Renamed Filter(s) to Owt(s) in python code

Author: HannesSommer

cuckoo_time_translator_python/python/cuckoo_time_translator/device_time_bags.py

@@ -34,11 +34,11 @@ def __init__(self, bagFile, topic, invalidate=False):
 
     bag = rosbag.Bag(bagFile)
 
-    self.filtered_hw_times = TimestampSeries()
+    self.translated_hw_times = TimestampSeries()
     self.receive_times = TimestampSeries()
     self.raw_hw_times = TimestampSeries()
     for topic, msg, t in bag.read_messages(topics=[topic]):
-      self.filtered_hw_times.append(msg.header.stamp.to_sec())
+      self.translated_hw_times.append(msg.header.stamp.to_sec())
       self.receive_times.append(msg.receive_time.to_sec())
       self.raw_hw_times.append(float(msg.event_stamp))
 

…koo_time_translator/timestamp_filters.py …cuckoo_time_translator/timestamp_owts.pycuckoo_time_translator_python/python/cuckoo_time_translator/timestamp_filters.py renamed to cuckoo_time_translator_python/python/cuckoo_time_translator/timestamp_owts.py cuckoo_time_translator_python/python/cuckoo_time_translator/timestamp_filters.py renamed to cuckoo_time_translator_python/python/cuckoo_time_translator/timestamp_owts.py

@@ -4,7 +4,7 @@
 from cuckoo_time_translator.algorithms import LocalTime, RemoteTime
 
 
-class TimestampFilter:
+class TimestampOwt:
 
   def __init__(self, owt, batch=False, switchTime=None):
     if switchTime:
@@ -49,13 +49,13 @@ def getConfigAndStateString(self):
     return self.owt.getNameAndConfigString() + ": " + self.owt.getStateString()
 
 
-class ConvexHullFilter (TimestampFilter):
+class ConvexHullOwt (TimestampOwt):
 
   def __init__(self, *args, **kwargs):
-    TimestampFilter.__init__(self, algorithms.ConvexHullOwt(), *args, **kwargs)
+    TimestampOwt.__init__(self, algorithms.ConvexHullOwt(), *args, **kwargs)
 
 
-class KalmanFilter(TimestampFilter):
+class KalmanOwt(TimestampOwt):
 
   def __init__(self, outlierThreshold=None, sigmaSkew=None, *args, **kwargs):
     k = algorithms.KalmanOwt()
@@ -72,15 +72,15 @@ def __init__(self, outlierThreshold=None, sigmaSkew=None, *args, **kwargs):
     self.sigmaSkew = c.sigmaSkew
 
     k.setConfig(c)
-    TimestampFilter.__init__(self, k, *args, **kwargs)
+    TimestampOwt.__init__(self, k, *args, **kwargs)
 
     self._addParamNames(extra_params)
 
 
-class LeastSquaresFilter(TimestampFilter):
+class LeastSquaresOwt(TimestampOwt):
 
   def __init__(self):
-    TimestampFilter.__init__(self, None, batch=True)
+    TimestampOwt.__init__(self, None, batch=True)
 
   def apply(self, hwTimes, receiveTimes):
     assert(len(hwTimes) > 2)
@@ -93,7 +93,7 @@ def apply(self, hwTimes, receiveTimes):
     return correctedhwTimes
 
   def getConfigString(self, showDefaults=False):
-    return "LeastSquaresFilter()"
+    return "LeastSquaresOwt()"
 
   def getConfigAndStateString(self):
     return self.getConfigString() + ": offset=%f, skew=%f" % (self.offset, self.skew)

cuckoo_time_translator_python/scripts/ctt_introspect.py

@@ -4,25 +4,25 @@
 
 from cuckoo_time_translator import *
 from cuckoo_time_translator.device_time_bags import *
-from cuckoo_time_translator.timestamp_filters import *
+from cuckoo_time_translator.timestamp_owts import *
 from cuckoo_time_translator.batch_algo import printDelayStat
 
 from cuckoo_time_translator.tools import *
 
-FiltersDefault = 'ConvexHullFilter(switchTime = 10), KalmanFilter(), ConvexHullFilter(switchTime = 100)'
+OwtsDefault = 'ConvexHullOwt(switchTime = 10), KalmanOwt(), ConvexHullOwt(switchTime = 100)'
 
 if __name__ == '__main__':
   import argparse
-  
+
   parser = argparse.ArgumentParser(description='Analyze DeviceTimestamp message streams.')
-  parser.add_argument('bag', nargs = 1, help='The path to the bag file containing the DeviceTimestamp messages')
+  parser.add_argument('bag', nargs=1, help='The path to the bag file containing the DeviceTimestamp messages')
   parser.add_argument('-t,--topic', dest='topic', nargs='+', help='The path to the bag file containing the DeviceTimestamp messages')
   parser.add_argument('-v,--verbose', dest='verbose', action='count', help='Increase verbosity (counted)')
   parser.add_argument('-o,--output', dest='output', help='Output file to plot to (PDF)')
   parser.add_argument('-b,--baseLine', dest='baseLine', default="LeastSquares", help='Use this batch-method as base line; LeastSquare, ConvexHull, Index')
-  parser.add_argument('-f,--filters', dest='filters', default=FiltersDefault, help='Additional filters to compare with. Default: ' + FiltersDefault)
+  parser.add_argument('-f,--owts', dest='owts', default=OwtsDefault, help='Additional owts to compare with. Default: ' + OwtsDefault)
   parser.add_argument('--dontPlotReceiveTimes', action='store_true', help='don\'t plot receive timestamps')
-  parser.add_argument('--dontPlotPreFiltered', action='store_true', help='don\'t plot pre-filtered timestamps')
+  parser.add_argument('--dontPlotPreTranslated', action='store_true', help='don\'t plot pre-translated timestamps, i.e., translated in the device driver')
   parser.add_argument('--invalidate', action='store_true', help='invalidate any possibly existing cache')
   parser.add_argument('--showDefaults', action='store_true', help='Show all parameters in the legend even if they are at their default value')
   parser.add_argument('--force', action='store_true', help='Force overwriting')
@@ -36,66 +36,65 @@
     sys.exit(-1)
 
   realPathBagFile = os.path.realpath(bagFile)
-  
+
   if args.topic:
     topics = args.topic
   else:
     topics = guessTopics(bagFile)
 
-
   if not topics:
     error("Could not find any topic ending with " + DefaultTopic + "!")
     sys.exit(-1)
 
   verbose("Going to analyze these topics: " + str(topics))
-  
-  hwFilters = eval("[%s]" % args.filters)
-  
+
+  hwOwts = eval("[%s]" % args.owts)
+
   for topic in topics:
     info("Analyzing topic :" + topic)
 
-    ds = DeviceTimeStream(realPathBagFile, topic, invalidate = args.invalidate)
-  
-    baselineFilter = None
+    ds = DeviceTimeStream(realPathBagFile, topic, invalidate=args.invalidate)
+
+    baselineOwt = None
     if args.baseLine == "Index":
       base_times = np.linspace(ds.receive_times[0], ds.receive_times[-1], len(ds.receive_times))
     elif args.baseLine == "LeastSquares":
-      baselineFilter = LeastSquaresFilter()
+      baselineOwt = LeastSquaresOwt()
     elif args.baseLine == "ConvexHull":
-      baselineFilter = ConvexHullFilter(True)
+      baselineOwt = ConvexHullOwt(True)
     else:
       error("Unknown base line method : " + str(args.baseLine))
       sys.exit(1)
 
-    if baselineFilter:
-      base_times = np.array(baselineFilter.apply(ds.raw_hw_times, ds.receive_times))
-      info("Baseline filter after filtering: " + baselineFilter.getConfigAndStateString())
-  
+    if baselineOwt:
+      base_times = np.array(baselineOwt.apply(ds.raw_hw_times, ds.receive_times))
+      info("Baseline owt after translation: " + baselineOwt.getConfigAndStateString())
+
     delaysToPlot = []
     labels = []
     colors = []
-    
+
     def addToPlot(times, label, color):
       delaysToPlot.append(times - base_times)
       labels.append(label)
       colors.append(color)
 
     if not args.dontPlotReceiveTimes:
       addToPlot(ds.receive_times, "receive times", "r")
-    if not args.dontPlotPreFiltered:
-      addToPlot(ds.filtered_hw_times, "pre-filtered", "g")
-  
-    filterColors = ['m', 'grey', 'cyan', 'k', 'orange']
-    for i, filter in enumerate(hwFilters):
-        addToPlot(filter.apply(ds.raw_hw_times, ds.receive_times), filter.getConfigString(args.showDefaults), filterColors[i])
-        info("After filtering: " + filter.getConfigAndStateString())
-  
+    if not args.dontPlotPreTranslated:
+      addToPlot(ds.translated_hw_times, "pre-translated", "g")
+
+    owtColors = ['m', 'grey', 'cyan', 'k', 'orange']
+    for i, owt in enumerate(hwOwts):
+        addToPlot(owt.apply(ds.raw_hw_times, ds.receive_times), owt.getConfigString(args.showDefaults), owtColors[i])
+        info("After translating: " + owt.getConfigAndStateString())
+
     print("Deviation from base line:")
     for d, lab in zip(delaysToPlot, labels):
       printDelayStat(d, lab)
-  
+
     from cuckoo_time_translator.plotting import plotMultiDelays, show
-    plotMultiDelays(base_times, delaysToPlot, "time [sec]", labels, markersize = 4, colors = colors, fileName = args.output, overwrite = args.force, show = False)
+    plotMultiDelays(base_times, delaysToPlot, "time [sec]", labels, markersize=4, colors=colors, fileName=args.output, overwrite=args.force, show=False)
 
   if not args.output:
     from cuckoo_time_translator.plotting import show

cuckoo_time_translator_python/test/Test.py

@@ -13,7 +13,7 @@ def testConversions(self):
     l = LocalTime(3)
     self.assertEqual(3, float(l))
 
-  def _testFilter(self, c):
+  def _testOwt(self, c):
     self.assertFalse(c.isReady())
     l = c.updateAndTranslateToLocalTimestamp(RemoteTime(5), LocalTime(4))
     self.assertEqual(LocalTime, type(l))
@@ -25,10 +25,10 @@ def _testFilter(self, c):
     self.assertEqual(LocalTime(5), c.translateToLocalTimestamp(RemoteTime(6)))
 
   def testConvexHull(self):
-    self._testFilter(ConvexHullOwt())
+    self._testOwt(ConvexHullOwt())
 
   def testKalman(self):
-    self._testFilter(KalmanOwt())
+    self._testOwt(KalmanOwt())
 
 
 if __name__ == '__main__':