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readlog: Support queue_step smoothing 

Logically "smooth" each step in a queue_step sequence over a small
time period.  This smoothing makes it easier for the analysis tools to
extract high-level trends from the data.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-08-04 13:34:10 -04:00
parent 42080751d7
commit d57daa2354
1 changed files with 39 additions and 11 deletions
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50
scripts/motan/readlog.py
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@ -114,29 +114,55 @@ LogHandlers["trapq"] = HandleTrapQ
# Extract positions from queue_step log
class HandleStepQ:
ParametersSubscriptionId = 2
ParametersMin = ParametersMax = 2
ParametersMin = 2
ParametersMax = 3
DataSets = [
('stepq:<stepper>', 'Commanded position of the given stepper'),
('stepq:<stepper>:raw', 'Commanded position without smoothing'),
]
def __init__(self, lmanager, name):
self.name = name
self.jdispatch = lmanager.get_jdispatch()
self.step_data = [(0., 0.), (0., 0.)] # [(time, pos), ...]
self.step_data = [(0., 0., 0.), (0., 0., 0.)] # [(time, half_pos, pos)]
self.data_pos = 0
self.smooth_time = 0.010
name_parts = name.split(':')
if len(name_parts) == 3:
if name_parts[2] != 'raw':
raise error("Unknown stepq data selection '%s'" % (name,))
self.smooth_time = 0.
def get_label(self):
label = '%s position' % (self.name.split(':')[1],)
return {'label': label, 'units': 'Position\n(mm)'}
def pull_data(self, req_time):
smooth_time = self.smooth_time
while 1:
data_pos = self.data_pos
step_data = self.step_data
next_time, next_pos = step_data[data_pos + 1]
if req_time < next_time:
return step_data[data_pos][1]
if data_pos + 2 < len(step_data):
self.data_pos = data_pos + 1
# Find steps before and after req_time
next_time, next_halfpos, next_pos = step_data[data_pos + 1]
if req_time >= next_time:
if data_pos + 2 < len(step_data):
self.data_pos = data_pos + 1
continue
self._pull_block(req_time)
continue
self._pull_block(req_time)
last_time, last_halfpos, last_pos = step_data[data_pos]
# Perform step smoothing
rtdiff = req_time - last_time
stime = next_time - last_time
if stime <= smooth_time:
pdiff = next_halfpos - last_halfpos
return last_halfpos + rtdiff * pdiff / stime
stime = .5 * smooth_time
if rtdiff < stime:
pdiff = last_pos - last_halfpos
return last_halfpos + rtdiff * pdiff / stime
rtdiff = next_time - req_time
if rtdiff < stime:
pdiff = last_pos - next_halfpos
return next_halfpos + rtdiff * pdiff / stime
return last_pos
def _pull_block(self, req_time):
step_data = self.step_data
del step_data[:-1]
@ -145,12 +171,13 @@ class HandleStepQ:
while 1:
jmsg = self.jdispatch.pull_msg(req_time, self.name)
if jmsg is None:
self.step_data.append((req_time + .1, step_data[0][1]))
last_time, last_halfpos, last_pos = step_data[0]
self.step_data.append((req_time + .1, last_pos, last_pos))
return
last_time = jmsg['last_step_time']
if req_time <= last_time:
break
# Process block into (time, position) 2-tuples
# Process block into (time, half_position, position) 3-tuples
first_time = step_time = jmsg['first_step_time']
first_clock = jmsg['first_clock']
step_clock = first_clock - jmsg['data'][0][0]
@ -171,8 +198,9 @@ class HandleStepQ:
step_clock += interval
interval += add
step_time = first_time + (step_clock - first_clock) * inv_freq
step_halfpos = step_pos + .5 * qs_dist
step_pos += qs_dist
step_data.append((step_time, step_pos))
step_data.append((step_time, step_halfpos, step_pos))
LogHandlers["stepq"] = HandleStepQ