=') - - if line.find('magnitude=') != -1: - self.parse_magnitude = self._get_following_number(line, 'magnitude=') + self.parse_filtered_acceleration_magnitude = self._get_following_number(line, 'magnitude=') if line.find('tiltAngle=') != -1: self.parse_tilt_angle = self._get_following_number(line, 'tiltAngle=') @@ -270,17 +298,20 @@ class Plotter: if line.find('Result:') != -1: self.parse_current_rotation = self._get_following_number(line, 'currentRotation=') self.parse_proposed_rotation = self._get_following_number(line, 'proposedRotation=') - self.parse_proposal_rotation = self._get_following_number(line, 'proposalRotation=') - self.parse_proposal_confidence = self._get_following_number(line, 'proposalConfidence=') + self.parse_predicted_rotation = self._get_following_number(line, 'predictedRotation=') self.parse_sample_latency = self._get_following_number(line, 'timeDeltaMS=') + self.parse_time_until_settled = self._get_following_number(line, 'timeUntilSettledMS=') + self.parse_time_until_flat_delay_expired = self._get_following_number(line, 'timeUntilFlatDelayExpiredMS=') + self.parse_time_until_swing_delay_expired = self._get_following_number(line, 'timeUntilSwingDelayExpiredMS=') self._append(self.raw_acceleration_x, timeindex, self.parse_raw_acceleration_x) self._append(self.raw_acceleration_y, timeindex, self.parse_raw_acceleration_y) self._append(self.raw_acceleration_z, timeindex, self.parse_raw_acceleration_z) + self._append(self.raw_acceleration_magnitude, timeindex, self.parse_raw_acceleration_magnitude) self._append(self.filtered_acceleration_x, timeindex, self.parse_filtered_acceleration_x) self._append(self.filtered_acceleration_y, timeindex, self.parse_filtered_acceleration_y) self._append(self.filtered_acceleration_z, timeindex, self.parse_filtered_acceleration_z) - self._append(self.magnitude, timeindex, self.parse_magnitude) + self._append(self.filtered_acceleration_magnitude, timeindex, self.parse_filtered_acceleration_magnitude) self._append(self.tilt_angle, timeindex, self.parse_tilt_angle) self._append(self.orientation_angle, timeindex, self.parse_orientation_angle) self._append(self.current_rotation, timeindex, self.parse_current_rotation) @@ -288,17 +319,13 @@ class Plotter: self._append(self.proposed_rotation, timeindex, self.parse_proposed_rotation) else: self._append(self.proposed_rotation, timeindex, None) - if self.parse_proposal_rotation >= 0: - self._append(self.proposal_rotation, timeindex, self.parse_proposal_rotation) + if self.parse_predicted_rotation >= 0: + self._append(self.predicted_rotation, timeindex, self.parse_predicted_rotation) else: - self._append(self.proposal_rotation, timeindex, None) - for i in range(0, 4): - self._append(self.proposal_confidence[i][0], timeindex, i) - if i == self.parse_proposal_rotation: - self._append(self.proposal_confidence[i][1], timeindex, - i + self.parse_proposal_confidence) - else: - self._append(self.proposal_confidence[i][1], timeindex, i) + self._append(self.predicted_rotation, timeindex, None) + self._append(self.time_until_settled, timeindex, self.parse_time_until_settled) + self._append(self.time_until_flat_delay_expired, timeindex, self.parse_time_until_flat_delay_expired) + self._append(self.time_until_swing_delay_expired, timeindex, self.parse_time_until_swing_delay_expired) self._append(self.sample_latency, timeindex, self.parse_sample_latency) self._reset_parse_state() @@ -309,45 +336,40 @@ class Plotter: self._scroll(self.raw_acceleration_x, bottom) self._scroll(self.raw_acceleration_y, bottom) self._scroll(self.raw_acceleration_z, bottom) + self._scroll(self.raw_acceleration_magnitude, bottom) self._scroll(self.filtered_acceleration_x, bottom) self._scroll(self.filtered_acceleration_y, bottom) self._scroll(self.filtered_acceleration_z, bottom) - self._scroll(self.magnitude, bottom) + self._scroll(self.filtered_acceleration_magnitude, bottom) self._scroll(self.tilt_angle, bottom) self._scroll(self.orientation_angle, bottom) self._scroll(self.current_rotation, bottom) self._scroll(self.proposed_rotation, bottom) - self._scroll(self.proposal_rotation, bottom) - for i in range(0, 4): - self._scroll(self.proposal_confidence[i][0], bottom) - self._scroll(self.proposal_confidence[i][1], bottom) + self._scroll(self.predicted_rotation, bottom) + self._scroll(self.time_until_settled, bottom) + self._scroll(self.time_until_flat_delay_expired, bottom) + self._scroll(self.time_until_swing_delay_expired, bottom) self._scroll(self.sample_latency, bottom) # Redraw the plots. self.raw_acceleration_line_x.set_data(self.raw_acceleration_x) self.raw_acceleration_line_y.set_data(self.raw_acceleration_y) self.raw_acceleration_line_z.set_data(self.raw_acceleration_z) + self.raw_acceleration_line_magnitude.set_data(self.raw_acceleration_magnitude) self.filtered_acceleration_line_x.set_data(self.filtered_acceleration_x) self.filtered_acceleration_line_y.set_data(self.filtered_acceleration_y) self.filtered_acceleration_line_z.set_data(self.filtered_acceleration_z) - self.magnitude_line.set_data(self.magnitude) + self.filtered_acceleration_line_magnitude.set_data(self.filtered_acceleration_magnitude) self.tilt_angle_line.set_data(self.tilt_angle) self.orientation_angle_line.set_data(self.orientation_angle) self.current_rotation_line.set_data(self.current_rotation) self.proposed_rotation_line.set_data(self.proposed_rotation) - self.proposal_rotation_line.set_data(self.proposal_rotation) + self.predicted_rotation_line.set_data(self.predicted_rotation) + self.time_until_settled_line.set_data(self.time_until_settled) + self.time_until_flat_delay_expired_line.set_data(self.time_until_flat_delay_expired) + self.time_until_swing_delay_expired_line.set_data(self.time_until_swing_delay_expired) self.sample_latency_line.set_data(self.sample_latency) - for poly in self.proposal_confidence_polys: - poly.remove() - self.proposal_confidence_polys = [] - for i in range(0, 4): - self.proposal_confidence_polys.append(self.orientation_axes.fill_between( - self.proposal_confidence[i][0][0], - self.proposal_confidence[i][0][1], - self.proposal_confidence[i][1][1], - facecolor='goldenrod', edgecolor='goldenrod')) - self.fig.canvas.draw_idle() # Scroll a time series. |