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plotter.py
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plotter.py
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'''
File name: plotter.py
Author: Masao Chiguchi
Date created: 2024/05/26
Date last modified: 2024/5/28
Python Version: 3.10.0 (tested on)
CSVファイルを開き、グラフ化する
最新のCSVファイル名は「setting_plotter.txt」から読み込む。
'''
import matplotlib
import matplotlib.pyplot as plt
import pandas as pd
from matplotlib.animation import FuncAnimation
import time
from datetime import datetime
import random
DRAW_INTERVAL = 100 #100=10Hz
settingf = open("setting_plotter.txt", "r")
csvfilename = settingf.readline().rstrip('\n')
csvfilename_relay = settingf.readline().rstrip('\n')
graph_title = csvfilename.replace(".csv", "").replace("csv","")
print(csvfilename)
# ツールバー非表示
matplotlib.rcParams['toolbar'] = 'None'
# グラフ表示領域を2つ生成し、6:1の表示領域（エルロンピッチ:風速）とする。
fig, (ax1,ax2) = plt.subplots(2, 1, figsize=(4,5), facecolor='lightblue',gridspec_kw={'height_ratios': [6, 1]})
# 最大対気速度を記録する変数
maxspdval = 0
# 風速表示
barcollection = ax2.barh([0,1],[0,maxspdval],height=[1,0.3], color=["blue","aqua"])
# 線や点の設定
ln, = ax1.plot([], [], color='blue', marker='o',linewidth=1 ,markersize=7, alpha=1)
ln2, = ax1.plot([], [], color='blue', marker='o',linewidth=1 ,markersize=2, alpha=0.5)
ln3, = ax1.plot([], [], color='red', marker='o',linewidth=1 ,markersize=5, alpha=0.5)
#color='blue', marker='o',markersize=10, linewidth=0)
def init():
ax1.set_xlabel("LEFT <- -> RIGHT")
ax1.set_ylabel("UP <- -> DOWN")
ax1.plot([-20,20],[0,0],c='black')
ax1.plot([0,0],[-20,20],c='black')
ax1.grid()
ax1.set_xlim(-16,16)
ax1.set_ylim(-8,8)
ax1.set_title(graph_title)
ax1.invert_yaxis()
ax2.grid(axis = 'x')
ax2.set_xlim(0,10)
ax2.invert_yaxis()
#ax2.xaxis.set_visible(False)
ax2.set_yticks([0,1], labels=["SPD","Max"])
ax2.set_xticks(range(11))
plt.tight_layout()
return ln,
def barlist(n):
return [1/float(n*k) for k in range(1,6)]
def animate(frame):
global maxspdval
timebegin = datetime.now()
data = pd.read_csv("./csv/"+csvfilename)
data.apply(pd.to_numeric, errors='coerce')
data_relay = pd.read_csv("./csv/"+csvfilename_relay)
data_relay.apply(pd.to_numeric, errors='coerce')
data_time,data_relay_time = None, None
direct_online, relay_online = False, False
use_relay = False
#軌跡の表示のため、データが６個以上集まっていれば有効とみなす。3秒以内受信かつ５個データが2秒以内が必須(2.5Hz)
if len(data['time']) > 6:
data_time = datetime.strptime(data['time'].iloc[-1],'%Y-%m-%d %H:%M:%S.%f')
data_time_5 = datetime.strptime(data['time'].iloc[-5],'%Y-%m-%d %H:%M:%S.%f')
direct_online = (datetime.now()-data_time).total_seconds() < 3 and (data_time - data_time_5).total_seconds() < 2
if len(data_relay['time']) > 6:
data_relay_time = datetime.strptime(data_relay['time'].iloc[-1],'%Y-%m-%d %H:%M:%S.%f')
data_relay_time_5 = datetime.strptime(data_relay['time'].iloc[-5],'%Y-%m-%d %H:%M:%S.%f')
relay_online = (datetime.now()-data_relay_time).total_seconds() < 3 and (data_relay_time - data_relay_time_5).total_seconds() < 2
if not direct_online and not relay_online:
ax2.set_title("OFFLINE", loc='right', fontsize=9, color='red')
elif not direct_online and relay_online:
use_relay = True
ax2.set_title("RELAY", loc='right', fontsize=9, color='green')
elif direct_online and not relay_online:
ax2.set_title("DIRECT", loc='right', fontsize=9, color='blue')
elif direct_online and relay_online:
if data_relay_time > data_time:
use_relay = True
ax2.set_title("RELAY&DIRECT ONLINE", loc='right', fontsize=9, color='green')
usingdata = data_relay if use_relay else data
if len(usingdata['rudder']) < 6:
return
x = usingdata['rudder']
y = usingdata['elevator']
xt = usingdata['rudder_trim']
yt = usingdata['elevator_trim']
spd = usingdata['airspeed']
timestr = time.strftime("%H:%M:%S")
ax1.set_title(timestr, loc='right', fontsize=9)
ax2title = "csv"+str(len(x))+ ("r" if use_relay else "d")
ax2.set_title(ax2title, loc='left', fontsize=7)
try:
#last two datas
xval = x[-1:].astype(float)
yval = y[-1:].astype(float)
#-5 to -1 datas
xval_o = x[-5:].astype(float)
yval_o = y[-5:].astype(float)
#trim
xval_t = xt[-1:].astype(float)
yval_t = yt[-1:].astype(float)
spdval = float(spd.iloc[-1])
except ValueError as e:
#たまに壊れたデータがここまできてしまうので、ここでExceptする。
print(usingdata[-1:])
print ('Value Error')
return
# max spd 更新
if(spdval > maxspdval):
maxspdval = spdval
ln.set_data(xval, yval)
ln2.set_data(xval_o, yval_o)
ln3.set_data(xval_t, yval_t)
for i, b in enumerate(barcollection):
#print(i,spdval,maxspdval)
if i == 0:
b.set_width(spdval)
elif i == 1:
b.set_width(maxspdval)
duration_in_s = (datetime.now()-timebegin).total_seconds()
print(" "+str(frame)+": {:.1f}ms".format(duration_in_s*1000),end="\r")
#plt.tight_layout()
return ln,ln2,ln3,barcollection[0],barcollection[1]
ani = FuncAnimation(plt.gcf(), animate, init_func=init, interval=DRAW_INTERVAL, cache_frame_data=False, blit=False)
plt.show()