Yakut monitor & looking for help with plotting

pavel.kirienko · March 18, 2021, 11:22pm

I just opened a new pull request that adds the monitor command that’s been asked about several times here:

monitor

github.com/OpenCyphal/yakut

Add monitor command

OpenCyphal:main ← OpenCyphal:register

opened 11:13PM - 18 Mar 21 UTC

pavel-kirienko

+1647 -25

This is the command I was talking about at the call. I am far from certain if th…e UX is optimal but it solves my issue at hand so I guess it is adequate for now. Read the description: https://github.com/UAVCAN/yakut/tree/register#monitoring-the-network ![image](https://github.com/UAVCAN/yakut/raw/register/docs/monitor.gif) It works on Windows as well although its default terminal is terribly slow which may create issues with busy networks. Also there are some Unicode rendering problems but they don't seem serious. Test locally: pip install git+https://github.com/UAVCAN/yakut@register Fixes #2

It allows you to see what’s happening on the network, who is online, and what data is being exchanged. It relies on the low-level packet capture/tracing API that I introduced into PyUAVCAN a few months ago.

I made it out of necessity since we still don’t have Yukon around but I expect it to remain highly useful even when Yukon is available. Similarly, the yet-missing plotting tool, the ticket about which I put up earlier today, will also be useful with or without Yukon; we could really use some help here:

github.com/OpenCyphal/yakut

Plotter command

opened 02:36PM - 18 Mar 21 UTC

closed 10:21AM - 02 Dec 21 UTC

pavel-kirienko

help wanted

Implement a new command that plots a specified set of fields on a graph in real-…time. The syntax should be similar to `yakut subscribe` with the addition that the user should be able to specify the visualization data mapping. In the simplest form, the usage should be like: yakut plot SUBJECT [SUBJECT]... Where `SUBJECT` follows `[SUBJECT_ID:]TYPE_NAME.MAJOR.MINOR` like in the existing commands `yakut subscribe` et al. This should result in all fields of the message being plotted on a 2D graph where X is the local time and Y are the values. Example -- 5 values on a simple 2D time-Y plot: yakut plot 2345:reg.drone.physics.kinematics.rotation.Planar.0.1 2346:reg.drone.physics.electricity.Power.0.1 Simple time-Y plots are useful but not sufficient for non-trivial use cases. It should be possible to map values to axes explicitly when necessary like: yakut plot \ 4444:reg.drone.physics.kinematics.cartesian.PointStateVarTs.0.1 \ 5555:reg.drone.physics.electricity.PowerTs.0.1 \ --line=a.value.position.value.meter \ --line=b.timestamp,b.value Where `a` refers to the first subscription, `b` second, and so on; the values of `--line` are arbitrary Python expressions fed into `eval()` whose results are then flattened to obtain a tuple of lists/scalars which are then forwarded to the plotting engine. This example should result in two plots being shown: one 3D visualizing the coordinates from subject 4444, and one 2D time-Y similar to the above example. Other types of plots can be added later as necessary (e.g., `--scatter`). The preferred plotting backend is [Plotly](https://plotly.com/python/) (supports real-time streaming with [uirevision](https://community.plot.ly/t/preserving-ui-state-like-zoom-in-dcc-graph-with-uirevision/15793)). For giggles it would be interesting to render the output in the terminal using the [sixel](https://en.wikipedia.org/wiki/Sixel) format like GNUplot does it (via [Kaleido](https://github.com/plotly/Kaleido)) although this is expected to be much less useful than the conventional browser-based UX offered by Plotly out of the box. ![image](https://user-images.githubusercontent.com/3298404/111643072-53fa6700-8807-11eb-967c-e3a49207463f.png) Would anybody like to work on this?

raserg · April 2, 2021, 1:32pm

Hi. Can’t compile dsdl. What am I doing wrong?

~/yakut$ yakut compile ~/yakut/dsdl_files_in/ --output ./dsdl_compiled
Traceback (most recent call last):
  File "/home/raserg/.local/bin/yakut", line 11, in <module>
    sys.exit(main())
  File "/home/raserg/.local/lib/python3.7/site-packages/click/core.py", line 829, in __call__
    return self.main(*args, **kwargs)
  File "/home/raserg/.local/lib/python3.7/site-packages/click/core.py", line 782, in main
    rv = self.invoke(ctx)
  File "/home/raserg/.local/lib/python3.7/site-packages/click/core.py", line 1259, in invoke
    return _process_result(sub_ctx.command.invoke(sub_ctx))
  File "/home/raserg/.local/lib/python3.7/site-packages/click/core.py", line 1066, in invoke
    return ctx.invoke(self.callback, **ctx.params)
  File "/home/raserg/.local/lib/python3.7/site-packages/click/core.py", line 610, in invoke
    return callback(*args, **kwargs)
  File "/home/raserg/.local/lib/python3.7/site-packages/yakut/cmd/compile.py", line 114, in compile_
    allow_unregulated_fixed_port_id=allow_unregulated_fixed_port_id,
  File "/home/raserg/.local/lib/python3.7/site-packages/yakut/cmd/compile.py", line 183, in _generate_dsdl_packages
    allow_unregulated_fixed_port_id=allow_unregulated_fixed_port_id,
  File "/home/raserg/.local/lib/python3.7/site-packages/pyuavcan/dsdl/_compiler.py", line 171, in compile
    allow_unregulated_fixed_port_id=allow_unregulated_fixed_port_id,
  File "/home/raserg/.local/lib/python3.7/site-packages/pydsdl/_namespace.py", line 150, in read_namespace
    target_dsdl_definitions = _construct_dsdl_definitions_from_namespace(root_namespace_directory)
  File "/home/raserg/.local/lib/python3.7/site-packages/pydsdl/_namespace.py", line 450, in _construct_dsdl_definitions_from_namespace
    dsdl_def = _dsdl_definition.DSDLDefinition(fp, root_namespace_path)
  File "/home/raserg/.local/lib/python3.7/site-packages/pydsdl/_dsdl_definition.py", line 64, in __init__
    raise FileNameFormatError("Invalid file name", path=self._file_path)
pydsdl._dsdl_definition.FileNameFormatError: /home/raserg/yakut/dsdl_files_in/uavcan/CoarseOrientation.uavcan: Invalid file name

pavel.kirienko · April 2, 2021, 3:46pm

pydsdl._dsdl_definition.FileNameFormatError: /home/raserg/yakut/dsdl_files_in/uavcan/CoarseOrientation.uavcan: Invalid file name

You are trying to compile v0 definitions using v1 tools, this is not going to work. Yakut does not support the experimental version of the protocol (also known as UAVCAN v0, which is now obsolete). It only supports UAVCAN v1, the stable version.