[Rock-dev] Generating one gnuplot data file from different logs

[Leif Christensen]

Thx, that boils it down to:

  #! /usr/bin/env ruby
   2 require 'orocos/log'
   3 include Orocos
   4
   5 replay = Log::Replay::open("xsens_imu.0.log", "sysmon.0.log")
   6 replay.use_sample_time = true;
   7
   8 imu_r   = replay.xsens_imu.calibrated_sensors.reader
   9 joint_r = replay.sysmon.system_status.reader
  10
  11 replay.run do |port, data|
  12   imu   = imu_r.read
  13   joint = joint_r.read
  14   if !imu.nil? and !joint.nil?
  15     printf "%16.5f %+6.5f %+6.5f\n", data.time.to_f,
  16                                      joint.asguardJointEncoder,
  17                                      imu.mag[0]
  18   end
  19 end


Am 18.06.2013 14:12, schrieb Alexander Duda:
> On 06/18/2013 01:19 PM, Leif Christensen wrote:
>> Hi,
>>
>> I'm generating my own (gnuplot) data file from different orocos log
>> files using this script:
>>
>>     1 #! /usr/bin/env ruby
>>     2 require 'orocos/log'
>>     3 include Orocos
>>     4
>>     5 replay = Log::Replay::open("xsens_imu.0.log", "sysmon.0.log")
>>     6
>>     7 replay.sysmon.system_status.tracked = true
>>     8 replay.xsens_imu.calibrated_sensors.tracked = true
>>     9
>>    10 #reader1 = replay.xsens_imu.calibrated_sensors.reader
>>    11 #reader2 = replay.sysmon.system_status.reader
>>    12
>>    13 replay.align
>>    14
>>    15 replay.run do |port,data|
>>    16 #  puts reader1.read
>>    17 #  puts reader2.read
>>    18   t     = data.time if port.name == 'system_status' or
>> 'calibrated_sensors'
>>    19   enc   = data.asguardJointEncoder if port.name == 'system_status'
>>    20   magx  = data.mag[0] if port.name == 'calibrated_sensors'
>>    21   if magx.nil?
>>    22      puts "magx nil!"
>>    23   elsif t.nil?
>>    24     puts "t nil"
>>    25   elsif enc.nil?
>>    26     puts "enc nil"
>>    27   else
>>    28     printf "%016.4f %6.4f %6.4f\n", t.to_f, enc, magx
>>    29   end
>>    30 end
>>
>> Writing the script, several questions pop up:
>>
>> a) is the replay.align call necessary or already done inside open/load?
>
> if you are not calling it Replay will do it for you the first time you
> call step or run
>
>> b) is this call doing what I hope, sorting the samples of the different
>> streams for the replay
>
> yes, you will get the samples ordered after the time they were logged
>
>> c) if so, is it using logical/writing or sample time (if the sample
>> provides a time) to sort
>
> you can configure Replay to use the time field of the sample but this is
> not the default behaviour
>
>> d) When accessing 'data' in the replay.run loop, one of the values is
>> always nil:
>>
>>   >...
>>   >magx nil!
>>   >enc nil
>>   >magx nil!
>>   >enc nil
>>   >...
>>
>> I guess that is because of the two streams are interleaved now and there
>> is no reader defined providing always the last valid reading. But the
>> value should't be nil, since it is asigned only in case of the right
>> port being read ('... if port.name == ...')
>
> "if" returns always nil if the expression is false and no else is specified
>>
>> e) What would be your suggestion to come up with a simple data file
>> combining streams from different locations preserving the original
>> sampling time and order? Tried using the pocolog tool, but wasn't able
>> to give multiple stream arguments for the -s option
> I would use Replay and would read all ports every time a new sample was
> replayed.
>
> Greets
> Alex
>
>
>

-- 
  Leif Christensen

  DFKI Bremen
  Robotics Innovation Center
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  E-Mail: leif.christensen at dfki.de

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