plot_utils.py

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import os
from time import sleep
 
import matplotlib.pyplot as plt
import numpy as np
from dynamic_graph import writeGraph
from dynamic_graph.tracer_real_time import TracerRealTime
from IPython import embed  # noqa
 
from dynamic_graph.sot_talos_balance.create_entities_utils import (
    addTrace,
    create_tracer,
    dump_tracer,
)
 
 
def read_tracer_file(filename):
    data = np.loadtxt(filename)
    name = filename[8:-4]
    return data, name
 
 
def plot_select_traj(traj, idxs, name):
    """plot selected idx of ND array"""
    plt.figure()
    # nb_plots = np.size(idxs)
    for idx in idxs:
        plt.plot(traj[:, idx])
        plt.title(name)
 
 
def write_pdf_graph(path="/tmp/"):
    """outputs a pdf of the graph to the specified path"""
    writeGraph(path + "graph.dot")
    os.system("dot -Tpdf " + path + "graph.dot -o " + path + "graph.pdf")
    return
 
 
def write_svg_graph(path="/tmp/"):
    """outputs a svg of the graph to the specified path"""
    writeGraph(path + "graph.dot")
    os.system("dot -Tsvg " + path + "graph.dot -o " + path + "graph.svg")
    return
 
 
def dump_sot_sig(robot, entity, signal_name, duration):
    """dumps a sot signal in /tmp
    ex: dump_sot_sig(robot,robot.entity,'signal_name',1.)"""
    full_sig_name = entity.name + "." + signal_name
    robot.tmp_tracer = create_tracer(robot, entity, "tmp_tracer", [signal_name])
    robot.device.after.addSignal(full_sig_name)
    robot.tmp_tracer.start()
    sleep(duration)
    dump_tracer(robot.tmp_tracer)
    robot.tmp_tracer.clear()
 
 
def dump_sot_sigs(robot, list_of_sigs, duration):
    """dumps several sot signals in /tmp
    ex: dump_sot_sig(robot,[entity,signals],1.)"""
    tracer = TracerRealTime("tmp_tracer")
    tracer.setBufferSize(80 * (2**20))
    tracer.open("/tmp", "dg_", ".dat")
    robot.device.after.addSignal("{0}.triger".format(tracer.name))
    for sigs in list_of_sigs:
        entity = sigs[0]
        for sig in sigs[1:]:
            full_sig_name = entity.name + "." + sig
            addTrace(tracer, entity, sig)
            robot.device.after.addSignal(full_sig_name)
    tracer.start()
    sleep(duration)
    dump_tracer(tracer)
    tracer.clear()
 
 
def plot_sot_sig(filename, idxs):
    """plots a dumped signal"""
    filename = "/tmp/dg_" + filename + ".dat"
    data, name = read_tracer_file(filename)
    plot_select_traj(data, idxs, name)
    return
 
 
def load_log_txt(filename):
    v = np.loadtxt(filename)
    t = v[:, 0]
    v = v[:, 2:]
 
    idx = 0
    for i in range(1, len(t)):
        if t[i] < t[i - 1]:
            idx = i
            break
    if idx > 0:
        t = np.concatenate((t[idx:], t[:idx]))
        v = np.concatenate((v[idx:, :], v[:idx, :]), axis=0)
 
    return t, v