def update_plot(data):
"""
This function is the blood and guts of the program. It mines the information
from the input stream and updates the plot data for each step of the
animation.
"""
# update the data
update_plot.exec_path
update_plot.filepos
update_plot.pause
update_plot.isstep
if not update_plot.pause:
while 1:
path_and_error = []
# Read the first line after the previous parse. This line should
# contain the block label (SD), (SE), (LG) or (TR).
if not options.stdintrue:
curpos = instream.tell()
line = instream.readline()
if len(line) == 0:
update_plot.pause = True
return ax1xy, ax1xryr, execp, ax2xy, ax2xryr
if '(SE)' in line:
if not options.stdintrue:
update_plot.filepos.append(curpos)
if len(se_meta) == 0:
if (nop.get_block_meta(instream, se_meta)):
update_plot.pause = True
return ax1xy, ax1xryr, execp, ax2xy, ax2xryr
del se_meta['k']
# I hate doing this, but for now, parse_path_and_error()
# doesn't store k, it needs to be taken from the metadata.
for key in se_meta:
se_meta[key] -= 1
nop.parse_path_and_error(instream, nmpc, path_and_error)
path_and_error = np.array(path_and_error)
break
# xmin, xmax = ax.get_xlim()
xrdata = path_and_error[:, se_meta['x']] - path_and_error[:, se_meta['ex']]
yrdata = path_and_error[:, se_meta['y']] - path_and_error[:, se_meta['ey']]
ax1xy.set_data(path_and_error[:, se_meta['x']],
path_and_error[:, se_meta['y']])
ax1xryr.set_data(xrdata, yrdata)
ax2xy.set_data(path_and_error[:, se_meta['x']]
- path_and_error[0, se_meta['x']],
path_and_error[:, se_meta['y']]
- path_and_error[0, se_meta['y']])
ax2xryr.set_data(xrdata - path_and_error[0, se_meta['x']],
yrdata - path_and_error[0, se_meta['y']])
for k in range(0, nmpc['C']):
update_plot.exec_path[0].append(path_and_error[k, se_meta['x']])
update_plot.exec_path[1].append(path_and_error[k, se_meta['y']])
execp.set_data(update_plot.exec_path[0], update_plot.exec_path[1])
if update_plot.isstep:
update_plot.isstep = False
update_plot.pause = True
return ax1xy, ax1xryr, execp, ax2xy, ax2xryr
# that waypoint is listed.
#
while 1:
path_and_error = []
lagrange_and_gradient = []
# Read the first line after the previous parse. This line should contain
# the block label (SD), (SE), (LG) or (TR).
line = instream.readline()
if len(line) == 0:
break
# Detect the report of SD convergence.
if '(SD)' in line:
# If we don't have the meta-data, store it.
if len(sd_meta) == 0:
if (nop.get_block_meta(instream, sd_meta)):
break
if (nop.parse_sd_stats(instream, sd_loops, sd_loop_time)):
break
# Detect the state and error output block (SE)
if '(SE)' in line:
if len(se_meta) == 0:
if (nop.get_block_meta(instream, se_meta)):
break
del se_meta['k']
# I hate doing this, but for now, parse_path_and_error() doesn't
# store k, so it needs to be taken from the meta data.
for key in se_meta:
se_meta[key] -= 1
if (nop.parse_path_and_error(instream, nmpc, path_and_error)):
break
