Added debug plotting of the fridge moving.
Change-Id: I879fa5b63e831680683e84884e36fb57132d014b
diff --git a/frc971/analysis/plot_action.py b/frc971/analysis/plot_action.py
new file mode 100755
index 0000000..1adb4db
--- /dev/null
+++ b/frc971/analysis/plot_action.py
@@ -0,0 +1,78 @@
+#!/usr/bin/python3
+
+import sys
+import numpy
+import analysis
+import argparse
+
+def ReadPlotDefinitions(filename):
+ """
+ Read a file with plotting definitions.
+
+ A plotting definition is a single line that defines what data to search for
+ in order to plot it. The following in a file would duplicate the default
+ behaviour:
+
+ fridge goal height
+ fridge goal angle
+ fridge goal velocity
+ fridge goal angular_velocity
+ fridge output left_arm
+ fridge output right_arm
+ fridge output left_elevator
+ fridge output right_elevator
+
+ Lines are ignored if they start with a hash mark (i.e. '#').
+
+ Args:
+ filename: The name of the file to read the definitions from.
+
+ Returns:
+ [[str]]: The definitions in the specified file.
+ """
+ defs = []
+ with open(filename) as fd:
+ for line in fd:
+ raw_defs = line.split()
+
+ # Only add to the list of definitions if the line's not empty and it
+ # doesn't start with a hash.
+ if raw_defs and not raw_defs[0].startswith('#'):
+ defs.append(raw_defs)
+
+ return defs
+
+def main():
+ # Parse all command line arguments.
+ arg_parser = argparse.ArgumentParser(description='Log Plotter')
+ arg_parser.add_argument('log_file', metavar='LOG_FILE', type=str, \
+ help='The file from which to read logs and plot.')
+ arg_parser.add_argument('--plot-defs', action='store', type=str, \
+ help='Read the items to plot from this file.')
+
+ args = arg_parser.parse_args(sys.argv[1:])
+
+ p = analysis.Plotter()
+
+ # If the user defines the list of data to plot in a file, read it from there.
+ if args.plot_defs:
+ defs = ReadPlotDefinitions(args.plot_defs)
+ for definition in defs:
+ p.Add(definition[0], definition[1], *definition[2:])
+
+ # Otherwise use a pre-defined set of data to plot.
+ else:
+ p.Add('fridge', 'goal', 'height')
+ p.Add('fridge', 'goal', 'angle')
+ p.Add('fridge', 'goal', 'velocity')
+ p.Add('fridge', 'goal', 'angular_velocity')
+
+ p.Add('fridge', 'output', 'left_arm')
+ p.Add('fridge', 'output', 'right_arm')
+ p.Add('fridge', 'output', 'left_elevator')
+ p.Add('fridge', 'output', 'right_elevator')
+
+ p.PlotFile(args.log_file)
+
+if __name__ == '__main__':
+ main()