def add_model(model):
def from_polar(kwargs_dict=None, *, model=model, **actual_kwargs):
try:
if kwargs_dict:
return model.objects.get(**kwargs_dict)
else:
return model.objects.get(**actual_kwargs)
except ObjectDoesNotExist:
return None
setattr(model, "_from_polar", from_polar)
Polar().register_class(model, from_polar=model._from_polar)
def setupCore(self):
'''
status:
0 : waiting
1 : running
-1 : crashed
'''
self.status = 0
self.fpath_mrls = ''
self.fpath_urls = ''
self.fpath_mls = ''
self.sapp = Polar()
def main():
parser = argparse.ArgumentParser()
parser.add_argument("filename", nargs="+")
args = parser.parse_args()
polar = Polar()
for filename in args.filename:
if filename.endswith(".py"):
load_python(filename, polar)
for filename in args.filename:
if filename.endswith(".polar"):
load(filename, polar)
def route_rings(board, **kwargs):
kwargs['skip_start'] = False
kwargs['include_end'] = True
for net in board.netlist.values():
if net.flag_routed or len(net.terminals) != OPT.lines.n_lines + 1:
continue
# Check if this has n LED or ring terminals
cnt_led = len(filter(lambda x: x.component.name.startswith(OPT.lines.led_pfx) and x.component.flag_placed,
net.terminals))
cnt_res = len(filter(lambda x: x.component.name.startswith(OPT.lines.res_pfx) and x.component.flag_placed,
net.terminals))
if cnt_res == 0 and cnt_led == OPT.lines.n_lines:
# Ok that's one of the two ring nets.
OPT.rings.gnd_net = net.name
radius = OPT.rings.gnd_radius
overhang = OPT.rings.overhang
elif cnt_res == OPT.lines.n_lines and cnt_led == 0:
# Ok that's one of the two ring nets.
OPT.rings.pwr_net = net.name
radius = OPT.rings.pwr_radius
overhang = -OPT.rings.overhang
else:
continue
del net.tracks[:]
intersection_angles = []
for t in filter(lambda x: x.component.flag_placed, net.terminals):
# Get the pad position
term_pol = t.position.to_polar()
# Decide the endpoint for the arc
arc_endpt = Polar(term_pol.a + overhang, term_pol.r)
# Draw an arc to that point
net.tracks.append(Track(map(Polar.to_point, apx_arc_through_polars(term_pol, arc_endpt, **kwargs))))
# Draw a segment down to the given radius
net.tracks.append(Track([arc_endpt.to_point(), Polar(arc_endpt.a, radius).to_point()]))
# Angle at which it intersects the ring
intersection_angles.append(arc_endpt.a)
# Ok now join all the pieces. Add all pieces at multiples of 15 degrees so that we can attach at several angles
intersection_angles += list(map(lambda x: float(x) * math.pi / 6., range(24)))
intersection_angles = list(sorted(map(normalize_angle, intersection_angles)))
# Ok pairwise arcs
p1 = Polar(intersection_angles[-1], radius)
for angle in intersection_angles:
p2 = Polar(angle, radius)
net.tracks.append(Track(map(Polar.to_point, apx_arc_through_polars(p1, p2, **kwargs))))
p1 = p2
def polar():
""" Set up a polar instance and tear it down after the test."""
p = Polar()
yield p
del p
def project_on_ring(pt, radius):
a = math.asin(pt.y / radius)
return Polar(a if pt.x >= 0. else math.pi - a, radius).to_point()
def addPolar(self, id, home, sources, callback=None):
self._polars[id] = Polar(id, home, sources, callback)
return self._polars[id]
class MainWidget(QtGui.QWidget):
def __init__(self, parent=None):
QtGui.QWidget.__init__(self,parent)
self.setupCore()
self.setupUI()
def setupCore(self):
'''
status:
0 : waiting
1 : running
-1 : crashed
'''
self.status = 0
self.fpath_mrls = ''
self.fpath_urls = ''
self.fpath_mls = ''
self.sapp = Polar()
def setupUI(self):
# 定义组件
self.button_start = QtGui.QPushButton(u'启动')
self.button_exit = QtGui.QPushButton(u'退出')
self.button_fopen_urefer = QtGui.QPushButton(u'选择未调制参考光')
self.button_fopen_mrefer = QtGui.QPushButton(u'选择已调制参考光')
self.button_fopen_meassure = QtGui.QPushButton(u'选择实测光谱')
self.button_plot_mls = QtGui.QPushButton(u'实测')
self.button_plot_mf = QtGui.QPushButton(u'载波')
self.button_plot_af = QtGui.QPushButton(u'自相关函数')
self.button_plot_ch = QtGui.QPushButton(u'调制各通道')
self.button_plot_sv = QtGui.QPushButton(u'STOKES矢量')
self.button_plot_dop = QtGui.QPushButton(u'偏振')
self.button_plot_urls = QtGui.QPushButton(u'未调制参考光')
self.button_plot_mrls = QtGui.QPushButton(u'已调制参考光')
self.button_plot_nsv = QtGui.QPushButton(u'归一化矢量')
self.button_plot_sffti = QtGui.QPushButton(u'参考光自相关')
self.label_isset_urefer = QtGui.QLabel(u'未设置')
self.label_isset_mrefer = QtGui.QLabel(u'未设置')
self.label_isset_meassure = QtGui.QLabel(u'未设置')
self.label_title_plot = QtGui.QLabel(u'绘制图像')
self.label_conf_ns = QtGui.QLabel(u'插值点数: 2^')
self.label_conf_lens_1 = QtGui.QLabel(u'LENS_1:')
self.label_conf_lens_2 = QtGui.QLabel(u'LENS_2:')
self.label_status = QtGui.QLabel(u'=等待=')
self.lineedit_conf_ns = QtGui.QLineEdit()
self.lineedit_conf_lens_1 = QtGui.QLineEdit()
self.lineedit_conf_lens_2 = QtGui.QLineEdit()
self.checkbox_conf_autofix = QtGui.QCheckBox(u'载波自动修正')
self.checkbox_conf_highfreq = QtGui.QCheckBox(u'使用高频成分')
self.checkbox_mf = QtGui.QCheckBox(u'重新计算载波')
self.lineedit_conf_ns.setText('10')
self.lineedit_conf_lens_1.setText('1.9')
self.lineedit_conf_lens_2.setText('3.6')
self.checkbox_mf.setCheckState(2)
self.checkbox_conf_autofix.setCheckState(2)
self.checkbox_conf_highfreq.setCheckState(2)
# 设置布局
layout_main = QtGui.QVBoxLayout()
layout_settings = QtGui.QVBoxLayout()
layout_buttons = QtGui.QHBoxLayout()
layout_settings_grid = QtGui.QGridLayout()
layout_status_bar = QtGui.QHBoxLayout()
layout_settings_grid.addWidget(self.label_isset_urefer,0,0,1,1)
layout_settings_grid.addWidget(self.label_isset_mrefer,1,0,1,1)
layout_settings_grid.addWidget(self.button_fopen_urefer,0,1,1,1)
layout_settings_grid.addWidget(self.button_fopen_mrefer,1,1,1,1)
layout_settings_grid.addWidget(self.checkbox_mf,2,0,1,2)
layout_settings_grid.addWidget(self.label_isset_meassure,3,0,1,1)
layout_settings_grid.addWidget(self.button_fopen_meassure,3,1,1,1)
layout_settings_grid.addWidget(self.label_conf_ns,4,0,1,1)
layout_settings_grid.addWidget(self.label_conf_lens_1,5,0,1,1)
layout_settings_grid.addWidget(self.label_conf_lens_2,6,0,1,1)
layout_settings_grid.addWidget(self.lineedit_conf_ns,4,1,1,1)
layout_settings_grid.addWidget(self.lineedit_conf_lens_1,5,1,1,1)
layout_settings_grid.addWidget(self.lineedit_conf_lens_2,6,1,1,1)
layout_settings_grid.addWidget(self.checkbox_conf_autofix,7,0,1,2)
layout_settings_grid.addWidget(self.checkbox_conf_highfreq,8,0,1,2)
layout_settings_grid.addWidget(self.label_title_plot,9,0,1,2)
layout_settings_grid.addWidget(self.button_plot_mls,10,0,1,1)
layout_settings_grid.addWidget(self.button_plot_mf,11,0,1,1)
layout_settings_grid.addWidget(self.button_plot_dop,12,0,1,1)
layout_settings_grid.addWidget(self.button_plot_af,10,1,1,1)
layout_settings_grid.addWidget(self.button_plot_ch,11,1,1,1)
layout_settings_grid.addWidget(self.button_plot_sv,12,1,1,1)
layout_settings_grid.addWidget(self.button_plot_mrls,13,0,1,1)
layout_settings_grid.addWidget(self.button_plot_urls,13,1,1,1)
layout_settings_grid.addWidget(self.button_plot_sffti,14,0,1,1)
layout_settings_grid.addWidget(self.button_plot_nsv,14,1,1,1)
layout_settings_grid.setColumnStretch(2, 1);
layout_settings.addLayout(layout_settings_grid)
layout_settings.addStretch(1)
layout_buttons.addStretch(1)
layout_buttons.addWidget(self.label_status)
layout_buttons.addWidget(self.button_start)
layout_buttons.addWidget(self.button_exit)
layout_main.addLayout(layout_settings)
layout_main.addLayout(layout_buttons)
self.setLayout(layout_main)
# 设置信号与槽
self.connect(self.button_start, QtCore.SIGNAL('clicked()'), self, QtCore.SLOT('startup()'))
self.connect(self.button_exit, QtCore.SIGNAL('clicked()'), self, QtCore.SLOT('exit()'))
self.connect(self.button_fopen_mrefer, QtCore.SIGNAL('clicked()'), self, QtCore.SLOT('chooseMRLS()'))
self.connect(self.button_fopen_urefer, QtCore.SIGNAL('clicked()'), self, QtCore.SLOT('chooseURLS()'))
self.connect(self.button_fopen_meassure, QtCore.SIGNAL('clicked()'), self, QtCore.SLOT('chooseMLS()'))
self.connect(self.button_plot_sv, QtCore.SIGNAL('clicked()'), self, QtCore.SLOT('plotSV()'))
self.connect(self.button_plot_ch, QtCore.SIGNAL('clicked()'), self, QtCore.SLOT('plotCHX()'))
self.connect(self.button_plot_af, QtCore.SIGNAL('clicked()'), self, QtCore.SLOT('plotFFTX()'))
self.connect(self.button_plot_dop, QtCore.SIGNAL('clicked()'), self, QtCore.SLOT('plotDOP()'))
self.connect(self.button_plot_mf, QtCore.SIGNAL('clicked()'), self, QtCore.SLOT('plotMF()'))
self.connect(self.button_plot_mls, QtCore.SIGNAL('clicked()'), self, QtCore.SLOT('plotMLS()'))
self.connect(self.button_plot_urls, QtCore.SIGNAL('clicked()'), self, QtCore.SLOT('plotURLS()'))
self.connect(self.button_plot_mrls, QtCore.SIGNAL('clicked()'), self, QtCore.SLOT('plotMRLS()'))
self.connect(self.button_plot_nsv, QtCore.SIGNAL('clicked()'), self, QtCore.SLOT('plotNSV()'))
self.connect(self.button_plot_sffti, QtCore.SIGNAL('clicked()'), self, QtCore.SLOT('plotSFFTX()'))
self.connect(self.checkbox_mf, QtCore.SIGNAL('stateChanged(int)'), self, QtCore.SLOT('disableRefer()'))
def figPlot(self, datagram, title='', color='black'):
fig = pylab.figure(title)
pylab.plot(datagram.getXaxis(),datagram.getYaxis(),label=title,color=color,linestyle='-')
@QtCore.pyqtSlot()
def plotDOP(self):
pylab.close()
self.figPlot(self.sapp.dop,'DOP', 'blue')
pylab.show()
@QtCore.pyqtSlot()
def plotSV(self):
pylab.close()
self.figPlot(self.sapp.s0, 'STOKES VECTOR 0', 'red')
self.figPlot(self.sapp.s1, 'STOKES VECTOR 1', 'black')
self.figPlot(self.sapp.s2, 'STOKES VECTOR 2', 'blue')
self.figPlot(self.sapp.s3, 'STOKES VECTOR 3', 'green')
pylab.show()
@QtCore.pyqtSlot()
def plotFFTX(self):
pylab.close()
pylab.plot(self.sapp.rffti[0].getXaxis(),self.sapp.rffti[0].getYaxis(),label='FFT CHANNEL 0')
pylab.plot(self.sapp.rffti[1].getXaxis(),self.sapp.rffti[1].getYaxis(),label='FFT CHANNEL 1')
pylab.plot(self.sapp.rffti[2].getXaxis(),self.sapp.rffti[2].getYaxis(),label='FFT CHANNEL 2')
pylab.plot(self.sapp.rffti[3].getXaxis(),self.sapp.rffti[3].getYaxis(),label='FFT CHANNEL 3')
pylab.show()
@QtCore.pyqtSlot()
def plotMF(self):
pylab.close()
self.figPlot(self.sapp.cs0, 'MODULATION FACTOR 0', 'red')
self.figPlot(self.sapp.cs1, 'MODULATION FACTOR 1', 'black')
self.figPlot(self.sapp.cs2, 'MODULATION FACTOR 2', 'blue')
self.figPlot(self.sapp.cs3, 'MODULATION FACTOR 3', 'green')
pylab.show()
@QtCore.pyqtSlot()
def plotCHX(self):
pylab.close()
self.figPlot(self.sapp.fa0, 'CHANNEL 0', 'red')
self.figPlot(self.sapp.fa1, 'CHANNEL 1', 'black')
self.figPlot(self.sapp.fa2, 'CHANNEL 2', 'blue')
self.figPlot(self.sapp.fa3, 'CHANNEL 3', 'green')
pylab.show()
@QtCore.pyqtSlot()
def plotMLS(self):
pylab.close()
self.figPlot(self.sapp.rdata, 'MEASURED DATA', 'blue')
pylab.show()
@QtCore.pyqtSlot()
def plotMRLS(self):
pylab.close()
self.figPlot(self.sapp.sdata, 'MODULATED REFERENCE LIGHT SPECTRUM', 'blue')
pylab.show()
@QtCore.pyqtSlot()
def plotURLS(self):
pylab.close()
self.figPlot(self.sapp.idata, 'MODULATED REFERENCE LIGHT SPECTRUM', 'blue')
pylab.show()
@QtCore.pyqtSlot()
def plotNSV(self):
pylab.close()
self.figPlot(self.sapp.nsv1, 'NOMALIZED STOKES VECTOR 1', 'red')
self.figPlot(self.sapp.nsv2, 'NOMALIZED STOKES VECTOR 2', 'green')
self.figPlot(self.sapp.nsv3, 'NOMALIZED STOKES VECTOR 3', 'blue')
pylab.show()
@QtCore.pyqtSlot()
def plotSFFTX(self):
pylab.close()
pylab.plot(self.sapp.sffti[0].getXaxis(),self.sapp.sffti[0].getYaxis(),label='RLS FFT CHANNEL 0')
pylab.plot(self.sapp.sffti[1].getXaxis(),self.sapp.sffti[1].getYaxis(),label='RLS FFT CHANNEL 1')
pylab.plot(self.sapp.sffti[2].getXaxis(),self.sapp.sffti[2].getYaxis(),label='RLS FFT CHANNEL 2')
pylab.plot(self.sapp.sffti[3].getXaxis(),self.sapp.sffti[3].getYaxis(),label='RLS FFT CHANNEL 3')
pylab.show()
@QtCore.pyqtSlot()
def disableRefer(self):
checked = self.checkbox_mf.isChecked()
self.button_fopen_urefer.setEnabled(checked)
self.button_fopen_mrefer.setEnabled(checked)
if checked:
self.label_isset_urefer.setText(u'未设置')
self.label_isset_mrefer.setText(u'未设置')
else:
self.label_isset_urefer.setText(u'已禁用')
self.label_isset_mrefer.setText(u'已禁用')
@QtCore.pyqtSlot()
def exit(self):
QtGui.qApp.quit()
@QtCore.pyqtSlot()
def chooseMRLS(self):
self.fpath_mrls = QtGui.QFileDialog.getOpenFileName(self, u'选取已调制参考光', '', '', '', QtGui.QFileDialog.DontUseNativeDialog)
self.label_isset_mrefer.setText(u'已设置')
@QtCore.pyqtSlot()
def chooseURLS(self):
self.fpath_urls = QtGui.QFileDialog.getOpenFileName(self, u'选取未调制参考光', '', '', '', QtGui.QFileDialog.DontUseNativeDialog)
self.label_isset_urefer.setText(u'已设置')
@QtCore.pyqtSlot()
def chooseMLS(self):
self.fpath_mls = QtGui.QFileDialog.getOpenFileName(self, u'选取实测光谱', '', '', '', QtGui.QFileDialog.DontUseNativeDialog)
self.label_isset_meassure.setText(u'已设置')
@QtCore.pyqtSlot()
def startup(self):
self.label_status.setText(u'*运行*')
mf = self.checkbox_mf.isChecked()
ns = 2**(int)(self.lineedit_conf_ns.text());
d1 = (float)(self.lineedit_conf_lens_1.text())
d2 = (float)(self.lineedit_conf_lens_2.text())
autofix = self.checkbox_conf_autofix.isChecked()
if self.checkbox_conf_highfreq.isChecked():
freq = 'high'
else:
freq = 'low'
urls = unicode(self.fpath_urls)
mrls = unicode(self.fpath_mrls)
mls = unicode(self.fpath_mls)
conf = {
'mf': mf,
'ns': ns,
'd1': d1,
'd2': d2,
'autofix': autofix,
'freq': freq,
'urls': urls,
'mrls': mrls,
'mls': mls
}
self.sapp.config(conf)
self.sapp.start()
print('***DONE***')
self.label_status.setText(u'=等待=')
from boat import *
from environment import Environment
from simulator import Simulator
from polar import Polar
# import configuration
if os.path.isfile('config.py'):
import config
else:
print(
"Please copy config_default.py to config.py to add your own strategies"
)
import config_default as config
# load polar
polar = Polar(os.path.join('data', 'polars', 'first-27.csv'))
# setup boat
real_boat = len(sys.argv) == 2 and sys.argv[1] == 'real'
if real_boat:
print('Using real boat, happy sailing!')
env = Environment(wind_speed_var=1, wind_direction_var=0)
boat = RealBoat(env, ip_address='192.168.43.185')
shuffle_interval = 0
else:
print('Using simulator boat')
env = Environment()
boat = SimBoat(env, polar=polar)
shuffle_interval = 20
def test_register_constants_with_decorator():
@polar_class
class RegisterDecoratorTest:
x = 1
p = Polar()
p.load_str("foo_rule(x: RegisterDecoratorTest, y) if y = 1;")
p.load_str("foo_class_attr(y) if y = RegisterDecoratorTest.x;")
assert (next(
p.query_rule("foo_rule", RegisterDecoratorTest(),
Variable("y")))["bindings"]["y"] == 1)
assert next(p.query_rule("foo_class_attr",
Variable("y")))["bindings"]["y"] == 1
p = Polar()
p.load_str("foo_rule(x: RegisterDecoratorTest, y) if y = 1;")
p.load_str("foo_class_attr(y) if y = RegisterDecoratorTest.x;")
assert (next(
p.query_rule("foo_rule", RegisterDecoratorTest(),
Variable("y")))["bindings"]["y"] == 1)
assert next(p.query_rule("foo_class_attr",
Variable("y")))["bindings"]["y"] == 1
def test_load_and_query():
p = Polar()
p.load_str("f(1); f(2); ?= f(1); ?= not f(3);")
with pytest.raises(exceptions.PolarException):
p.load_str("g(1); ?= g(2);")
def renew(self):
####### prepare points
planesPoints = {}
polarsPoints = {}
for qid, queue in self._queues.items():
points = queue.dequeue()
if not points:
continue
for point in points:
code = point.info('code')
if code not in planesPoints:
planesPoints[code] = []
planesPoints[code].append(point)
if qid not in polarsPoints:
polarsPoints[qid] = []
polarsPoints[qid].append(point)
####### handle planes
added = {}
updated = {}
for code, points in planesPoints.items():
if code not in self._planes:
self._planes[code] = Plane(points)
added[code] = self._planes[code]
else:
updated[code] = (self._planes[code], self._planes[code].pointsCount())
self._planes[code].addPoints(points)
if added:
self.planesAdded.emit(added)
if updated:
self.planesUpdated.emit(updated)
####### handle polars
added = {}
updated = {}
for qid, points in polarsPoints.items():
if qid not in self._polars:
self._polars[qid] = Polar(self._home, points)
added[qid] = self._polars[qid]
else:
if self._polars[qid].addPoints(points):
updated[qid] = self._polars[qid]
if added:
self.polarsAdded.emit(added)
if updated:
self.polarsUpdated.emit(updated)
####### remove timed out planes
t = time()
removed = []
for id, plane in self._planes.items():
if t > plane.lastSeen() + PLANE_TIMEOUT:
self._planes.pop(id)
removed.append(id)
self.planesRemoved.emit(removed)
