# -*- coding: utf-8 -*-
""" asammdf *Signal* class module for time correct signal processing """
from textwrap import fill
import numpy as np
import warnings
from .utils import MdfException, extract_cncomment_xml
from . import v2_v3_blocks as v3b
from . import v4_constants as v4c
from . import v4_blocks as v4b
from .version import __version__
[docs]class Signal(object):
"""
The *Signal* represents a channel described by it's samples and timestamps.
It can perform arithmetic operations against other *Signal* or numeric types.
The operations are computed in respect to the timestamps (time correct).
The non-float signals are not interpolated, instead the last value relative
to the current timestamp is used.
*samples*, *timstamps* and *name* are mandatory arguments.
Parameters
----------
samples : numpy.array | list | tuple
signal samples
timestamps : numpy.array | list | tuple
signal timestamps
unit : str
signal unit
name : str
signal name
conversion : dict | channel conversion block
dict that contains extra conversion information about the signal ,
default *None*
comment : str
signal comment, default ''
raw : bool
signal samples are raw values, with no physical conversion applied
master_metadata : list
master name and sync type
display_name : str
display name used by mdf version 3
attachment : bytes, name
channel attachment and name from MDF version 4
"""
def __init__(self,
samples=None,
timestamps=None,
unit='',
name='',
conversion=None,
comment='',
raw=True,
master_metadata=None,
display_name='',
attachment=(),
source=None,
bit_count=None):
if samples is None or timestamps is None or name == '':
message = ('"samples", "timestamps" and "name" are mandatory '
'for Signal class __init__: samples={}\n'
'timestamps={}\nname={}')
raise MdfException(message.format(samples, timestamps, name))
else:
if isinstance(samples, (list, tuple)):
samples = np.array(samples)
if isinstance(timestamps, (list, tuple)):
timestamps = np.array(timestamps, dtype=np.float64)
if not samples.shape[0] == timestamps.shape[0]:
message = '{} samples and timestamps length mismatch ({} vs {})'
message = message.format(
name,
samples.shape[0],
timestamps.shape[0],
)
raise MdfException(message)
self.samples = samples
self.timestamps = timestamps
self.unit = unit
self.name = name
self.comment = comment
self._plot_axis = None
self.raw = raw
self.master_metadata = master_metadata
self.display_name = display_name
self.attachment = attachment
self.source = source
if bit_count is None:
self.bit_count = samples.dtype.itemsize * 8
else:
self.bit_count = bit_count
if not isinstance(conversion, (v4b.ChannelConversion, v3b.ChannelConversion)):
if conversion is None:
pass
elif 'a' in conversion:
conversion['conversion_type'] = v4c.CONVERSION_TYPE_LIN
conversion = v4b.ChannelConversion(
**conversion
)
elif 'formula' in conversion:
conversion['conversion_type'] = v4c.CONVERSION_TYPE_ALG
conversion = v4b.ChannelConversion(
**conversion
)
elif all(
key in conversion
for key in ['P{}'.format(i) for i in range(1, 7)]):
conversion['conversion_type'] = v4c.CONVERSION_TYPE_RAT
conversion = v4b.ChannelConversion(
**conversion
)
elif 'raw_0' in conversion and 'phys_0' in conversion:
conversion['conversion_type'] = v4c.CONVERSION_TYPE_TAB
nr = 0
while 'phys_{}'.format(nr) in conversion:
nr += 1
conversion['val_param_nr'] = nr * 2
conversion = v4b.ChannelConversion(
**conversion
)
elif 'upper_0' in conversion and 'phys_0' in conversion:
conversion['conversion_type'] = v4c.CONVERSION_TYPE_RTAB
nr = 0
while 'phys_{}'.format(nr) in conversion:
nr += 1
conversion['val_param_nr'] = nr * 3 + 1
conversion = v4b.ChannelConversion(
**conversion
)
elif 'val_0' in conversion and 'text_0' in conversion:
conversion['conversion_type'] = v4c.CONVERSION_TYPE_TABX
nr = 0
while 'text_{}'.format(nr) in conversion:
nr += 1
conversion['ref_param_nr'] = nr + 1
conversion = v4b.ChannelConversion(
**conversion
)
elif 'upper_0' in conversion and 'text_0' in conversion:
conversion['conversion_type'] = v4c.CONVERSION_TYPE_RTABX
nr = 0
while 'text_{}'.format(nr) in conversion:
nr += 1
conversion['ref_param_nr'] = nr + 1
conversion = v4b.ChannelConversion(
**conversion
)
else:
conversion = v4b.ChannelConversion(
conversion_type=v4c.CONVERSION_TYPE_NON
)
self.conversion = conversion
def __repr__(self):
string = """<Signal {}:
\tsamples={}
\ttimestamps={}
\tunit="{}"
\tconversion={}
\tsource={}
\tcomment="{}"
\tmastermeta="{}"
\traw={}
\tdisplay_name={}>
"""
return string.format(
self.name,
self.samples,
self.timestamps,
self.unit,
self.conversion,
self.source,
self.comment,
self.master_metadata,
self.raw,
self.display_name,
)
[docs] def plot(self):
""" plot Signal samples """
try:
import matplotlib.pyplot as plt
from mpl_toolkits.mplot3d import axes3d
from matplotlib.widgets import Slider
except ImportError:
warnings.warn("Signal plotting requires matplotlib")
return
if len(self.samples.shape) <= 1 and self.samples.dtype.names is None:
fig = plt.figure()
fig.canvas.set_window_title(self.name)
fig.text(0.95, 0.05, 'asammdf {}'.format(__version__),
fontsize=8, color='red',
ha='right', va='top', alpha=0.5)
name = self.name
if self.comment:
comment = self.comment.replace('$', '')
comment = extract_cncomment_xml(comment)
comment = fill(comment, 120).replace('\\n', ' ')
title = '{}\n({})'.format(name, comment)
plt.title(title)
else:
plt.title(name)
try:
if not self.master_metadata:
plt.xlabel('Time [s]')
plt.ylabel('[{}]'.format(self.unit))
plt.plot(self.timestamps, self.samples, 'b')
plt.plot(self.timestamps, self.samples, 'b.')
plt.grid(True)
plt.show()
else:
master_name, sync_type = self.master_metadata
if sync_type in (0, 1):
plt.xlabel('{} [s]'.format(master_name))
elif sync_type == 2:
plt.xlabel('{} [deg]'.format(master_name))
elif sync_type == 3:
plt.xlabel('{} [m]'.format(master_name))
elif sync_type == 4:
plt.xlabel('{} [index]'.format(master_name))
plt.ylabel('[{}]'.format(self.unit))
plt.plot(self.timestamps, self.samples, 'b')
plt.plot(self.timestamps, self.samples, 'b.')
plt.grid(True)
plt.show()
except ValueError:
plt.close(fig)
else:
try:
names = self.samples.dtype.names
if self.samples.dtype.names is None or len(names) == 1:
if names:
samples = self.samples[names[0]]
else:
samples = self.samples
shape = samples.shape[1:]
fig = plt.figure()
fig.canvas.set_window_title(self.name)
fig.text(
0.95,
0.05,
'asammdf {}'.format(__version__),
fontsize=8,
color='red',
ha='right',
va='top',
alpha=0.5,
)
if self.comment:
comment = self.comment.replace('$', '')
plt.title('{}\n({})'.format(self.name, comment))
else:
plt.title(self.name)
ax = fig.add_subplot(111, projection='3d')
# Grab some test data.
X = np.array(range(shape[1]))
Y = np.array(range(shape[0]))
X, Y = np.meshgrid(X, Y)
Z = samples[0]
# Plot a basic wireframe.
self._plot_axis = ax.plot_wireframe(X, Y, Z,
rstride=1, cstride=1)
# Place Sliders on Graph
ax_a = plt.axes([0.25, 0.1, 0.65, 0.03])
# Create Sliders & Determine Range
sa = Slider(ax_a,
'Time [s]',
self.timestamps[0],
self.timestamps[-1],
valinit=self.timestamps[0])
def update(val):
self._plot_axis.remove()
idx = np.searchsorted(self.timestamps,
sa.val,
side='right')
Z = samples[idx-1]
self._plot_axis = ax.plot_wireframe(
X,
Y,
Z,
rstride=1,
cstride=1,
)
fig.canvas.draw_idle()
sa.on_changed(update)
plt.show()
else:
fig = plt.figure()
fig.canvas.set_window_title(self.name)
fig.text(
0.95,
0.05,
'asammdf {}'.format(__version__),
fontsize=8,
color='red',
ha='right',
va='top',
alpha=0.5,
)
if self.comment:
comment = self.comment.replace('$', '')
plt.title('{}\n({})'.format(self.name, comment))
else:
plt.title(self.name)
ax = fig.add_subplot(111, projection='3d')
samples = self.samples[names[0]]
axis1 = self.samples[names[1]]
axis2 = self.samples[names[2]]
# Grab some test data.
X, Y = np.meshgrid(axis2[0], axis1[0])
Z = samples[0]
# Plot a basic wireframe.
self._plot_axis = ax.plot_wireframe(
X,
Y,
Z,
rstride=1,
cstride=1,
)
# Place Sliders on Graph
ax_a = plt.axes([0.25, 0.1, 0.65, 0.03])
# Create Sliders & Determine Range
sa = Slider(ax_a,
'Time [s]',
self.timestamps[0],
self.timestamps[-1],
valinit=self.timestamps[0])
def update(val):
self._plot_axis.remove()
idx = np.searchsorted(self.timestamps,
sa.val,
side='right')
Z = samples[idx-1]
X, Y = np.meshgrid(axis2[idx-1], axis1[idx-1])
self._plot_axis = ax.plot_wireframe(
X,
Y,
Z,
rstride=1,
cstride=1,
)
fig.canvas.draw_idle()
sa.on_changed(update)
plt.show()
except Exception as err:
print(err)
[docs] def cut(self, start=None, stop=None):
"""
Cuts the signal according to the *start* and *stop* values, by using
the insertion indexes in the signal's *time* axis.
Parameters
----------
start : float
start timestamp for cutting
stop : float
stop timestamp for cutting
Returns
-------
result : Signal
new *Signal* cut from the original
Examples
--------
>>> new_sig = old_sig.cut(1.0, 10.5)
>>> new_sig.timestamps[0], new_sig.timestamps[-1]
0.98, 10.48
"""
if start is None and stop is None:
# return the channel uncut
result = self
else:
if start is None:
# cut from beggining to stop
stop = np.searchsorted(self.timestamps, stop, side='right')
if stop:
result = Signal(
self.samples[:stop],
self.timestamps[:stop],
self.unit,
self.name,
self.conversion,
self.comment,
self.raw,
self.master_metadata,
self.display_name,
self.attachment,
)
else:
result = Signal(
np.array([]),
np.array([]),
self.unit,
self.name,
self.conversion,
self.comment,
self.raw,
self.master_metadata,
self.display_name,
self.attachment,
)
elif stop is None:
# cut from start to end
start = np.searchsorted(self.timestamps, start, side='left')
result = Signal(
self.samples[start:],
self.timestamps[start:],
self.unit,
self.name,
self.conversion,
self.comment,
self.raw,
self.master_metadata,
self.display_name,
self.attachment,
)
else:
# cut between start and stop
start_ = np.searchsorted(self.timestamps, start, side='left')
start_ = max(0, start_)
stop_ = np.searchsorted(self.timestamps, stop, side='right')
if start not in self.timestamps and start_ == stop_:
start_ -= 1
if stop_ == start_:
if (len(self.timestamps)
and stop >= self.timestamps[0]
and start <= self.timestamps[-1]):
# start and stop are found between 2 signal samples
# so return the previous sample
result = Signal(
self.samples[start_ - 1: start_],
self.timestamps[start_ - 1: start_],
self.unit,
self.name,
self.conversion,
self.comment,
self.raw,
self.master_metadata,
self.display_name,
self.attachment,
)
else:
# signal is empty or start and stop are outside the
# signal time base
result = Signal(
np.array([]),
np.array([]),
self.unit,
self.name,
self.conversion,
self.comment,
self.raw,
self.master_metadata,
self.display_name,
self.attachment,
)
else:
result = Signal(
self.samples[start_: stop_],
self.timestamps[start_: stop_],
self.unit,
self.name,
self.conversion,
self.comment,
self.raw,
self.master_metadata,
self.display_name,
self.attachment,
)
return result
[docs] def extend(self, other):
""" extend signal with samples from another signal
Parameters
----------
other : Signal
Returns
-------
signal : Signal
new extended *Signal*
"""
if len(self.timestamps):
last_stamp = self.timestamps[-1]
delta = last_stamp / len(self) + last_stamp
else:
last_stamp = 0
delta = 0
if len(other):
other_first_sample = other.timestamps[0]
if last_stamp >= other_first_sample:
timestamps = other.timestamps + delta - other_first_sample
else:
timestamps = other.timestamps
result = Signal(
np.append(self.samples, other.samples),
np.append(self.timestamps, timestamps),
self.unit,
self.name,
self.conversion,
self.comment,
self.raw,
self.master_metadata,
self.display_name,
self.attachment,
)
else:
result = self
return result
[docs] def interp(self, new_timestamps):
""" returns a new *Signal* interpolated using the *new_timestamps*
Parameters
----------
new_timestamps : np.array
timestamps used for interpolation
Returns
-------
signal : Signal
new interpolated *Signal*
"""
if not len(self.samples) or not len(new_timestamps):
return Signal(
self.samples.copy(),
self.timestamps.copy(),
self.unit,
self.name,
comment=self.comment,
conversion=self.conversion,
raw=self.raw,
master_metadata=self.master_metadata,
display_name=self.display_name,
attachment=self.attachment,
)
else:
if self.samples.dtype.kind == 'f':
s = np.interp(new_timestamps, self.timestamps, self.samples)
else:
idx = np.searchsorted(
self.timestamps,
new_timestamps,
side='right',
)
idx -= 1
idx = np.clip(idx, 0, idx[-1])
s = self.samples[idx]
return Signal(
s,
new_timestamps,
self.unit,
self.name,
comment=self.comment,
conversion=self.conversion,
raw=self.raw,
master_metadata=self.master_metadata,
display_name=self.display_name,
attachment=self.attachment,
)
def __apply_func(self, other, func_name):
""" delegate operations to the *samples* attribute, but in a time
correct manner by considering the *timestamps*
"""
if isinstance(other, Signal):
time = np.union1d(self.timestamps, other.timestamps)
s = self.interp(time).samples
o = other.interp(time).samples
func = getattr(s, func_name)
s = func(o)
elif other is None:
s = self.samples
time = self.timestamps
else:
func = getattr(self.samples, func_name)
s = func(other)
time = self.timestamps
return Signal(
s,
time,
self.unit,
self.name,
self.conversion,
self.raw,
self.master_metadata,
self.display_name,
attachment=self.attachment,
)
def __pos__(self):
return self
def __neg__(self):
return Signal(
np.negative(self.samples),
self.timestamps,
self.unit,
self.name,
self.conversion,
self.raw,
self.master_metadata,
self.display_name,
self.attachment,
)
def __round__(self, n):
return Signal(
np.around(self.samples, n),
self.timestamps,
self.unit,
self.name,
self.conversion,
self.raw,
self.master_metadata,
self.display_name,
self.attachment,
)
def __sub__(self, other):
return self.__apply_func(other, '__sub__')
def __isub__(self, other):
return self.__sub__(other)
def __rsub__(self, other):
return -self.__sub__(other)
def __add__(self, other):
return self.__apply_func(other, '__add__')
def __iadd__(self, other):
return self.__add__(other)
def __radd__(self, other):
return self.__add__(other)
def __mul__(self, other):
return self.__apply_func(other, '__mul__')
def __imul__(self, other):
return self.__mul__(other)
def __rmul__(self, other):
return self.__mul__(other)
def __truediv__(self, other):
return self.__apply_func(other, '__truediv__')
def __itruediv__(self, other):
return self.__truediv__(other)
def __rtruediv__(self, other):
return self.__apply_func(other, '__rtruediv__')
def __mod__(self, other):
return self.__apply_func(other, '__mod__')
def __pow__(self, other):
return self.__apply_func(other, '__pow__')
def __and__(self, other):
return self.__apply_func(other, '__and__')
def __or__(self, other):
return self.__apply_func(other, '__or__')
def __xor__(self, other):
return self.__apply_func(other, '__xor__')
def __invert__(self):
s = ~self.samples
time = self.timestamps
return Signal(
s,
time,
self.unit,
self.name,
self.conversion,
self.raw,
self.master_metadata,
self.display_name,
self.attachment,
)
def __lshift__(self, other):
return self.__apply_func(other, '__lshift__')
def __rshift__(self, other):
return self.__apply_func(other, '__rshift__')
def __lt__(self, other):
return self.__apply_func(other, '__lt__')
def __le__(self, other):
return self.__apply_func(other, '__le__')
def __gt__(self, other):
return self.__apply_func(other, '__gt__')
def __ge__(self, other):
return self.__apply_func(other, '__ge__')
def __eq__(self, other):
return self.__apply_func(other, '__eq__')
def __ne__(self, other):
return self.__apply_func(other, '__ne__')
def __iter__(self):
for item in (
self.samples,
self.timestamps,
self.unit,
self.name):
yield item
def __reversed__(self):
return enumerate(zip(reversed(self.samples),
reversed(self.timestamps)))
def __len__(self):
return len(self.samples)
def __abs__(self):
return Signal(
np.fabs(self.samples),
self.timestamps,
self.unit,
self.name,
self.conversion,
self.raw,
self.master_metadata,
self.display_name,
self.attachment,
)
def __getitem__(self, val):
return self.samples[val]
def __setitem__(self, idx, val):
self.samples[idx] = val
[docs] def astype(self, np_type):
""" returns new *Signal* with samples of dtype *np_type*
Parameters
----------
np_type : np.dtype
new numpy dtye
Returns
-------
signal : Signal
new *Signal* with the samples of *np_type* dtype
"""
return Signal(
self.samples.astype(np_type),
self.timestamps,
self.unit,
self.name,
self.conversion,
self.raw,
self.master_metadata,
self.display_name,
self.attachment,
)
[docs] def physical(self):
"""
get the physical samples values
Returns
-------
phys : Signal
new *Signal* with physical values
"""
if not self.raw or self.conversion is None:
samples = self.samples.copy()
else:
samples = self.conversion.convert(self.samples)
return Signal(
samples,
self.timestamps.copy(),
unit=self.unit,
name=self.name,
raw=False,
comment=self.comment,
master_metadata=self.master_metadata,
display_name=self.display_name,
attachment=self.attachment,
)
if __name__ == '__main__':
pass