def get_field(self, comp):
field = m3t.user_select_msg_field(comp.status)
self.idx = 0
if hasattr(m3t.get_msg_field_value(comp.status, field), '__len__'):
self.repeated = True
print 'Select index of repeated fields to monitor: [0]'
self.idx = m3t.get_int(0)
return field
def do_plot(proxy):
print 'Starting plot...'
print 'Enter log name [foo]'
logname = m3t.get_string('foo')
ns = proxy.get_log_num_samples(logname)
if ns == 0:
return
print '-------- Available components --------'
names = proxy.get_log_component_names(logname)
for i in range(len(names)):
print names[i]
print '--------------------------------------'
print 'Select component: [', names[0], ']'
name = m3t.get_string(names[0])
print '--------------------------------------'
print 'Num samples available: ', ns
print 'Enter start sample idx: [0]'
start = max(0, m3t.get_int(0))
print 'Enter end sample idx: [', ns - 1, ']'
end = min(ns - 1, m3t.get_int(ns - 1))
print '--------------------------------------'
print ' Select field to plot...'
comp = mcf.create_component(name)
proxy.register_log_component(comp)
field = m3t.user_select_msg_field(comp.status)
repeated = False
idx = 0
if hasattr(m3t.get_msg_field_value(comp.status, field), '__len__'):
repeated = True
print 'Select index of repeated field to monitor: [0]'
idx = m3t.get_int(0)
print 'Fetching data...'
data = []
for i in range(start, end):
proxy.load_log_sample(logname, i)
if repeated:
v = m3t.get_msg_field_value(comp.status, field)[idx]
else:
v = m3t.get_msg_field_value(comp.status, field)
data.append(v)
# m3t.plot(data)
m3t.mplot(data, range(len(data)))
def do_plot(proxy):
print 'Starting plot...'
print 'Enter log name [foo]'
logname=m3t.get_string('foo')
ns=proxy.get_log_num_samples(logname)
if ns==0:
return
print '-------- Available components --------'
names=proxy.get_log_component_names(logname)
for i in range(len(names)):
print names[i]
print '--------------------------------------'
print 'Select component: [',names[0],']'
name=m3t.get_string(names[0])
print '--------------------------------------'
print 'Num samples available: ',ns
print 'Enter start sample idx: [0]'
start=max(0,m3t.get_int(0))
print 'Enter end sample idx: [',ns-1,']'
end=min(ns-1,m3t.get_int(ns-1))
print '--------------------------------------'
print ' Select field to plot...'
comp=mcf.create_component(name)
proxy.register_log_component(comp)
field=m3t.user_select_msg_field(comp.status)
repeated = False
idx = 0
if hasattr(m3t.get_msg_field_value(comp.status,field),'__len__'):
repeated = True
print 'Select index of repeated field to monitor: [0]'
idx = m3t.get_int(0)
print 'Fetching data...'
data=[]
for i in range(start,end):
proxy.load_log_sample(logname,i)
if repeated:
v=m3t.get_msg_field_value(comp.status,field)[idx]
else:
v=m3t.get_msg_field_value(comp.status,field)
data.append(v)
# m3t.plot(data)
m3t.mplot(data,range(len(data)))
def do_scope(proxy):
print 'Starting scope...'
print 'Enter log name [foo]'
logname = m3t.get_string('foo')
ns = proxy.get_log_num_samples(logname)
print 'Num samples available: ', ns
if ns == 0:
return
print '-------- Available components --------'
names = proxy.get_log_component_names(logname)
for i in range(len(names)):
print names[i]
print '--------------------------------------'
print 'Select component: [', names[0], ']'
name = m3t.get_string(names[0])
comp = mcf.create_component(name)
proxy.register_log_component(comp)
scope = m3t.M3Scope(xwidth=ns - 1)
print '--------------------------------------'
print 'Num samples available: ', ns
print 'Enter start sample idx: [0]'
start = max(0, m3t.get_int(0))
print 'Enter end sample idx: [', ns - 1, ']'
end = min(ns - 1, m3t.get_int(ns - 1))
print '--------------------------------------'
print 'Select field to monitor'
field = m3t.user_select_msg_field(comp.status)
repeated = False
idx = 0
if hasattr(m3t.get_msg_field_value(comp.status, field), '__len__'):
repeated = True
print 'Select index of repeated field to monitor: [0]'
idx = m3t.get_int(0)
for i in range(start, end):
proxy.load_log_sample(logname, i)
if repeated:
v = m3t.get_msg_field_value(comp.status, field)[idx]
else:
v = m3t.get_msg_field_value(comp.status, field)
scope.plot(v)
time.sleep(0.05)
def do_scope(proxy):
print 'Starting scope...'
print 'Enter log name [foo]'
logname=m3t.get_string('foo')
ns=proxy.get_log_num_samples(logname)
print 'Num samples available: ',ns
if ns==0:
return
print '-------- Available components --------'
names=proxy.get_log_component_names(logname)
for i in range(len(names)):
print names[i]
print '--------------------------------------'
print 'Select component: [',names[0],']'
name=m3t.get_string(names[0])
comp=mcf.create_component(name)
proxy.register_log_component(comp)
scope=m3t.M3Scope(xwidth=ns-1)
print '--------------------------------------'
print 'Num samples available: ',ns
print 'Enter start sample idx: [0]'
start=max(0,m3t.get_int(0))
print 'Enter end sample idx: [',ns-1,']'
end=min(ns-1,m3t.get_int(ns-1))
print '--------------------------------------'
print 'Select field to monitor'
field=m3t.user_select_msg_field(comp.status)
repeated = False
idx = 0
if hasattr(m3t.get_msg_field_value(comp.status,field),'__len__'):
repeated = True
print 'Select index of repeated field to monitor: [0]'
idx = m3t.get_int(0)
for i in range(start,end):
proxy.load_log_sample(logname,i)
if repeated:
v=m3t.get_msg_field_value(comp.status,field)[idx]
else:
v=m3t.get_msg_field_value(comp.status,field)
scope.plot(v)
time.sleep(0.05)
for i in range(len(cnames)): print i,' : ',cnames[i] print '-------------------------' print 'Enter component id' cid=m3t.get_int() name=cnames[cid] comps.append(mcf.create_component(name)) if len(comps)==0: print 'No components selected' exit() for c in comps: proxy.subscribe_status(c) proxy.publish_command(c) field=m3t.user_select_msg_field(comps[0].status) print 'Number of samples [100]?' ns=m3t.get_int(100) log=[] for i in range(len(comps)): log.append([]) try: ts=time.time() for i in range(ns): proxy.step() idx=0 print '---------' for c in comps: v=m3t.get_msg_field_value(c.status,field) log[idx].append(v) idx=idx+1
def do_dump(proxy):
print 'Starting dump...'
print 'Enter log name [foo]'
logname = m3t.get_string('foo')
ns = proxy.get_log_num_samples(logname)
if ns == 0:
return
print '-------- Available components --------'
names = proxy.get_log_component_names(logname)
for i in range(len(names)):
print names[i]
print '--------------------------------------'
print 'Select component: [', names[0], ']'
name = m3t.get_string(names[0])
print '--------------------------------------'
print 'Num samples available: ', ns
print 'Enter start sample idx: [0]'
start = max(0, m3t.get_int(0))
print 'Enter end sample idx: [', ns - 1, ']'
end = min(ns - 1, m3t.get_int(ns - 1))
print '--------------------------------------'
comp = mcf.create_component(name)
proxy.register_log_component(comp)
fields = []
print 'Dump all data?[n]'
if m3t.get_yes_no('n'):
'''print 'Fetching data...'
fn=m3t.get_m3_log_path()+logname+'/'+logname+'_dump.yaml'
f=file(fn,'w')
print 'Saving...',fn
f.write(yaml.safe_dump(comp.status, default_flow_style=False,width=200))
f.close()'''
fields = comp.status.DESCRIPTOR.fields_by_name.keys()
print fields
else:
print ' Select fields to plot...'
while True:
fields.append(m3t.user_select_msg_field(comp.status))
print 'Another field [n]?'
if not m3t.get_yes_no('n'):
break
print 'Fetching data...'
data = {}
for k in fields:
data[k] = []
print '---------------------------'
print k
print m3t.get_msg_field_value(comp.status, k)
print dir(m3t.get_msg_field_value(comp.status, k))
if hasattr(m3t.get_msg_field_value(comp.status, k), '__len__'):
for j in range(len(m3t.get_msg_field_value(comp.status, k))):
data[k].append([])
for i in range(start, end):
proxy.load_log_sample(logname, i)
for k in fields:
repeated = False
# skip protobuf subclasses (like base) for now. note we'll want this for humanoid
if hasattr(m3t.get_msg_field_value(comp.status, k),
'__metaclass__'):
pass
elif hasattr(m3t.get_msg_field_value(comp.status, k), '__len__'):
for j in range(len(m3t.get_msg_field_value(comp.status, k))):
data[k][j].append(
m3t.get_msg_field_value(comp.status, k)[j])
else:
data[k].append(m3t.get_msg_field_value(comp.status, k))
fn = m3t.get_m3_log_path() + logname + '/' + logname + '_dump.yaml'
f = file(fn, 'w')
print 'Saving...', fn
print data
f.write(yaml.safe_dump(data, default_flow_style=False, width=200))
f.close()
print '-------------------------'
print 'Enter component id'
cid = m3t.get_int()
print 'Select Y-Range? [n]'
yrange = None
if m3t.get_yes_no('n'):
yrange = []
print 'Min?'
yrange.append(m3t.get_int())
print 'Max?'
yrange.append(m3t.get_int())
name = comps[cid]
comp = mcf.create_component(name)
proxy.subscribe_status(comp)
#proxy.publish_param(comp)
field = m3t.user_select_msg_field(comp.status)
repeated = False
idx = 0
if hasattr(m3t.get_msg_field_value(comp.status, field), '__len__'):
repeated = True
print 'Select index of repeated field to monitor: [0]'
idx = m3t.get_int(0)
scope = m3t.M3Scope(xwidth=100, yrange=yrange)
try:
ts = time.time()
while True:
proxy.step()
if repeated:
v = m3t.get_msg_field_value(comp.status, field)[idx]
else:
def do_dump(proxy):
print 'Starting dump...'
print 'Enter log name [foo]'
logname=m3t.get_string('foo')
ns=proxy.get_log_num_samples(logname)
if ns==0:
return
print '-------- Available components --------'
names=proxy.get_log_component_names(logname)
for i in range(len(names)):
print names[i]
print '--------------------------------------'
print 'Select component: [',names[0],']'
name=m3t.get_string(names[0])
print '--------------------------------------'
print 'Num samples available: ',ns
print 'Enter start sample idx: [0]'
start=max(0,m3t.get_int(0))
print 'Enter end sample idx: [',ns-1,']'
end=min(ns-1,m3t.get_int(ns-1))
print '--------------------------------------'
comp=mcf.create_component(name)
proxy.register_log_component(comp)
fields=[]
print 'Dump all data?[n]'
if m3t.get_yes_no('n'):
'''print 'Fetching data...'
fn=m3t.get_m3_log_path()+logname+'/'+logname+'_dump.yaml'
f=file(fn,'w')
print 'Saving...',fn
f.write(yaml.safe_dump(comp.status, default_flow_style=False,width=200))
f.close()'''
fields=comp.status.DESCRIPTOR.fields_by_name.keys()
print fields
else:
print ' Select fields to plot...'
while True:
fields.append(m3t.user_select_msg_field(comp.status))
print 'Another field [n]?'
if not m3t.get_yes_no('n'):
break
print 'Fetching data...'
data={}
for k in fields:
data[k]=[]
print '---------------------------'
print k
print m3t.get_msg_field_value(comp.status,k)
print dir(m3t.get_msg_field_value(comp.status,k))
if hasattr(m3t.get_msg_field_value(comp.status,k),'__len__'):
for j in range(len(m3t.get_msg_field_value(comp.status,k))):
data[k].append([])
for i in range(start,end):
proxy.load_log_sample(logname,i)
for k in fields:
repeated = False
# skip protobuf subclasses (like base) for now. note we'll want this for humanoid
if hasattr(m3t.get_msg_field_value(comp.status,k),'__metaclass__'):
pass
elif hasattr(m3t.get_msg_field_value(comp.status,k),'__len__'):
for j in range(len(m3t.get_msg_field_value(comp.status,k))):
data[k][j].append(m3t.get_msg_field_value(comp.status,k)[j])
else:
data[k].append(m3t.get_msg_field_value(comp.status,k))
fn=m3t.get_m3_log_path()+logname+'/'+logname+'_dump.yaml'
f=file(fn,'w')
print 'Saving...',fn
print data
f.write(yaml.safe_dump(data, default_flow_style=False,width=200))
f.close()
