From 45b972f543d818d67bade4f2835fd0faeab0feb4 Mon Sep 17 00:00:00 2001
From: Tamas Gal <tgal@km3net.de>
Date: Tue, 21 May 2019 23:27:50 +0200
Subject: [PATCH] Calibrate all DUs
---
scripts/ahrs_calibration.py | 88 +++++++++++++++++++------------------
1 file changed, 46 insertions(+), 42 deletions(-)
diff --git a/scripts/ahrs_calibration.py b/scripts/ahrs_calibration.py
index d5db82c..8fe5bc7 100755
--- a/scripts/ahrs_calibration.py
+++ b/scripts/ahrs_calibration.py
@@ -44,7 +44,7 @@ class CalibrateAHRS(kp.Module):
self.plots_path = self.require('plots_path')
det_id = self.require('det_id')
self.detector = kp.hardware.Detector(det_id=det_id)
- self.du = self.get('du', default=1)
+ self.dus = self.detector.dus
self.clbmap = kp.db.CLBMap(det_oid=det_id)
@@ -52,10 +52,13 @@ class CalibrateAHRS(kp.Module):
self.cuckoo_log = kp.time.Cuckoo(10, print)
self.data = {}
queue_size = 50000
- for ahrs_param in ('yaw', 'pitch', 'roll'):
- self.data[ahrs_param] = defaultdict(
+ for du in self.dus:
+ self.data[du] = {}
+ for ahrs_param in ('yaw', 'pitch', 'roll'):
+ self.data[du][ahrs_param] = defaultdict(
+ partial(deque, maxlen=queue_size))
+ self.data[du]['times'] = defaultdict(
partial(deque, maxlen=queue_size))
- self.times = defaultdict(partial(deque, maxlen=queue_size))
self.lock = threading.Lock()
self.index = 0
@@ -71,23 +74,22 @@ class CalibrateAHRS(kp.Module):
self.log.info("Skipping base CLB")
return blob
- if clb.du != self.du:
- return blob
-
yaw = tmch_data.yaw
calib = get_latest_ahrs_calibration(clb.upi, max_version=4)
if calib is None:
+ self.log.warning("No calibration found for CLB UPI '%s'", clb.upi)
return blob
+ du = clb.du
cyaw, cpitch, croll = fit_ahrs(tmch_data.A, tmch_data.H, *calib)
self.cuckoo_log("DU{}-DOM{} (random pick): calibrated yaw={}".format(
clb.du, clb.floor, cyaw))
with self.lock:
- self.data['yaw'][clb.floor].append(cyaw)
- self.data['pitch'][clb.floor].append(cpitch)
- self.data['roll'][clb.floor].append(croll)
- self.times[clb.floor].append(now)
+ self.data[du]['yaw'][clb.floor].append(cyaw)
+ self.data[du]['pitch'][clb.floor].append(cpitch)
+ self.data[du]['roll'][clb.floor].append(croll)
+ self.data[du]['times'][clb.floor].append(now)
self.cuckoo.msg()
return blob
@@ -96,30 +98,33 @@ class CalibrateAHRS(kp.Module):
print(self.__class__.__name__ + ": updating plot.")
# xfmt = md.DateFormatter('%Y-%m-%d %H:%M')
xfmt = md.DateFormatter('%H:%M')
- for ahrs_param in self.data.keys():
- fig, ax = plt.subplots(figsize=(16, 6))
- sns.set_palette("husl", 18)
- ax.set_title("AHRS {} Calibration on DU{}\n{}".format(
- ahrs_param, self.du, datetime.utcnow()))
- ax.set_xlabel("UTC time")
- ax.xaxis.set_major_formatter(xfmt)
- ax.set_ylabel(ahrs_param)
- with self.lock:
- for floor in sorted(self.data[ahrs_param].keys()):
- ax.plot(
- self.times[floor],
- self.data[ahrs_param][floor],
- marker='.',
- linestyle='none',
- label="Floor {}".format(floor))
- lgd = plt.legend(
- bbox_to_anchor=(1.005, 1), loc=2, borderaxespad=0.)
- fig.tight_layout()
- plt.savefig(
- os.path.join(self.plots_path, ahrs_param + '_calib.png'),
- bbox_extra_artists=(lgd, ),
- bbox_inches='tight')
- plt.close('all')
+ for du in self.dus:
+ data = self.data[du]
+ for ahrs_param in data.keys():
+ fig, ax = plt.subplots(figsize=(16, 6))
+ sns.set_palette("husl", 18)
+ ax.set_title("AHRS {} Calibration on DU{}\n{}".format(
+ ahrs_param, du, datetime.utcnow()))
+ ax.set_xlabel("UTC time")
+ ax.xaxis.set_major_formatter(xfmt)
+ ax.set_ylabel(ahrs_param)
+ with self.lock:
+ for floor in sorted(data[ahrs_param].keys()):
+ ax.plot(data['times'][floor],
+ data[ahrs_param][floor],
+ marker='.',
+ linestyle='none',
+ label="Floor {}".format(floor))
+ lgd = plt.legend(bbox_to_anchor=(1.005, 1),
+ loc=2,
+ borderaxespad=0.)
+ fig.tight_layout()
+ plt.savefig(os.path.join(
+ self.plots_path,
+ ahrs_param + '_calib_du{}.png'.format(du)),
+ bbox_extra_artists=(lgd, ),
+ bbox_inches='tight')
+ plt.close('all')
def main():
@@ -132,13 +137,12 @@ def main():
ligier_port = int(args['-p'])
pipe = kp.Pipeline()
- pipe.attach(
- kp.io.ch.CHPump,
- host=ligier_ip,
- port=ligier_port,
- tags='IO_MONIT',
- timeout=60 * 60 * 24 * 7,
- max_queue=2000)
+ pipe.attach(kp.io.ch.CHPump,
+ host=ligier_ip,
+ port=ligier_port,
+ tags='IO_MONIT',
+ timeout=60 * 60 * 24 * 7,
+ max_queue=2000)
pipe.attach(kp.io.daq.DAQProcessor)
pipe.attach(CalibrateAHRS, det_id=det_id, plots_path=plots_path)
pipe.drain()
--
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