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Fixed overflow issue in com analyser script #18

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merged 2 commits into from
Jul 22, 2020
Merged

Fixed overflow issue in com analyser script #18

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258145d
Plot graphs even if the script is stopped by a master board timeout
AlexisPotier Jul 21, 2020
7e66eec
Fixed overflow issue on com_analyser
AlexisPotier Jul 22, 2020
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100 changes: 61 additions & 39 deletions sdk/master_board_sdk/example/com_analyser.py
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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,7 @@ def example_script(name_interface):
cpt = 0
dt = 0.001 #  Time step
state = 0 # State of the system (ready (1) or not (0))
duration = 10 # Duration in seconds, init included
duration = 30 # Duration in seconds, init included

cmd_lost_list = []
sensor_lost_list = []
Expand All @@ -37,8 +37,8 @@ def example_script(name_interface):
print("Null duration selected, end of script")
return

sent_list = [0.0 for i in range(int(duration*1000))]
received_list = [0.0 for i in range(int(duration*1000))]
sent_list = [0.0 for i in range(int(duration/dt)+2)]
received_list = [0.0 for i in range(int(duration/dt)+2)]
loop_duration = []

# contrary to c++, in python it is interesting to build arrays
Expand Down Expand Up @@ -77,15 +77,25 @@ def example_script(name_interface):
# if slave i is connected then motors 2i and 2i+1 are potentially connected
motors_spi_connected_indexes.append(2 * i)
motors_spi_connected_indexes.append(2 * i + 1)

overflow_cmd_cpt = 0
first_cmd_index = robot_if.GetCmdPacketIndex()
cmd_packet_index = first_cmd_index
last_cmd_packet_index = first_cmd_index

while ((not robot_if.IsTimeout())
and (clock() < duration)): # Stop after 15 seconds (around 5 seconds are used at the start for calibration)

if (received_list[robot_if.GetLastRecvCmdIndex()] == 0):
received_list[robot_if.GetLastRecvCmdIndex()] = clock()
if (robot_if.GetLastRecvCmdIndex() > robot_if.GetCmdPacketIndex()):
last_recv_cmd_index = (overflow_cmd_cpt-1) * 65536 + robot_if.GetLastRecvCmdIndex()
else:
last_recv_cmd_index = overflow_cmd_cpt * 65536 + robot_if.GetLastRecvCmdIndex()

if (last_recv_cmd_index >= first_cmd_index and received_list[last_recv_cmd_index-first_cmd_index] == 0):
received_list[last_recv_cmd_index-first_cmd_index] = clock()

if ((clock() - last) > dt):
last = clock()
last += dt
cpt += 1

robot_if.ParseSensorData() # Read sensor data sent by the masterboard
Expand Down Expand Up @@ -124,19 +134,29 @@ def example_script(name_interface):
time_list.append(clock())

current_time = clock()
sent_list[robot_if.GetCmdPacketIndex()] = current_time

diff = robot_if.GetCmdPacketIndex() - last_cmd_packet_index
if diff < 0:
overflow_cmd_cpt += 1
diff = 65536 + robot_if.GetCmdPacketIndex() - last_cmd_packet_index
cmd_packet_index += diff
last_cmd_packet_index = robot_if.GetCmdPacketIndex()

robot_if.SendCommand() # Send the reference currents to the master board

sent_list[cmd_packet_index-first_cmd_index] = current_time
if (prev_time != 0) :
loop_duration.append(1000 * (current_time - prev_time))
prev_time = current_time
robot_if.SendCommand() # Send the reference currents to the master board

robot_if.Stop() # Shut down the interface between the computer and the master board

if robot_if.IsTimeout():
print("Masterboard timeout detected.")
print("Either the masterboard has been shut down or there has been a connection issue with the cable/wifi.")
print("-- End of example script --")
return
if cpt == 0:
print("-- End of example script --")
return


# creation of the folder where the graphs will be stored
Expand All @@ -163,45 +183,47 @@ def example_script(name_interface):

# computing avg and std for non zero values
nonzero = [latency[i] for i in np.nonzero(latency)[0]]
average = 0
std = 0
if len(nonzero) != 0:
average = np.mean(nonzero)
print("average latency: %f ms" %average)
std = np.std(nonzero)
print("standard deviation: %f ms" %std)


plt.figure("wifi-ethernet latency", figsize=(20,15), dpi=200)
plt.figure("wifi-ethernet latency", figsize=(20,15), dpi=200)

anchored_text = AnchoredText("average latency: %f ms\nstandard deviation: %f ms" %(average, std), loc=2, prop=dict(fontsize='xx-large'))
anchored_text = AnchoredText("average latency: %f ms\nstandard deviation: %f ms" %(average, std), loc=2, prop=dict(fontsize='xx-large'))

if len(latency) > 5000:
ax1 = plt.subplot(2, 1, 1)
else:
ax1 = plt.subplot(1, 1, 1)
ax1.plot(latency, '.')
ax1.set_xlabel("index", fontsize='xx-large')
ax1.set_ylabel("latency (ms)", fontsize='xx-large')
ax1.add_artist(anchored_text)

# plotting zoomed version to see pattern
if len(latency) > 5000:
ax2 = plt.subplot(2, 1, 2)
ax2.plot(latency, '.')
ax2.set_xlabel("index", fontsize='xx-large')
ax2.set_ylabel("latency (ms)", fontsize='xx-large')
ax2.set_xlim(len(latency)/2, len(latency)/2 + 2000)
ax2.set_ylim(-0.1, 2.1)

if (name_interface[0] == 'w'):
freq = subprocess.check_output("iwlist " + name_interface +" channel | grep Frequency", shell = True)
channel = (str(freq).split('(')[1]).split(')')[0]
plt.suptitle("Wifi communication latency: " + channel, fontsize='xx-large')

else :
plt.suptitle("Ethernet communication latency", fontsize='xx-large')
if len(latency) > 5000:
ax1 = plt.subplot(2, 1, 1)
else:
ax1 = plt.subplot(1, 1, 1)
ax1.plot(latency, '.')
ax1.set_xlabel("index", fontsize='xx-large')
ax1.set_ylabel("latency (ms)", fontsize='xx-large')
ax1.add_artist(anchored_text)

# plotting zoomed version to see pattern
if len(latency) > 5000:
ax2 = plt.subplot(2, 1, 2)
ax2.plot(latency, '.')
ax2.set_xlabel("index", fontsize='xx-large')
ax2.set_ylabel("latency (ms)", fontsize='xx-large')
ax2.set_xlim(len(latency)/2, len(latency)/2 + 2000)
ax2.set_ylim(-0.1, 2.1)

if (name_interface[0] == 'w'):
freq = subprocess.check_output("iwlist " + name_interface +" channel | grep Frequency", shell = True)
channel = (str(freq).split('(')[1]).split(')')[0]
plt.suptitle("Wifi communication latency: " + channel, fontsize='xx-large')

else :
plt.suptitle("Ethernet communication latency", fontsize='xx-large')


plt.savefig("../graphs/" + dir_name + '/' + dir_name + "-wifieth-latency.png")
plt.savefig("../graphs/" + dir_name + '/' + dir_name + "-wifieth-latency.png")


#Plot histograms and graphs
Expand Down