jsk_network_tools: network_plot.py Source File

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00001 #!/usr/bin/python
00002 
00003 import Gnuplot
00004 import time
00005 import numpy
00006 import rospy
00007 from std_msgs.msg import Float32
00008 
00009 gp=Gnuplot.Gnuplot()
00010 
00011 plot_topic = rospy.get_param("~plot_topic", [('/eth0/receive', 'reveive'), ('eth0/transmit', 'transmit')])
00012 
00013 max_y = rospy.get_param("~max_y", 1200000)
00014 data_scale = rospy.get_param("~data_scale", 0.001)
00015 
00016 data_rate = rospy.get_param("~data_rate", 100)
00017 period = rospy.get_param("~period", 120)
00018 drop_num = rospy.get_param("~drop_num", 10) #drop 9 topic out of 10
00019 drop_index = [0 for i in range(len(plot_topic))]
00020 
00021 xrange = (period, 0)
00022 yrange = (0, (int)(max_y * data_scale))
00023 
00024 xlabel = rospy.get_param("~x_label", "Time (s)")
00025 ylabel = rospy.get_param("~y_label", "Network Data Rates (kbps)")
00026 title = rospy.get_param("~title", "Network Status")
00027 
00028 plot_size = data_rate * period / drop_num
00029 
00030 y_list = [numpy.zeros(plot_size) for i in range(len(plot_topic))]
00031 x = numpy.arange(plot_size) / float(plot_size / period)
00032 
00033 def callback(msg, index):
00034     global drop_index
00035     if drop_index[index] != drop_num:
00036         drop_index[index] = drop_index[index] + 1
00037         return
00038     drop_index[index] = 0
00039 
00040     global y_list
00041 
00042     y_list[index] = numpy.delete(y_list[index], plot_size - 1)
00043     y_list[index] = numpy.insert(y_list[index], 0, msg.data * data_scale)
00044     try:
00045         d_list = [Gnuplot.Data(x, y, title=plot_topic[i][1], with_='lines linewidth 2') for (i, y) in enumerate(y_list)]
00046         if len(d_list) == 1:
00047             gp.plot(d_list[0])
00048         elif len(d_list) == 2:
00049             gp.plot(d_list[0], d_list[1])
00050         elif len(y_list) == 3:
00051             gp.plot(d_list[0], d_list[1])
00052         elif len(y_list) == 4:
00053             gp.plot(d_list[0], d_list[1])
00054         elif len(y_list) == 5:
00055             gp.plot(d_list[0], d_list[1])
00056         elif len(y_list) == 6:
00057             gp.plot(d_list[0], d_list[1])
00058     except:
00059         pass
00060 
00061 if __name__ == '__main__':
00062     rospy.init_node("network_plot")
00063     for i in range(len(plot_topic)):
00064         topic = plot_topic[i][0]
00065         rospy.Subscriber(topic, Float32, callback, callback_args = i)
00066 
00067     gp.set(xrange=xrange, yrange=yrange, title=title, xlabel=xlabel, ylabel=ylabel)
00068     rospy.spin()