Revision 1300
plot.rb also does motors now
| trunk/code/projects/diagnostic_station/tools/plot.rb | ||
|---|---|---|
| 1 | 1 |
#!/usr/bin/env ruby |
| 2 | 2 |
|
| 3 |
file0='/tmp/data0.tmp' |
|
| 4 |
file1='/tmp/data1.tmp' |
|
| 3 |
# All rows must have the same length. rows are arrays of [x y]. titles are strings. |
|
| 4 |
def plot(rows, titles) |
|
| 5 |
datafile='/tmp/data.tmp' |
|
| 5 | 6 |
|
| 6 |
points0f=[]; points0b=[]; points1f=[]; points1b=[]
|
|
| 7 |
#write it
|
|
| 7 | 8 |
|
| 9 |
num_points=rows[0].size |
|
| 10 |
|
|
| 11 |
File.open(datafile, 'w') { |f|
|
|
| 12 |
(0...num_points).each { |n|
|
|
| 13 |
f.puts rows.map { |row| row[n] }.join(' ')
|
|
| 14 |
} |
|
| 15 |
} |
|
| 16 |
|
|
| 17 |
# plot it |
|
| 18 |
num_rows=rows.size |
|
| 19 |
|
|
| 20 |
p=IO.popen('gnuplot', 'w')
|
|
| 21 |
#p.puts("set xlabel 'Station encoders'")
|
|
| 22 |
#p.puts("set ylabel 'Robot encoders'")
|
|
| 23 |
|
|
| 24 |
(0...num_rows).each { |n|
|
|
| 25 |
plotcmd=(n==0)?"plot":"replot" |
|
| 26 |
p.puts "#{plotcmd} '#{datafile}' using #{2*n+1}:#{2*n+2} with linespoints title '#{titles[n]}'";
|
|
| 27 |
} |
|
| 28 |
|
|
| 29 |
end |
|
| 30 |
|
|
| 31 |
encoder_data=Hash.new { |hash,key| hash[key]=Hash.new { |h,k| h[k]=[] } }
|
|
| 32 |
motor_data=Hash.new { |hash,key| hash[key]=Hash.new { |h,k| h[k]=Hash.new { |hh,kk| hh[kk]=[] } } }
|
|
| 33 |
|
|
| 8 | 34 |
puts "Paste output from station here please" |
| 9 | 35 |
|
| 10 | 36 |
while a=gets |
| 11 | 37 |
a.chomp! |
| 12 | 38 |
a.strip! |
| 13 | 39 |
|
| 14 |
if a!="" && !(a =~ /^#/) |
|
| 15 |
if a =~ /^data encoder (0|1) (forward|backward) (.*)$/ |
|
| 16 |
num=$1; dir=$2; data=$3 |
|
| 40 |
if a =~ /^data encoder (0|1) (forward|backward) (.*)$/ |
|
| 41 |
num=$1.to_i; dir=$2; data=$3 |
|
| 17 | 42 |
|
| 18 |
if (num=="0" && dir=="forward" ); points=points0f
|
|
| 19 |
elsif (num=="0" && dir=="backward"); points=points0b
|
|
| 20 |
elsif (num=="1" && dir=="forward" ); points=points1f
|
|
| 21 |
elsif (num=="1" && dir=="backward"); points=points1b
|
|
| 22 |
else ; points=[]
|
|
| 23 |
end
|
|
| 43 |
data.split(' ').each { |pair|
|
|
| 44 |
point=pair.split('/').map { |v| v.to_i };
|
|
| 45 |
encoder_data[num][dir]<<point
|
|
| 46 |
}
|
|
| 47 |
elsif a =~ /^data motor (0|1) (forward|backward) (increasing|decreasing) (.*)$/
|
|
| 48 |
num=$1.to_i; dir=$2; acc=$3; data=$4
|
|
| 24 | 49 |
|
| 25 |
data.split(' ').each { |pair| point=pair.split('/'); points<<point }
|
|
| 26 |
end |
|
| 27 |
end |
|
| 50 |
data.split(' ').each { |pair|
|
|
| 51 |
point=pair.split('/').map { |v| v.to_i };
|
|
| 52 |
motor_data[num][dir][acc]<<point |
|
| 53 |
} |
|
| 54 |
end |
|
| 28 | 55 |
end |
| 29 | 56 |
|
| 30 |
def write_points(filename, points) |
|
| 31 |
File.open(filename, 'w') { |f|
|
|
| 32 |
points.sort { |a,b|
|
|
| 33 |
a[0].to_i <=> b[0].to_i |
|
| 34 |
}.each { |point|
|
|
| 35 |
puts "#{point[0]} #{point[1]}"
|
|
| 36 |
f.puts "#{point[0]} #{point[1]}"
|
|
| 37 |
} |
|
| 38 |
} |
|
| 57 |
|
|
| 58 |
if !encoder_data.empty? |
|
| 59 |
encoder_rows=[0,1].map { |n| encoder_data[n]['forward']+encoder_data[n]['backward'] }
|
|
| 60 |
|
|
| 61 |
encoder_rows[0].sort! { |a,b| a[0]<=>b[0] }
|
|
| 62 |
encoder_rows[1].sort! { |a,b| a[0]<=>b[0] }
|
|
| 63 |
|
|
| 64 |
plot(encoder_rows, ['left', 'right']) |
|
| 39 | 65 |
end |
| 40 | 66 |
|
| 41 |
write_points(file0, points0f+points0b) |
|
| 42 |
write_points(file1, points1f+points1b) |
|
| 67 |
if !motor_data.empty? |
|
| 68 |
motor_data[0]['backward']['increasing'].each { |x| x[0]=-x[0] }
|
|
| 69 |
motor_data[0]['backward']['decreasing'].each { |x| x[0]=-x[0] }
|
|
| 70 |
motor_data[1]['backward']['increasing'].each { |x| x[0]=-x[0] }
|
|
| 71 |
motor_data[1]['backward']['decreasing'].each { |x| x[0]=-x[0] }
|
|
| 43 | 72 |
|
| 44 |
IO.popen('gnuplot', 'w') { |p|
|
|
| 45 |
p.puts("set xlabel 'Station encoders'")
|
|
| 46 |
p.puts("set ylabel 'Robot encoders'")
|
|
| 47 |
p.puts("plot '#{file0}' using 1:2 with linespoints title 'Left'")
|
|
| 48 |
p.puts("replot '#{file1}' using 1:2 with linespoints title 'Right'")
|
|
| 73 |
motor_rows=[0,1].map { |n|
|
|
| 74 |
motor_data[n]['forward']['increasing']+\ |
|
| 75 |
motor_data[n]['forward']['decreasing']+\ |
|
| 76 |
motor_data[n]['backward']['increasing']+\ |
|
| 77 |
motor_data[n]['backward']['decreasing'] |
|
| 78 |
} |
|
| 49 | 79 |
|
| 50 |
#p.puts ("set terminal postscript color landscape");
|
|
| 51 |
#p.puts ("set output 'test.ps'");
|
|
| 52 |
#p.puts ("replot");
|
|
| 80 |
plot(motor_rows, ['left', 'right']) |
|
| 81 |
end |
|
| 53 | 82 |
|
| 54 |
p.puts("pause -1");
|
|
| 55 | 83 |
|
| 56 |
while (1) |
|
| 57 |
end |
|
| 58 |
} |
|
| 84 |
puts "Interrupt to close" |
|
| 85 |
begin |
|
| 86 |
while 1; end |
|
| 87 |
rescue Interrupt |
|
| 88 |
end |
|
| 59 | 89 |
|
| 60 |
# Never reached |
|
| 61 |
#File.delete('data0.tmp', 'data1.tmp')
|
|
| 90 |
|
|
Also available in: Unified diff