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adjusted passing criterias in plotter.py
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@julienthevenoz
julienthevenoz committed Feb 2, 2024
1 parent 6f5f8f8 commit e1e626b
Showing 1 changed file with 36 additions and 27 deletions.
63 changes: 36 additions & 27 deletions systemtests/plotter_class.py
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,7 @@
class Plotter:

def __init__(self, sim_backend = False):
self.params = {'experiment':'1','trajectory':'figure8.csv','motors':'standard motors(CF)', 'propellers':'standard propellers(CF)'}
self.params = {'experiment':'1','trajectory':'','motors':'standard motors(CF)', 'propellers':'standard propellers(CF)'}
self.bag_times = np.empty([0])
self.bag_x = np.empty([0])
self.bag_y = np.empty([0])
Expand All @@ -22,7 +22,8 @@ def __init__(self, sim_backend = False):
self.deviation = [] #list of all indexes where euclidian_distance(ideal - recorded) > EPSILON

self.SIM = sim_backend #indicates if we are plotting data from real life test or from a simulated test. Default is false (real life test)
self.EPSILON = 0.2 # euclidian distance in [m] between ideal and recorded trajectory under which the drone has to stay to pass the test
self.EPSILON = 0.1 # euclidian distance in [m] between ideal and recorded trajectory under which the drone has to stay to pass the test (NB : epsilon is doubled for multi_trajectory test)
self.ALLOWED_DEV_POINTS = 0.01 #allowed percentage of datapoints whose deviation > EPSILON while still passing test (currently 1% for fig8 and 10% for mt)
self.DELAY_CONST_FIG8 = 4.75 #this is the delay constant which I found by adding up all the time.sleep() etc in the figure8.py file.
self.DELAY_CONST_MT = 0
if self.SIM : #It allows to temporally adjust the ideal and real trajectories on the graph. Could this be implemented in a better (not hardcoded) way ?
Expand All @@ -49,20 +50,10 @@ def file_guard(self, pdf_path):



def read_csv_and_set_arrays(self, ideal_csvfile, rosbag_csvfile):
def read_csv_and_set_arrays(self, ideal_csvfile, rosbag_csvfile, test_name):
'''Method that reads the csv data of the ideal test trajectory and of the actual recorded trajectory and initializes the attribute arrays'''

#check which test we are plotting : figure8 or multi_trajectory or another one
if("figure8" in rosbag_csvfile):
fig8, m_t = True, False
print("Plotting fig8 test data")
elif "multi_trajectory" in rosbag_csvfile:
fig8, m_t = False, True
print("Plotting multi_trajectory test data")
else:
fig8, m_t = False, False
print("Plotting unspecified test data")


#get ideal trajectory data
self.ideal_traj_csv = Trajectory()
try:
Expand Down Expand Up @@ -97,9 +88,9 @@ def read_csv_and_set_arrays(self, ideal_csvfile, rosbag_csvfile):
no_match_in_idealcsv=[]

delay = 0
if fig8:
if test_name == "fig8":
delay = self.DELAY_CONST_FIG8
elif m_t:
elif test_name == "m_t":
delay = self.DELAY_CONST_MT

for i in range(bag_arrays_size):
Expand All @@ -113,10 +104,10 @@ def read_csv_and_set_arrays(self, ideal_csvfile, rosbag_csvfile):
self.ideal_traj_x[i], self.ideal_traj_y[i], self.ideal_traj_z[i]= pos[0], pos[1], pos[2]

#special cases
if fig8:
if test_name == "fig8":
# self.ideal_traj_z[i] = self.ALTITUDE_CONST_FIG8 #special case: in fig8 no altitude is given in the trajectory polynomials (idealcsv) but is fixed as the takeoff altitude in figure8.py
pass
elif m_t:
elif test_name == "m_t":
self.ideal_traj_z[i] = pos[2] + self.ALTITUDE_CONST_MULTITRAJ #for multi_trajectory the altitude given in the trajectory polynomials is added to the fixed takeoff altitude specified in multi_trajectory.py
self.ideal_traj_x[i] = pos[0] + self.X_OFFSET_CONST_MULTITRAJ #the x-axis is offset by 0.3 m because ideal start position not being (0,0,0)

Expand Down Expand Up @@ -204,15 +195,32 @@ def adjust_arrays(self):
def create_figures(self, ideal_csvfile:str, rosbag_csvfile:str, pdfname:str, overwrite=False):
'''Method that creates the pdf with the plots'''

self.read_csv_and_set_arrays(ideal_csvfile,rosbag_csvfile)
#check which test we are plotting : figure8 or multi_trajectory or another one
if("figure8" in rosbag_csvfile):
test_name = "fig8"
self.params["trajectory"] = "figure8"
print("Plotting fig8 test data")
elif "multi_trajectory" in rosbag_csvfile:
test_name = "mt"
self.params["trajectory"] = "multi_trajectory"
self.EPSILON *= 2 #multi_trajectory test has way more difficulties
self.ALLOWED_DEV_POINTS *= 10
print("Plotting multi_trajectory test data")
else:
test_name = "undefined"
self.params["trajectory"] = "undefined"
print("Plotting unspecified test data")


self.read_csv_and_set_arrays(ideal_csvfile,rosbag_csvfile, test_name)
offset_list = self.find_temporal_offset()
if len(offset_list) == 1:
offset_string = f"temporal offset : {offset_list[0]}s \n"
elif len(offset_list) ==2:
offset_string = f"averaged temporal offset : {(offset_list[0]+offset_list[1])/2}s \n"

passed="failed"
if self.test_passed():
if self.test_passed(test_name):
passed = "passed"

#create PDF to save figures
Expand Down Expand Up @@ -335,18 +343,19 @@ def create_figures(self, ideal_csvfile:str, rosbag_csvfile:str, pdfname:str, ove

print("Results saved in " + pdfname)

def test_passed(self) -> bool :
'''Returns True if the deviation between recorded and ideal trajectories of the drone always stayed lower
than EPSILON. Returns False otherwise '''
def test_passed(self, test_name) -> bool :
'''Returns True if the deviation between recorded and ideal trajectories of the drone didn't exceed EPSILON for more than ALLOWED_DEV_POINTS % of datapoints.
Returns False otherwise '''

nb_dev_points = len(self.deviation)
threshold = self.ALLOWED_DEV_POINTS * len(self.bag_times)
percentage = (len(self.deviation) / len(self.bag_times)) * 100

if nb_dev_points < 2000:
print("Test passed")
if nb_dev_points < threshold:
print(f"Test passed : {percentage:8.4f}% of datapoints had deviation larger than {self.EPSILON}m ({self.ALLOWED_DEV_POINTS * 100}% needed for pass)")
return True
else:
print(f"The deviation between ideal and recorded trajectories is greater than {self.EPSILON}m for {nb_dev_points} "
f"datapoints, which corresponds to a duration of {nb_dev_points*0.01}s")
print(f"Test failed : The deviation between ideal and recorded trajectories is greater than {self.EPSILON}m for {percentage:8.4f}% of datapoints")
return False

def find_temporal_offset(self) -> list :
Expand Down

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