Support offset_sec in ctt_introspect

Author: HannesSommer

cuckoo_time_translator_python/python/cuckoo_time_translator/device_time_bags.py

@@ -2,6 +2,7 @@
 
 import pickle
 import rosbag
+import numpy as np
 
 from timestamp_series import TimestampSeries
 from timestamp_series import TimestampSeries
@@ -35,13 +36,17 @@ def __init__(self, bagFile, topic, invalidate=False):
     bag = rosbag.Bag(bagFile)
 
     self.translated_hw_times = TimestampSeries()
+    self.translated_hw_times_without_offset = TimestampSeries()
     self.receive_times = TimestampSeries()
     self.raw_hw_times = TimestampSeries()
     for topic, msg, t in bag.read_messages(topics=[topic]):
       self.translated_hw_times.append(msg.header.stamp.to_sec())
+      self.translated_hw_times_without_offset.append(msg.header.stamp.to_sec() - msg.offset_secs)
       self.receive_times.append(msg.receive_time.to_sec())
       self.raw_hw_times.append(float(msg.event_stamp))
 
+    self.zeroOffsetAllTheTime = np.linalg.norm(np.array(self.translated_hw_times_without_offset) - np.array(self.translated_hw_times)) < 1e-9
+
     bag.close()
     # Save data to file
     pickle.dump(self.__dict__, open(eventsFile, "wb"))

cuckoo_time_translator_python/scripts/ctt_introspect.py

@@ -83,7 +83,9 @@ def addToPlot(times, label, color):
     if not args.dontPlotReceiveTimes:
       addToPlot(ds.receive_times, "receive times", "r")
     if not args.dontPlotPreTranslated:
-      addToPlot(ds.translated_hw_times, "pre-translated", "g")
+      addToPlot(ds.translated_hw_times, "pre-translated" + (" (+ zero offset)" if ds.zeroOffsetAllTheTime else " + offset"), "g")
+      if not ds.zeroOffsetAllTheTime:
+          addToPlot(ds.translated_hw_times_without_offset, "pre-translated without offset", "b")
 
     owtColors = ['m', 'grey', 'cyan', 'k', 'orange']
     for i, owt in enumerate(hwOwts):