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import sys
import math
testcase = [ [ [ 50000, "moveto", 15 ],
[ 70000, "moveto", -55 ],
[ 100000, "moveto", 30 ],
[ 160000, "shutoff", 0 ] ],
[ [ 30000, "moveto", 25 ],
[ 50000, "moveby", -70 ],
[ 160000, "moveto", -20 ],
[ 180000, "shutoff", 0 ] ],
[ [ 60000, "moveto", -30 ],
[ 100000, "moveto", 30 ],
[ 140000, "moveto", -10 ],
[ 180000, "shutoff", 0 ] ],
[ [ 60000, "moveto", 20 ],
[ 100000, "moveto", -20 ],
[ 110000, "moveto", 20 ] ] ]
def checkSpeed(time, angleDiff, timeDiff):
if timeDiff != 0:
speed = float(angleDiff) / (timeDiff / 1000.0)
if math.fabs(angleDiff) > 6.0 and math.fabs(speed) < 1.0:
print "%d: TOO SLOW / TARGET NOT REACHED!" % time
return False
return True
if __name__ == '__main__':
if len (sys.argv) != 2:
print >>sys.stderr, "usage: python " + sys.argv[0] + " <testcase_number>\n"
tc = int(sys.argv[1])
pos = 0
header = None
cmd = None
lastVoltage = 0.0
lastAngle = 0.0
lastTime = 0.0
startAngle = 0.0
voltageStableCounter = 0
targetReached = False#
errorCount = 0
index = {}
for line in sys.stdin.readlines():
line = line.strip("\n")
if header == None:
header = line.split()
for i in range(0, len(header)):
index[header[i]] = i
else:
data = line.split()
time = int(data[index["time(ms)"]])
voltage = float(data[index["engineVoltage"]])
angle = float(data[index["legAngle"]])
angleValid = int(data[index["legAngleValid"]]) == 1
isActive = int(data[index["isActive"]]) == 1
if pos < len(testcase[tc]) and time >= testcase[tc][pos][0]:
if not targetReached and cmd != None:
if not checkSpeed(time, cmd[2]-startAngle, time-cmd[0]):
errorCount += 1
cmd = testcase[tc][pos]
if cmd[1] == "moveby":
cmd[1] = "moveto"
cmd[2] = testcase[tc][pos-1][2] + cmd[2]
pos += 1
targetReached = False
startAngle = angle
moves = math.fabs(angle - lastAngle) > 0.1
voltageZero = math.fabs(voltage - lastVoltage) < 0.1
if voltageZero:
voltageStableCounter += 1
else:
voltageStableCounter = 0
voltageDiff = math.fabs(voltage - lastVoltage)
if cmd != None and math.fabs(voltageDiff) > 2.0:
print "%d: VOLTAGE JUMP!" % time
errorCount += 1
if cmd != None and voltageStableCounter >= 5 and not moves and not targetReached:
if math.fabs(angle - cmd[2]) < 0.5:
targetReached = True
if not checkSpeed(time, cmd[2] - startAngle, time - cmd[0]):
errorCount += 1
lastAngle = angle
lastVoltage = voltage
lastTime = time
if not targetReached and cmd != None:
if not checkSpeed(time, time-cmd[0], cmd[2]-startAngle):
errorCount += 1
print "found %d error(s)" % (errorCount)
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