def test_get_content(self):
reader = csv_reader.CSVReader('testdata/test.csv.gz', zipped=True)
rows = []
with closing(reader.get_content()) as content:
for r in content:
rows.append(r)
self.assertEqual(2, len(rows))
self.assertEqual(['v1.1', 'v1.2', 'v1.3'], rows[0])
self.assertEqual(['v2.1', 'v2.2', 'v2.3'], rows[1])
def __init__(self,
data_file_name,
data_short_name,
lookup_file_name,
lookup_short_name,
key_name,
output_file_name,
zipped=False):
self.data_reader_ = csv_reader.CSVReader(data_file_name, zipped)
self.lookup_reader_ = csv_reader.CSVReader(lookup_file_name, zipped)
self.data_short_name_ = data_short_name
self.lookup_short_name_ = lookup_short_name
self.data_header_ = self.data_reader_.get_header()
self.lookup_header_ = self.lookup_reader_.get_header()
assert key_name in self.data_header_
assert key_name in self.lookup_header_
self.key_name_ = key_name
self.output_file_name_ = output_file_name
self.zipped_ = zipped
def test_get_join(self):
output_fn = '/tmp/output.csv.gz'
lookup = csv_lookup.CSVLookup(
data_file_name='testdata/test.csv.gz',
data_short_name='',
lookup_file_name='testdata/lookup.csv.gz',
lookup_short_name='lookup',
key_name='COL1',
output_file_name=output_fn,
zipped=True)
lookup.join()
reader = csv_reader.CSVReader(output_fn, zipped=True)
header = reader.get_header()
self.assertEqual(4, len(header))
self.assertEqual(['COL1', 'COL2', 'COL3', 'lookup.COL2'], header)
rows = []
with closing(reader.get_content()) as content:
for r in content:
rows.append(r)
self.assertEqual(2, len(rows))
self.assertEqual(['v1.1', 'v1.2', 'v1.3', 'l1.1'], rows[0])
self.assertEqual(['v2.1', 'v2.2', 'v2.3', 'l2.1'], rows[1])
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
# * Neither the name of the Universal Robots A/S nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL UNIVERSAL ROBOTS A/S BE LIABLE FOR ANY
# DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
# (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
# ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
import matplotlib.pyplot as plt
import sys
import csv_reader
with open('robot_data.csv') as csvfile:
r = csv_reader.CSVReader(csvfile)
# plot
plt.plot(r.timestamp, r.target_q_1)
plt.show()
def plotCSVTcp(filenameCSV):
filename = os.path.splitext(filenameCSV)[0]
with open(('csv/' + filenameCSV)) as csvfile:
r = csv_reader.CSVReader(csvfile)
fig1 = plt.figure().gca()
try:
fig1.plot(r.timestamp, r.target_q_0, color='r', label='q0')
fig1.plot(r.timestamp, r.target_q_1, color='g', label='q1')
fig1.plot(r.timestamp, r.target_q_2, color='b', label='q2')
fig1.plot(r.timestamp, r.target_q_3, color='c', label='q3')
fig1.plot(r.timestamp, r.target_q_4, color='magenta', label='q4')
fig1.plot(r.timestamp, r.target_q_5, color='orange', label='q5')
except:
print("Singular target_q_0-5")
#return 1
fig1.xaxis.set_major_locator(ticker.MultipleLocator(0.50))
fig1.xaxis.set_minor_locator(ticker.MultipleLocator(0.25))
plt.grid(True)
plt.title(filenameCSV + " - Gelenkwinkel")
plt.ylabel('Gelenkwinkel in Rad')
plt.xlabel('Zeit in s')
plt.legend()
plt.savefig('png/' + filename + '_q.png', dpi=300)
fig12 = plt.figure().gca()
try:
fig12.plot(r.timestamp, r.target_qd_0, color='r', label='qd0')
fig12.plot(r.timestamp, r.target_qd_1, color='g', label='qd1')
fig12.plot(r.timestamp, r.target_qd_2, color='b', label='qd2')
fig12.plot(r.timestamp, r.target_qd_3, color='c', label='qd3')
fig12.plot(r.timestamp, r.target_qd_4, color='magenta', label='qd4')
fig12.plot(r.timestamp, r.target_qd_5, color='orange', label='qd5')
except:
print("Singular target_qd_0-5")
#return 12
fig12.xaxis.set_major_locator(ticker.MultipleLocator(0.50))
fig12.xaxis.set_minor_locator(ticker.MultipleLocator(0.25))
plt.grid(True)
plt.title(filenameCSV + " - Winkelgeschwindigkeit")
plt.ylabel('Winkelgeschwindigkeit in Rad/s')
plt.xlabel('Zeit in s')
plt.legend()
plt.savefig('png/' + filename + '_qd.png', dpi=300)
fig2 = plt.figure().gca()
try:
fig2.plot(r.timestamp, r.target_TCP_pose_0, color='r', label='X')
fig2.plot(r.timestamp, r.target_TCP_pose_1, color='g', label='Y')
fig2.plot(r.timestamp, r.target_TCP_pose_2, color='b', label='Z')
except:
print("Singular target_TCP_pose_0-2")
# return 2
fig2.xaxis.set_major_locator(ticker.MultipleLocator(0.50))
fig2.xaxis.set_minor_locator(ticker.MultipleLocator(0.25))
plt.grid(True)
plt.title(filenameCSV + " - Pose XYZ")
plt.ylabel('XYZ in m')
plt.xlabel('Zeit in s')
plt.legend()
plt.savefig('png/' + filename + '_Pose_XYZ.png', dpi=300)
fig3 = plt.figure().gca()
try:
fig3.plot(r.timestamp, r.target_TCP_pose_3, color='c', label='rx')
fig3.plot(r.timestamp,
r.target_TCP_pose_4,
color='magenta',
label='ry')
fig3.plot(r.timestamp, r.target_TCP_pose_5, color='orange', label='rz')
except:
print("Singular target_TCP_pose_3-5")
#return 3
fig3.xaxis.set_major_locator(ticker.MultipleLocator(0.50))
fig3.xaxis.set_minor_locator(ticker.MultipleLocator(0.25))
plt.grid(True)
plt.title(filenameCSV + " - Pose rxryrz")
plt.ylabel('rxryrz in Rad')
plt.xlabel('Zeit in s')
plt.legend()
plt.savefig('png/' + filename + '_Pose_rxryrz.png', dpi=300)
fig4 = plt.figure().gca()
try:
fig4.plot(r.timestamp, r.target_TCP_speed_0, color='r', label='dX')
fig4.plot(r.timestamp, r.target_TCP_speed_1, color='g', label='dY')
fig4.plot(r.timestamp, r.target_TCP_speed_2, color='b', label='dZ')
except:
print("Singular target_TCP_speed_0-2")
#return 4
fig4.xaxis.set_major_locator(ticker.MultipleLocator(0.50))
fig4.xaxis.set_minor_locator(ticker.MultipleLocator(0.25))
plt.grid(True)
plt.title(filenameCSV + " - Pose Geschwindigkeit XYZ")
plt.ylabel('dXYZ in m/s')
plt.xlabel('Zeit in s')
plt.legend()
plt.savefig('png/' + filename + '_Pose_Geschwindigkeit_XYZ.png', dpi=300)
fig5 = plt.figure().gca()
try:
fig5.plot(r.timestamp, r.target_TCP_speed_3, color='c', label='drx')
fig5.plot(r.timestamp,
r.target_TCP_speed_4,
color='magenta',
label='dry')
fig5.plot(r.timestamp,
r.target_TCP_speed_5,
color='orange',
label='drz')
except:
print("Singular target_TCP_speed_3-5")
#return 5
fig5.xaxis.set_major_locator(ticker.MultipleLocator(0.50))
fig5.xaxis.set_minor_locator(ticker.MultipleLocator(0.25))
plt.grid(True)
plt.title(filenameCSV + " - Pose Geschwindigkeit rxryrz")
plt.ylabel('drxryrz in Rad/s')
plt.xlabel('Zeit in s')
plt.legend()
plt.savefig('png/' + filename + '_Pose_Geschwindigkeit_rxryrz.png',
dpi=300)
#target_TCP_acc_X
fig6 = plt.figure().gca()
try:
fig6.plot(r.timestamp, r.target_TCP_acc_0, color='r', label='ddX')
fig6.plot(r.timestamp, r.target_TCP_acc_1, color='g', label='ddY')
fig6.plot(r.timestamp, r.target_TCP_acc_2, color='b', label='ddZ')
except:
print("Singular target_TCP_acc_X")
#return 6
fig6.xaxis.set_major_locator(ticker.MultipleLocator(0.50))
fig6.xaxis.set_minor_locator(ticker.MultipleLocator(0.25))
plt.grid(True)
plt.title(filenameCSV + " - Pose Beschleunigung XYZ")
plt.ylabel('ddXYZ in m/s**2')
plt.xlabel('Zeit in s')
plt.legend()
plt.savefig('png/' + filename + '_Pose_Beschleunigung_XYZ.png', dpi=300)
return 0
def test_get_header(self):
reader = csv_reader.CSVReader('testdata/test.csv.gz', zipped=True)
header = reader.get_header()
self.assertEqual(3, len(header))
self.assertEqual(['COL1', 'COL2', 'COL3'], header)