Adam Lesinski | 282e181 | 2014-01-23 18:17:42 -0800 | [diff] [blame] | 1 | #!/usr/bin/env python2.6 |
| 2 | # |
| 3 | # Copyright (C) 2011 The Android Open Source Project |
| 4 | # |
| 5 | # Licensed under the Apache License, Version 2.0 (the "License"); |
| 6 | # you may not use this file except in compliance with the License. |
| 7 | # You may obtain a copy of the License at |
| 8 | # |
| 9 | # http://www.apache.org/licenses/LICENSE-2.0 |
| 10 | # |
| 11 | # Unless required by applicable law or agreed to in writing, software |
| 12 | # distributed under the License is distributed on an "AS IS" BASIS, |
| 13 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| 14 | # See the License for the specific language governing permissions and |
| 15 | # limitations under the License. |
| 16 | # |
| 17 | |
| 18 | # |
| 19 | # Plots debug log output from VelocityTracker. |
| 20 | # Enable DEBUG_VELOCITY to print the output. |
| 21 | # |
| 22 | # This code supports side-by-side comparison of two algorithms. |
| 23 | # The old algorithm should be modified to emit debug log messages containing |
| 24 | # the word "OLD". |
| 25 | # |
| 26 | |
| 27 | import numpy as np |
| 28 | import matplotlib.pyplot as plot |
| 29 | import subprocess |
| 30 | import re |
| 31 | import fcntl |
| 32 | import os |
| 33 | import errno |
| 34 | import bisect |
| 35 | from datetime import datetime, timedelta |
| 36 | |
| 37 | # Parameters. |
| 38 | timespan = 15 # seconds total span shown |
| 39 | scrolljump = 5 # seconds jump when scrolling |
| 40 | timeticks = 1 # seconds between each time tick |
| 41 | |
| 42 | # Non-blocking stream wrapper. |
| 43 | class NonBlockingStream: |
| 44 | def __init__(self, stream): |
| 45 | fcntl.fcntl(stream, fcntl.F_SETFL, os.O_NONBLOCK) |
| 46 | self.stream = stream |
| 47 | self.buffer = '' |
| 48 | self.pos = 0 |
| 49 | |
| 50 | def readline(self): |
| 51 | while True: |
| 52 | index = self.buffer.find('\n', self.pos) |
| 53 | if index != -1: |
| 54 | result = self.buffer[self.pos:index] |
| 55 | self.pos = index + 1 |
| 56 | return result |
| 57 | |
| 58 | self.buffer = self.buffer[self.pos:] |
| 59 | self.pos = 0 |
| 60 | try: |
| 61 | chunk = os.read(self.stream.fileno(), 4096) |
| 62 | except OSError, e: |
| 63 | if e.errno == errno.EAGAIN: |
| 64 | return None |
| 65 | raise e |
| 66 | if len(chunk) == 0: |
| 67 | if len(self.buffer) == 0: |
| 68 | raise(EOFError) |
| 69 | else: |
| 70 | result = self.buffer |
| 71 | self.buffer = '' |
| 72 | self.pos = 0 |
| 73 | return result |
| 74 | self.buffer += chunk |
| 75 | |
| 76 | # Plotter |
| 77 | class Plotter: |
| 78 | def __init__(self, adbout): |
| 79 | self.adbout = adbout |
| 80 | |
| 81 | self.fig = plot.figure(1) |
| 82 | self.fig.suptitle('Velocity Tracker', fontsize=12) |
| 83 | self.fig.set_dpi(96) |
| 84 | self.fig.set_size_inches(16, 12, forward=True) |
| 85 | |
| 86 | self.velocity_x = self._make_timeseries() |
| 87 | self.velocity_y = self._make_timeseries() |
| 88 | self.velocity_magnitude = self._make_timeseries() |
| 89 | self.velocity_axes = self._add_timeseries_axes( |
| 90 | 1, 'Velocity', 'px/s', [-5000, 5000], |
| 91 | yticks=range(-5000, 5000, 1000)) |
| 92 | self.velocity_line_x = self._add_timeseries_line( |
| 93 | self.velocity_axes, 'vx', 'red') |
| 94 | self.velocity_line_y = self._add_timeseries_line( |
| 95 | self.velocity_axes, 'vy', 'green') |
| 96 | self.velocity_line_magnitude = self._add_timeseries_line( |
| 97 | self.velocity_axes, 'magnitude', 'blue') |
| 98 | self._add_timeseries_legend(self.velocity_axes) |
| 99 | |
| 100 | shared_axis = self.velocity_axes |
| 101 | |
| 102 | self.old_velocity_x = self._make_timeseries() |
| 103 | self.old_velocity_y = self._make_timeseries() |
| 104 | self.old_velocity_magnitude = self._make_timeseries() |
| 105 | self.old_velocity_axes = self._add_timeseries_axes( |
| 106 | 2, 'Old Algorithm Velocity', 'px/s', [-5000, 5000], |
| 107 | sharex=shared_axis, |
| 108 | yticks=range(-5000, 5000, 1000)) |
| 109 | self.old_velocity_line_x = self._add_timeseries_line( |
| 110 | self.old_velocity_axes, 'vx', 'red') |
| 111 | self.old_velocity_line_y = self._add_timeseries_line( |
| 112 | self.old_velocity_axes, 'vy', 'green') |
| 113 | self.old_velocity_line_magnitude = self._add_timeseries_line( |
| 114 | self.old_velocity_axes, 'magnitude', 'blue') |
| 115 | self._add_timeseries_legend(self.old_velocity_axes) |
| 116 | |
| 117 | self.timer = self.fig.canvas.new_timer(interval=100) |
| 118 | self.timer.add_callback(lambda: self.update()) |
| 119 | self.timer.start() |
| 120 | |
| 121 | self.timebase = None |
| 122 | self._reset_parse_state() |
| 123 | |
| 124 | # Initialize a time series. |
| 125 | def _make_timeseries(self): |
| 126 | return [[], []] |
| 127 | |
| 128 | # Add a subplot to the figure for a time series. |
| 129 | def _add_timeseries_axes(self, index, title, ylabel, ylim, yticks, sharex=None): |
| 130 | num_graphs = 2 |
| 131 | height = 0.9 / num_graphs |
| 132 | top = 0.95 - height * index |
| 133 | axes = self.fig.add_axes([0.1, top, 0.8, height], |
| 134 | xscale='linear', |
| 135 | xlim=[0, timespan], |
| 136 | ylabel=ylabel, |
| 137 | yscale='linear', |
| 138 | ylim=ylim, |
| 139 | sharex=sharex) |
| 140 | axes.text(0.02, 0.02, title, transform=axes.transAxes, fontsize=10, fontweight='bold') |
| 141 | axes.set_xlabel('time (s)', fontsize=10, fontweight='bold') |
| 142 | axes.set_ylabel(ylabel, fontsize=10, fontweight='bold') |
| 143 | axes.set_xticks(range(0, timespan + 1, timeticks)) |
| 144 | axes.set_yticks(yticks) |
| 145 | axes.grid(True) |
| 146 | |
| 147 | for label in axes.get_xticklabels(): |
| 148 | label.set_fontsize(9) |
| 149 | for label in axes.get_yticklabels(): |
| 150 | label.set_fontsize(9) |
| 151 | |
| 152 | return axes |
| 153 | |
| 154 | # Add a line to the axes for a time series. |
| 155 | def _add_timeseries_line(self, axes, label, color, linewidth=1): |
| 156 | return axes.plot([], label=label, color=color, linewidth=linewidth)[0] |
| 157 | |
| 158 | # Add a legend to a time series. |
| 159 | def _add_timeseries_legend(self, axes): |
| 160 | axes.legend( |
| 161 | loc='upper left', |
| 162 | bbox_to_anchor=(1.01, 1), |
| 163 | borderpad=0.1, |
| 164 | borderaxespad=0.1, |
| 165 | prop={'size': 10}) |
| 166 | |
| 167 | # Resets the parse state. |
| 168 | def _reset_parse_state(self): |
| 169 | self.parse_velocity_x = None |
| 170 | self.parse_velocity_y = None |
| 171 | self.parse_velocity_magnitude = None |
| 172 | self.parse_old_velocity_x = None |
| 173 | self.parse_old_velocity_y = None |
| 174 | self.parse_old_velocity_magnitude = None |
| 175 | |
| 176 | # Update samples. |
| 177 | def update(self): |
| 178 | timeindex = 0 |
| 179 | while True: |
| 180 | try: |
| 181 | line = self.adbout.readline() |
| 182 | except EOFError: |
| 183 | plot.close() |
| 184 | return |
| 185 | if line is None: |
| 186 | break |
| 187 | print line |
| 188 | |
| 189 | try: |
| 190 | timestamp = self._parse_timestamp(line) |
| 191 | except ValueError, e: |
| 192 | continue |
| 193 | if self.timebase is None: |
| 194 | self.timebase = timestamp |
| 195 | delta = timestamp - self.timebase |
| 196 | timeindex = delta.seconds + delta.microseconds * 0.000001 |
| 197 | |
| 198 | if line.find(': position') != -1: |
| 199 | self.parse_velocity_x = self._get_following_number(line, 'vx=') |
| 200 | self.parse_velocity_y = self._get_following_number(line, 'vy=') |
| 201 | self.parse_velocity_magnitude = self._get_following_number(line, 'speed=') |
| 202 | self._append(self.velocity_x, timeindex, self.parse_velocity_x) |
| 203 | self._append(self.velocity_y, timeindex, self.parse_velocity_y) |
| 204 | self._append(self.velocity_magnitude, timeindex, self.parse_velocity_magnitude) |
| 205 | |
| 206 | if line.find(': OLD') != -1: |
| 207 | self.parse_old_velocity_x = self._get_following_number(line, 'vx=') |
| 208 | self.parse_old_velocity_y = self._get_following_number(line, 'vy=') |
| 209 | self.parse_old_velocity_magnitude = self._get_following_number(line, 'speed=') |
| 210 | self._append(self.old_velocity_x, timeindex, self.parse_old_velocity_x) |
| 211 | self._append(self.old_velocity_y, timeindex, self.parse_old_velocity_y) |
| 212 | self._append(self.old_velocity_magnitude, timeindex, self.parse_old_velocity_magnitude) |
| 213 | |
| 214 | # Scroll the plots. |
| 215 | if timeindex > timespan: |
| 216 | bottom = int(timeindex) - timespan + scrolljump |
| 217 | self.timebase += timedelta(seconds=bottom) |
| 218 | self._scroll(self.velocity_x, bottom) |
| 219 | self._scroll(self.velocity_y, bottom) |
| 220 | self._scroll(self.velocity_magnitude, bottom) |
| 221 | self._scroll(self.old_velocity_x, bottom) |
| 222 | self._scroll(self.old_velocity_y, bottom) |
| 223 | self._scroll(self.old_velocity_magnitude, bottom) |
| 224 | |
| 225 | # Redraw the plots. |
| 226 | self.velocity_line_x.set_data(self.velocity_x) |
| 227 | self.velocity_line_y.set_data(self.velocity_y) |
| 228 | self.velocity_line_magnitude.set_data(self.velocity_magnitude) |
| 229 | self.old_velocity_line_x.set_data(self.old_velocity_x) |
| 230 | self.old_velocity_line_y.set_data(self.old_velocity_y) |
| 231 | self.old_velocity_line_magnitude.set_data(self.old_velocity_magnitude) |
| 232 | |
| 233 | self.fig.canvas.draw_idle() |
| 234 | |
| 235 | # Scroll a time series. |
| 236 | def _scroll(self, timeseries, bottom): |
| 237 | bottom_index = bisect.bisect_left(timeseries[0], bottom) |
| 238 | del timeseries[0][:bottom_index] |
| 239 | del timeseries[1][:bottom_index] |
| 240 | for i, timeindex in enumerate(timeseries[0]): |
| 241 | timeseries[0][i] = timeindex - bottom |
| 242 | |
| 243 | # Extract a word following the specified prefix. |
| 244 | def _get_following_word(self, line, prefix): |
| 245 | prefix_index = line.find(prefix) |
| 246 | if prefix_index == -1: |
| 247 | return None |
| 248 | start_index = prefix_index + len(prefix) |
| 249 | delim_index = line.find(',', start_index) |
| 250 | if delim_index == -1: |
| 251 | return line[start_index:] |
| 252 | else: |
| 253 | return line[start_index:delim_index] |
| 254 | |
| 255 | # Extract a number following the specified prefix. |
| 256 | def _get_following_number(self, line, prefix): |
| 257 | word = self._get_following_word(line, prefix) |
| 258 | if word is None: |
| 259 | return None |
| 260 | return float(word) |
| 261 | |
| 262 | # Add a value to a time series. |
| 263 | def _append(self, timeseries, timeindex, number): |
| 264 | timeseries[0].append(timeindex) |
| 265 | timeseries[1].append(number) |
| 266 | |
| 267 | # Parse the logcat timestamp. |
| 268 | # Timestamp has the form '01-21 20:42:42.930' |
| 269 | def _parse_timestamp(self, line): |
| 270 | return datetime.strptime(line[0:18], '%m-%d %H:%M:%S.%f') |
| 271 | |
| 272 | # Notice |
| 273 | print "Velocity Tracker plotting tool" |
| 274 | print "-----------------------------------------\n" |
| 275 | print "Please enable debug logging and recompile the code." |
| 276 | |
| 277 | # Start adb. |
| 278 | print "Starting adb logcat.\n" |
| 279 | |
| 280 | adb = subprocess.Popen(['adb', 'logcat', '-s', '-v', 'time', 'Input:*', 'VelocityTracker:*'], |
| 281 | stdout=subprocess.PIPE) |
| 282 | adbout = NonBlockingStream(adb.stdout) |
| 283 | |
| 284 | # Prepare plotter. |
| 285 | plotter = Plotter(adbout) |
| 286 | plotter.update() |
| 287 | |
| 288 | # Main loop. |
| 289 | plot.show() |