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MAVExplorer: dynamically allocate flightmode bg colours
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@peterbarker
peterbarker committed Jan 8, 2016
1 parent e3879f7 commit 77a4abc
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Showing 2 changed files with 54 additions and 47 deletions.
97 changes: 52 additions & 45 deletions MAVProxy/modules/lib/grapher.py
View file
Expand Up @@ -4,6 +4,7 @@
core library for graphing in mavexplorer
'''

import ast
import sys, struct, time, os, datetime
import math, re
import matplotlib
Expand All @@ -15,38 +16,25 @@
colors = [ 'red', 'green', 'blue', 'orange', 'olive', 'black', 'grey', 'yellow', 'brown', 'darkcyan',
'cornflowerblue', 'darkmagenta', 'deeppink', 'darkred']

colourmap = {
'apm' : {
'MANUAL' : (1.0, 0, 0),
'AUTO' : ( 0, 1.0, 0),
'LOITER' : ( 0, 0, 1.0),
'FBWA' : (1.0, 0.5, 0),
'RTL' : ( 1, 0, 0.5),
'STABILIZE' : (0.5, 1.0, 0),
'LAND' : ( 0, 1.0, 0.5),
'STEERING' : (0.5, 0, 1.0),
'HOLD' : ( 0, 0.5, 1.0),
'ALT_HOLD' : (1.0, 0.5, 0.5),
'CIRCLE' : (0.5, 1.0, 0.5),
'POSITION' : (1.0, 0.0, 1.0),
'GUIDED' : (0.5, 0.5, 1.0),
'ACRO' : (1.0, 1.0, 0),
'CRUISE' : ( 0, 1.0, 1.0)
},
'px4' : {
'MANUAL' : ( 1.0, 0.0, 0.0),
'SEATBELT' : ( 0.5, 0.5, 0.0),
'EASY' : ( 0.0, 1.0, 0.0),
'AUTO' : ( 0.0, 0.0, 1.0),
'UNKNOWN' : ( 1.0, 1.0, 1.0),
'LOITER' : ( 0.0, 0.0, 1.0),
'RTL' : ( 1.0, 0.5, 0.5),
'LAND' : ( 0.0, 1.0, 0.5),
'SPORT' : ( 1.0, 1.0, 0.5),
'STABILIZE' : ( 1.0, 0.5, 1.0),
'ACRO' : ( 0.5, 1.0, 1.0)
}
}
flightmode_colours = [
(1.0, 0, 0),
( 0, 1.0, 0),
( 0, 0, 1.0),

( 0, 1.0, 1.0),
(1.0, 0, 1.0),
(1.0, 1.0, 0),

(1.0, 0.5, 0),
(1.0, 0, 0.5),
(0.5, 1.0, 0),
( 0, 1.0, 0.5),
(0.5, 0, 1.0),
( 0, 0.5, 1.0),
(1.0, 0.5, 0.5),
(0.5, 1.0, 0.5),
(0.5, 0.5, 1.0)
]

edge_colour = (0.1, 0.1, 0.1)

Expand All @@ -60,14 +48,16 @@ def __init__(self):
self.xaxis = None
self.marker = None
self.linestyle = None
self.flightmode = None
self.show_flightmode = True
self.legend = 'upper left'
self.legend2 = 'upper right'
self.legend_flightmode = 'lower left'
self.timeshift = 0
self.labels = None
self.multi = False
self.modes_plotted = {}
self.flightmode_colour_index = 0
self.flightmode_colourmap = {}

def add_field(self, field):
'''add another field to plot'''
Expand Down Expand Up @@ -101,9 +91,9 @@ def set_legend(self, legend):
'''set graph legend'''
self.legend = legend

def set_flightmode(self, flightmode):
'''set graph flightmode'''
self.flightmode = flightmode
def set_show_flightmode(self, value):
'''set to true if flightmodes are to be shown'''
self.show_flightmode = value

def set_linestyle(self, linestyle):
'''set graph linestyle'''
Expand All @@ -130,6 +120,21 @@ def format_coord(x, y):
return ('x=%s Left=%.3f Right=%.3f' % (xstr, y2, y))
return format_coord

def next_flightmode_colour(self):
'''allocate a colour to be used for a flight mode'''
if self.flightmode_colour_index > len(flightmode_colours):
print("Out of colours; reusing")
self.flightmode_colour_index = 0
ret = flightmode_colours[self.flightmode_colour_index]
self.flightmode_colour_index += 1
return ret

def flightmode_colour(self, flightmode):
'''return colour to be used for rendering a flight mode background'''
if flightmode not in self.flightmode_colourmap:
self.flightmode_colourmap[flightmode] = self.next_flightmode_colour()
return self.flightmode_colourmap[flightmode]

def plotit(self, x, y, fields, colors=[]):
'''plot a set of graphs using date for x axis'''
pylab.ion()
Expand Down Expand Up @@ -212,21 +217,23 @@ def plotit(self, x, y, fields, colors=[]):
linestyle=linestyle, marker=marker, tz=None)

empty = False
if self.flightmode is not None:
alpha = 0.1
if self.show_flightmode:
alpha = 0.05
for i in range(len(self.modes)-1):
c = colourmap[self.flightmode].get(self.modes[i][1], edge_colour)
mode_name = self.modes[i][1]
c = self.flightmode_colour(mode_name)
ax1.axvspan(self.modes[i][0], self.modes[i+1][0], fc=c, ec=edge_colour, alpha=alpha)
self.modes_plotted[self.modes[i][1]] = (c, alpha)
c = colourmap[self.flightmode].get(self.modes[-1][1], edge_colour)
mode_name = self.modes[-1][1]
c = self.flightmode_colour(mode_name)
ax1.axvspan(self.modes[-1][0], ax1.get_xlim()[1], fc=c, ec=edge_colour, alpha=alpha)
self.modes_plotted[self.modes[-1][1]] = (c, alpha)

if empty:
print("No data to graph")
return

if self.flightmode is not None:
if self.show_flightmode:
mode_patches = []
for mode in self.modes_plotted.keys():
(color, alpha) = self.modes_plotted[mode]
Expand All @@ -247,7 +254,7 @@ def plotit(self, x, y, fields, colors=[]):
def add_data(self, t, msg, vars, flightmode):
'''add some data'''
mtype = msg.get_type()
if self.flightmode is not None and (len(self.modes) == 0 or self.modes[-1][1] != flightmode):
if self.show_flightmode and (len(self.modes) == 0 or self.modes[-1][1] != flightmode):
self.modes.append((t, flightmode))
for i in range(0, len(self.fields)):
if mtype not in self.field_types[i]:
Expand Down Expand Up @@ -361,8 +368,8 @@ def show(self, block=True):
parser.add_argument("--xaxis", default=None, help="X axis expression")
parser.add_argument("--multi", action='store_true', help="multiple files with same colours")
parser.add_argument("--zero-time-base", action='store_true', help="use Z time base for DF logs")
parser.add_argument("--flightmode", default=None,
help="Choose the plot background according to the active flight mode of the specified type, e.g. --flightmode=apm for ArduPilot or --flightmode=px4 for PX4 stack logs. Cannot be specified with --xaxis.")
parser.add_argument("--show-flightmode", default=True,
help="Add background colour to plot corresponding to current flight mode. Cannot be specified with --xaxis.")
parser.add_argument("--dialect", default="ardupilotmega", help="MAVLink dialect")
parser.add_argument("--output", default=None, help="provide an output format")
parser.add_argument("--timeshift", type=float, default=0, help="shift time on first graph in seconds")
Expand All @@ -386,6 +393,6 @@ def show(self, block=True):
mg.set_legend(args.legend)
mg.set_legend2(args.legend2)
mg.set_multi(args.multi)
mg.set_flightmode(args.flightmode)
mg.set_show_flightmode(ast.literal_eval(args.show_flightmode))
mg.process()
mg.show()
4 changes: 2 additions & 2 deletions MAVProxy/tools/MAVExplorer.py
View file
Expand Up @@ -45,7 +45,7 @@ def __init__(self):
MPSetting('condition', str, None, 'condition'),
MPSetting('xaxis', str, None, 'xaxis'),
MPSetting('linestyle', str, None, 'linestyle'),
MPSetting('flightmode', str, None, 'flightmode', choice=['apm','px4']),
MPSetting('show_flightmode', bool, True, 'show flightmode'),
MPSetting('legend', str, 'upper left', 'legend position'),
MPSetting('legend2', str, 'upper right', 'legend2 position')
]
Expand Down Expand Up @@ -227,7 +227,7 @@ def graph_process(fields, mavExpLog, mavExpFlightModeSel, mavExpSettings):
mg.set_condition(mavExpSettings.condition)
mg.set_xaxis(mavExpSettings.xaxis)
mg.set_linestyle(mavExpSettings.linestyle)
mg.set_flightmode(mavExpSettings.flightmode)
mg.set_show_flightmode(mavExpSettings.show_flightmode)
mg.set_legend(mavExpSettings.legend)
mg.add_mav(mavExpLog)
for f in fields:
Expand Down

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