150 lines
5.3 KiB
Python
Executable File
150 lines
5.3 KiB
Python
Executable File
#!/usr/bin/env python
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# Script to perform motion analysis and graphing
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#
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# Copyright (C) 2019-2021 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import sys, optparse, ast
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import matplotlib
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import readlog, analyzers
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try:
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import urlparse
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except:
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import urllib.parse as urlparse
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######################################################################
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# Graphing
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######################################################################
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def plot_motion(amanager, graphs, log_prefix):
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# Generate data
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for graph in graphs:
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for dataset, plot_params in graph:
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amanager.setup_dataset(dataset)
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amanager.generate_datasets()
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datasets = amanager.get_datasets()
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times = amanager.get_dataset_times()
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# Build plot
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fontP = matplotlib.font_manager.FontProperties()
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fontP.set_size('x-small')
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fig, rows = matplotlib.pyplot.subplots(nrows=len(graphs), sharex=True)
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if len(graphs) == 1:
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rows = [rows]
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rows[0].set_title("Motion Analysis (%s)" % (log_prefix,))
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for graph, graph_ax in zip(graphs, rows):
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graph_units = graph_twin_units = twin_ax = None
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for dataset, plot_params in graph:
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label = amanager.get_label(dataset)
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ax = graph_ax
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if graph_units is None:
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graph_units = label['units']
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ax.set_ylabel(graph_units)
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elif label['units'] != graph_units:
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if graph_twin_units is None:
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ax = twin_ax = graph_ax.twinx()
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graph_twin_units = label['units']
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ax.set_ylabel(graph_twin_units)
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elif label['units'] == graph_twin_units:
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ax = twin_ax
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else:
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graph_units = "Unknown"
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ax.set_ylabel(graph_units)
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pparams = {'label': label['label'], 'alpha': 0.8}
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pparams.update(plot_params)
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ax.plot(times, datasets[dataset], **pparams)
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if twin_ax is not None:
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li1, la1 = graph_ax.get_legend_handles_labels()
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li2, la2 = twin_ax.get_legend_handles_labels()
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twin_ax.legend(li1 + li2, la1 + la2, loc='best', prop=fontP)
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else:
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graph_ax.legend(loc='best', prop=fontP)
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graph_ax.grid(True)
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rows[-1].set_xlabel('Time (s)')
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return fig
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######################################################################
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# Startup
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######################################################################
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def setup_matplotlib(output_to_file):
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global matplotlib
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if output_to_file:
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matplotlib.use('Agg')
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import matplotlib.pyplot, matplotlib.dates, matplotlib.font_manager
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import matplotlib.ticker
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def parse_graph_description(desc):
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if '?' not in desc:
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return (desc, {})
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dataset, params = desc.split('?', 1)
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params = {k: v for k, v in urlparse.parse_qsl(params)}
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for fkey in ['alpha']:
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if fkey in params:
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params[fkey] = float(params[fkey])
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return (dataset, params)
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def list_datasets():
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datasets = readlog.list_datasets() + analyzers.list_datasets()
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out = ["\nAvailable datasets:\n"]
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for dataset, desc in datasets:
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out.append("%-24s: %s\n" % (dataset, desc))
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out.append("\n")
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sys.stdout.write("".join(out))
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sys.exit(0)
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def main():
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# Parse command-line arguments
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usage = "%prog [options] <logname>"
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opts = optparse.OptionParser(usage)
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opts.add_option("-o", "--output", type="string", dest="output",
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default=None, help="filename of output graph")
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opts.add_option("-s", "--skip", type="float", default=0.,
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help="Set the start time to graph")
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opts.add_option("-d", "--duration", type="float", default=5.,
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help="Number of seconds to graph")
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opts.add_option("--segment-time", type="float", default=0.000100,
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help="Analysis segment time (default 0.000100 seconds)")
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opts.add_option("-g", "--graph", help="Graph to generate (python literal)")
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opts.add_option("-l", "--list-datasets", action="store_true",
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help="List available datasets")
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options, args = opts.parse_args()
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if options.list_datasets:
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list_datasets()
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if len(args) != 1:
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opts.error("Incorrect number of arguments")
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log_prefix = args[0]
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# Open data files
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lmanager = readlog.LogManager(log_prefix)
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lmanager.setup_index()
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lmanager.seek_time(options.skip)
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amanager = analyzers.AnalyzerManager(lmanager, options.segment_time)
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amanager.set_duration(options.duration)
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# Default graphs to draw
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graph_descs = [
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["trapq(toolhead,velocity)?color=green"],
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["trapq(toolhead,accel)?color=green"],
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["deviation(stepq(stepper_x),kin(stepper_x))?color=blue"],
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]
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if options.graph is not None:
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graph_descs = ast.literal_eval(options.graph)
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graphs = [[parse_graph_description(g) for g in graph_row]
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for graph_row in graph_descs]
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# Draw graph
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setup_matplotlib(options.output is not None)
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fig = plot_motion(amanager, graphs, log_prefix)
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# Show graph
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if options.output is None:
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matplotlib.pyplot.show()
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else:
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fig.set_size_inches(8, 6)
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fig.savefig(options.output)
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if __name__ == '__main__':
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main()
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