diff --git a/src/log_plotter/__init__.py b/src/log_plotter/__init__.py index 1528467..3592445 100644 --- a/src/log_plotter/__init__.py +++ b/src/log_plotter/__init__.py @@ -1,3 +1,4 @@ +from log_parser import LogParser from datalogger_plotter_with_pyqtgraph import * try: from version import version as __version__ diff --git a/src/log_plotter/datalogger_plotter_with_pyqtgraph.py b/src/log_plotter/datalogger_plotter_with_pyqtgraph.py index 60eed45..09280bb 100755 --- a/src/log_plotter/datalogger_plotter_with_pyqtgraph.py +++ b/src/log_plotter/datalogger_plotter_with_pyqtgraph.py @@ -19,7 +19,7 @@ class LogPlotter(object): - def __init__(self, fname, plot_conf_name, layout_conf_name, title): + def __init__(self, fname, plot_conf_name, layout_conf_name, title=None): ''' :param str fname: file name of log :param str plot_conf_name: plot yaml file name diff --git a/test/.gitignore b/test/.gitignore new file mode 100644 index 0000000..763624e --- /dev/null +++ b/test/.gitignore @@ -0,0 +1 @@ +__pycache__/* \ No newline at end of file diff --git a/test/README.md b/test/README.md new file mode 100644 index 0000000..006acbc --- /dev/null +++ b/test/README.md @@ -0,0 +1,50 @@ +# test +## テストの走らせ方 +### 仮想ディスプレイのインストールと立ち上げ +```bash +sudo apt-get install xvfb +/sbin/start-stop-daemon --start --quiet --pidfile /tmp/custom_xvfb_99.pid --make-pidfile --background --exec /usr/bin/Xvfb -- :99 -screen 0 1400x900x24 -ac +extension GLX +render # copy from pyqtgraph .travis.yaml +export DISPLAY=:99.0 +``` + +### テストの実行 +1. 全部をテスト +```bash +python test_all.py +``` +2. 個別にテスト +```bash +python test_xxx.py +``` + +## テストのTips +- unittestのパッケージを使用. +- pytestは，catkinとの相性が良くない模様．(devel以下の`__init__.py`の読み込みでエラーが出る) +- テストを作るには，unittest.TestCaseを継承したクラスに，test_xxxという名称のメソッドを定義して作る， +- テストを走らせるには，`unittest.main()`を実行すると，`test_xxx`メソッドを順に実行してくれる． +- assertionは，unittest.TestCaseのメソッドである，assertXXXを利用するとテストが失敗したときに見やすく表示される． + +```python +import unittest + +class TestXXX(unittest.TestCase): + def test_hogehoge(self): + # write test here + x = 1 + self.assertEqual(x,1,'x is {}. not 1'.format(x)) + +if __name__ == '__main__': + unittest.main() +``` +- `unittest.main`はテストが終わると，そのまま`exit`しようとするが，ガーベジコレクションの順番によって時々Segmentation Faultが発生する． +以下のようにテスト終了後に`QtGui.QApplication`の消去を明示的に行うとエラーが消えた． +```python +if __name__ == '__main__': + app = pyqtgraph.Qt.QtGui.QApplication([]) + try: + unittest.main() + finally: + del app +``` + + diff --git a/test/check_graph_appearance.py b/test/check_graph_appearance.py new file mode 100755 index 0000000..284d739 --- /dev/null +++ b/test/check_graph_appearance.py @@ -0,0 +1,43 @@ +#!/usr/bin/python +#-*- coding:utf-8 -*- + +import argparse +import signal +import pyqtgraph +from test_util import log_plotter_exec + + +def show_graph(): + layout =u''' +main: + graph of dummy: + legends: + - { key: dummy, id: [0] } + - { key: dummy, id: [0] } +''' + a = log_plotter_exec(layout=layout, + plot_conf ='config/sample_plot.yaml', + fname = 'data/sample/sample_data') + a.view.showMaximized() + return a + +if __name__ == '__main__': + parser = argparse.ArgumentParser(description='plot data from hrpsys log') + parser.add_argument("-i", action='store_true', help='interactive (start IPython)') + parser.set_defaults(feature=False) + args = parser.parse_args() + + app = pyqtgraph.Qt.QtGui.QApplication([]) + a = show_graph() + if args.i: + [app.processEvents() for i in range(2)] + # start ipython + print '=====' + print "please use \033[33mapp.processEvents()\033[m to update graph." + print "you can use \033[33ma\033[m as LogPlotter instance." + print '=====' + from IPython import embed + embed() + else: + signal.signal(signal.SIGINT, signal.SIG_DFL) + pyqtgraph.Qt.QtGui.QApplication.instance().exec_() diff --git a/test/config/jaxon_joint_layout.yaml b/test/config/jaxon_joint_layout.yaml new file mode 100644 index 0000000..bd77bae --- /dev/null +++ b/test/config/jaxon_joint_layout.yaml @@ -0,0 +1,4 @@ +main: + rleg_joint_angle: 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a/test/data/jaxon_test_data/jaxon_test.st_zmp b/test/data/jaxon_test_data/jaxon_test.st_zmp new file mode 100644 index 0000000..49bf4ba --- /dev/null +++ b/test/data/jaxon_test_data/jaxon_test.st_zmp @@ -0,0 +1,10 @@ +1450271115.915908 -0.246242 0.213804 -0.731908 +1450271115.917910 -0.244855 0.212446 -0.731790 +1450271115.919906 -0.243548 0.211210 -0.731655 +1450271115.921905 -0.241982 0.209950 -0.731648 +1450271115.923906 -0.240592 0.207832 -0.731276 +1450271115.925901 -0.238633 0.207131 -0.731589 +1450271115.927914 -0.236856 0.205226 -0.731460 +1450271115.929904 -0.234989 0.205776 -0.732100 +1450271115.931911 -0.233706 0.203189 -0.731544 +1450271115.933913 -0.231545 0.202055 -0.731815 diff --git a/test/data/sample/sample_data.dummy b/test/data/sample/sample_data.dummy new file mode 100644 index 0000000..1d5b419 --- /dev/null +++ b/test/data/sample/sample_data.dummy @@ -0,0 +1,11 @@ +0 3 +1 4 +2 5 +3 6 +4 7 +5 8 +6 9 +7 10 +8 11 +9 12 +10 13 \ No newline at end of file diff --git a/test/test_all.py b/test/test_all.py new file mode 100755 index 0000000..9b54ba7 --- /dev/null +++ b/test/test_all.py @@ -0,0 +1,13 @@ +#!/usr/bin/python +#-*- coding:utf-8 -*- +import unittest +import pyqtgraph +from test_log_parser import * +from test_axis_range import * + +if __name__ == '__main__': + app = pyqtgraph.Qt.QtGui.QApplication([]) + try: + unittest.main(verbosity=2) + finally: + del app diff --git a/test/test_axis_range.py b/test/test_axis_range.py new file mode 100755 index 0000000..dea6bf7 --- /dev/null +++ b/test/test_axis_range.py @@ -0,0 +1,99 @@ +#!/usr/bin/python +#-*- coding:utf-8 -*- + +import pyqtgraph +from numpy import isclose +import unittest.main +from unittest import TestCase +from test_util import log_plotter_exec + +class TestLogPlotter(TestCase): + def test_x_range(self): + layout =u''' +main: + graph of dummy: + legends: + - { key: dummy, id: [0] } + yRange: {min: 7, max: 10} + +''' + a = log_plotter_exec(layout=layout, + plot_conf ='config/sample_plot.yaml', + fname = 'data/sample/sample_data', + eventLoop=10) + # check xRange + ax = a.view.ci.rows[0][0].getAxis('bottom') + range_min = ax.range[0] + range_max = ax.range[1] + self.assertTrue(isclose(range_min, 0, atol=1), msg='bottom axis min is not correct. range_min={}'.format(range_min)) + self.assertTrue(isclose(range_max, 10,atol=1), msg='bottom axis max is not correct. range_max={}'.format(range_max)) + + # check yRange + ax = a.view.ci.rows[0][0].getAxis('left') + range_min = ax.range[0] + range_max = ax.range[1] + self.assertTrue(isclose(range_min, 7, atol=1), msg='left axis min is not correct. range_min={}'.format(range_min)) + self.assertTrue(isclose(range_max, 10, atol=1), msg='left axis max is not correct. range_max={}'.format(range_max)) + + def test_x_range2(self): + layout =u''' +main: + graph of dummy: + legends: + - { key: dummy, id: [0] } + xRange: {min: 3, max: 10} +''' + + a = log_plotter_exec(layout=layout, + plot_conf ='config/sample_plot.yaml', + fname = 'data/sample/sample_data', + eventLoop=10) + # check xRange + ax = a.view.ci.rows[0][0].getAxis('bottom') + range_min = ax.range[0] + range_max = ax.range[1] + self.assertTrue(isclose(range_min, 3, atol=1), msg='left axis min is not correct. range_min={}'.format(range_min)) + self.assertTrue(isclose(range_max, 10, atol=1), msg='left axis max is not correct. range_max={}'.format(range_max)) + + # check yRange + ax = a.view.ci.rows[0][0].getAxis('left') + range_min = ax.range[0] + range_max = ax.range[1] + self.assertTrue(isclose(range_min, 3, atol=1), msg='left axis min is not correct. range_min={}'.format(range_min)) + self.assertTrue(isclose(range_max, 13, atol=1), msg='left axis max is not correct. range_max={}'.format(range_max)) + + + def test_x_range3(self): + layout =u''' +main: + graph of dummy: + legends: + - { key: dummy, id: [0] } + xRange: {min: 3, max: 10, zero: True} +''' + a = log_plotter_exec(layout=layout, + plot_conf ='config/sample_plot.yaml', + fname = 'data/sample/sample_data', + eventLoop=10) + # check xRange + ax = a.view.ci.rows[0][0].getAxis('bottom') + range_min = ax.range[0] + range_max = ax.range[1] + self.assertTrue(isclose(range_min, 0, atol=1), msg='left axis min is not correct. range_min={}'.format(range_min)) + self.assertTrue(isclose(range_max, 7, atol=1), msg='left axis max is not correct. range_max={}'.format(range_max)) + + # check yRange + ax = a.view.ci.rows[0][0].getAxis('left') + range_min = ax.range[0] + range_max = ax.range[1] + self.assertTrue(isclose(range_min, 3, atol=1), msg='left axis min is not correct. range_min={}'.format(range_min)) + self.assertTrue(isclose(range_max, 13, atol=1), msg='left axis max is not correct. range_max={}'.format(range_max)) + +__all__ = ['TestLogPlotter'] + +if __name__ == '__main__': + app = pyqtgraph.Qt.QtGui.QApplication([]) + try: + unittest.main(verbosity=2) + finally: + del app diff --git a/test/test_log_parser.py b/test/test_log_parser.py new file mode 100755 index 0000000..cd3dbdb --- /dev/null +++ b/test/test_log_parser.py @@ -0,0 +1,31 @@ +#!/usr/bin/python +#-*- coding:utf-8 -*- + +import unittest.main +from unittest import TestCase +from log_plotter.log_parser import LogParser + +class TestLogParser(TestCase): + def test_from_file_joint(self): + fname = 'data/jaxon_test_data/jaxon_test' + plot_conf ='../config/robot/jaxon/jaxon_plot.yaml' + layout_conf = 'config/jaxon_joint_layout.yaml' + p = LogParser(fname, plot_conf, layout_conf) + p.readData() + # import pdb;pdb.set_trace(); + self.assertEqual(p.dataListDict.keys(), ['st_q'], msg='input file is not saved in LogParser') + + def test_from_file_watt(self): + fname = 'data/jaxon_test_data/jaxon_test' + plot_conf ='../config/robot/jaxon/jaxon_plot.yaml' + layout_conf = 'config/jaxon_watt_layout.yaml' + p = LogParser(fname, plot_conf, layout_conf) + p.readData() + # import pdb;pdb.set_trace(); + self.assertEqual(set(p.dataListDict.keys()), set(['RobotHardware0_dq','RobotHardware0_tau']), msg='input file is not saved in LogParser') + +__all__ = ['TestLogParser'] + +if __name__ == '__main__': + unittest.main(verbosity=2) + diff --git a/test/test_util.py b/test/test_util.py new file mode 100644 index 0000000..e192f81 --- /dev/null +++ b/test/test_util.py @@ -0,0 +1,35 @@ +import pyqtgraph +from log_plotter.datalogger_plotter_with_pyqtgraph import LogPlotter + +def log_plotter_exec(layout = None, plot = None, + layout_conf = None, plot_conf = None, + fname = None, title = 'test log_lotter', + run=True, eventLoop=0): + ''' + generate and run log_plotter from str or conf file. + layout or layout_conf is necessary. + plot or plot_conf is necessary. + + :param str layout: contents of layout.yaml + :param str plot: contents of plot.yaml + :param str layout_conf: path to layout.yaml + :param str plot_conf: path to plot.yaml + :param str fname: path to log file + :param str title: graph window title + :param bool run: if True, run LogPlotter.main() + ''' + if layout is not None and layout_conf is None: + layout_conf = '/tmp/tmp_layout.yaml' + with open(layout_conf, 'w') as f: + f.write(layout) + if plot is not None and plot_conf is None: + plot_conf = '/tmp/tmp_plot.yaml' + with open(layout_conf, 'w') as f: + f.write(layout) + # import pdb;pdb.set_trace() + a = LogPlotter(fname, plot_conf, layout_conf) + if run: + a.main() + app = pyqtgraph.QtCore.QCoreApplication.instance() + [app.processEvents() for i in range(eventLoop)] + return a