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RustPhysicsMQ
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sim working, need to improve graphs and data analysis

This commit is contained in:
Flima Desktop 2025-12-15 00:08:10 +00:00
parent b5e582b3c7
commit b9e5a6abd7
3 changed files with 106 additions and 93 deletions
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73
analyze.py
View File

@ -1,57 +1,56 @@
import pandas as pd
import matplotlib.pyplot as plt
from pathlib import Path
# Load the CSV exported by the PID controller
df = pd.read_csv("data.csv")
# -------- File picker --------
RESULTS_DIR = Path("results")
# --- Plot target vs current ---
csv_files = sorted(RESULTS_DIR.glob("*.csv"))
if not csv_files:
raise FileNotFoundError("No CSV files found in results/")
print("Available result files:")
for i, f in enumerate(csv_files):
print(f"[{i}] {f.name}")
choice = int(input("Select file number: "))
csv_path = csv_files[choice]
print(f"\nLoading: {csv_path}\n")
# -------- Load CSV --------
df = pd.read_csv(csv_path)
# -------- Plot target vs current --------
for coord in ["x", "y", "z"]:
plt.figure()
plt.plot(df["time"], df["target_" + coord], label="target_" + coord)
plt.plot(df["time"], df["current_" + coord], label="current_" + coord)
plt.plot(df["time"], df["mot_" + coord].clip(-1,1), label="mot_" + coord)
plt.plot(df["time"], df["dmot_" + coord].clip(-1,1), label="desired mot_" + coord)
plt.plot(df["time"], df[f"target_{coord}"], label=f"target_{coord}")
plt.plot(df["time"], df[f"current_{coord}"], label=f"current_{coord}")
plt.plot(df["time"], df[f"mot_{coord}"].clip(-1, 1), label=f"mot_{coord}")
plt.plot(df["time"], df[f"dmot_{coord}"].clip(-1, 1), label=f"desired mot_{coord}")
plt.xlabel("Time (s)")
plt.ylabel("Angular velocity & Motor Offset")
plt.title(f"Target vs Current Angular Velocity with Motor Diff ({coord})")
plt.legend(loc='upper right')
plt.title(f"{csv_path.name} — {coord.upper()} axis")
plt.legend(loc="upper right")
plt.grid(True)
ymin, ymax = plt.ylim()
plt.ylim(min(ymin, -1), max(ymax, 1))
plt.show()
# for coord in ["x", "y", "z"]:
# plt.figure()
# plt.plot(df["time"], df["target_" + coord], label="target_" + coord)
# plt.plot(df["time"], df["current_" + coord], label="current_" + coord)
# plt.xlabel("Time (s)")
# plt.ylabel("Angular velocity")
# plt.title(f"Target vs Current Angular Velocity ({coord})")
# plt.legend()
# plt.grid(True)
# plt.show()
# plt.figure()
# plt.plot(df["time"], df["target_x"], label="target_x")
# plt.plot(df["time"], df["current_x"], label="current_x")
# plt.plot(df["time"], df["target_y"], label="target_y")
# plt.plot(df["time"], df["current_y"], label="current_y")
# plt.plot(df["time"], df["target_z"], label="target_z")
# plt.plot(df["time"], df["current_z"], label="current_z")
# plt.xlabel("Time (s)")
# plt.ylabel("Angular velocity")
# plt.title("Target vs Current Angular Velocity")
# plt.legend()
# plt.grid(True)
# plt.show()
# --- Plot error over time ---
# -------- Plot error --------
plt.figure()
plt.plot(df["time"], df["error_x"], label="error_x")
plt.plot(df["time"], df["error_y"], label="error_y")
plt.plot(df["time"], df["error_z"], label="error_z")
plt.xlabel("Time (s)")
plt.ylabel("Error")
plt.title("PID Error Over Time")
plt.legend(loc='upper right')
plt.title(f"PID Error — {csv_path.name}")
plt.legend(loc="upper right")
plt.grid(True)
plt.show()

34
src/main.rs
View File

@ -34,6 +34,8 @@ fn window_conf() -> mq::Conf {
}
use std::env;
use std::path::PathBuf;
use std::thread::JoinHandle;
enum RunMode {
Batch,
@ -62,23 +64,39 @@ async fn main() {
}
async fn run_batch() {
fs::remove_dir_all(RESULTS_DIR).unwrap();
fs::create_dir_all(RESULTS_DIR).unwrap();
let input_files = list_files(INPUTS_DIR);
let config_files = list_files(CONFIGS_DIR);
let mut handles: Vec<JoinHandle<()>> = Default::default();
for input_path in input_files {
for config_path in &config_files {
let cp = config_path.clone();
let ip = input_path.clone();
handles.push(std::thread::spawn(move || {
run(&ip, &cp);
}));
}
}
for handle in handles {
handle.join().unwrap();
}
println!("All simulations completed.");
}
fn run(input_path: &PathBuf, config_path: &PathBuf) {
let input_name = input_path.file_stem().unwrap().to_string_lossy();
let inputs = InputRecording::load_inputs_from_csv(input_path.to_str().unwrap())
.expect("Failed to load input recording");
for config_path in &config_files {
let config_name = config_path.file_stem().unwrap().to_string_lossy();
let config: SimulationConfig =
toml::from_str(&fs::read_to_string(config_path).unwrap())
.expect("Invalid config file");
toml::from_str(&fs::read_to_string(config_path).unwrap()).expect("Invalid config file");
println!(
"Running simulation: input={} config={}",
@ -117,11 +135,7 @@ async fn run_batch() {
config.drone_tick_rate,
);
sim.run().await.unwrap();
}
}
println!("All simulations completed.");
sim.run().unwrap();
}
async fn run_record(output: String) {
@ -152,5 +166,5 @@ async fn run_record(output: String) {
600,
);
sim.run().await.unwrap();
sim.run().unwrap();
}

12
src/simulation.rs
View File

@ -89,7 +89,7 @@ impl Simulation {
return s;
}
pub async fn run(&mut self) -> Result<(), Box<dyn Error>> {
pub fn run(&mut self) -> Result<(), Box<dyn Error>> {
let mut current_input: JoystickInput;
loop {
@ -97,16 +97,16 @@ impl Simulation {
renderer.update_camera(&self.world);
}
if mq::is_key_pressed(mq::KeyCode::Q) {
break;
}
// --- Input handling ---
let current_time = self.world.get_time() as f32;
match &mut self.mode {
SimMode::Record(recording, _) => {
current_input = recording.add_input_from_keyboard(current_time);
if mq::is_key_pressed(mq::KeyCode::Q) {
self.shutdown()?;
return Ok(());
}
}
SimMode::Playback(recording, start_time) => {
let playback_time = current_time - *start_time;
@ -187,7 +187,7 @@ impl Simulation {
== 0
{
renderer.draw(&mut self.world);
mq::next_frame().await;
mq::next_frame();
}
}
}