logDir = root + "code/log/" outputDir = root + "code/output/" movement = "Stacking" inputFile = dataRoot + movement + "/Simulation" + str(1) + "/positionLog.txt" samplingInterval = 10 upperBounds = 1 lowerBounds = 1 # Import data print "Importing data..." importer = Importer() inputData = importer.getInputData(inputFile, samplingInterval) t1, x1, y1, z1 = sim.splitData(inputData) # Filter parameters samplingFreq = 100 taps = 80 bands = [0.0, 10, 11, 50.0] weights = [1, 0] coefficients = scipy.signal.remez(taps, bands, weights, Hz=samplingFreq) gain = 1.0 / sum(coefficients) filteredData = sim.simulateFilterRecon(inputData, logDir, "cc", samplingInterval, coefficients)[0] sim.amplifyData(filteredData, gain) t2, x2, y2, z2 = sim.splitData(filteredData) # Plot data pylab.figure(1) pylab.plot(t1, x1, "k-", t2, x2, "g-") pylab.show()
coefficients = scipy.signal.remez(taps, bands, weights, Hz=samplingFreq) # Window method #cutoff = --need to fill this in-- #coefficients = scipy.signal.firwin(taps, cutoff, window='hamming') freqResponse = scipy.signal.freqz(coefficients) freq = freqResponse[0] * (samplingFreq/(2 * math.pi)) magnitude = abs(freqResponse[1]) phase = numpy.arctan2(freqResponse[1].imag, freqResponse[1].real) * (samplingFreq/(2 * math.pi)) delay = 0.5 * taps * samplingInterval errors = [] startTimeData = time.time() # Use mulitple differenet data sets for index, data in enumerate(testData): inputData = data[0] reconData = data[1] filteredData = sim.simulateFilterRecon(reconData, logDir, str(index+1), samplingInterval, coefficients)[0] error = sim.findDistanceError(inputData, filteredData) mean = numpy.array(error).mean() errors.append(mean) avgError = numpy.array(errors).mean() errorCurve.append(avgError) delayCurve.append(delay) print "\tTime working on the data sets: " + str(time.time() - startTimeData) errorCurves.append(errorCurve) delayCurves.append(delayCurve) print "\tTime working on the different taps: " + str(time.time() - startTimeTaps) print "\tTotal time working on simulation: " + str(time.time() - startTimeTotal) # Collect the final data and export
[ [], [], [] ], [ [], [], [] ], [ [], [], [] ] ] for i, data in enumerate(testData): simulation = str(i+1) inputData = data[0] rxPackets = data[1] snapReconstruction = data[2] snapLimitReconstruction = data[3] convergedCloseData = data[4] # Simulate convergence convergedFarData = sim.simulateLinearConvergence(rxPackets, logDir, simulation, samplingInterval, interpolationType, farThreshold)[0] # Simulate filtering snapFilteredData = sim.simulateFilterRecon(snapReconstruction, logDir, simulation, samplingInterval, snapCoefficients)[0] sim.amplifyData(snapFilteredData, snapGain) if convergeTaps != 0: convergedFilteredData = sim.simulateFilterRecon(convergedCloseData, logDir, simulation, samplingInterval, convergeCoefficients)[0] sim.amplifyData(convergedFilteredData, convergeGain) else: convergedFilteredData = convergedCloseData if convergeTaps != 0: snapLimitFilteredData = sim.simulateFilterRecon(snapLimitReconstruction, logDir, simulation, samplingInterval, convergeCoefficients)[0] sim.amplifyData(snapLimitFilteredData, convergeGain) else: snapLimitFilteredData = snapLimitReconstruction
packetLoss = 0
varJitterResults = []
for jitter in jitters:
for i, inputFile in enumerate(inputFiles):
# Simulate the transmission
simulationData = sim.simulateTransmission(inputFile, logDir, predictionInterval,
samplingInterval, heartbeat, drThreshold,
delay, jitter, packetLoss)
# Simulate the reconstruction
simNumber = inputFile.split('/')[-2][-1]
reconstructionSnap = sim.simulateSnapRecon(simulationData[4], logDir, simNumber, samplingInterval)[0]
reconstructionInt = sim.simulateLinearConvergence(simulationData[4], logDir, simNumber, samplingInterval,
interpolationType, reconThreshold)[0]
reconstructionFilter = sim.simulateFilterRecon(reconstructionSnap, logDir, simNumber, samplingInterval, coefficients)[0]
sim.amplifyData(reconstructionFilter)
s =napError = 1
intError = 1
filterError = 1
varJitterResults.append([snapError, intError, filterError])
# Second -> variable delay, fixed jitter, fixed packet loss
delays = range(10,401,10)
delays.insert(0,1)
jitter = 20
packetLoss = 0
varDelayResults = []
for delay in delays:
