oml-plot-tools 0.9.1__py3-none-any.whl

oml_plot_tools/traj.py

@@ -0,0 +1,352 @@
+#!/usr/bin/python
+# -*- coding: utf-8 -*-
+
+# This file is a part of IoT-LAB oml-plot-tools
+# Copyright (C) 2015 INRIA (Contact: admin@iot-lab.info)
+# Contributor(s) : see AUTHORS file
+#
+# This software is governed by the CeCILL license under French law
+# and abiding by the rules of distribution of free software.  You can  use,
+# modify and/ or redistribute the software under the terms of the CeCILL
+# license as circulated by CEA, CNRS and INRIA at the following URL
+# http://www.cecill.info.
+#
+# As a counterpart to the access to the source code and  rights to copy,
+# modify and redistribute granted by the license, users are provided only
+# with a limited warranty  and the software's author,  the holder of the
+# economic rights,  and the successive licensors  have only  limited
+# liability.
+#
+# The fact that you are presently reading this means that you have had
+# knowledge of the CeCILL license and that you accept its terms.
+
+
+"""
+usage: plot_oml_traj [-h] [-i DATA] [--circuit-file CIRCUIT] [--site-map SITE]
+                     [-l TITLE] [-b BEGIN] [-e END] [-t] [-a] [-ti]
+
+Plot iot-lab trajectory oml files
+
+options:
+  -h, --help            show this help message and exit
+  -i, --input DATA      Robot trajectory values
+  --circuit-file CIRCUIT
+                        Robot circuit file, '-' for stdin
+  --site-map SITE       Site map
+  -l, --label TITLE     Graph title
+  -b, --begin BEGIN     Sample start
+  -e, --end END         Sample end
+
+plot:
+  Plot selection
+
+  -t, --traj            Plot robot trajectory
+  -a, --angle           Plot robot angle
+  -ti, --time           Plot time verification
+"""  # noqa: E501, #pylint: disable=line-too-long
+
+import argparse
+import json
+import sys
+from collections import namedtuple
+from io import BytesIO
+
+import iotlabcli.robot
+import matplotlib.pyplot as plt
+
+# Issues with numpy and matplotlib.cm
+# pylint:disable=no-member
+import numpy as np
+from matplotlib import cm, patches
+
+# http://stackoverflow.com/a/26605247/395687
+# pip install --no-index -f http://dist.plone.org/thirdparty/ -U PIL
+# or 'apt-get install python-imaging'
+from PIL import Image
+
+from . import common
+
+PACKAGE = __name__.split(".", maxsplit=1)[0]
+
+DOCK_PLT = {
+    "color": "blue",
+    "marker": "s",
+    "s": 10,
+}
+CIRCUIT_EDGE_PLT = {
+    "linestyle": "dashed",
+    "linewidth": 2,
+    "edgecolor": "red",
+    "fill": False,
+}
+CIRCUIT_POINT_PLT = {
+    "marker": "o",
+    "color": "red",
+}
+
+MEASURES_D = common.measures_dict(
+    ("x", float, "X"),
+    ("y", float, "Y"),
+    ("theta", float, "yaw angle (rad)"),
+)
+
+Deco = namedtuple("Deco", ["marker", "color", "size", "x", "y"])
+Map = namedtuple(
+    "Map", ["marker", "file", "ratio", "sizex", "sizey", "offsetx", "offsety"]
+)
+
+MapInfo = namedtuple("MapInfo", ["image", "ratio", "offsetx", "offsety", "docks"])
+Dock = namedtuple("Dock", ["x", "y", "theta"])
+
+# Selection variables
+_TITLE = "Robot"
+_TRAJ = "traj"
+_ANGLE = "angle"
+_TIME = "time"
+
+
+def oml_load(filename):
+    """Load consumption oml file"""
+    data = common.oml_load(filename, "robot_pose", MEASURES_D.values())
+    return data
+
+
+def get_site_map(site):
+    """Load infos for site"""
+    # Get map config and with cache
+    map_cfg = iotlabcli.robot.robot_get_map(site)
+    map_info = _mapinfo_from_cfg(map_cfg)
+
+    return map_info
+
+
+def _mapinfo_from_cfg(map_cfg):
+    """MapInfo object from 'map_cfg' dict"""
+
+    # Load Image
+    image_fd = BytesIO(map_cfg["image"])
+    image = Image.open(image_fd).convert("L")
+
+    # Load Docks
+    docks = map_cfg["dock"].values()
+    docks = [Dock(d["x"], d["y"], d["theta"]) for d in docks]
+
+    # Create the whole MapInfo
+    cfg = map_cfg["config"]
+    map_info = MapInfo(image, cfg["ratio"], cfg["offset"][0], cfg["offset"][1], docks)
+    return map_info
+
+
+def circuit_load(filename):
+    """Load robot circuit file
+
+    :returns: circuit json object
+    {
+       "coordinates": [
+       {
+         "name": "0",
+         "x": 9.5036359876481,
+         "y": -0.8644077467101,
+         "z": 0,
+         "w": -2.4504422620417
+       },
+       {
+         "name": "1",
+         "x": 0.88773354001121,
+         "y": 9.750401138047,
+         "z": 0,
+         "w": 0.46435151843117
+       }
+      ],
+      "points":["0", "1" ]
+    }
+    """
+    # Handle '-' for stdin
+    json_file = argparse.FileType("r")(filename)  # pylint: disable=deprecated-class
+    return json.load(json_file)
+
+
+PARSER = argparse.ArgumentParser(
+    prog="plot_oml_traj", description="Plot iot-lab trajectory oml files"
+)
+PARSER.add_argument(
+    "-i", "--input", dest="data", type=oml_load, help="Robot trajectory values"
+)
+PARSER.add_argument(
+    "--circuit-file",
+    dest="circuit",
+    type=circuit_load,
+    help="Robot circuit file, '-' for stdin",
+)
+PARSER.add_argument(
+    "--site-map", metavar="SITE", dest="mapinfo", type=get_site_map, help="Site map"
+)
+
+PARSER.add_argument("-l", "--label", dest="title", default=_TITLE, help="Graph title")
+PARSER.add_argument("-b", "--begin", default=0, type=int, help="Sample start")
+PARSER.add_argument("-e", "--end", default=-1, type=int, help="Sample end")
+
+_PLOT = PARSER.add_argument_group("plot", "Plot selection")
+_PLOT.add_argument(
+    "-t",
+    "--traj",
+    dest="plot",
+    const=_TRAJ,
+    action="append_const",
+    help="Plot robot trajectory",
+)
+_PLOT.add_argument(
+    "-a",
+    "--angle",
+    dest="plot",
+    const=_ANGLE,
+    action="append_const",
+    help="Plot robot angle",
+)
+_PLOT.add_argument(
+    "-ti",
+    "--time",
+    dest="plot",
+    const=_TIME,
+    action="append_const",
+    help="Plot time verification",
+)
+
+
+def trajectory_plot(data, title, mapinfo, circuit, selection):
+    """Plot trajectories infos"""
+
+    plot_data = False
+
+    if _TRAJ in selection:
+        plot_data |= oml_plot_map(data, title, mapinfo, circuit)
+
+    # Figure angle initialization
+    if _ANGLE in selection:
+        plot_data |= oml_plot_angle(data, title)
+
+    # Clock verification
+    if _TIME in selection:
+        plot_data |= common.oml_plot_clock(data)
+
+    if plot_data:
+        common.plot_show()
+    else:
+        print("Nothing to plot")
+
+
+def oml_plot_angle(data, title, xlabel=common.TIMESTAMP_LABEL):
+    """Plot data 'angel' field"""
+    ylabel = MEASURES_D["theta"].label
+    title = f"{title} {'angle'}"
+
+    plt.figure()
+    plt.title(title)
+    plt.grid()
+    plt.plot(data["timestamp"], data["theta"])
+    plt.xlabel(xlabel)
+    plt.ylabel(ylabel)
+    return True
+
+
+def _image_extent(mapinfo):
+    """Image 'imshow' extent values
+    Place image in the robot coordinates"""
+    left = mapinfo.offsetx
+    right = mapinfo.offsetx + mapinfo.image.size[0] * mapinfo.ratio
+
+    bottom = mapinfo.offsety
+    top = mapinfo.offsety + mapinfo.image.size[1] * mapinfo.ratio
+
+    return (left, right, bottom, top)
+
+
+def oml_plot_map(data, title, mapinfo, circuit=None):
+    """Plot iot-lab oml data
+
+    :param data: numpy array with robot trajectory
+    :param title: plot title
+    :param mapinfo: MapInfo object
+    :param circuit: circuit json
+    """
+
+    if not (mapinfo or circuit or not common.array_empty(data)):
+        return False  # nothing to graph
+
+    # Figure trajectory initialization
+    plt.figure()
+    plt.title(title + " trajectory")
+    plt.grid()
+    plt.axes().set_aspect("equal", "datalim")
+
+    # Map and dock background
+    _plot_mapinfo(mapinfo)
+    # Plot theorical circuit
+    _plot_circuit(circuit)
+    # Plot actual robot trajectory
+    _plot_robot_traj(data)
+
+    return True
+
+
+def _plot_mapinfo(mapinfo):
+    """Plot map and docks background"""
+    if mapinfo is None:
+        return
+
+    # Plot map image in background
+    extent = _image_extent(mapinfo)
+    arr = np.asarray(mapinfo.image)
+    plt.imshow(arr, cmap=cm.Greys_r, aspect="equal", extent=extent)
+
+    # Plot docks
+    for dock in mapinfo.docks:
+        plt.scatter(dock.x, dock.y, **DOCK_PLT)
+
+
+def _plot_circuit(circuit):
+    """Plot circuit, scaled to map if available"""
+    if circuit is None:
+        return
+
+    coords = [circuit["coordinates"][p] for p in circuit["points"]]
+
+    # Get coordinates
+    coords_x = [c["x"] for c in coords]
+    coords_y = [c["y"] for c in coords]
+    coords = (coords_x, coords_y)
+
+    # Get edges between checkpoints
+    edges = patches.Polygon(list(zip(*coords)), **CIRCUIT_EDGE_PLT)
+
+    # Plot
+    a_x = plt.gcf().add_subplot(111)
+    a_x.add_patch(edges)
+    plt.plot(*coords, **CIRCUIT_POINT_PLT)
+
+
+def _plot_robot_traj(robot_traj):
+    """Plot robot trajectory"""
+    if robot_traj is None:
+        return
+
+    plt.plot(robot_traj["x"], robot_traj["y"])
+    plt.xlabel("X (m)")
+    plt.ylabel("Y (m)")
+
+
+def main(args=None):  # pylint:disable=too-many-statements
+    """Main command"""
+    args = args or sys.argv[1:]
+
+    opts = PARSER.parse_args(args)
+    # default to plot traj/map
+    selection = opts.plot or ("traj")
+    # select samples
+    data = opts.data[opts.begin : opts.end] if opts.data is not None else None
+
+    trajectory_plot(data, opts.title, opts.mapinfo, opts.circuit, selection)
+
+
+if __name__ == "__main__":
+    main()

oml_plot_tools-0.9.1.dist-info/METADATA

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+Metadata-Version: 2.4
+Name: oml_plot_tools
+Version: 0.9.1
+Summary: IoT-LAB OML plot tools
+Project-URL: Homepage, http://www.iot-lab.info
+Project-URL: Download URL, http://github.com/iot-lab/oml-plot-tools/
+Author-email: IoT-LAB Team <admin@iot-lab.info>
+License: CeCILL v2.1
+License-File: AUTHORS
+License-File: COPYING
+Classifier: Development Status :: 3 - Alpha
+Classifier: Environment :: Console
+Classifier: Intended Audience :: End Users/Desktop
+Classifier: Programming Language :: Python
+Classifier: Programming Language :: Python :: 3
+Classifier: Topic :: Utilities
+Requires-Python: >=3.10
+Requires-Dist: iotlabcli>=3.3.0
+Requires-Dist: matplotlib
+Requires-Dist: numpy
+Requires-Dist: pillow
+Description-Content-Type: text/x-rst
+
+OML Plot Tools
+==============
+
+|CI| |Codecov|
+
+.. |CI| image:: https://github.com/iot-lab/oml-plot-tools/workflows/CI/badge.svg
+    :target: https://github.com/iot-lab/oml-plot-tools/actions?query=workflow%3ACI+branch%3Amaster
+    :alt: CI status
+
+.. |Codecov| image:: https://codecov.io/gh/iot-lab/oml-plot-tools/branch/master/graph/badge.svg
+   :target: https://codecov.io/gh/iot-lab/oml-plot-tools/branch/master
+   :alt: Codecov coverage status

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oml_plot_tools-0.9.1.dist-info/WHEEL

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+Wheel-Version: 1.0
+Generator: hatchling 1.31.0
+Root-Is-Purelib: true
+Tag: py3-none-any

oml_plot_tools-0.9.1.dist-info/entry_points.txt

@@ -0,0 +1,5 @@
+[console_scripts]
+iotlab-plot = oml_plot_tools.main:main
+plot_oml_consum = oml_plot_tools.consum:main
+plot_oml_radio = oml_plot_tools.radio:main
+plot_oml_traj = oml_plot_tools.traj:main

oml_plot_tools-0.9.1.dist-info/licenses/AUTHORS

@@ -0,0 +1 @@
+roger.pissard@inria.fr