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Larkin Heintzman
ROS-Kubernetes
Commits
a541379b
Commit
a541379b
authored
Jun 10, 2022
by
Larkin Heintzman
Browse files
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Browse Files
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ping packet loss updates
parent
ed54eafd
Changes
13
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Showing
13 changed files
with
217 additions
and
1295 deletions
+217
-1295
BMping.sh
docker/pinger/BMping.sh
+90
-0
Dping.sh
docker/pinger/Dping.sh
+2
-0
ping.sh
docker/pinger/ping.sh
+31
-35
mapPlotter.py
plottingTools/mapPlotter.py
+11
-10
june_3rd_map.jpeg
plottingTools/pingStats_june_3rd_2022/june_3rd_map.jpeg
+0
-0
june_3rd_scatter.jpeg
plottingTools/pingStats_june_3rd_2022/june_3rd_scatter.jpeg
+0
-0
pingStats.json
plottingTools/pingStats_june_3rd_2022/pingStats.json
+0
-689
pingStatsDocker.json
plottingTools/pingStats_june_3rd_2022/pingStatsDocker.json
+0
-492
pingStatsKubernetes.json
...ingTools/pingStats_june_3rd_2022/pingStatsKubernetes.json
+0
-69
may_29th_map.jpeg
plottingTools/pingStats_may_29th_2022/may_29th_map.jpeg
+0
-0
may_29th_scatter.jpeg
plottingTools/pingStats_may_29th_2022/may_29th_scatter.jpeg
+0
-0
plottedMap.jpeg
plottingTools/plottedMap.jpeg
+0
-0
scatterPlotter.py
plottingTools/scatterPlotter.py
+83
-0
No files found.
docker/pinger/BMping.sh
0 → 100755
View file @
a541379b
#!/bin/bash
endpoints
=
"192.168.111.200"
filename
=
"/home/llh/pingStats/pingStats.json"
downtime
=
1
gpstopic
=
"/rossettiModem/dji_sdk/gps_position"
echo
"pinging:
$endpoints
"
echo
"save to:
$filename
"
echo
"gps topic:
$gpstopic
"
echo
" "
# enable ros commands
source
/opt/ros/noetic/setup.bash
source
/home/larkin/catkin_ws/devel/setup.bash
ROS_IP
=
192.168.111.202
ROS_MASTER_URI
=
http://192.168.111.200:11311
echo
ping
"
${
endpoints
}
every
${
downtime
:
=1
}
sec, saving to
${
filename
}
"
# for endpoints in "${endpoints[@]}"; do
# done
while
true
;
do
rawData
=
$(
ping
-c
3
-q
-w
3
${
endpoints
:
=localhost
})
newPacketData
=
$(
echo
"
$rawData
"
|
grep
-oP
'\d+(?=% packet loss)'
)
newLatencyData
=
$(
echo
"
$rawData
"
|
tail
-n
1
)
OLDIFS
=
$IFS
IFS
=
" "
read
bit1 bit2 bit3 bit4 bit5
<<<
"
$newLatencyData
"
IFS
=
"/"
read
num1 num2 num3 num4
<<<
"
$bit4
"
IFS
=
$OLDIFS
echo
"------------------"
if
[[
-z
$num4
]]
;
then
# no network data, or all packets lost
num1
=
"0"
num2
=
"0"
num3
=
"0"
num4
=
"0"
fi
# debugging help
# echo "------------------"
# echo $num1
# echo $num2
# echo $num3
# echo $num4
# echo "------------------"
# echo "$rawData"
# echo "------------------"
# echo "$newPacketData"
# echo "------------------"
# echo "$newLatencyData"
# exit
if
test
-f
"
$filename
"
;
then
false
else
touch
"
$filename
"
echo
"{}"
>
"
$filename
"
fi
# get gps data if present (timeout 5s)
gpsData
=
$(
timeout
5 rostopic
echo
-n
1
$gpstopic
|
grep
"latitude:
\|
longitude:
\|
altitude:"
)
gpsData
=
$(
echo
$gpsData
|
tr
'\n'
' '
)
OLDIFS
=
$IFS
IFS
=
" "
read
trash1 latitude trash2 longitude trash3 altitude
<<<
"
$gpsData
"
IFS
=
$OLDIFS
# ping can return standard deviation and gps data may not be available
if
[[
-z
"
$latitude
"
]]
;
then
# echo "gps data is not there"
jq
--arg
timedate
$(
date
+
"%H:%M_%F"
)
--arg
target
$endpoints
--argjson
packetLoss
$newPacketData
--argjson
rttMin
$num1
--argjson
rttAvg
$num2
--argjson
rttMax
$num3
--argjson
stdDev
$num4
'.[$target] += [{"min":$rttMin,"avg":$rttAvg,"max":$rttMax,"std":$stdDev,"timedate":$timedate,"packetLoss":$packetLoss}]'
"
$filename
"
>
"
$filename
.tmp"
&&
mv
"
$filename
.tmp"
"
$filename
"
else
echo
"gps data IS there"
echo
$latitude
echo
$longitude
echo
$altitude
jq
--arg
timedate
$(
date
+
"%H:%M_%F"
)
--arg
target
$endpoints
--argjson
altitude
$altitude
--argjson
longitude
$longitude
--argjson
latitude
$latitude
--argjson
packetLoss
$newPacketData
--argjson
rttMin
$num1
--argjson
rttAvg
$num2
--argjson
rttMax
$num3
--argjson
stdDev
$num4
'.[$target] += [{"lat":$latitude,"long":$longitude,"alt":$altitude,"min":$rttMin,"avg":$rttAvg,"max":$rttMax,"std":$stdDev,"timedate":$timedate,"packetLoss":$packetLoss}]'
"
$filename
"
>
"
$filename
.tmp"
&&
mv
"
$filename
.tmp"
"
$filename
"
fi
sleep
${
downtime
:
=1
}
done
if
test
-f
"
$filename
.tmp"
;
then
rm
"
$filename
.tmp"
fi
docker/pinger/Dping.sh
0 → 100755
View file @
a541379b
#!/bin/bash
docker run
--env
endpoints
=
192.168.111.200
--env
filename
=
/tmp/pingStats/pingStatsDocker.json
--env
gpstopic
=
/rossettiModem/dji_sdk/gps_position
--env
downtime
=
1
--env
ROS_IP
=
192.168.111.202
--env
ROS_MASTER_URI
=
http://192.168.111.200:11311
-v
/home/larkin/pingStats:/tmp/pingStats/ doorbell:latest /ping.sh
docker/pinger/ping.sh
View file @
a541379b
...
...
@@ -21,32 +21,45 @@ fi
# enable ros commands
source
/ros_entrypoint.sh
echo
ping
"
${
endpoints
}
every
${
downtime
:
=
3
}
sec, saving to
${
filename
}
"
echo
ping
"
${
endpoints
}
every
${
downtime
:
=
1
}
sec, saving to
${
filename
}
"
# for endpoints in "${endpoints[@]}"; do
# done
while
true
;
do
# for endpoints in "${endpoints[@]}"; do
# echo pinging "${endpoints} now ..."
newData
=
$(
ping
-c
3
${
endpoints
:
=localhost
}
|
tail
-n
1
)
# if nothing comes back, we dont write anything
if
[[
-n
"
$newData
"
]]
;
then
false
echo
"
$newData
"
else
echo
"
${
endpoints
}
might be unreachable"
continue
fi
rawData
=
$(
ping
-c
3
-q
-w
3
${
endpoints
:
=localhost
})
newPacketData
=
$(
echo
"
$rawData
"
|
grep
-oP
'\d+(?=% packet loss)'
)
newLatencyData
=
$(
echo
"
$rawData
"
|
tail
-n
1
)
OLDIFS
=
$IFS
IFS
=
" "
read
bit1 bit2 bit3 bit4 bit5
<<<
"
$newData
"
read
bit1 bit2 bit3 bit4 bit5
<<<
"
$new
Latency
Data
"
IFS
=
"/"
read
num1 num2 num3 num4
<<<
"
$bit4
"
IFS
=
$OLDIFS
echo
"------------------"
if
[[
-z
$num4
]]
;
then
# no network data, or all packets lost
num1
=
"0"
num2
=
"0"
num3
=
"0"
num4
=
"0"
fi
# debugging help
# echo "------------------"
# echo $num1
# echo $num2
# echo $num3
# echo $num4
# echo "------------------"
# echo "$rawData"
# echo "------------------"
# echo "$newPacketData"
# echo "------------------"
# echo "$newLatencyData"
# exit
if
test
-f
"
$filename
"
;
then
false
else
...
...
@@ -62,37 +75,20 @@ while true; do
read
trash1 latitude trash2 longitude trash3 altitude
<<<
"
$gpsData
"
IFS
=
$OLDIFS
echo
$latitude
echo
$longitude
echo
$altitude
echo
"------------------"
# ping can return standard deviation and gps data may not be available
if
[[
-z
"
$latitude
"
]]
;
then
# echo "gps data is not there"
if
[[
-n
"
$num4
"
]]
;
then
jq
--arg
timedate
$(
date
+
"%H:%M_%F"
)
--arg
target
$endpoints
--argjson
rttMin
$num1
--argjson
rttAvg
$num2
--argjson
rttMax
$num3
--argjson
stdDev
$num4
'.[$target][$timedate] += [{"min":$rttMin,"avg":$rttAvg,"max":$rttMax,"std":$stdDev}]'
"
$filename
"
>
"
$filename
.tmp"
&&
mv
"
$filename
.tmp"
"
$filename
"
else
jq
--arg
timedate
$(
date
+
"%H:%M_%F"
)
--arg
target
$endpoints
--argjson
rttMin
$num1
--argjson
rttAvg
$num2
--argjson
rttMax
$num3
'.[$target][$timedate] += [{"min":$rttMin,"avg":$rttAvg,"max":$rttMax}]'
"
$filename
"
>
"
$filename
.tmp"
&&
mv
"
$filename
.tmp"
"
$filename
"
fi
jq
--arg
timedate
$(
date
+
"%H:%M_%F"
)
--arg
target
$endpoints
--argjson
packetLoss
$newPacketData
--argjson
rttMin
$num1
--argjson
rttAvg
$num2
--argjson
rttMax
$num3
--argjson
stdDev
$num4
'.[$target] += [{"min":$rttMin,"avg":$rttAvg,"max":$rttMax,"std":$stdDev,"timedate":$timedate,"packetLoss":$packetLoss}]'
"
$filename
"
>
"
$filename
.tmp"
&&
mv
"
$filename
.tmp"
"
$filename
"
else
echo
"gps data IS there"
echo
$latitude
echo
$longitude
echo
$altitude
if
[[
-n
"
$num4
"
]]
;
then
jq
--arg
timedate
$(
date
+
"%H:%M_%F"
)
--arg
target
$endpoints
--argjson
altitude
$altitude
--argjson
longitude
$longitude
--argjson
latitude
$latitude
--argjson
rttMin
$num1
--argjson
rttAvg
$num2
--argjson
rttMax
$num3
--argjson
stdDev
$num4
'.[$target][$timedate] += [{"lat":$latitude,"long":$longitude,"alt":$altitude,"min":$rttMin,"avg":$rttAvg,"max":$rttMax,"std":$stdDev}]'
"
$filename
"
>
"
$filename
.tmp"
&&
mv
"
$filename
.tmp"
"
$filename
"
else
jq
--arg
timedate
$(
date
+
"%H:%M_%F"
)
--arg
target
$endpoints
--argjson
altitude
$altitude
--argjson
longitude
$longitude
--argjson
latitude
$latitude
--argjson
rttMin
$num1
--argjson
rttAvg
$num2
--argjson
rttMax
$num3
'.[$target][$timedate] += [{"lat":$latitude,"long":$longitude,"alt":$altitude,"min":$rttMin,"avg":$rttAvg,"max":$rttMax}]'
"
$filename
"
>
"
$filename
.tmp"
&&
mv
"
$filename
.tmp"
"
$filename
"
jq
--arg
timedate
$(
date
+
"%H:%M_%F"
)
--arg
target
$endpoints
--argjson
altitude
$altitude
--argjson
longitude
$longitude
--argjson
latitude
$latitude
--argjson
packetLoss
$newPacketData
--argjson
rttMin
$num1
--argjson
rttAvg
$num2
--argjson
rttMax
$num3
--argjson
stdDev
$num4
'.[$target] += [{"lat":$latitude,"long":$longitude,"alt":$altitude,"min":$rttMin,"avg":$rttAvg,"max":$rttMax,"std":$stdDev,"timedate":$timedate,"packetLoss":$packetLoss}]'
"
$filename
"
>
"
$filename
.tmp"
&&
mv
"
$filename
.tmp"
"
$filename
"
fi
fi
sleep
${
downtime
:
=3
}
sleep
${
downtime
:
=1
}
done
if
test
-f
"
$filename
.tmp"
;
then
rm
"
$filename
.tmp"
fi
# if test -f "$nfsFilename.tmp"; then
# rm "$nfsFilename.tmp"
# fi
plottingTools/mapPlotter.py
View file @
a541379b
...
...
@@ -24,8 +24,17 @@ def inflateBounds(bbox=[38.865,-77.072,38.876,-77.001], amt=0.001):
return
[
bbox
[
0
]
-
amt
,
bbox
[
1
]
-
amt
,
bbox
[
2
]
+
amt
,
bbox
[
3
]
+
amt
]
font
=
{
'family'
:
'DejaVu Sans'
,
'weight'
:
'normal'
,
'size'
:
8
}
matplotlib
.
rc
(
'font'
,
**
font
)
filenames
=
[
"/home/llh/ros-kubernetes/plottingTools/pingStats_may_29th_2022/pingStats.json"
,
"/home/llh/ros-kubernetes/plottingTools/pingStats_may_29th_2022/pingStatsDocker.json"
]
# filenames = ["/home/llh/ros-kubernetes/plottingTools/pingStats_june_3rd_2022/pingStats.json",
# "/home/llh/ros-kubernetes/plottingTools/pingStats_june_3rd_2022/pingStatsDocker.json",
# "/home/llh/ros-kubernetes/plottingTools/pingStats_june_3rd_2022/pingStatsKubernetes.json"]
plotColors
=
[
"orange"
,
"slateblue"
,
"mediumspringgreen"
]
lats
=
[]
longs
=
[]
avgLatencies
=
[]
...
...
@@ -71,16 +80,8 @@ ax.xaxis.set_major_formatter(FormatStrFormatter('%.2f'))
mapPlot
=
plt
.
imread
(
'mapImg.jpeg'
)
for
i
in
range
(
len
(
lats
)):
# get latency coloring
if
i
==
0
:
latencyColor
=
[((
maxAvgLatency
-
val
*
0.7
)
/
maxAvgLatency
,
0.0
,
0.0
)
for
val
in
avgLatencies
[
i
]]
if
i
==
1
:
latencyColor
=
[(
0.0
,(
maxAvgLatency
-
val
*
0.7
)
/
maxAvgLatency
,
0.0
)
for
val
in
avgLatencies
[
i
]]
else
:
latencyColor
=
[(
0.0
,
0.0
,(
maxAvgLatency
-
val
*
0.7
)
/
maxAvgLatency
)
for
val
in
avgLatencies
[
i
]]
latencySize
=
[
20
*
(
siz
/
maxAvgLatency
)
+
5
for
siz
in
avgLatencies
[
i
]]
plt
.
scatter
(
longs
[
i
],
lats
[
i
],
zorder
=
1
,
alpha
=
1
,
c
=
latencyColor
,
s
=
latencySize
,
label
=
[
f
.
split
(
'/'
)
for
f
in
filenames
][
i
][
-
1
])
latencySize
=
[
50
*
(
siz
/
maxAvgLatency
)
+
5
for
siz
in
avgLatencies
[
i
]]
plt
.
scatter
(
longs
[
i
],
lats
[
i
],
zorder
=
1
,
alpha
=
0.8
,
c
=
plotColors
[
i
],
s
=
latencySize
,
label
=
[
f
.
split
(
'/'
)
for
f
in
filenames
][
i
][
-
1
])
plt
.
imshow
(
mapPlot
,
zorder
=
0
,
extent
=
[
bigBox
[
1
],
bigBox
[
3
],
bigBox
[
0
],
bigBox
[
2
]],
aspect
=
'equal'
)
plt
.
title
(
'Network latency visualized'
)
...
...
plottingTools/pingStats_june_3rd_2022/june_3rd_map.jpeg
0 → 100644
View file @
a541379b
639 KB
plottingTools/pingStats_june_3rd_2022/june_3rd_scatter.jpeg
0 → 100644
View file @
a541379b
323 KB
plottingTools/pingStats_june_3rd_2022/pingStats.json
View file @
a541379b
This diff is collapsed.
Click to expand it.
plottingTools/pingStats_june_3rd_2022/pingStatsDocker.json
View file @
a541379b
This diff is collapsed.
Click to expand it.
plottingTools/pingStats_june_3rd_2022/pingStatsKubernetes.json
View file @
a541379b
{
"192.168.111.200"
:
{
"15:17_2022-05-29"
:
[
{
"min"
:
14.019
,
"avg"
:
25.007
,
"max"
:
46.818
,
"std"
:
15.422
},
{
"min"
:
14.195
,
"avg"
:
18.927
,
"max"
:
27.236
,
"std"
:
5.894
},
{
"min"
:
12.568
,
"avg"
:
13.834
,
"max"
:
14.585
,
"std"
:
0.9
}
],
"15:18_2022-05-29"
:
[
{
"min"
:
13.465
,
"avg"
:
124.664
,
"max"
:
218.968
,
"std"
:
84.742
},
{
"min"
:
13.566
,
"avg"
:
13.816
,
"max"
:
14.133
,
"std"
:
0.236
},
{
"min"
:
13.581
,
"avg"
:
13.776
,
"max"
:
14.167
,
"std"
:
0.276
}
],
"15:19_2022-05-29"
:
[
{
"lat"
:
37.19727999999999
,
"long"
:
-80.577791
,
"alt"
:
100.0999984741211
,
"min"
:
15.273
,
"avg"
:
125.15
,
"max"
:
235.027
,
"std"
:
109.877
},
{
"lat"
:
37.19727999999999
,
"long"
:
-80.577791
,
"alt"
:
100.0999984741211
,
"min"
:
13.945
,
"avg"
:
14.194
,
"max"
:
14.352
,
"std"
:
0.178
},
{
"lat"
:
37.19727999999999
,
"long"
:
-80.577791
,
"alt"
:
100.0999984741211
,
"min"
:
13.549
,
"avg"
:
17.37
,
"max"
:
24.161
,
"std"
:
4.814
}
],
"14:11_2022-06-03"
:
[
{
"min"
:
14.017
,
...
...
plottingTools/pingStats_may_29th_2022/may_29th_map.jpeg
0 → 100644
View file @
a541379b
432 KB
plottingTools/pingStats_may_29th_2022/may_29th_scatter.jpeg
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plottingTools/plottedMap.jpeg
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plottingTools/scatterPlotter.py
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# api key from gurgle AIzaSyDDFrIPAMv3HS6PXTDcWfiUys8si_-yZ-c
import
numpy
as
np
from
gmplot
import
GoogleMapPlotter
from
random
import
random
import
json
from
pprint
import
PrettyPrinter
import
matplotlib.pyplot
as
plt
import
matplotlib
from
matplotlib.ticker
import
FormatStrFormatter
import
shutil
import
requests
from
geopy
import
distance
def
getMapImage
(
bbox
=
[
38.865
,
-
77.072
,
38.876
,
-
77.001
],
apiKey
=
"GKvj5HV6DLjqJT8awam4KQL3d26GP1M1"
,
mapType
=
"sat"
,
mapSize
=
[
600
,
400
]):
req
=
"https://www.mapquestapi.com/staticmap/v5/map?key={}&boundingBox={}&type={}&size={}"
.
format
(
apiKey
,
','
.
join
(
map
(
str
,
bbox
)),
mapType
,
','
.
join
(
map
(
str
,
mapSize
)))
response
=
requests
.
get
(
req
,
stream
=
True
)
with
open
(
'mapImg.jpeg'
,
'wb'
)
as
out_file
:
shutil
.
copyfileobj
(
response
.
raw
,
out_file
)
del
response
def
inflateBounds
(
bbox
=
[
38.865
,
-
77.072
,
38.876
,
-
77.001
],
amt
=
0.001
):
return
[
bbox
[
0
]
-
amt
,
bbox
[
1
]
-
amt
,
bbox
[
2
]
+
amt
,
bbox
[
3
]
+
amt
]
def
calculateDistance
(
pt1
,
pt2
):
# 2D geodesic distance in meters
distance_2d
=
distance
.
distance
(
pt1
[:
2
],
pt2
[:
2
])
.
m
# 3D euclidean distance
distance_3d
=
np
.
sqrt
(
distance_2d
**
2
+
(
pt2
[
2
]
-
pt1
[
2
])
**
2
)
return
distance_3d
def
rejectOutliers
(
data
,
m
=
2.
):
d
=
np
.
abs
(
data
-
np
.
median
(
data
))
mdev
=
np
.
median
(
d
)
s
=
d
/
mdev
if
mdev
else
0.
# return data[s<m]
return
s
<
m
filenames
=
[
"/home/llh/ros-kubernetes/plottingTools/pingStats_june_3rd_2022/pingStats.json"
,
"/home/llh/ros-kubernetes/plottingTools/pingStats_june_3rd_2022/pingStatsDocker.json"
,
"/home/llh/ros-kubernetes/plottingTools/pingStats_june_3rd_2022/pingStatsKubernetes.json"
]
# filenames = ["/home/llh/ros-kubernetes/plottingTools/pingStats_may_29th_2022/pingStats.json",
# "/home/llh/ros-kubernetes/plottingTools/pingStats_may_29th_2022/pingStatsDocker.json"]
# "/home/llh/ros-kubernetes/plottingTools/pingStats_may_29th_2022/pingStatsKubernetes.json"]
plotColors
=
[
"orange"
,
"slateblue"
,
"mediumspringgreen"
]
# reference point of the base station
anchorPoint
=
[
37.196927
,
-
80.578399
,
452.7027587890625
]
# potentially the least python-ish way to handle this
for
(
i
,
fn
)
in
enumerate
(
filenames
):
with
open
(
fn
)
as
file
:
data
=
json
.
load
(
file
)
# need to iterate over endpoints as well
endpoint
=
"192.168.111.200"
# ignore time stamps for now
timelessData
=
[]
for
minuteData
in
data
[
endpoint
]
.
values
():
for
pt
in
minuteData
:
if
(
"lat"
in
pt
):
timelessData
.
append
(
pt
)
dists
=
np
.
array
([
calculateDistance
([
dataPoint
[
"lat"
],
dataPoint
[
"long"
],
dataPoint
[
"alt"
]],
anchorPoint
)
for
dataPoint
in
timelessData
])
avgLatencies
=
np
.
array
([
dataPoint
[
"avg"
]
for
dataPoint
in
timelessData
])
maskArray
=
rejectOutliers
(
avgLatencies
,
m
=
2.0
)
filteredLatencies
=
avgLatencies
[
maskArray
]
filteredDistances
=
dists
[
maskArray
]
print
(
"removed {outliers} outliers from the dataset"
.
format
(
outliers
=
np
.
size
(
maskArray
)
-
np
.
count_nonzero
(
maskArray
)))
# calculate best fit line
func
=
np
.
poly1d
(
np
.
polyfit
(
filteredDistances
,
filteredLatencies
,
1
))
evenDists
=
np
.
linspace
(
np
.
min
(
filteredDistances
),
np
.
max
(
filteredDistances
),
10
)
plt
.
scatter
(
filteredDistances
,
filteredLatencies
,
s
=
12
,
c
=
plotColors
[
i
],
label
=
[
f
.
split
(
'/'
)
for
f
in
filenames
][
i
][
-
1
])
plt
.
plot
(
evenDists
,
func
(
evenDists
),
c
=
plotColors
[
i
],
linewidth
=
1.5
)
plt
.
ticklabel_format
(
style
=
'plain'
)
# to prevent scientific notation
plt
.
ticklabel_format
(
useOffset
=
False
)
plt
.
title
(
'Network Latency vs Distance'
)
plt
.
xlabel
(
"Distance"
)
plt
.
ylabel
(
"Latency"
)
plt
.
legend
()
# plt.show()
plt
.
savefig
(
"scatterPlot.jpeg"
,
dpi
=
400
)
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