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The scripts are written in Python. Most of them rely on the debug file that ca2 leaves after execution. At the beginning of the script, after the imports there is always a "configuration" section (delimited by comments) which contains all the (documented) constant variables that must be set appropriately to make the script do exactly what you want.
Debug file parsing
As you can imagine, the parsing of the debug file is strongly dependent on its format. This means that if you change the name of the attributes written in the file for example, the scripts might not work as expected. All the script rely on the class DebugData in "scripts/util/parser.py". This design makes it easy to make adjustments in case the file format changes. However, if you modify the internal data structure of DebugData (e.g. change the name of one of its member variables) you will have to modify the scripts that access to that data.
plot_trajectory.py
This script allows to analyze offline the data of an experiment. The program ca2 saves a file in the same folder of the executable called "data_carX.txt" which contains lots of data describing position, speed, heading, etc. of the car in each car cycle. Similarly, the simulator produces a file called "debug_sim.txt" which is integrated by the script with the information in the car's file. The main difference between the two files is that the first one reports values of the physical quantities that are affected by measurement noise while the second one report also the real state of the system. Moreover, the car can records the status of the internal variables which are unknown to the simulator. The script can be used to debug experimental data (not simulated) using the command line option "o" (see below for full description).
Usage
Command line options
- -o:
TROUBLESHOOTING (SOFTWARE)
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