def parse_arguments():
descriptionTxt = """Sync diagnostics file(s) from given robot to current devlaptop."""
exampleTxt = "TODO"
parser = argparse.ArgumentParser(
description=descriptionTxt,
epilog=exampleTxt,
formatter_class=argparse.RawDescriptionHelpFormatter)
robot = rtdb2tools.guessAgentId()
parser.add_argument('-r',
'--robot',
help='robot ID to use',
type=int,
default=robot)
parser.add_argument('-f',
'--frequency',
help='refresh frequency in Hz',
type=float,
default=1)
parser.add_argument('-p',
'--filepattern',
help='file pattern to sync (newest only)',
type=str,
default="/tmp/diagnostics_r*.txt")
# TODO: target option? so it can be run on robot
return parser.parse_args()
def parse_arguments():
descriptionTxt = """Plot ball tracking performance for given RDL and given timestamp.
See also plot_balls_live.py which updates live during playback.
"""
exampleTxt = ""
parser = argparse.ArgumentParser(
description=descriptionTxt,
epilog=exampleTxt,
formatter_class=argparse.RawDescriptionHelpFormatter)
parser.add_argument('-a',
'--agent',
help='agent ID to use',
type=int,
default=rtdb2tools.guessAgentId())
parser.add_argument(
"-t",
"--timestamp",
type=float,
required=True,
help="timestamp of interest (age relative to start of log)")
parser.add_argument("-w",
"--timewindow",
type=float,
default=0.001,
help="time window in seconds around given timestamp")
parser.add_argument('rdlfile',
help='extract data from RDL file instead of live RTDB',
default=None,
nargs='?')
return parser.parse_args()
def parse_arguments():
descriptionTxt = """Analyze localization noise levels from RDL file, write a brief report to stdout.
"""
exampleTxt = """Examples:
analyze_localization /var/tmp/20191205_204236_r6.rdl
overall standard deviation (n=2657):
x : 0.0107
y : 0.0083
Rz: 0.0042
"""
parser = argparse.ArgumentParser(
description=descriptionTxt,
epilog=exampleTxt,
formatter_class=argparse.RawDescriptionHelpFormatter)
parser.add_argument('-r',
'--robot',
help='robot ID to use',
type=int,
default=rtdb2tools.guessAgentId())
parser.add_argument('-p',
'--plot',
help='show a plot',
action='store_true')
parser.add_argument('-s',
'--summary',
help='only display overall summary',
action='store_true')
parser.add_argument('-a',
'--all',
help='show as much as possible',
action='store_true')
parser.add_argument('rdlfile', help='analyze given RDL file', type=str)
return parser.parse_args()
def parse_arguments():
descriptionTxt = """Monitor motion performance parameters from RTDB, write continuously to a diagnostics file. Note: where relevant (like robot velocity), data is shown in RCS instead of FCS."""
exampleTxt = ""
parser = argparse.ArgumentParser(
description=descriptionTxt,
epilog=exampleTxt,
formatter_class=argparse.RawDescriptionHelpFormatter)
robot = rtdb2tools.guessAgentId()
parser.add_argument('-r',
'--robot',
help='robot ID to use',
type=int,
default=robot)
parser.add_argument('-f',
'--frequency',
help='refresh frequency in Hz',
type=float,
default=30)
parser.add_argument('-o',
'--output',
help='output file',
type=str,
default=defaultOutputFile(robot))
parser.add_argument('-s',
'--stdout',
help='print to stdout instead of to some default file',
action='store_true')
return parser.parse_args()
def parse_arguments():
descriptionTxt = """Analyze intercept (pass acceptance) performance, write a report to stdout.
"""
exampleTxt = """Examples output:
analyzed 70 intercept attempts by robot 5
id timestamp gotBall duration noBall verdict details
1 2020-02-08,15:42:49.543537 False 13.9000 0.0% failed: ball never came close enough 3.9m
2 2020-02-08,15:43:05.876877 True 2.6333 0.0% OK
3 2020-02-08,15:43:10.543537 False 2.4000 0.0% failed: ball never came close enough 1.4m
4 2020-02-08,15:43:14.510204 True 2.6000 0.0% OK
.....
66 2020-02-08,15:54:27.643577 False 5.2333 43.0% failed: ball never came close enough 1.2m
67 2020-02-08,15:54:33.510215 False 2.4667 0.0% failed: ball never came close enough 12.1m
68 2020-02-08,15:54:36.676902 False 1.9667 0.0% failed: ball never came close enough 10.9m
69 2020-02-08,15:54:39.476890 False 0.5000 0.0% failed: intercept duration too short 0.5s
70 2020-02-08,15:54:40.543602 False 12.2667 0.0% failed: ball never came close enough 10.1m
37.1% (n= 26) failed: ball never came close enough
24.3% (n= 17) failed: intercept duration too short
21.4% (n= 15) failed: unknown reason
15.7% (n= 11) OK
1.4% (n= 1) failed: ball bounced off
"""
parser = argparse.ArgumentParser(
description=descriptionTxt,
epilog=exampleTxt,
formatter_class=argparse.RawDescriptionHelpFormatter)
parser.add_argument('-r',
'--robot',
help='robot ID to use',
type=int,
default=rtdb2tools.guessAgentId())
parser.add_argument('-p',
'--plot',
help='show a plot',
action='store_true')
parser.add_argument('-d',
'--dump',
help='dump dataframe ASCII tables to /tmp',
action='store_true')
parser.add_argument('-a',
'--all',
help='show as much as possible',
action='store_true')
parser.add_argument(
'-f',
'--frequency',
help=
'resample frequency to use (typically best to slightly undersample heartbeat)',
type=float)
parser.add_argument('rdlfile', help='analyze given RDL file', type=str)
return parser.parse_args()
def parse_arguments():
descriptionTxt = """Analyze motion performance from RDL file, write a brief report to stdout.
"""
exampleTxt = """Examples:
analyze_motion.py /var/tmp/20191205_204236_r6.rdl
TODO
"""
parser = argparse.ArgumentParser(description=descriptionTxt, epilog=exampleTxt, formatter_class=argparse.RawDescriptionHelpFormatter)
parser.add_argument('-r', '--robot', help='robot ID to use', type=int, default=rtdb2tools.guessAgentId())
parser.add_argument('-p', '--plot', help='show a plot', action='store_true')
parser.add_argument('rdlfile', help='analyze given RDL file', type=str)
return parser.parse_args()
def parse_arguments():
descriptionTxt = """Monitor intercept performance parameters from RTDB, write continuously to stdout. """
exampleTxt = """Examples:
monitor_intercept.py
monitor_intercept.py -r 2
Example output: TODO (desc)
"""
parser = argparse.ArgumentParser(
description=descriptionTxt,
epilog=exampleTxt,
formatter_class=argparse.RawDescriptionHelpFormatter)
parser.add_argument('-r',
'--robot',
help='robot ID to use',
type=int,
default=rtdb2tools.guessAgentId())
parser.add_argument('-f',
'--frequency',
help='refresh frequency in Hz',
type=float,
default=10)
return parser.parse_args()
parser.add_argument('-n', '--numRepeats', help='number of repeats', type=int, default=2)
return parser.parse_args()
def main(args):
# move to starting position
rl = RobotLibrary(args.robot, joystick=False)
rl.move(args.x, args.y, 0.0)
# configure
twister = Twister(args.robot, rci=rl._rci)
twister.dof = 'Rz' # most stable, due to each wheel contributing the same
twister.speed = args.vRz
twister.repeats = args.numRepeats
twister.duration = args.duration
twister.disableVisionLoc = True # the point of this procedure is to compare vision with encoders
twister.accelerationLimit = 2.0 # must prevent wheel slip
# run
twister.run()
if __name__ == '__main__':
args = parse_arguments()
robot = rtdb2tools.guessAgentId()
if robot == 0 or robot == None:
raise RuntimeError("Error: could not determine robot ID, this script should run on a robot")
args.robot = robot
main(args)
self.rtdb2Store.put(self.agent, self.key, self.rtdbData)
if __name__ == "__main__":
# Argument parsing.
descriptionTxt = 'This tool allows you to edit an RtDB item in the database given an RtDB key.\n'
exampleTxt = 'Example: rtdb2_edit.py CONFIG_PATHPLANNING\n'
parser = argparse.ArgumentParser(
description=descriptionTxt,
epilog=exampleTxt,
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument('-a',
'--agent',
help='agent ID to use',
type=int,
default=rtdb2tools.guessAgentId())
parser.add_argument('-p',
'--path',
help='database path to use',
type=str,
default=RTDB2_DEFAULT_PATH)
parser.add_argument('key', help='RtDB key to edit')
args = parser.parse_args()
dataHandler = RtDBDataHandler(args.path, args.agent, args.key)
App = TestApp()
App.setDataHandler(dataHandler)
App.run()
def parse_arguments():
parser = argparse.ArgumentParser(
description=
"""Automated single-robot intercept test. Robot will choose a position in a circle, continuously attempting to intercept the ball and pass to next robot. Includes a fallback getball in case ball bounces off. See also: wrapper script interceptCircle.py."""
)
parser.add_argument(
'-a',
'--actionradius',
help=
'zone/action radius: in case intercept fails and ball is within this radius, just do a getball fallback',
type=float,
default=2.0)
parser.add_argument(
'-c',
'--circleradius',
help=
'home position circle radius on which robot default positions are set',
type=float,
default=4.0)
parser.add_argument('-t',
'--target',
help='pass target (default: next robot)',
type=float,
nargs=2,
default=None)
parser.add_argument(
'-n',
'--targetnoise',
help='aim given amount of meters at a random side next to the target',
type=float,
default=0.0)
parser.add_argument(
'-w',
'--dontwait',
help='do not wait with intercepting until previous robot has the ball',
action='store_true')
parser.add_argument('-q',
'--quiet',
help='suppress output',
action='store_true')
# TODO use option 'active' intercept?
parser.add_argument(
'--home',
help=
'home position (x,y), default calculated based on available robots and circleradius',
type=float,
nargs=2,
default=None)
parser.add_argument(
'-i',
'--index',
help=
'home position index to choose (starting count at 1), default calculate based on available robots',
type=int,
nargs=2,
default=None)
parser.add_argument('-r',
'--robot',
help='robot ID to use (intended only for simulation)',
type=int,
default=rtdb2tools.guessAgentId())
parser.add_argument('--ignore',
help='robots to be ignored',
type=int,
nargs='+',
default=[1])
return parser.parse_args()
