Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Issue165 #169

Open
wants to merge 2 commits into
base: main
Choose a base branch
from
Open

Issue165 #169

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
ea5314b
Issue165 File Paths need work
Damerson1 Nov 11, 2024
11fc336
Merge branch 'main' of https://github.com/oss-slu/DroneWorld
Damerson1 Nov 11, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
107 changes: 53 additions & 54 deletions backend/PythonClient/multirotor/util/graph/three_dimensional_grapher.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -4,22 +4,34 @@
import plotly.express as px
import os
import threading
from io import BytesIO
from PythonClient.multirotor.airsim_application import AirSimApplication

# create a lock object

lock = threading.Lock()
matplotlib.use('agg')

class ThreeDimensionalGrapher(AirSimApplication):

def setup_dir(dir):
if not os.path.exists(dir):
os.makedirs(dir)
def __init__(self):
super().__init__()

#Function to upload html files to GCS.
def _upload_html(self, fig, file_name):
html_content = fig.to_html(full_html=True)
self.save_report_to_storage(file_name, html_content, content_type="text/html")

class ThreeDimensionalGrapher:
#Function to upload png to GCS.
def _upload_plot(self, fig, file_name):
img_bytes = BytesIO()
fig.savefig(img_bytes, format="png", dpi=200, bbox_inches='tight')
img_bytes.seek(0)
self.save_report_to_storage(file_name, img_bytes.getvalue(), content_type="image/png")
plt.close(fig)

@staticmethod
def draw_trace(actual_position_list, full_target_directory, drone_name, title):

def draw_trace(self, actual_position_list, full_target_directory, drone_name, title):
with lock:
fig = plt.figure()
ax = fig.add_subplot(111, projection='3d')
Expand All @@ -36,17 +48,13 @@ def draw_trace(actual_position_list, full_target_directory, drone_name, title):
ax.set_xlabel('North (+X) axis')
ax.set_ylabel('East (+Y) axis')
ax.set_zlabel('Height (+Z) axis')
setup_dir(full_target_directory)
file_name = os.path.join(full_target_directory, str(drone_name) + "_plot.png")
# print(file_name)
plt.title(title)
plt.savefig(file_name, dpi=200, bbox_inches='tight')
plt.close()
fig.clf()

@staticmethod
def draw_trace_vs_planned(planed_position_list, actual_position_list, full_target_directory, drone_name,
title):

file_name = f"{drone_name}_plot.png"
full_target_directory = os.path.join(self.log_subdir, self.__class__.__name__, file_name)
Copy link
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

This conflicts with how GCSStorageService handles the upload path.

self._upload_plot(full_target_directory ,fig)
Copy link
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

You are passing the arguments to _upload_plot in the wrong order. You pass full_target_directory first and fig second, whereas _upload_plot expects fig first and file_name second.


def draw_trace_vs_planned(self, planed_position_list, full_target_directory, actual_position_list, drone_name,
title):
with lock:
fig = plt.figure()
ax = fig.add_subplot(111, projection='3d')
Expand All @@ -70,16 +78,12 @@ def draw_trace_vs_planned(planed_position_list, actual_position_list, full_targe
ax.set_ylabel('East (+Y) axis')
ax.set_zlabel('Height (+Z) axis')
ax.legend()
setup_dir(full_target_directory)
file_name = os.path.join(full_target_directory, str(drone_name) + "_plot.png")
# print(file_name)
plt.title(title)
plt.savefig(file_name, dpi=200, bbox_inches='tight')
plt.close()
fig.clf()

@staticmethod
def draw_trace_vs_point(destination_point, actual_position_list, full_target_directory, drone_name,

file_name = f"{drone_name}_plot.png"
full_target_directory = os.path.join(self.log_subdir, self.__class__.__name__, file_name)
self._upload_plot(fig, file_name)

def draw_trace_vs_point(self, destination_point, full_target_directory ,actual_position_list, drone_name,
title):
with lock:
fig = plt.figure()
Expand Down Expand Up @@ -108,15 +112,12 @@ def draw_trace_vs_point(destination_point, actual_position_list, full_target_dir
ax.set_zlabel('Height (+Z) axis')
ax.set_box_aspect([1, 1, 1])
ax.legend()
setup_dir(full_target_directory)
file_name = os.path.join(full_target_directory, str(drone_name) + "_plot.png")
plt.title(title)
plt.savefig(file_name, dpi=200, bbox_inches='tight')
plt.close()
fig.clf()

@staticmethod
def draw_interactive_trace(actual_position, full_target_directory, drone_name,

file_name = f"{drone_name}_plot.png"
full_target_directory = os.path.join(self.log_subdir, self.__class__.__name__, file_name)
self._upload_plot(fig, file_name)

def draw_interactive_trace(self, actual_position, full_target_directory, drone_name,
title):
with lock:
actual = actual_position
Expand All @@ -132,17 +133,15 @@ def draw_interactive_trace(actual_position, full_target_directory, drone_name,
# scene=dict(xaxis_range=[-max_val, max_val],
# yaxis_range=[-max_val, max_val],
# zaxis_range=[-max_val, max_val]))
setup_dir(full_target_directory)
ax.set_xlabel('North (+X) axis')
ax.set_ylabel('East (+Y) axis')
ax.set_zlabel('Height (+Z) axis')
file_name = os.path.join(full_target_directory, str(drone_name) + "_interactive.html")
fig.write_html(file_name)
plt.close()

@staticmethod
def draw_interactive_trace_vs_point(destination, actual_position, full_target_directory, drone_name,
title):
file_name = f"{drone_name}_interactive_trace.html"
self._upload_html(fig, file_name)

def draw_interactive_trace_vs_point(self, destination, actual_position, full_target_directory, drone_name
,title):
with lock:
actual = actual_position
fig = plt.figure()
Expand All @@ -162,13 +161,13 @@ def draw_interactive_trace_vs_point(destination, actual_position, full_target_di
# fig.update_layout(scene=dict(xaxis_range=[-max_val, max_val],
# yaxis_range=[-max_val, max_val],
# zaxis_range=[-max_val, max_val]))
setup_dir(full_target_directory)
file_name = os.path.join(full_target_directory, str(drone_name) + "_interactive.html")
fig.write_html(file_name)
plt.close()

@staticmethod
def draw_interactive_trace_vs_planned(planed_position_list, actual_position_list, full_target_directory,


file_name = f"{drone_name}_interactive_trace_vs_point.html"
full_target_directory = os.path.join(self.log_subdir, self.__class__.__name__, file_name)
self._upload_html(fig, file_name)
def draw_interactive_trace_vs_planned(self, planed_position_list, actual_position_list, full_target_directory,
drone_name,
title):
with lock:
Expand All @@ -193,7 +192,7 @@ def draw_interactive_trace_vs_planned(planed_position_list, actual_position_list
# scene=dict(xaxis_range=[-max_val, max_val],
# yaxis_range=[-max_val, max_val],
# zaxis_range=[-max_val, max_val]))
setup_dir(full_target_directory)
file_name = os.path.join(full_target_directory, str(drone_name) + "_interactive.html")
fig.write_html(file_name)
plt.close()

file_name = f"{drone_name}_interactive_trace_vs_planned.html"
full_target_directory = os.path.join(self.log_subdir, self.__class__.__name__, file_name)
self._upload_html(fig, file_name)
Loading