#!/usr/bin/env python ####################################################### # Copyright Trimble Inc 2021 # Purpose: For plotting out useful plots for record 35:2 from multiple T0x files # Usually used for reset / reboot tests that results in multiple T0x files # # Plots: # - Average satellites tracked over time (total) since first position # - Average satellites tracked per satellite constellation since first position + 120s (zoom) # - Gaps between each T04 file based on valid GPS timestamps only # # Usage examples: # - plot_rec35-2_Pos_multi.py "*.T04" # - plot_rec35-2_Pos_multi.py "*.T04" --label "Sapphire 1.06.16" # # # Contributor(s): Joshua_McLean@Trimble.com, ####################################################### import argparse import os from re import A import sys import glob import matplotlib import mutils as m import numpy as np from matplotlib.ticker import (MultipleLocator, FormatStrFormatter, AutoMinorLocator) #from mutils import * parser = argparse.ArgumentParser(description='Generate useful .png plots for record 35:2 for multiple T0x files') parser.add_argument('pattern', help='T0x file search pattern, i.e. "*.T04"') parser.add_argument('--label', help='Label to include in plot(s)', default=None, type=str) parser.add_argument('--fig', help='Output plots in Matlab fig instead of PNG', action='store_true') args = parser.parse_args() # Allow running headless from the command line if (args.fig == False): matplotlib.use("agg") t0x_file_pat = args.pattern deltaTimes = [] gapDurations = [] # to calculate mean gap duration between each files based on 35:2 (from last to first) svTrackedCombined = [] svUsedCombined = [] gpsTrkCombined = [] sbaTrkCombined = [] gloTrkCombined = [] galTrkCombined = [] qzsTrkCombined = [] bdsTrkCombined = [] irnTrkCombined = [] xpsTrkCombined = [] gpsUsedCombined = [] sbaUsedCombined = [] gloUsedCombined = [] galUsedCombined = [] qzsUsedCombined = [] bdsUsedCombined = [] irnUsedCombined = [] xpsUsedCombined = [] fileNum = 0 # file counter maxGapTime = 150 # max gap time between T04 files (to detect missed reboot) lastFileEndGPSTime = -1.0 # to record last GPS time for previous file (to calc gap duration) gapDurations.append(np.nan) #we don't have the gap for first file for filename in sorted(glob.glob(t0x_file_pat)): (ref,k)=m.vd2arr(filename,rec='-d35:2 --dec=1000') firstTime = 0 gapDurationSec = -1.0 fileNum += 1 weeks = ref[:,k.WEEK] seconds = ref[:,k.TIME] svTracked = ref[:,k.NTRK] pdop = ref[:,k.PDOP] hdop = ref[:,k.HDOP] vdop = ref[:,k.VDOP] svUsed = ref[:,k.NUSED] corrAge = ref[:,k.corrAge] fixModes = ref[:,k.FIXMODE] fixType = ref[:,k.FIXTYPE] gpsUsed = ref[:,k.GPSUsd] sbaUsed = ref[:,k.SBASUsd] gloUsed = ref[:,k.GLOUsd] galUsed = ref[:,k.GALUsd] qzsUsed = ref[:,k.QZSSUsd] bdsUsed = ref[:,k.BDSUsd] irnUsed = ref[:,k.IRNSSUsd] xpsUsed = ref[:,k.XPSUsd] gpsTrk = ref[:,k.GPSTrk] sbaTrk = ref[:,k.SBASTrk] gloTrk = ref[:,k.GLOTrk] galTrk = ref[:,k.GALTrk] qzsTrk = ref[:,k.QZSSTrk] bdsTrk = ref[:,k.BDSTrk] irnTrk = ref[:,k.IRNSSTrk] xpsTrk = ref[:,k.XPSTrk] for index in range(0, len(seconds), 1): if (index >= len(deltaTimes)): deltaTimes.append(index) svTrackedCombined.append([]) svUsedCombined.append([]) gpsTrkCombined.append([]) sbaTrkCombined.append([]) gloTrkCombined.append([]) galTrkCombined.append([]) qzsTrkCombined.append([]) bdsTrkCombined.append([]) irnTrkCombined.append([]) gpsUsedCombined.append([]) sbaUsedCombined.append([]) gloUsedCombined.append([]) galUsedCombined.append([]) qzsUsedCombined.append([]) bdsUsedCombined.append([]) irnUsedCombined.append([]) medianWeek = np.median(weeks) week = weeks[index] second = seconds[index] fixMode = fixModes[index] #ignore positions that doesn't have a fix yet if (fixMode < 5): continue #ignore bad week numbers. #Due to a Sapphire bug from earlier versions.. if (np.abs(week - medianWeek) > 10 ): continue time = week * 60 * 60 * 24 * 7 + second if (firstTime == 0): firstTime = time deltaTime = time - firstTime #delta time since first position time if ((gapDurationSec < 0) #gap duration not set yet for this file? and (fixMode >= 5) #3D solution or better and (lastFileEndGPSTime > 0.0) #has gps time for last file? and (fileNum > 1)): #is not the first file? gapDurationSec = time - lastFileEndGPSTime if (gapDurationSec > 200): print('WARN: Ignoring gap time of %d' % gapDurationSec) gapDurations.append(np.nan) #treat as a outlier else: gapDurations.append(gapDurationSec) #store latest / last gps second for next file if (fixMode >= 5): lastFileEndGPSTime = time svTrackedCombined[index].append(svTracked[index]) gpsTrkCombined[index].append(gpsTrk[index]) sbaTrkCombined[index].append(sbaTrk[index]) gloTrkCombined[index].append(gloTrk[index]) galTrkCombined[index].append(galTrk[index]) qzsTrkCombined[index].append(qzsTrk[index]) bdsTrkCombined[index].append(bdsTrk[index]) irnTrkCombined[index].append(irnTrk[index]) gpsUsedCombined[index].append(gpsTrk[index]) sbaUsedCombined[index].append(sbaTrk[index]) gloUsedCombined[index].append(gloTrk[index]) galUsedCombined[index].append(galTrk[index]) qzsUsedCombined[index].append(qzsTrk[index]) bdsUsedCombined[index].append(bdsTrk[index]) irnUsedCombined[index].append(irnTrk[index]) svTrackedCombinedAvg = [] gpsTrkCombinedAvg = [] sbaTrkCombinedAvg = [] gloTrkCombinedAvg = [] galTrkCombinedAvg = [] qzsTrkCombinedAvg = [] bdsTrkCombinedAvg = [] irnTrkCombinedAvg = [] svUsedCombinedAvg = [] gpsUsedCombinedAvg = [] sbaUsedCombinedAvg = [] gloUsedCombinedAvg = [] galUsedCombinedAvg = [] qzsUsedCombinedAvg = [] bdsUsedCombinedAvg = [] irnUsedCombinedAvg = [] for i in range(0, len(deltaTimes), 1): svTrackedCombinedAvg.append(np.average(svTrackedCombined[i])) gpsTrkCombinedAvg.append(np.average(gpsTrkCombined[i])) sbaTrkCombinedAvg.append(np.average(sbaTrkCombined[i])) gloTrkCombinedAvg.append(np.average(gloTrkCombined[i])) galTrkCombinedAvg.append(np.average(galTrkCombined[i])) qzsTrkCombinedAvg.append(np.average(qzsTrkCombined[i])) bdsTrkCombinedAvg.append(np.average(bdsTrkCombined[i])) irnTrkCombinedAvg.append(np.average(irnTrkCombined[i])) svUsedCombinedAvg.append(np.average(svUsedCombined[i])) gpsUsedCombinedAvg.append(np.average(gpsUsedCombined[i])) sbaUsedCombinedAvg.append(np.average(sbaUsedCombined[i])) gloUsedCombinedAvg.append(np.average(gloUsedCombined[i])) galUsedCombinedAvg.append(np.average(galUsedCombined[i])) qzsUsedCombinedAvg.append(np.average(qzsUsedCombined[i])) bdsUsedCombinedAvg.append(np.average(bdsUsedCombined[i])) irnUsedCombinedAvg.append(np.average(irnUsedCombined[i])) ########################################## ## Number satellite used / tracked ########################################## fig = m.figure() ax = fig.add_subplot(1, 1, 1) m.plot( deltaTimes, svTrackedCombinedAvg, ".", markersize=2, label="Tracked (Avg)") m.plot( deltaTimes, svUsedCombinedAvg, ".", markersize=2, label="Used (Avg)") title = "Rec 35:2 Average Satellites Tracked (Combined)" if (args.label is not None): title += "\n[%s]" % args.label m.title(title) m.xlabel('Time since first position (sec)') m.ylabel('Number of satellites') m.grid(True) m.legend(loc='best') m.tight_layout() ax.yaxis.grid(True, which='minor', linestyle=':', color='lightgrey') ax.yaxis.set_major_locator(MultipleLocator(5)) ax.yaxis.set_major_formatter(FormatStrFormatter("%d")) ax.yaxis.set_minor_locator(MultipleLocator(1)) fig.gca().set_ylim(10, 60) if (args.fig == True): m.show() else: ax.set_xlim(0) pngName = 'rec35-2_sv_total_avg.png' if (args.label is not None): pngName = "%s_%s" % (args.label, pngName) m.savefig(pngName) print('saved %s' % pngName) fig = m.figure() ax = fig.add_subplot(1, 1, 1) m.plot( deltaTimes, gpsTrkCombinedAvg, "-", markersize=2, label="GPS") m.plot( deltaTimes, gloTrkCombinedAvg, "-", markersize=2, label="GLO") m.plot( deltaTimes, galTrkCombinedAvg, "-", markersize=2, label="GAL") m.plot( deltaTimes, bdsTrkCombinedAvg, "-", markersize=2, label="BDS") m.plot( deltaTimes, qzsTrkCombinedAvg, "-", markersize=2, label="QZS") m.plot( deltaTimes, sbaTrkCombinedAvg, "-", markersize=2, label="SBA") m.plot( deltaTimes, irnTrkCombinedAvg, "-", markersize=2, label="IRN") title = "Rec 35:2 Average Satellites Tracked" if (args.label is not None): title += "\n[%s]" % args.label m.title(title) m.xlabel('Time since first position (sec)') m.ylabel('Number of satellites') m.grid(True) m.legend(loc='lower right') m.tight_layout() ax.set_ylim(-1, 20) ax.yaxis.grid(True, which='minor', linestyle=':', color='lightgrey') ax.yaxis.set_major_locator(MultipleLocator(5)) ax.yaxis.set_major_formatter(FormatStrFormatter("%d")) ax.yaxis.set_minor_locator(MultipleLocator(1)) if (args.fig == True): m.show() else: ax.set_xlim(0) pngName = 'rec35-2_sv_avg.png' if (args.label is not None): pngName = "%s_%s" % (args.label, pngName) m.savefig(pngName) print('saved %s' % pngName) ax.set_xlim(0, 120) pngName = 'rec35-2_sv_avg_120s.png' if (args.label is not None): pngName = "%s_%s" % (args.label, pngName) m.savefig(pngName) print('saved %s' % pngName) # plot gap times (time of last 35:2 to first valid 35:2 position) fig = m.figure() fig.add_subplot(1, 1, 1) title = "Rec 35:2 Gap Times" if (args.label is not None): title += "\n[%s]" % args.label m.title(title) m.xlabel('Reset interval') m.ylabel('Gap time (minutes)') x = np.arange(1, fileNum + 1, 1) m.plot( x, gapDurations, "X", markersize=4, linestyle='dotted', linewidth=1, label=None) m.grid(True) m.tight_layout() pngName = 'rec35-2_gap_times.png' if (args.label is not None): pngName = "%s_%s" % (args.label, pngName) m.savefig(pngName) m.close(fig) print("Min gap time: %.1fs" % np.nanmin(gapDurations)) print("Max gap time: %.1fs" % np.nanmax(gapDurations)) print("Median gap time: %.1fs" % np.nanmedian(gapDurations)) print("Mean gap time: %.1fs" % np.nanmean(gapDurations)) print("Std. dev. gap time: %.1fs" % np.nanstd(gapDurations))