Colony

#!/usr/bin/env ruby

# All rows must have the same length. rows are arrays of [x y]. titles are strings.

def plot(rows, titles)

        datafile='/tmp/data.tmp'

        #write it

        num_points=rows[0].size

        File.open(datafile, 'w') { |f|

                (0...num_points).each { |n|

                        f.puts rows.map { |row| row[n] }.join(' ')

                }

        }

        # plot it

        num_rows=rows.size

        p=IO.popen('gnuplot', 'w')

        #p.puts("set xlabel 'Station encoders'")

        #p.puts("set ylabel 'Robot encoders'")

        (0...num_rows).each { |n|

                plotcmd=(n==0)?"plot":"replot"

                p.puts "#{plotcmd} '#{datafile}' using #{2*n+1}:#{2*n+2} with linespoints title '#{titles[n]}'";

        }

end

encoder_data=Hash.new { |hash,key| hash[key]=Hash.new { |h,k| h[k]=[] } }

motor_data=Hash.new { |hash,key| hash[key]=Hash.new { |h,k| h[k]=Hash.new { |hh,kk| hh[kk]=[] } } }

puts "Paste output from station here please"

while a=gets

        a.chomp!

        a.strip!

        if a =~ /^data encoder (0|1) (forward|backward) (.*)$/

                num=$1.to_i; dir=$2; data=$3

                data.split(' ').each { |pair|

                        point=pair.split('/').map { |v| v.to_i };

                        encoder_data[num][dir]<<point

                }

        elsif a =~ /^data motor (0|1) (forward|backward) (increasing|decreasing) (.*)$/

                num=$1.to_i; dir=$2; acc=$3; data=$4

                data.split(' ').each { |pair|

                        point=pair.split('/').map { |v| v.to_i };

                        motor_data[num][dir][acc]<<point

                }

        end

end

if !encoder_data.empty?

        encoder_rows=[0,1].map { |n| encoder_data[n]['forward']+encoder_data[n]['backward'] }

        encoder_rows[0].sort! { |a,b| a[0]<=>b[0] }

        encoder_rows[1].sort! { |a,b| a[0]<=>b[0] }

        plot(encoder_rows, ['left', 'right'])

end

if !motor_data.empty?

        motor_data[0]['backward']['increasing'].each { |x| x[0]=-x[0] }

        motor_data[0]['backward']['decreasing'].each { |x| x[0]=-x[0] }

        motor_data[1]['backward']['increasing'].each { |x| x[0]=-x[0] }

        motor_data[1]['backward']['decreasing'].each { |x| x[0]=-x[0] }

        motor_rows=[0,1].map { |n|

                motor_data[n]['forward']['increasing']+\

                motor_data[n]['forward']['decreasing']+\

                motor_data[n]['backward']['increasing']+\

                motor_data[n]['backward']['decreasing']

        }

        plot(motor_rows, ['left', 'right'])

end

puts "Interrupt to close"

begin

        while 1; end

rescue Interrupt

end