Plot timestamps with the webgl plotter
Gnuplot hit it's limit. Use our fancy webgl plotter to visualize the
data instead. This is much much faster. This opens up more
visualization options too.
Change-Id: I8eb01b723c061b75855f1a394d6a3ee1c5f4a3e4
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/aos/events/logging/timestamp_plot.cc b/aos/events/logging/timestamp_plot.cc
new file mode 100644
index 0000000..63c3de4
--- /dev/null
+++ b/aos/events/logging/timestamp_plot.cc
@@ -0,0 +1,220 @@
+#include "absl/strings/str_cat.h"
+#include "absl/strings/str_split.h"
+#include "aos/init.h"
+#include "aos/util/file.h"
+#include "frc971/analysis/in_process_plotter.h"
+
+using frc971::analysis::Plotter;
+
+// Simple C++ application to read the CSV files and use the in process plotter
+// to plot them. This smokes the pants off gnuplot in terms of interactivity.
+
+namespace aos {
+
+std::pair<std::vector<double>, std::vector<double>> ReadSamples(
+ std::string_view node1, std::string_view node2, bool flip) {
+ std::vector<double> samplefile12_t;
+ std::vector<double> samplefile12_o;
+
+ const std::string file = aos::util::ReadFileToStringOrDie(absl::StrCat(
+ "/tmp/timestamp_noncausal_", node1, "_", node2, "_samples.csv"));
+ bool first = true;
+ std::vector<std::string_view> lines = absl::StrSplit(file, '\n');
+ samplefile12_t.reserve(lines.size());
+ for (const std::string_view n : lines) {
+ if (first) {
+ first = false;
+ continue;
+ }
+ if (n == "") {
+ continue;
+ }
+
+ std::vector<std::string_view> l = absl::StrSplit(n, ", ");
+ CHECK_EQ(l.size(), 4u);
+ double t;
+ double o;
+ CHECK(absl::SimpleAtod(l[0], &t));
+ CHECK(absl::SimpleAtod(l[1], &o));
+ samplefile12_t.emplace_back(t);
+ samplefile12_o.emplace_back(flip ? -o : o);
+ }
+ return std::make_pair(samplefile12_t, samplefile12_o);
+}
+
+std::pair<std::vector<double>, std::vector<double>> ReadLines(
+ std::string_view node1, std::string_view node2, bool flip) {
+ std::vector<double> samplefile12_t;
+ std::vector<double> samplefile12_o;
+
+ const std::string file = aos::util::ReadFileToStringOrDie(
+ absl::StrCat("/tmp/timestamp_noncausal_", node1, "_", node2, ".csv"));
+ bool first = true;
+ std::vector<std::string_view> lines = absl::StrSplit(file, '\n');
+ samplefile12_t.reserve(lines.size());
+ for (const std::string_view n : lines) {
+ if (first) {
+ first = false;
+ continue;
+ }
+ if (n == "") {
+ continue;
+ }
+
+ std::vector<std::string_view> l = absl::StrSplit(n, ", ");
+ CHECK_EQ(l.size(), 3u);
+ double t;
+ double o;
+ CHECK(absl::SimpleAtod(l[0], &t));
+ CHECK(absl::SimpleAtod(l[2], &o));
+ samplefile12_t.emplace_back(t);
+ samplefile12_o.emplace_back(flip ? -o : o);
+ }
+ return std::make_pair(samplefile12_t, samplefile12_o);
+}
+
+std::pair<std::vector<double>, std::vector<double>> ReadOffset(
+ std::string_view node1, std::string_view node2) {
+ int node1_index = -1;
+ int node2_index = -1;
+
+ {
+ const std::string start_time_file = aos::util::ReadFileToStringOrDie(
+ "/tmp/timestamp_noncausal_starttime.csv");
+ std::vector<std::string_view> nodes = absl::StrSplit(start_time_file, '\n');
+
+ int index = 0;
+ for (const std::string_view n : nodes) {
+ if (n == "") {
+ continue;
+ }
+
+ std::vector<std::string_view> l = absl::StrSplit(n, ", ");
+ CHECK_EQ(l.size(), 2u) << "'" << n << "'";
+ if (l[0] == node1) {
+ node1_index = index;
+ }
+ if (l[0] == node2) {
+ node2_index = index;
+ }
+ ++index;
+ }
+ }
+ CHECK_NE(node1_index, -1) << ": Unknown node " << node1;
+ CHECK_NE(node2_index, -1) << ": Unknown node " << node2;
+ std::vector<double> offsetfile_t;
+ std::vector<double> offsetfile_o;
+
+ const std::string file =
+ aos::util::ReadFileToStringOrDie("/tmp/timestamp_noncausal_offsets.csv");
+ bool first = true;
+ std::vector<std::string_view> lines = absl::StrSplit(file, '\n');
+ offsetfile_t.reserve(lines.size());
+ for (const std::string_view n : lines) {
+ if (first) {
+ first = false;
+ continue;
+ }
+ if (n == "") {
+ continue;
+ }
+
+ std::vector<std::string_view> l = absl::StrSplit(n, ", ");
+ CHECK_LT(static_cast<size_t>(node1_index + 1), l.size());
+ CHECK_LT(static_cast<size_t>(node2_index + 1), l.size());
+ double t;
+ double o1;
+ double o2;
+ CHECK(absl::SimpleAtod(l[0], &t));
+ CHECK(absl::SimpleAtod(l[1 + node1_index], &o1));
+ CHECK(absl::SimpleAtod(l[1 + node2_index], &o2));
+ offsetfile_t.emplace_back(t);
+ offsetfile_o.emplace_back(o2 - o1);
+ }
+ return std::make_pair(offsetfile_t, offsetfile_o);
+}
+
+void AddNodes(Plotter *plotter, std::string_view node1,
+ std::string_view node2) {
+ const std::pair<std::vector<double>, std::vector<double>> samplefile12 =
+ ReadSamples(node1, node2, false);
+ const std::pair<std::vector<double>, std::vector<double>> samplefile21 =
+ ReadSamples(node2, node1, true);
+
+ const std::pair<std::vector<double>, std::vector<double>> noncausalfile12 =
+ ReadLines(node1, node2, false);
+ const std::pair<std::vector<double>, std::vector<double>> noncausalfile21 =
+ ReadLines(node2, node1, true);
+
+ const std::pair<std::vector<double>, std::vector<double>> offsetfile =
+ ReadOffset(node1, node2);
+
+ CHECK_EQ(samplefile12.first.size(), samplefile12.second.size());
+ CHECK_EQ(samplefile21.first.size(), samplefile21.second.size());
+ CHECK_EQ(noncausalfile12.first.size(), noncausalfile12.second.size());
+ CHECK_EQ(noncausalfile21.first.size(), noncausalfile21.second.size());
+
+ LOG(INFO) << samplefile12.first.size() + samplefile21.first.size() +
+ noncausalfile12.first.size() + noncausalfile21.first.size()
+ << " points";
+ plotter->AddLine(
+ samplefile12.first, samplefile12.second,
+ Plotter::LineOptions{.label = absl::StrCat("sample ", node1, " ", node2),
+ .line_style = "*",
+ .color = "purple"});
+ plotter->AddLine(
+ samplefile21.first, samplefile21.second,
+ Plotter::LineOptions{.label = absl::StrCat("sample ", node2, " ", node1),
+ .line_style = "*",
+ .color = "green"});
+
+ plotter->AddLine(
+ noncausalfile12.first, noncausalfile12.second,
+ Plotter::LineOptions{.label = absl::StrCat("nc ", node1, " ", node2),
+ .line_style = "-",
+ .color = "blue"});
+ plotter->AddLine(
+ noncausalfile21.first, noncausalfile21.second,
+ Plotter::LineOptions{.label = absl::StrCat("nc ", node2, " ", node1),
+ .line_style = "-",
+ .color = "orange"});
+
+ plotter->AddLine(offsetfile.first, offsetfile.second,
+ Plotter::LineOptions{
+ .label = absl::StrCat("filter ", node2, " ", node1),
+ // TODO(austin): roboRIO compiler wants all the fields
+ // filled out, but other compilers don't... Sigh.
+ .line_style = "*-",
+ .color = "yellow"});
+}
+
+int Main(int argc, const char *const *argv) {
+ CHECK_EQ(argc, 3);
+
+ LOG(INFO) << argv[1];
+ LOG(INFO) << argv[2];
+
+ // TODO(austin): Find all node pairs and plot them...
+
+ const std::string_view node1 = argv[1];
+ const std::string_view node2 = argv[2];
+
+ Plotter plotter;
+ plotter.AddFigure("Time");
+
+ AddNodes(&plotter, node1, node2);
+
+ plotter.Publish();
+
+ plotter.Spin();
+
+ return 0;
+}
+
+} // namespace aos
+
+int main(int argc, char **argv) {
+ aos::InitGoogle(&argc, &argv);
+
+ aos::Main(argc, argv);
+}