motan_graph: Initial support for graphing data log

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

1 files changed, 144 insertions, 0 deletions

diff --git a/scripts/motan/motan_graph.py b/scripts/motan/motan_graph.py
new file mode 100755
index 00000000..b593c1ce
--- /dev/null
+++ b/scripts/motan/motan_graph.py
@@ -0,0 +1,144 @@
+#!/usr/bin/env python
+# Script to perform motion analysis and graphing
+#
+# Copyright (C) 2019-2021  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import sys, optparse, ast
+import matplotlib
+import readlog, analyzers
+try:
+    import urlparse
+except:
+    import urllib.parse as urlparse
+
+
+######################################################################
+# Graphing
+######################################################################
+
+def plot_motion(amanager, graphs):
+    # Generate data
+    for graph in graphs:
+        for dataset, plot_params in graph:
+            amanager.setup_dataset(dataset)
+    amanager.generate_datasets()
+    datasets = amanager.get_datasets()
+    times = amanager.get_dataset_times()
+    # Build plot
+    fontP = matplotlib.font_manager.FontProperties()
+    fontP.set_size('x-small')
+    fig, rows = matplotlib.pyplot.subplots(nrows=len(graphs), sharex=True)
+    if len(graphs) == 1:
+        rows = [rows]
+    rows[0].set_title("Motion Analysis")
+    for graph, graph_ax in zip(graphs, rows):
+        graph_units = graph_twin_units = twin_ax = None
+        for dataset, plot_params in graph:
+            label = amanager.get_label(dataset)
+            ax = graph_ax
+            if graph_units is None:
+                graph_units = label['units']
+                ax.set_ylabel(graph_units)
+            elif label['units'] != graph_units:
+                if graph_twin_units is None:
+                    ax = twin_ax = graph_ax.twinx()
+                    graph_twin_units = label['units']
+                    ax.set_ylabel(graph_twin_units)
+                elif label['units'] == graph_twin_units:
+                    ax = twin_ax
+                else:
+                    graph_units = "Unknown"
+                    ax.set_ylabel(graph_units)
+            pparams = {'label': label['label'], 'alpha': 0.8}
+            pparams.update(plot_params)
+            ax.plot(times, datasets[dataset], **pparams)
+            ax.legend(loc='best', prop=fontP)
+            ax.grid(True)
+    rows[-1].set_xlabel('Time (s)')
+    return fig
+
+
+######################################################################
+# Startup
+######################################################################
+
+def setup_matplotlib(output_to_file):
+    global matplotlib
+    if output_to_file:
+        matplotlib.use('Agg')
+    import matplotlib.pyplot, matplotlib.dates, matplotlib.font_manager
+    import matplotlib.ticker
+
+def parse_graph_description(desc):
+    if '?' not in desc:
+        return (desc, {})
+    dataset, params = desc.split('?', 1)
+    params = {k: v for k, v in urlparse.parse_qsl(params)}
+    for fkey in ['alpha']:
+        if fkey in params:
+            params[fkey] = float(params[fkey])
+    return (dataset, params)
+
+def list_datasets():
+    datasets = readlog.list_datasets() + analyzers.list_datasets()
+    out = ["\nAvailable datasets:\n"]
+    for dataset, desc in datasets:
+        out.append("%-24s: %s\n" % (dataset, desc))
+    out.append("\n")
+    sys.stdout.write("".join(out))
+    sys.exit(0)
+
+def main():
+    # Parse command-line arguments
+    usage = "%prog [options] <logname>"
+    opts = optparse.OptionParser(usage)
+    opts.add_option("-o", "--output", type="string", dest="output",
+                    default=None, help="filename of output graph")
+    opts.add_option("-s", "--skip", type="float", default=0.,
+                    help="Set the start time to graph")
+    opts.add_option("-d", "--duration", type="float", default=5.,
+                    help="Number of seconds to graph")
+    opts.add_option("--segment-time", type="float", default=0.000100,
+                    help="Analysis segment time (default 0.000100 seconds)")
+    opts.add_option("-g", "--graph", help="Graph to generate (python literal)")
+    opts.add_option("-l", "--list-datasets", action="store_true",
+                    help="List available datasets")
+    options, args = opts.parse_args()
+    if options.list_datasets:
+        list_datasets()
+    if len(args) != 1:
+        opts.error("Incorrect number of arguments")
+    log_prefix = args[0]
+
+    # Open data files
+    lmanager = readlog.LogManager(log_prefix)
+    lmanager.setup_index()
+    lmanager.seek_time(options.skip)
+    amanager = analyzers.AnalyzerManager(lmanager, options.segment_time)
+    amanager.set_duration(options.duration)
+
+    # Default graphs to draw
+    graph_descs = [
+        ["trapq:toolhead:velocity?color=green"],
+        ["trapq:toolhead:accel?color=green"],
+        ["deviation:stepq:stepper_x-kin:stepper_x?color=blue"],
+    ]
+    if options.graph is not None:
+        graph_descs = ast.literal_eval(options.graph)
+    graphs = [[parse_graph_description(g) for g in graph_row]
+              for graph_row in graph_descs]
+
+    # Draw graph
+    setup_matplotlib(options.output is not None)
+    fig = plot_motion(amanager, graphs)
+
+    # Show graph
+    if options.output is None:
+        matplotlib.pyplot.show()
+    else:
+        fig.set_size_inches(8, 6)
+        fig.savefig(options.output)
+
+if __name__ == '__main__':
+    main()