def main():
if len(sys.argv) < 2:
print 'need name of file'
exit(1)
# load original positions
ff = open(sys.argv[1], 'r')
for ii, line in enumerate(ff):
#print 'line', ii, 'is', line
nums = [float(xx) for xx in line.split()]
if ii == 0:
positions = array(nums)
else:
positions = vstack((positions, array(nums)))
ff.close()
# assume 1 sec interp on beginning, 2 sec at end
interpBegin = 1
runSeconds = 9
interpEnd = 2
totalTime = interpBegin + runSeconds + interpEnd # 12 for normal runs
times = linspace(0, totalTime, positions.shape[0])
origFn = lambda time: matInterp(time, times, positions)
# interpolate the starting positions
for ii in flatnonzero(times < interpBegin):
# for each index of one of these times, interpolate the function
posOrig = positions[ii, :]
posNew = lInterp(times[ii], [0, interpBegin], POS_READY, posOrig)
positions[ii, :] = posNew
# interpolate the ending positions
for ii in flatnonzero(times > (totalTime - interpEnd)):
# for each index of one of these times, interpolate the function
posOrig = positions[ii, :]
posNew = lInterp(times[ii], [totalTime - interpEnd, totalTime],
posOrig, POS_READY)
positions[ii, :] = posNew
timeAndPos = vstack((times, positions.T)).T
# print out positions
writeArray(sys.stdout, timeAndPos)
def main():
if len(sys.argv) < 2:
print 'need name of file'
exit(1)
# load original positions
ff = open(sys.argv[1], 'r')
for ii,line in enumerate(ff):
#print 'line', ii, 'is', line
nums = [float(xx) for xx in line.split()]
if ii == 0:
positions = array(nums)
else:
positions = vstack((positions, array(nums)))
ff.close()
# assume 1 sec interp on beginning, 2 sec at end
interpBegin = 1
runSeconds = 9
interpEnd = 2
totalTime = interpBegin + runSeconds + interpEnd # 12 for normal runs
times = linspace(0,totalTime,positions.shape[0])
origFn = lambda time: matInterp(time, times, positions)
# interpolate the starting positions
for ii in flatnonzero(times < interpBegin):
# for each index of one of these times, interpolate the function
posOrig = positions[ii,:]
posNew = lInterp(times[ii], [0, interpBegin], POS_READY, posOrig)
positions[ii,:] = posNew
# interpolate the ending positions
for ii in flatnonzero(times > (totalTime - interpEnd)):
# for each index of one of these times, interpolate the function
posOrig = positions[ii,:]
posNew = lInterp(times[ii], [totalTime - interpEnd, totalTime], posOrig, POS_READY)
positions[ii,:] = posNew
timeAndPos = vstack((times, positions.T)).T
# print out positions
writeArray(sys.stdout, timeAndPos)
def _getNext(self):
'''Get the next point to try. This reads from the file
self.motionFile'''
#print 'TRYING READ STDOUT'
#stdout = self.proc.stdout.read()
#print 'TRYING READ STDERR'
#stderr = self.proc.stderr.read()
#print 'STDOUT:'
#print stdout
#print 'STDERR:'
#print stderr
if self.orgId == self.generationSize:
# print 'Restarting process after %d runs, push enter when ready...' % self.generationSize
if self.restartHN:
print 'Restarting process after %d runs' % self.generationSize
print 'waiting for exit code...'
code = self.proc.wait()
print 'got exit code: %d' % code
# raw_input()
#sleep(10)
if self.spawnProc:
print 'Continuing with neatfile', self.nextNeatFile
self.proc = Process((self.executable,
'-O', self.prefix, '-R', '102', '-I',
self.datFile, '-X', self.nextNeatFile, '-XG', '1'))
self.genId += 1
self.orgId = 0
#print 'On iteration', self.orgId+1
while True:
if self.spawnProc:
out = self.proc.read()
if out != '':
#print 'Got stdout:'
#print out
pass
out = self.proc.readerr()
if out != '':
#print 'Got stderr:'
#print out
pass
try:
ff = open(self.motionFile, 'r')
except IOError:
print 'File does not exist yet'
sleep(1)
if self.proc.wait(os.WNOHANG) is None:
continue
else:
raise Exception('HN died')
lines = ff.readlines()
nLines = len(lines)
if nLines < self.expectedLines:
print ' only %d of %d lines, waiting...' % (nLines, self.expectedLines)
ff.close()
sleep(.5)
continue
break
self.orgId += 1
for ii,line in enumerate(lines[self.junkPoints:]):
#print 'line', ii, 'is', line
nums = [float(xx) for xx in line.split()]
if ii == 0:
rawPositions = array(nums)
else:
rawPositions = vstack((rawPositions, array(nums)))
# swap and scale rawPositions appropriately
rawPositions = rawPositions.T[ix_(self.motorColumns)].T # remap to right columns
#print 'First few lines of rawPositions are:'
#for ii in range(10):
# print prettyVec(rawPositions[ii,:], prec=2)
# Average over every self.avgPoints
for ii in range((self.expectedLines-self.junkPoints)/self.avgPoints):
temp = mean(rawPositions[ii*self.avgPoints:(ii+1)*self.avgPoints,:], 0)
if ii == 0:
positions = temp
else:
positions = vstack((positions, temp))
#print 'First few lines of positions are:'
#for ii in range(10):
# print prettyVec(positions[ii,:], prec=2)
# scale from [-1,1] to [0,1]
positions += 1
positions *= .5
# scale from [0,1] to appropriate ranges
innerIdx = [0, 2, 4, 6]
outerIdx = [1, 3, 5, 7]
centerIdx = [8]
for ii in innerIdx:
positions[:,ii] *= (MAX_INNER - MIN_INNER)
positions[:,ii] += MIN_INNER
for ii in outerIdx:
positions[:,ii] *= (MAX_OUTER - MIN_OUTER)
positions[:,ii] += MIN_OUTER
for ii in centerIdx:
positions[:,ii] *= (MAX_CENTER - MIN_CENTER)
positions[:,ii] += MIN_CENTER
# append a column of 512s for center
#positions = hstack((positions,
# NORM_CENTER * ones((positions.shape[0],1))))
times = linspace(0,12,positions.shape[0])
# Dump both raw positions and positions to file
thisIdentifier = '%s_%05d_%03d' % (self.identifier, self.genId, self.orgId)
ff = open('%s_raw' % thisIdentifier, 'w')
writeArray(ff, rawPositions)
ff.close()
ff = open('%s_filt' % thisIdentifier, 'w')
writeArray(ff, positions)
ff.close()
# return function of time
return lambda time: matInterp(time, times, positions), thisIdentifier
def _getNext(self):
'''Get the next point to try. This reads from the file
self.motionFile'''
#print 'TRYING READ STDOUT'
#stdout = self.proc.stdout.read()
#print 'TRYING READ STDERR'
#stderr = self.proc.stderr.read()
#print 'STDOUT:'
#print stdout
#print 'STDERR:'
#print stderr
if self.orgId == self.generationSize:
print 'Restarting process after %d runs, push enter when ready...' % self.generationSize
raw_input()
#sleep(10)
if self.spawnProc:
print 'Continuing with neatfile', self.nextNeatFile
self.proc = Process(
(self.executable, '-O', self.prefix, '-R', '102', '-I',
self.datFile, '-X', self.nextNeatFile, '-XG', '1'))
self.genId += 1
self.orgId = 0
#print 'On iteration', self.orgId+1
while True:
if self.spawnProc:
out = self.proc.read()
if out != '':
#print 'Got stdout:'
#print out
pass
out = self.proc.readerr()
if out != '':
#print 'Got stderr:'
#print out
pass
try:
ff = open(self.motionFile, 'r')
except IOError:
print 'File does not exist yet'
sleep(1)
continue
lines = ff.readlines()
nLines = len(lines)
if nLines < self.expectedLines:
print ' only %d of %d lines, waiting...' % (
nLines, self.expectedLines)
ff.close()
sleep(.5)
continue
break
self.orgId += 1
for ii, line in enumerate(lines[self.junkPoints:]):
#print 'line', ii, 'is', line
nums = [float(xx) for xx in line.split()]
if ii == 0:
rawPositions = array(nums)
else:
rawPositions = vstack((rawPositions, array(nums)))
# swap and scale rawPositions appropriately
rawPositions = rawPositions.T[ix_(
self.motorColumns)].T # remap to right columns
#print 'First few lines of rawPositions are:'
#for ii in range(10):
# print prettyVec(rawPositions[ii,:], prec=2)
# Average over every self.avgPoints
for ii in range(self.expectedLines / self.avgPoints):
temp = mean(rawPositions[ii:(ii + self.avgPoints), :], 0)
if ii == 0:
positions = temp
else:
positions = vstack((positions, temp))
#print 'First few lines of positions are:'
#for ii in range(10):
# print prettyVec(positions[ii,:], prec=2)
# scale from [-1,1] to [0,1]
positions += 1
positions *= .5
# scale from [0,1] to appropriate ranges
innerIdx = [0, 2, 4, 6]
outerIdx = [1, 3, 5, 7]
centerIdx = [8]
for ii in innerIdx:
positions[:, ii] *= (MAX_INNER - MIN_INNER)
positions[:, ii] += MIN_INNER
for ii in outerIdx:
positions[:, ii] *= (MAX_OUTER - MIN_OUTER)
positions[:, ii] += MIN_OUTER
for ii in centerIdx:
positions[:, ii] *= (MAX_CENTER - MIN_CENTER)
positions[:, ii] += MIN_CENTER
# append a column of 512s for center
#positions = hstack((positions,
# NORM_CENTER * ones((positions.shape[0],1))))
times = linspace(0, 12, positions.shape[0])
# Dump both raw positions and positions to file
thisIdentifier = '%s_%05d_%03d' % (self.identifier, self.genId,
self.orgId)
ff = open('%s_raw' % thisIdentifier, 'w')
writeArray(ff, rawPositions)
ff.close()
ff = open('%s_filt' % thisIdentifier, 'w')
writeArray(ff, positions)
ff.close()
# return function of time
return lambda time: matInterp(time, times, positions), thisIdentifier
def _getNext(self):
"""Get the next point to try. This reads from the file
self.motionFile"""
# print 'TRYING READ STDOUT'
# stdout = self.proc.stdout.read()
# print 'TRYING READ STDERR'
# stderr = self.proc.stderr.read()
# print 'STDOUT:'
# print stdout
# print 'STDERR:'
# print stderr
if self.orgId == self.generationSize:
print "Restarting process after %d runs, push enter when ready..." % self.generationSize
raw_input()
# sleep(10)
if self.spawnProc:
print "Continuing with neatfile", self.nextNeatFile
self.proc = Process(
(
self.executable,
"-O",
self.prefix,
"-R",
"102",
"-I",
self.datFile,
"-X",
self.nextNeatFile,
"-XG",
"1",
)
)
self.genId += 1
self.orgId = 0
# print 'On iteration', self.orgId+1
while True:
if self.spawnProc:
out = self.proc.read()
if out != "":
# print 'Got stdout:'
# print out
pass
out = self.proc.readerr()
if out != "":
# print 'Got stderr:'
# print out
pass
try:
ff = open(self.motionFile, "r")
except IOError:
print "File does not exist yet"
sleep(1)
continue
lines = ff.readlines()
nLines = len(lines)
if nLines < self.expectedLines:
print " only %d of %d lines, waiting..." % (nLines, self.expectedLines)
ff.close()
sleep(0.5)
continue
break
self.orgId += 1
for ii, line in enumerate(lines[self.junkPoints :]):
# print 'line', ii, 'is', line
nums = [float(xx) for xx in line.split()]
if ii == 0:
rawPositions = array(nums)
else:
rawPositions = vstack((rawPositions, array(nums)))
# swap and scale rawPositions appropriately
rawPositions = rawPositions.T[ix_(self.motorColumns)].T # remap to right columns
# print 'First few lines of rawPositions are:'
# for ii in range(10):
# print prettyVec(rawPositions[ii,:], prec=2)
# Average over every self.avgPoints
for ii in range(self.expectedLines / self.avgPoints):
temp = mean(rawPositions[ii : (ii + self.avgPoints), :], 0)
if ii == 0:
positions = temp
else:
positions = vstack((positions, temp))
# print 'First few lines of positions are:'
# for ii in range(10):
# print prettyVec(positions[ii,:], prec=2)
# scale from [-1,1] to [0,1]
positions += 1
positions *= 0.5
# scale from [0,1] to appropriate ranges
innerIdx = [0, 2, 4, 6]
outerIdx = [1, 3, 5, 7]
centerIdx = [8]
for ii in innerIdx:
positions[:, ii] *= MAX_INNER - MIN_INNER
positions[:, ii] += MIN_INNER
for ii in outerIdx:
positions[:, ii] *= MAX_OUTER - MIN_OUTER
positions[:, ii] += MIN_OUTER
for ii in centerIdx:
positions[:, ii] *= MAX_CENTER - MIN_CENTER
positions[:, ii] += MIN_CENTER
# append a column of 512s for center
# positions = hstack((positions,
# NORM_CENTER * ones((positions.shape[0],1))))
times = linspace(0, 12, positions.shape[0])
# Dump both raw positions and positions to file
thisIdentifier = "%s_%05d_%03d" % (self.identifier, self.genId, self.orgId)
ff = open("%s_raw" % thisIdentifier, "w")
writeArray(ff, rawPositions)
ff.close()
ff = open("%s_filt" % thisIdentifier, "w")
writeArray(ff, positions)
ff.close()
# return function of time
return lambda time: matInterp(time, times, positions), thisIdentifier
