192 lines
4.7 KiB
Python
192 lines
4.7 KiB
Python
"""一次运行四个轨迹实验绘图脚本。"""
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from __future__ import annotations
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import argparse
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import os
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import subprocess
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import sys
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from concurrent.futures import ThreadPoolExecutor, as_completed
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from pathlib import Path
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SCRIPT_NAMES = (
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"plot_trajectory_comparison.py",
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"plot_tracking_errors.py",
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"plot_speed_response.py",
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"plot_angular_command.py",
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)
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def build_command(
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script_path: Path,
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files: list[str],
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frequency_hz: float,
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filter_window_seconds: float,
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output_directory: str | None,
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show: bool,
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) -> list[str]:
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"""为一个绘图脚本构造与统一入口一致的命令行参数。"""
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command = [
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sys.executable,
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str(script_path),
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*files,
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"--frequency",
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str(frequency_hz),
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"--window",
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str(filter_window_seconds),
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]
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if output_directory:
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command.extend(["--output-dir", output_directory])
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if show:
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command.append("--show")
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return command
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def run_script(
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script_path: Path,
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files: list[str],
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frequency_hz: float,
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filter_window_seconds: float,
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output_directory: str | None,
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show: bool,
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) -> tuple[str, int, str, str]:
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"""运行一个绘图脚本并返回名称、退出码及标准输出和错误。"""
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result = subprocess.run(
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build_command(
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script_path,
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files,
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frequency_hz,
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filter_window_seconds,
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output_directory,
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show,
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),
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cwd=script_path.parent,
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capture_output=True,
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text=True,
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encoding="utf-8",
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errors="replace",
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env={
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**os.environ,
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"PYTHONIOENCODING": "utf-8",
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},
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check=False,
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)
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return (
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script_path.name,
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result.returncode,
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result.stdout.strip(),
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result.stderr.strip(),
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)
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def main() -> None:
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"""并行执行四类实验图的生成任务。"""
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parser = argparse.ArgumentParser(
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description="一次生成轨迹、误差、速度响应和角速度指令四类图。"
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)
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parser.add_argument(
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"files",
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nargs="*",
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help="一个或多个CSV文件；省略时处理data_process目录下全部CSV。",
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)
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parser.add_argument(
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"--frequency",
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type=float,
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default=20.0,
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help="固定重采样频率，默认20 Hz。",
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)
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parser.add_argument(
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"--window",
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type=float,
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default=0.55,
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help="Savitzky-Golay滤波窗口，默认0.55 s。",
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)
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parser.add_argument(
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"--output-dir",
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help="图片输出目录；省略时由各绘图脚本使用默认目录。",
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)
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parser.add_argument(
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"--show",
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action="store_true",
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help="生成后请求显示图片。",
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)
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args = parser.parse_args()
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if args.frequency <= 0.0:
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parser.error("--frequency必须大于0。")
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if args.window <= 0.0:
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parser.error("--window必须大于0。")
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script_directory = Path(__file__).resolve().parent
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script_paths = [
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script_directory / name
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for name in SCRIPT_NAMES
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]
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missing_scripts = [
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str(path)
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for path in script_paths
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if not path.is_file()
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]
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if missing_scripts:
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parser.error(
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"缺少绘图脚本：" + "，".join(missing_scripts)
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)
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print("开始并行生成四类实验图……")
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failures: list[str] = []
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with ThreadPoolExecutor(
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max_workers=len(script_paths)
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) as executor:
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futures = [
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executor.submit(
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run_script,
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script_path,
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args.files,
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args.frequency,
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args.window,
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args.output_dir,
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args.show,
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)
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for script_path in script_paths
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]
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for future in as_completed(futures):
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script_name, return_code, stdout, stderr = (
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future.result()
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)
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print(f"\n[{script_name}]")
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if stdout:
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print(stdout)
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if stderr:
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print(stderr, file=sys.stderr)
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if return_code == 0:
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print("执行成功。")
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else:
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failures.append(script_name)
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print(
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f"执行失败，退出码={return_code}。",
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file=sys.stderr,
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)
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if failures:
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print(
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"\n以下脚本执行失败：" +
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"，".join(failures),
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file=sys.stderr,
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)
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raise SystemExit(1)
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print("\n四类实验图均已生成。")
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if __name__ == "__main__":
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main()
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