Merge branch 'feat/validate_interloc'

Author: cquesnel

requirements.txt

@@ -4,4 +4,6 @@ protobuf == 3.17.3
 tqdm == 4.62.2
 PyQt5 == 5.15.6
 pyqtgraph == 0.12.3
-PyQt5-stubs == 5.15.2.0
+PyQt5-stubs == 5.15.2.0
+matplotlib == 3.5.0
+numpy

src/analysis/__init__.py

@@ -0,0 +1,38 @@
+import csv
+import matplotlib.pyplot as plt
+import numpy as np
+
+
+def analyze_validation(filename):
+    with open(filename) as file:
+        reader = csv.DictReader(file)
+        data = list(reader)
+
+        valid_angle_data = list(filter(lambda d: (float(d['Azimuth']) < 9999), data))
+
+        calculated_angles = np.array([float(v['Azimuth']) for v in valid_angle_data])
+        expected_angles = np.array([float(v['angle']) for v in valid_angle_data])
+
+        unique_angles = np.unique(expected_angles)
+        mean_calculated_angles = np.zeros(unique_angles.shape)
+
+        for i in range(len(mean_calculated_angles)):
+            data_points = list(filter(lambda d: (float(d['angle']) == unique_angles[i]), valid_angle_data))
+            mean_calculated_angles[i] = np.mean([float(v['Azimuth']) for v in data_points])
+
+        plt.figure()
+        plt.title("Sortie du HiveBoard")
+        plt.xlabel("Angle réel (°)")
+        plt.ylabel("Angle mesuré (°)")
+        plt.plot(expected_angles, calculated_angles, '.')
+
+        plt.figure()
+        plt.title("Précision de l'angle mesuré")
+        plt.xlabel("Angle Réel (°)")
+        plt.ylabel("Erreur absolue (°)")
+        plt.plot(unique_angles, np.abs(unique_angles - mean_calculated_angles), '.')
+
+        plt.show()
+
+
+analyze_validation("../data/validation_2021-11-17 15:34:02.556853.20211117_153402.csv")

src/analysis/analyze_interloc_validation.py

@@ -47,7 +47,6 @@
         data += hb.read_angle_data()
 
     testbench.goToTick(stepSize)
-    posTick = int(testbench.getPosition())
     for frame in data:
         frame['Encoder Tick'] = ticks
         frame['Angle'] = tickToAngle(ticks)

src/main.py

@@ -0,0 +1,71 @@
+import pickle as pkl
+from datetime import datetime
+from time import sleep, strftime
+
+import pandas
+from tqdm import tqdm
+
+from src.hiveboard.HiveBoard import HiveBoard
+from src.hiveboard.proto.ethernet_stream import EthernetStream
+from src.hiveboard.proto.message_pb2 import STANDBY, OPERATING
+from src.hiveboard.usb_stream import UsbStream
+
+# To use ethernet, you must have a static IP of 192.168.1.101 on submask 255.255.255.0
+from src.turning_station.TurningStation import tickToAngle, TurningStation
+
+USE_ETHERNET = False
+
+REMOTE_HB_ID = 1
+NUM_DATA_POINTS_PER_ANGLE = 20
+
+if not USE_ETHERNET:
+    hb_stream = UsbStream('/dev/ttyACM0')
+else:
+    hb_stream = EthernetStream(55551)
+    hb_stream.wait_connection()
+
+hb = HiveBoard(hb_stream, log=True)
+testbench = TurningStation('/dev/ttyACM1', 115200)
+
+data = []
+
+hb.greet()
+hb.set_interloc_state(STANDBY)
+
+# TODO: Add way to turn until position is 0
+sleep(2) # arduino needs to reboot after uart initialisation
+testbench.resetPosition()
+
+stepSize = 20
+for ticks in tqdm(range(0, 2060, stepSize)):
+    hb.enable_interloc_dumps(True)
+    hb.set_interloc_state(OPERATING)
+
+    while len(hb.interloc_data.keys()) == 0 or REMOTE_HB_ID not in hb.interloc_data.keys() or len(
+            hb.interloc_data[REMOTE_HB_ID]) < NUM_DATA_POINTS_PER_ANGLE:
+        sleep(1)
+
+    hb.enable_interloc_dumps(False)
+    hb.set_interloc_state(STANDBY)
+
+    testbench.goToTick(stepSize)
+
+    for data_point in hb.interloc_data[REMOTE_HB_ID]:
+        data_point_copy = data_point.copy()
+        data_point_copy['ticks'] = ticks
+        data_point_copy['angle'] = tickToAngle(ticks)
+
+        data.append(data_point_copy)
+
+    hb.interloc_data[REMOTE_HB_ID] = []
+
+    sleep(0.5)
+    testbench.resetPosition()
+
+dataframe = pandas.DataFrame(data)
+dataframe.to_csv(f'data/validation_{datetime.now()}.{strftime("%Y%m%d_%H%M%S")}.csv')
+
+sleep(1)
+hb.enable_interloc_dumps(False)
+hb.set_interloc_state(OPERATING)
+hb.kill_receiver()