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[tools] some minor fixes for future python3 compatibility

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This commit is contained in:
Felix Ruess
2012-06-10 00:02:57 +02:00
parent b0b8997c5f
commit 0e7f6081e9
4 changed files with 66 additions and 66 deletions
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sw/in_progress/python/attitude_viz.py
+7 -7
View File
@@ -240,8 +240,8 @@ class Visualizer:
IvyInit(_NAME,
"",
0,
lambda x,y: y,
lambda x,z: z
lambda x, y: y,
lambda x, z: z
)
IvyStart("")
@@ -317,14 +317,14 @@ def run():
window_title = "Attitude_Viz"
try:
opts, args = getopt.getopt(sys.argv[1:], "t:", ["title"])
for o,a in opts:
for o, a in opts:
if o in ("-t", "--title"):
window_title = a
except getopt.error, msg:
print msg
print """usage:
except getopt.error as msg:
print(msg)
print("""usage:
-t, --title set window title
"""
""")
pygame.init()
screen = pygame.display.set_mode(SCREEN_SIZE, pygame.OPENGL|pygame.DOUBLEBUF)
#resize(*SCREEN_SIZE)
sw/tools/calibration/calibrate.py
+9 -9
View File
@@ -47,7 +47,7 @@ def main():
if os.path.isfile(args[0]):
filename = args[0]
else:
print args[0] + " not found"
print(args[0] + " not found")
sys.exit(1)
ac_ids = calibration_utils.get_ids_in_log(filename)
# import code; code.interact(local=locals())
@@ -72,28 +72,28 @@ def main():
if not filename.endswith(".data"):
parser.error("Please specify a *.data log file")
if options.verbose:
print "reading file "+filename+" for aircraft "+options.ac_id+" and sensor "+options.sensor
print("reading file "+filename+" for aircraft "+options.ac_id+" and sensor "+options.sensor)
# read raw measurements from log file
measurements = calibration_utils.read_log(options.ac_id, filename, options.sensor)
if len(measurements) == 0:
print "Error: found zero IMU_"+options.sensor+"_RAW measurements for aircraft with id "+options.ac_id+" in log file!"
print("Error: found zero IMU_"+options.sensor+"_RAW measurements for aircraft with id "+options.ac_id+" in log file!")
sys.exit(1)
if options.verbose:
print "found "+str(len(measurements))+" records"
print("found "+str(len(measurements))+" records")
# filter out noisy measurements
flt_meas, flt_idx = calibration_utils.filter_meas(measurements, noise_window, noise_threshold)
if options.verbose:
print "remaining "+str(len(flt_meas))+" after low pass"
print("remaining "+str(len(flt_meas))+" after low pass")
# get an initial min/max guess
p0 = calibration_utils.get_min_max_guess(flt_meas, sensor_ref)
cp0, np0 = calibration_utils.scale_measurements(flt_meas, p0)
print "initial guess : avg "+str(np0.mean())+" std "+str(np0.std())
print("initial guess : avg "+str(np0.mean())+" std "+str(np0.std()))
# print p0
def err_func(p,meas,y):
def err_func(p, meas, y):
cp, np = calibration_utils.scale_measurements(meas, p)
err = y*scipy.ones(len(meas)) - np
return err
@@ -101,11 +101,11 @@ def main():
p1, success = optimize.leastsq(err_func, p0[:], args=(flt_meas, sensor_ref))
cp1, np1 = calibration_utils.scale_measurements(flt_meas, p1)
print "optimized guess : avg "+str(np1.mean())+" std "+str(np1.std())
print("optimized guess : avg "+str(np1.mean())+" std "+str(np1.std()))
# print p1
calibration_utils.print_xml(p1, options.sensor, sensor_res)
print ""
print("")
calibration_utils.plot_results(measurements, flt_idx, flt_meas, cp0, np0, cp1, np1, sensor_ref)
sw/tools/calibration/calibrate_gyro.py
+22 -22
View File
@@ -75,7 +75,7 @@ def main():
if os.path.isfile(args[0]):
filename = args[0]
else:
print args[0] + " not found"
print(args[0] + " not found")
sys.exit(1)
if not filename.endswith(".data"):
parser.error("Please specify a *.data log file")
@@ -85,16 +85,16 @@ def main():
if options.tt_id < 0 or options.tt_id > 255:
parser.error("Specify a valid turntable id number!")
if options.verbose:
print "reading file "+filename+" for aircraft "+str(options.ac_id)+" and turntable "+str(options.tt_id)
print("reading file "+filename+" for aircraft "+str(options.ac_id)+" and turntable "+str(options.tt_id))
samples = calibration_utils.read_turntable_log(options.ac_id, options.tt_id, filename, 1, 7)
if len(samples) == 0:
print "Error: found zero matching messages in log file!"
print "Was looking for IMU_TURNTABLE from id: "+str(options.tt_id)+" and IMU_GYRO_RAW from id: "+str(options.ac_id)+" in file "+filename
print("Error: found zero matching messages in log file!")
print("Was looking for IMU_TURNTABLE from id: "+str(options.tt_id)+" and IMU_GYRO_RAW from id: "+str(options.ac_id)+" in file "+filename)
sys.exit(1)
if options.verbose:
print "found "+str(len(samples))+" records"
print("found "+str(len(samples))+" records")
if options.axis == 'p':
axis_idx = 1
@@ -106,32 +106,32 @@ def main():
parser.error("Specify a valid axis!")
#Linear regression using stats.linregress
t = samples[:,0]
xn = samples[:,axis_idx]
(a_s,b_s,r,tt,stderr)=stats.linregress(t,xn)
t = samples[:, 0]
xn = samples[:, axis_idx]
(a_s, b_s, r, tt, stderr)=stats.linregress(t, xn)
print('Linear regression using stats.linregress')
print('regression: a=%.2f b=%.2f, std error= %.3f' % (a_s,b_s,stderr))
print('<define name="GYRO_X_NEUTRAL" value="%d"/>' % (b_s));
print('<define name="GYRO_X_SENS" value="%f" integer="16"/>' % (pow(2,12)/a_s));
print(('regression: a=%.2f b=%.2f, std error= %.3f' % (a_s, b_s, stderr)))
print(('<define name="GYRO_X_NEUTRAL" value="%d"/>' % (b_s)));
print(('<define name="GYRO_X_SENS" value="%f" integer="16"/>' % (pow(2, 12)/a_s)));
#
# overlay fited value
#
ovl_omega = linspace(1,7.5,10)
ovl_adc = polyval([a_s,b_s],ovl_omega)
ovl_omega = linspace(1, 7.5, 10)
ovl_adc = polyval([a_s, b_s], ovl_omega)
title('Linear Regression Example')
subplot(3,1,1)
plot(samples[:,1])
plot(samples[:,2])
plot(samples[:,3])
legend(['p','q','r']);
subplot(3, 1, 1)
plot(samples[:, 1])
plot(samples[:, 2])
plot(samples[:, 3])
legend(['p', 'q', 'r']);
subplot(3,1,2)
plot(samples[:,0])
subplot(3, 1, 2)
plot(samples[:, 0])
subplot(3,1,3)
plot(samples[:,0], samples[:,axis_idx], 'b.')
subplot(3, 1, 3)
plot(samples[:, 0], samples[:, axis_idx], 'b.')
plot(ovl_omega, ovl_adc, 'r')
show();
sw/tools/calibration/calibration_utils.py
+28 -28
View File
@@ -33,7 +33,7 @@ def get_ids_in_log(filename):
f = open(filename, 'r')
ids = []
pattern = re.compile("\S+ (\S+)")
while 1:
while True:
line = f.readline().strip()
if line == '':
break
@@ -51,7 +51,7 @@ def read_log(ac_id, filename, sensor):
f = open(filename, 'r')
pattern = re.compile("(\S+) "+ac_id+" IMU_"+sensor+"_RAW (\S+) (\S+) (\S+)")
list_meas = []
while 1:
while True:
line = f.readline().strip()
if line == '':
break
@@ -68,7 +68,7 @@ def read_log(ac_id, filename, sensor):
def filter_meas(meas, window_size, noise_threshold):
filtered_meas = []
filtered_idx = []
for i in range(window_size,len(meas)-window_size):
for i in range(window_size, len(meas)-window_size):
noise = meas[i-window_size:i+window_size,:].std(axis=0)
if linalg.norm(noise) < noise_threshold:
filtered_meas.append(meas[i,:])
@@ -104,13 +104,13 @@ def scale_measurements(meas, p):
# print xml for airframe file
#
def print_xml(p, sensor, res):
print ""
print "<define name=\""+sensor+"_X_NEUTRAL\" value=\""+str(int(round(p[0])))+"\"/>"
print "<define name=\""+sensor+"_Y_NEUTRAL\" value=\""+str(int(round(p[1])))+"\"/>"
print "<define name=\""+sensor+"_Z_NEUTRAL\" value=\""+str(int(round(p[2])))+"\"/>"
print "<define name=\""+sensor+"_X_SENS\" value=\""+str(p[3]*2**res)+"\" integer=\"16\"/>"
print "<define name=\""+sensor+"_Y_SENS\" value=\""+str(p[4]*2**res)+"\" integer=\"16\"/>"
print "<define name=\""+sensor+"_Z_SENS\" value=\""+str(p[5]*2**res)+"\" integer=\"16\"/>"
print("")
print("<define name=\""+sensor+"_X_NEUTRAL\" value=\""+str(int(round(p[0])))+"\"/>")
print("<define name=\""+sensor+"_Y_NEUTRAL\" value=\""+str(int(round(p[1])))+"\"/>")
print("<define name=\""+sensor+"_Z_NEUTRAL\" value=\""+str(int(round(p[2])))+"\"/>")
print("<define name=\""+sensor+"_X_SENS\" value=\""+str(p[3]*2**res)+"\" integer=\"16\"/>")
print("<define name=\""+sensor+"_Y_SENS\" value=\""+str(p[4]*2**res)+"\" integer=\"16\"/>")
print("<define name=\""+sensor+"_Z_SENS\" value=\""+str(p[5]*2**res)+"\" integer=\"16\"/>")
@@ -118,36 +118,36 @@ def print_xml(p, sensor, res):
# plot calibration results
#
def plot_results(measurements, flt_idx, flt_meas, cp0, np0, cp1, np1, sensor_ref):
subplot(3,1,1)
plot(measurements[:,0])
plot(measurements[:,1])
plot(measurements[:,2])
plot(flt_idx, flt_meas[:,0], 'ro')
plot(flt_idx, flt_meas[:,1], 'ro')
plot(flt_idx, flt_meas[:,2], 'ro')
subplot(3, 1, 1)
plot(measurements[:, 0])
plot(measurements[:, 1])
plot(measurements[:, 2])
plot(flt_idx, flt_meas[:, 0], 'ro')
plot(flt_idx, flt_meas[:, 1], 'ro')
plot(flt_idx, flt_meas[:, 2], 'ro')
xlabel('time (s)')
ylabel('ADC')
title('Raw sensors')
subplot(3,2,3)
plot(cp0[:,0]);
plot(cp0[:,1]);
plot(cp0[:,2]);
subplot(3, 2, 3)
plot(cp0[:, 0]);
plot(cp0[:, 1]);
plot(cp0[:, 2]);
plot(-sensor_ref*scipy.ones(len(flt_meas)));
plot(sensor_ref*scipy.ones(len(flt_meas)));
subplot(3,2,4)
subplot(3, 2, 4)
plot(np0);
plot(sensor_ref*scipy.ones(len(flt_meas)));
subplot(3,2,5)
plot(cp1[:,0]);
plot(cp1[:,1]);
plot(cp1[:,2]);
subplot(3, 2, 5)
plot(cp1[:, 0]);
plot(cp1[:, 1]);
plot(cp1[:, 2]);
plot(-sensor_ref*scipy.ones(len(flt_meas)));
plot(sensor_ref*scipy.ones(len(flt_meas)));
subplot(3,2,6)
subplot(3, 2, 6)
plot(np1);
plot(sensor_ref*scipy.ones(len(flt_meas)));
@@ -164,7 +164,7 @@ def read_turntable_log(ac_id, tt_id, filename, _min, _max):
pattern_t = re.compile("(\S+) "+str(tt_id)+" IMU_TURNTABLE (\S+)")
last_tt = None
list_tt = []
while 1:
while True:
line = f.readline().strip()
if line == '':
break