Feature/miyashita visualize save

.gitignore

@@ -1,4 +1,4 @@
 __pycache__/
-gpslog.csv
+log/*
 .vscode/
-config/local/
+config/local/

Driver.py

@@ -9,6 +9,7 @@
 #
 
 import math
+import pathlib
 import sys
 import time
 
@@ -37,15 +38,18 @@
 
 
 class Driver:
-    def __init__(self, filename):
+    def __init__(self, filename, write_waypoint=False):
         self.log_time = time.time()
         self._logger = Logger()
-        self._logger.open()
+        self._logger.open_gps_log()
 
         # load config
         print("loading", filename)
-        with open(filename, "r") as f:
+
+        path = pathlib.Path(filename)
+        with open(path, "r") as f:
             params = yaml.safe_load(f)
+        self._logger.save_params(params, path)
 
         # setup time manager
         self._time_manager = TimeManager()
@@ -66,7 +70,9 @@ def __init__(self, filename):
             lat = wp["lat"]
             lon = wp["lon"]
             print(name, lat, lon)
-            self._status.waypoint.add_point(lat, lon)
+            self._status.waypoint.add_point(lat, lon, name)
+        if write_waypoint:
+            self._logger.save_waypoints_fig(self._statuswaypoint, path)
 
         # setup pwm read/write
         self._pwm_read = PwmRead(
@@ -256,11 +262,11 @@ def _print_log(self):
             voltage,
             power,
         ]
-        self._logger.write(log_list)
+        self._logger.write_gps_log(log_list)
         return
 
     def end(self):
-        self._logger.close()
+        self._logger.close_gps_log()
         self._pwm_read.end()
         self._pwm_out.end()
         return

Logger.py

@@ -1,15 +1,25 @@
+import argparse
 import csv
-from datetime import datetime
+import pathlib
+from datetime import datetime, timedelta, timezone
 
+import matplotlib.pyplot as plt
+import yaml
+
+from Waypoint import Waypoint
 
-class Logger:
-    present = datetime.now()
-    now = present.strftime("%Y-%m-%d-%H-%M-%S")
-    filename = now + "_gpslog.csv"
 
-    def open(self):
+class Logger:
+    def __init__(self):
+        jst = timezone(timedelta(hours=+9), "JST")
+        present = datetime.now(jst)
+        now = present.strftime("%Y-%m-%d-%H-%M-%S")
+        self.filename = f"gpslog_{now}.csv"
+        self.log_dir = pathlib.Path("log") / now
+        self.log_dir.mkdir(exist_ok=True)
 
-        self.f = open(Logger.filename, "a")
+    def open_gps_log(self):
+        self.f = open(self.log_dir / self.filename, "a")
         self.writer = csv.writer(self.f, lineterminator="\n")
         log_list = [
             "TIME_STAMP",
@@ -32,17 +42,62 @@ def open(self):
         ]
         self.writer.writerow(log_list)
 
-    def write(self, log_list):
+    def write_gps_log(self, log_list):
         self.writer.writerow(log_list)
 
-    def close(self):
+    def close_gps_log(self):
         self.f.write("END\n")
         self.f.close()
 
+    def save_waypoints_fig(self, waypoint, path):
+        fig, ax = plt.subplots()
+        for name, lat, lon in zip(waypoint.name, waypoint.latitude, waypoint.longitude):
+            ax.scatter(lat, lon, label=name)
+        ax.axis("equal")
+        ax.legend()
+        fig.savefig(self.log_dir / path.with_suffix(".png"))
+
+    def save_params(self, params, path):
+        with open(self.log_dir / path, "w") as f:
+            yaml.dump(params, f)
+
+
+def _load_waypoints(filename):
+    path = pathlib.Path(filename)
+    with open(path, "r") as f:
+        params = yaml.safe_load(f)
+    waypoint = Waypoint()
+    for wp in params["waypoints"]:
+        name = wp["name"]
+        lat = wp["lat"]
+        lon = wp["lon"]
+        waypoint.add_point(lat, lon, name)
+    return waypoint, path
+
+
+def _parse_args():
+    """
+    input_file_path: input fileのpath
+    """
+    parser = argparse.ArgumentParser()
+    parser.add_argument("input_file_path")
+    parser.add_argument("-ww", "--write_waypoints_fig", action="store_true")
+    parser.add_argument("-wl", "--write_log", action="store_true")
+    args = parser.parse_args()
+    return args
+
 
 # test code
 if __name__ == "__main__":
+    args = _parse_args()
     logger = Logger()
-    logger.open()
-    logger.write([1, 1, 1])
-    logger.close()
+    if args.write_log:
+        logger.open_gps_log()
+        logger.write_gps_log([1, 1, 1])
+        logger.close_gps_log()
+    if args.write_waypoints_fig:
+        waypoint, path = _load_waypoints(args.input_file_path)
+        logger.save_waypoints_fig(waypoint, path)
+    with open(args.input_file_path, "r") as f:
+        params = yaml.safe_load(f)
+    logger.save_params(params, args.input_file_path)

Waypoint.py

@@ -10,19 +10,23 @@
 
 
 class Waypoint:
-    def __init__(self, latitude=None, longitude=None):
+    def __init__(self, latitude=None, longitude=None, name=None):
         if longitude is None:
             longitude = []
         if latitude is None:
             latitude = []
+        if name is None:
+            name = []
         self.latitude = latitude
         self.longitude = longitude
+        self.name = name
         self._index = 0
         self._num = 0
 
-    def add_point(self, latitude, longitude):
+    def add_point(self, latitude, longitude, name):
         self.latitude.append(latitude)
         self.longitude.append(longitude)
+        self.name.append(name)
         self._num += 1
         return
 

main.py

@@ -8,8 +8,8 @@
 #   Author: Tetsuro Ninomiya
 #
 
+import argparse
 import sys
-import time
 
 
 def main():
@@ -21,16 +21,12 @@ def main():
         return
 
     # Command line arguments
-    args = sys.argv
-    if len(args) < 2:
-        print("[ERROR] NO ARGUMENTS")
-        print("Usage: python3 main.py [parameter_file]")
-        return
+    args = _parse_args()
 
     # Initialize
     from Driver import Driver
 
-    driver = Driver(args[1])
+    driver = Driver(args.input_file_path, args.write_waypoints_fig)
 
     try:
         # Confirming initial mode
@@ -47,5 +43,16 @@ def main():
         print("finish")
 
 
+def _parse_args():
+    """
+    input_file_path: input fileのpath
+    """
+    parser = argparse.ArgumentParser()
+    parser.add_argument("input_file_path")
+    parser.add_argument("-ww", "--write_waypoints_fig", action="store_true")
+    args = parser.parse_args()
+    return args
+
+
 if __name__ == "__main__":
     main()