use PyPlot

bin/run_julia

@@ -8,6 +8,8 @@ if [[ $HOSTNAME == "tuxedi" ]]; then
     sudo performance.sh
 fi
 
+export MPLBACKEND=qt5agg
+
 # instead of 8, use the number of fast CPU cores you have
 GCT="--gcthreads=7,1"
 

examples/autopilot.jl

@@ -31,6 +31,8 @@ phi_set = 21.48
 if ! @isdefined viewer; const viewer = Viewer3D(SHOW_KITE); end
 
 steps = 0
+if ! @isdefined T;       const T = zeros(Int64(MAX_TIME/dt)); end
+if ! @isdefined DELTA_T; const DELTA_T = zeros(Int64(MAX_TIME/dt)); end
 
 function simulate(integrator)
     start_time_ns = time_ns()
@@ -57,6 +59,10 @@ function simulate(integrator)
         #
         t_sim = @elapsed KiteModels.next_step!(kps4, integrator, v_ro=v_ro, dt=dt)
         sys_state = SysState(kps4)
+        if i <= length(T)
+            T[i] = dt * i
+            DELTA_T[i] = time_ns() - start_time_ns - 1e9*dt
+        end
         on_new_systate(ssc, sys_state)
         if mod(i, TIME_LAPSE_RATIO) == 0 
             KiteViewers.update_system(viewer, sys_state; scale = 0.04/1.1, kite_scale=6.6)
@@ -119,3 +125,7 @@ on(viewer.btn_AUTO.clicks) do c; autopilot(); end
 
 play()
 stop(viewer)
+
+include("../test/plot.jl")
+p1   = plot1(T, DELTA_T)
+

test/plot.jl

@@ -2,12 +2,13 @@ using Pkg
 if ! ("Plots" ∈ keys(Pkg.project().dependencies))
     using TestEnv; TestEnv.activate()
 end
-using Plots; inspectdr()
-InspectDR.defaults.xaxiscontrol_visible = false
+import PyPlot; 
 
-x=0:0.05:100
-y1=sin.(x)
-
-p1 = plot(x,y1, width=2, xtickfontsize=12, ytickfontsize=12, legendfontsize=12, legend=false)
-pIDR = display(p1)           # Display with InspectDR and keep plot object
-resize!(pIDR.wnd, 1200, 700) # Resize GTK window directly
+function plot1(X, Y; label="", width=2, xtickfontsize=12, ytickfontsize=12, legendfontsize=12, fig="")
+    if fig != ""
+        PyPlot.figure(fig)
+    end
+    p = PyPlot.plot(X, Y; label)
+    PyPlot.grid(true)
+    p
+end

test/test_flightpathcontroller1.jl

@@ -13,10 +13,7 @@ TIME = range(0.0, DURATION, SAMPLES)
 
 # Test the flight path controller against the simplified kite model as shown
 # in diagram docs/flight_path_controller_test1.png .
-using KiteControllers, Plots, BenchmarkTools
-inspectdr()
-InspectDR.defaults.xaxiscontrol_visible = false
-InspectDR.defaults.pointdropmatrix = InspectDR.PDM_DEFAULTS[:never]
+using KiteControllers, PyPlot, BenchmarkTools
 fpc = FlightPathController(fcs)
 kite = KiteModel(fcs)
 kite.omega = 0.08
@@ -43,17 +40,10 @@ for i in 1:SAMPLES
     on_timer(kite)
 end
 
-p1=plot(TIME, PSI, label="heading angle psi [°]", width=2, xtickfontsize=12, ytickfontsize=12, legend=false)
-pIDR = display(p1)           # Display with InspectDR and keep plot object
-resize!(pIDR.wnd, 1200, 700) # Resize GTK window directly
+include("plot.jl")
 
-p2=plot(TIME, BETA, label="elevation β [°]",     width=2, xtickfontsize=12, ytickfontsize=12, legendfontsize=12)
-plot!(TIME, PHI,    label="azimuth ϕ   [°]",     width=2, xtickfontsize=12, ytickfontsize=12, legendfontsize=12)
-pIDR2 = display(p2)           # Display with InspectDR and keep plot object
-resize!(pIDR2.wnd, 1200, 700) # Resize GTK window directly
-
-p3=plot(TIME, PSI_DOT, label="psi_dot [rad/s]",     width=2, xtickfontsize=12, ytickfontsize=12, legendfontsize=12)
-pIDR3 = display(p3)           # Display with InspectDR and keep plot object
-resize!(pIDR3.wnd, 1200, 700) # Resize GTK window directly
+p1 = plot1(TIME, PSI; label="heading angle psi [°]", fig = "heading")
+p2 = plot1(TIME, BETA, label="elevation β [°]",      fig = "elevation")
+p3 = plot1(TIME, PSI_DOT, label="psi_dot [rad/s]",   fig = "psi_dot") 
 
 #     return TIME, PSI, BETA, PHI, PSI_DOT