diff --git a/python/examples/comparing_logs_example.py b/python/examples/comparing_logs_example.py
index c59097852b909e385717e42dec7a4779de0de1a0..3a8ca95e5f2d01570c7b9335f7b664045f600cda 100644
--- a/python/examples/comparing_logs_example.py
+++ b/python/examples/comparing_logs_example.py
@@ -17,7 +17,7 @@ and that the same things are logged.
key = list(cmp_manager.logm1.loop_logs.keys())[0]
cmp_manager.createRunningPlot(cmp_manager.logm1.loop_logs[key], 0, len(cmp_manager.logm1.loop_logs[key]['qs']))
-cmp_manager.createRunningPlot(cmp_manager.logm2.loop_logs[key], 0, len(cmp_manager.logm2.loop_logs[key]['qs']))
+#cmp_manager.createRunningPlot(cmp_manager.logm2.loop_logs[key], 0, len(cmp_manager.logm2.loop_logs[key]['qs']))
cmp_manager.visualizeWholeRuns()
cmp_manager.manipulator_visualizer_cmd_queue.put("befree")
print("main done")
diff --git a/python/ur_simple_control/visualize/__pycache__/visualize.cpython-312.pyc b/python/ur_simple_control/visualize/__pycache__/visualize.cpython-312.pyc
index cdb303e8174d784085e917dde458ea4c3b6b14d9..87272c72c0cd219d816377f13d47be8b84d16980 100644
Binary files a/python/ur_simple_control/visualize/__pycache__/visualize.cpython-312.pyc and b/python/ur_simple_control/visualize/__pycache__/visualize.cpython-312.pyc differ
diff --git a/python/ur_simple_control/visualize/manipulator_comparison_visualizer.py b/python/ur_simple_control/visualize/manipulator_comparison_visualizer.py
index 9537c1573b4cd6ace510792eeb22e1f23c9d07f1..5b6415d36806149fd3b3c298a39c29ed60116294 100644
--- a/python/ur_simple_control/visualize/manipulator_comparison_visualizer.py
+++ b/python/ur_simple_control/visualize/manipulator_comparison_visualizer.py
@@ -6,7 +6,7 @@ from itertools import zip_longest
from multiprocessing import Process, Queue
from ur_simple_control.managers import getMinimalArgParser, RobotManager
from ur_simple_control.util.logging_utils import LogManager
-from ur_simple_control.visualize.visualize import manipulatorComparisonVisualizer, logPlotter
+from ur_simple_control.visualize.visualize import manipulatorComparisonVisualizer, LogPlotter
def getLogComparisonArgs():
parser = getMinimalArgParser()
@@ -78,7 +78,7 @@ class ManipulatorComparisonManager:
###########################################
# in case you will want log plotters too #
###########################################
- self.log_plotters = []
+ self.running_plotters = []
# NOTE i assume what you want to plot is a time-indexed with
@@ -91,21 +91,22 @@ class ManipulatorComparisonManager:
self.time_stop = log_plotter_time_stop
self.cmd_queue = Queue()
self.ack_queue = Queue()
- self.process = Process(target=logPlotter,
- args=(args, log, self.cmd_queue,
+ log_plotter = LogPlotter(args, log)
+ self.process = Process(target=log_plotter.runLogPlotter,
+ args=(self.cmd_queue,
self.ack_queue))
self.process.start()
self.ack_queue.get()
def createRunningPlot(self, log, log_plotter_time_start, log_plotter_time_stop):
- self.log_plotters.append(self.RunningPlotter(self.args, log, log_plotter_time_start, log_plotter_time_stop))
+ self.running_plotters.append(self.RunningPlotter(self.args, log, log_plotter_time_start, log_plotter_time_stop))
def updateViz(self, q1, q2, time_index):
self.manipulator_visualizer_cmd_queue.put((q1, q2))
- for log_plotter in self.log_plotters:
- if (time_index >= log_plotter.time_start) and (time_index < log_plotter.time_stop):
- log_plotter.cmd_queue.put(time_index - log_plotter.time_start)
- log_plotter.ack_queue.get()
+ for running_plotter in self.running_plotters:
+ if (time_index >= running_plotter.time_start) and (time_index < running_plotter.time_stop):
+ running_plotter.cmd_queue.put(time_index - running_plotter.time_start)
+ running_plotter.ack_queue.get()
self.manipulator_visualizer_ack_queue.get()
# NOTE: this uses slightly fancy python to make it bareable to code
diff --git a/python/ur_simple_control/visualize/visualize.py b/python/ur_simple_control/visualize/visualize.py
index 6d1cfde6bbbbe4a4a7780e4fc7713f79819658d6..6b51acfcb131f5089d3bf3db45a8e4a98795783d 100644
--- a/python/ur_simple_control/visualize/visualize.py
+++ b/python/ur_simple_control/visualize/visualize.py
@@ -305,7 +305,7 @@ def manipulatorComparisonVisualizer(args, model, collision_model, visual_model,
# but otherwise i can't pass arguments to that.
# even if i could with partial, i can't return them,
# so no cigar from that
-def logPlotter(args, log, cmd_queue, ack_queue):
+class LogPlotter:
"""
logPlotter
---------------
@@ -318,90 +318,89 @@ def logPlotter(args, log, cmd_queue, ack_queue):
as then you don't need to think about IPC - just use what's here.
- this might be shoved into a tkinter gui if i decide i really need buttons
"""
- if len(log) == 0:
- print("you've send me nothing, so no real-time plotting for you")
- return
+ def __init__(self, args, log):
+ self.log = log
+ self.args = args
+ if len(self.log) == 0:
+ print("you've send me nothing, so no real-time plotting for you")
+ return
- plt.ion()
- fig = plt.figure()
- canvas = fig.canvas
- AxisAndArtists = namedtuple("AxAndArtists", "ax artists")
- axes_and_updating_artists = {}
+ plt.ion()
+ self.fig = plt.figure()
+ self.canvas = self.fig.canvas
+ self.AxisAndArtists = namedtuple("AxAndArtists", "ax artists")
+ self.axes_and_updating_artists = {}
- n_cols, n_rows = getNRowsMColumnsFromTotalNumber(len(log))
- # this is what subplot wants
- subplot_col_row = str(n_cols) + str(n_rows)
- # preload some zeros and initialize plots
- for i, data_key in enumerate(log):
- # you give single-vector numpy arrays, i instantiate and plot lists of these
- # so for your (6,) vector, i plot (N, 6) ndarrays resulting in 6 lines of length N.
- # i manage N because plot data =/= all data for efficiency reasons.
- assert type(log[data_key]) == np.ndarray
+ n_cols, n_rows = getNRowsMColumnsFromTotalNumber(len(log))
+ # this is what subplot wants
+ subplot_col_row = str(n_cols) + str(n_rows)
+ # preload some zeros and initialize plots
+ for i, data_key in enumerate(self.log):
+ # you give single-vector numpy arrays, i instantiate and plot lists of these
+ # so for your (6,) vector, i plot (N, 6) ndarrays resulting in 6 lines of length N.
+ # i manage N because plot data =/= all data for efficiency reasons.
+ assert type(self.log[data_key]) == np.ndarray
- colors = plt.cm.jet(np.linspace(0, 1, log[data_key].shape[1]))
- ax = fig.add_subplot(int(subplot_col_row + str(i + 1)))
- ax.set_title(data_key)
- # we plot each line separately so that they have different colors
- # we assume (N_timesteps, your_vector) shapes.
- # values do not update
- for j in range(log[data_key].shape[1]):
- # NOTE the same length assumption plays a part for correctness,
- # but i don't want that to be an error in case you know what you're doing
- ax.plot(np.arange(len(log[data_key])), log[data_key][:,j],
- color=colors[j], label=data_key + "_" + str(j))
+ colors = plt.cm.jet(np.linspace(0, 1, log[data_key].shape[1]))
+ ax = self.fig.add_subplot(int(subplot_col_row + str(i + 1)))
+ ax.set_title(data_key)
+ # we plot each line separately so that they have different colors
+ # we assume (N_timesteps, your_vector) shapes.
+ # values do not update
+ for j in range(log[data_key].shape[1]):
+ # NOTE the same length assumption plays a part for correctness,
+ # but i don't want that to be an error in case you know what you're doing
+ ax.plot(np.arange(len(log[data_key])), log[data_key][:,j],
+ color=colors[j], label=data_key + "_" + str(j))
- # vertical bar does update
- point_in_time_line = ax.axvline(x=0, color='red', animated=True)
- axes_and_updating_artists[data_key] = AxisAndArtists(ax, point_in_time_line)
- axes_and_updating_artists[data_key].ax.legend(loc='upper left')
+ # vertical bar does update
+ point_in_time_line = ax.axvline(x=0, color='red', animated=True)
+ self.axes_and_updating_artists[data_key] = self.AxisAndArtists(ax, point_in_time_line)
+ self.axes_and_updating_artists[data_key].ax.legend(loc='upper left')
- # need to call it once to start, more if something breaks
- canvas.draw()
- canvas.flush_events()
- background = canvas.copy_from_bbox(fig.bbox)
+ # need to call it once to start, more if something breaks
+ self.canvas.draw()
+ self.canvas.flush_events()
+ self.background = self.canvas.copy_from_bbox(self.fig.bbox)
- # we need to have an event that triggers redrawing
- #cid = fig.canvas.mpl_connect('button_press_event', onclick)
- def onEvent(event):
- print("drawing")
- canvas.draw()
- canvas.flush_events()
- background = canvas.copy_from_bbox(fig.bbox)
- print("copied canvas")
+ # we need to have an event that triggers redrawing
+ #cid = fig.canvas.mpl_connect('button_press_event', onclick)
- cid = fig.canvas.mpl_connect('button_press_event', onEvent)
+ self.cid = self.fig.canvas.mpl_connect('button_press_event', self.onEvent)
+ self.cid = self.fig.canvas.mpl_connect('resize_event', self.onEvent)
+ def onEvent(self, event):
+ print("re-drawing")
+ self.canvas.draw()
+ self.canvas.flush_events()
+ self.background = self.canvas.copy_from_bbox(self.fig.bbox)
- ack_queue.put("ready")
- if args.debug_prints:
- print("LOG_PLOTTER: FULLY ONLINE")
- try:
- counter = 0
- while True:
- counter += 1
- time_index = cmd_queue.get()
- if time_index == "befree":
- if args.debug_prints:
- print("LOG_PLOTTER: got befree, logPlotter out")
- break
- canvas.restore_region(background)
- for data_key in log:
- axes_and_updating_artists[data_key].artists.set_xdata([time_index])
- axes_and_updating_artists[data_key].ax.draw_artist(axes_and_updating_artists[data_key].artists)
- # NOTE: this is stupid, i just want to catch the resize event
- if not (counter % 50 == 0):
- #if True:
+ def runLogPlotter(self, cmd_queue, ack_queue):
+ ack_queue.put("ready")
+ if self.args.debug_prints:
+ print("LOG_PLOTTER: FULLY ONLINE")
+ try:
+ counter = 0
+ while True:
+ counter += 1
+ time_index = cmd_queue.get()
+ if time_index == "befree":
+ if self.args.debug_prints:
+ print("LOG_PLOTTER: got befree, logPlotter out")
+ break
+ self.canvas.restore_region(self.background)
+ for data_key in self.log:
+ self.axes_and_updating_artists[data_key].artists.set_xdata([time_index])
+ self.axes_and_updating_artists[data_key].ax.draw_artist(self.axes_and_updating_artists[data_key].artists)
+ # NOTE: this is stupid, i just want to catch the resize event
print(counter)
- canvas.blit(fig.bbox)
- canvas.flush_events()
- else:
- print("drawing")
- canvas.draw()
- canvas.flush_events()
- background = canvas.copy_from_bbox(fig.bbox)
- print("copied canvas")
- ack_queue.put("ready")
- except KeyboardInterrupt:
- if args.debug_prints:
- print("LOG_PLOTTER: caught KeyboardInterrupt, i'm out")
- plt.close(fig)
+ #self.canvas.blit(self.fig.bbox)
+ #self.canvas.flush_events()
+ self.onEvent(None)
+ print("putting ready")
+ ack_queue.put("ready")
+ print("put ready")
+ except KeyboardInterrupt:
+ if self.args.debug_prints:
+ print("LOG_PLOTTER: caught KeyboardInterrupt, i'm out")
+ plt.close(self.fig)