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https://github.com/ArduPilot/ardupilot
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AP_Motors: Example: Test: make mostly flake 8 clean
This commit is contained in:
Iampete1
Randy Mackay
parent
b175e7a2f9
commit
c3200b00dd
@ -16,17 +16,13 @@
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import os
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import subprocess
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import shutil
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import csv
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from matplotlib import pyplot as plt
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from argparse import ArgumentParser
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import time
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# ==============================================================================
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class DataPoints:
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# --------------------------------------------------------------------------
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# Instantiate the object and parse the data from the provided file
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# file: path to the csv file to be parsed
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def __init__(self, file):
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@ -71,9 +67,7 @@ class DataPoints:
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# Make data immutable
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for field in self.data.keys():
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self.data[field] = tuple(self.data[field])
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# --------------------------------------------------------------------------
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# --------------------------------------------------------------------------
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# get the data from a given field
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# field: dict index, name of field data to be returned
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# lim_tf: limit bool, return limit cases or not
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@ -86,23 +80,20 @@ class DataPoints:
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if (flag == lim_tf):
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ret.append(data)
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return ret
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# --------------------------------------------------------------------------
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# --------------------------------------------------------------------------
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def get_fields(self):
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return self.data.keys()
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# --------------------------------------------------------------------------
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# ==============================================================================
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frame_class_lookup = {6:'Single_Heli', 11:'Dual_Heli'}
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frame_class_lookup = {6: 'Single_Heli', 11: 'Dual_Heli'}
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swash_type_lookup = {0: 'H3',
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1: 'H1',
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2: 'H3_140',
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3: 'H3_120',
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4: 'H4_90',
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5: 'H4_45'}
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swash_type_lookup = {0:'H3',
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1:'H1',
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2:'H3_140',
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3:'H3_120',
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4:'H4_90',
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5:'H4_45',}
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# Run sweep over range of types
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def run_sweep(frame_class, swash_type, dir_name):
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@ -117,26 +108,24 @@ def run_sweep(frame_class, swash_type, dir_name):
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print('Running motors test for frame class = %s (%i), swash = %s (%i)' % (frame_class_lookup[fc], fc, swash_type_lookup[swash], swash))
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filename = '%s_%s_motor_test.csv' % (frame_class_lookup[fc], swash_type_lookup[swash])
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os.system('./build/linux/examples/AP_Motors_test s frame_class=%d swash=%d > %s/%s' % (fc,swash,dir_name,filename))
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os.system('./build/linux/examples/AP_Motors_test s frame_class=%d swash=%d > %s/%s' % (fc, swash, dir_name, filename))
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print('Frame class = %s, swash = %s complete\n' % (frame_class_lookup[fc], swash_type_lookup[swash]))
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# ==============================================================================
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if __name__ == '__main__':
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BLUE = [0,0,1]
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RED = [1,0,0]
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BLACK = [0,0,0]
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BLUE = [0, 0, 1]
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RED = [1, 0, 0]
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BLACK = [0, 0, 0]
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# Build input parser
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parser = ArgumentParser(description='Find logs in which the input string is found in messages')
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parser.add_argument("-H","--head", type=int, help='number of commits to roll back the head for comparing the work done')
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parser.add_argument("-f","--frame-class", type=int, dest='frame_class', nargs="+", default=(6,11), help="list of frame classes to run comparison on. Defaults to test all helis.")
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parser.add_argument("-s","--swash-type", type=int, dest='swash_type', nargs="+", default=(0,1,2,3,4,5), help="list of swashplate types to run comparison on. Defaults to test all types.")
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parser.add_argument("-c","--compare", action='store_true', help='Compare only, do not re-run tests')
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parser.add_argument("-p","--plot", action='store_true', help='Plot comparison results')
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parser.add_argument("-H", "--head", type=int, help='number of commits to roll back the head for comparing the work done')
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parser.add_argument("-f", "--frame-class", type=int, dest='frame_class', nargs="+", default=(6, 11), help="list of frame classes to run comparison on. Defaults to test all helis.")
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parser.add_argument("-s", "--swash-type", type=int, dest='swash_type', nargs="+", default=(0, 1, 2, 3, 4, 5), help="list of swashplate types to run comparison on. Defaults to test all types.")
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parser.add_argument("-c", "--compare", action='store_true', help='Compare only, do not re-run tests')
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parser.add_argument("-p", "--plot", action='store_true', help='Plot comparison results')
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args = parser.parse_args()
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dir_name = 'motors_comparison'
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@ -218,11 +207,11 @@ if __name__ == '__main__':
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print('\t failed!\n')
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print('\tInputs max change:')
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INPUTS = ['Roll','Pitch','Yaw','Thr']
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INPUTS = ['Roll', 'Pitch', 'Yaw', 'Thr']
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input_diff = {}
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for field in INPUTS:
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input_diff[field] = [i-j for i,j in zip(old_points.data[field], new_points.data[field])]
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print('\t\t%s: %f' % (field, max(map(abs,input_diff[field]))))
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input_diff[field] = [i-j for i, j in zip(old_points.data[field], new_points.data[field])]
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print('\t\t%s: %f' % (field, max(map(abs, input_diff[field]))))
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# Find number of motors
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num_motors = 0
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@ -235,15 +224,15 @@ if __name__ == '__main__':
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output_diff = {}
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for i in range(num_motors):
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field = 'Mot%i' % (i+1)
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output_diff[field] = [i-j for i,j in zip(old_points.data[field], new_points.data[field])]
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print('\t\t%s: %f' % (field, max(map(abs,output_diff[field]))))
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output_diff[field] = [i-j for i, j in zip(old_points.data[field], new_points.data[field])]
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print('\t\t%s: %f' % (field, max(map(abs, output_diff[field]))))
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print('\tLimits max change:')
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LIMITS = ['LimR','LimP','LimY','LimThD','LimThU']
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LIMITS = ['LimR', 'LimP', 'LimY', 'LimThD', 'LimThU']
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limit_diff = {}
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for field in LIMITS:
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limit_diff[field] = [i-j for i,j in zip(old_points.data[field], new_points.data[field])]
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print('\t\t%s: %f' % (field, max(map(abs,limit_diff[field]))))
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limit_diff[field] = [i-j for i, j in zip(old_points.data[field], new_points.data[field])]
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print('\t\t%s: %f' % (field, max(map(abs, limit_diff[field]))))
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print('\n')
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if not args.plot:
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@ -264,25 +253,25 @@ if __name__ == '__main__':
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fig.suptitle('%s Outputs' % name, fontsize=16)
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for i in range(num_motors):
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field = 'Mot%i' % (i+1)
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ax[0,i].plot(old_points.data[field], color=RED)
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ax[0,i].plot(new_points.data[field], color=BLUE)
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ax[0,i].set_ylabel(field)
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ax[0,i].set_xlabel('Test No')
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ax[1,i].plot(output_diff[field], color=BLACK)
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ax[1,i].set_ylabel('Change in %s' % field)
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ax[1,i].set_xlabel('Test No')
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ax[0, i].plot(old_points.data[field], color=RED)
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ax[0, i].plot(new_points.data[field], color=BLUE)
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ax[0, i].set_ylabel(field)
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ax[0, i].set_xlabel('Test No')
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ax[1, i].plot(output_diff[field], color=BLACK)
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ax[1, i].set_ylabel('Change in %s' % field)
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ax[1, i].set_xlabel('Test No')
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plt.tight_layout(rect=[0, 0.0, 1, 0.95])
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fig, ax = plt.subplots(2, 5, figsize=fig_size)
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fig.suptitle(name + ' Limits', fontsize=16)
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for i, field in enumerate(LIMITS):
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ax[0,i].plot(old_points.data[field], color=RED)
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ax[0,i].plot(new_points.data[field], color=BLUE)
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ax[0,i].set_ylabel(field)
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ax[0,i].set_xlabel('Test No')
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ax[1,i].plot(limit_diff[field], color=BLACK)
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ax[1,i].set_ylabel('Change in %s' % field)
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ax[1,i].set_xlabel('Test No')
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ax[0, i].plot(old_points.data[field], color=RED)
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ax[0, i].plot(new_points.data[field], color=BLUE)
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ax[0, i].set_ylabel(field)
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ax[0, i].set_xlabel('Test No')
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ax[1, i].plot(limit_diff[field], color=BLACK)
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ax[1, i].set_ylabel('Change in %s' % field)
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ax[1, i].set_xlabel('Test No')
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plt.tight_layout(rect=[0, 0.0, 1, 0.95])
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if args.plot:
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