def zLoadMapElementsFromPickle(pickleFile=gv.pickleWithMap):
if utilities.fileExists(pickleFile):
pickle_out = open(pickleFile, "rb")
gv.worldXMin, gv.worldXMax, gv.worldYMin, gv.worldYMax, gv.startOfMaze, \
gv.nodeList, gv.nodeConnectionList, gv.potentialGoalNodes, \
gv.potentialGoalDicts, gv.pathsVisited = pickle.load(pickle_out)
pickle_out.close()
def writePose(stringFromSparki):
try:
if gv.writeCSVData > 0:
if gv.writeCSVData == 1: # First call, create file and put out header
if utilities.fileExists(gv.csvFileName):
utilities.fileArchive(gv.csvFileName)
gv.csvFileHandle = open(gv.csvFileName, "w")
gv.csvWriter = csv.DictWriter(gv.csvFileHandle,
fieldnames=gv.csvFieldNames)
gv.csvWriter.writeheader()
#gv.csvFileHandle.close()
#gv.csvFileHandle = open(gv.csvFileName,"a")
#gv.csvWriter = csv.DictWriter(gv.csvFileHandle, fieldnames=gv.csvFieldNames)
gv.writeCSVData = 2
dumArray = stringFromSparki.split(',')
dataRec = {
"x_value": float(dumArray[2]),
"y_value": float(dumArray[4])
}
#print(dataRec)
#print(type(gv.csvWriter))
gv.csvWriter.writerow(dataRec)
gv.csvFileHandle.flush()
except:
print("Exception raised - writePose")
exc_type, exc_obj, exc_tb = sys.exc_info()
fname = os.path.split(exc_tb.tb_frame.f_code.co_filename)[1]
print(exc_type, fname, exc_tb.tb_lineno)
sys.exit()
def writeSpeech(stringToSpeak):
try:
if gv.writeSpeechFile > 0:
if gv.writeSpeechFile == 1: # First time call... create output file with header
if utilities.fileExists(gv.speechFile):
utilities.fileArchive(gv.speechFile)
gv.speechFileHandle = open(gv.speechFile, "w")
gv.writeSpeechFile = 2
gv.speechFileHandle.write(stringToSpeak + "\n")
gv.speechFileHandle.flush()
except:
print("Exception raised - writeSpeech")
exc_type, exc_obj, exc_tb = sys.exc_info()
fname = os.path.split(exc_tb.tb_frame.f_code.co_filename)[1]
print(exc_type, fname, exc_tb.tb_lineno)
sys.exit()
def zLoadGoalElementFromPickle(pickleFile=gv.pickleWithGoal):
if utilities.fileExists(pickleFile):
pickle_out = open(pickleFile, "rb")
gv.goalDict = pickle.load(pickle_out)
pickle_out.close()
gv.nodeList.append(4)
gv.potentialGoalNodes.append(3)
gv.potentialGoalNodes.append(5)
gv.potentialGoalNodes.append(6)
mapPickle = "pickleTest1.bin"
sparkiStats.zSaveMapElementsToPickle(mapPickle)
gv.nodeList.clear()
gv.potentialGoalNodes.clear()
print(str(gv.nodeList))
print(str(gv.potentialGoalNodes))
sparkiStats.zLoadMapElementsFromPickle(mapPickle)
print(str(gv.nodeList))
print(str(gv.potentialGoalNodes))
for i in range(2):
if utilities.fileExists(mapPickle):
print(mapPickle + " exists")
utilities.fileArchive(mapPickle)
else:
print(mapPickle + " does not exist")
if False:
ins = "M,x,5.32,y,0.0,<,-1,M,x,39.98,y,0.0,<,-1,M,x,40.14,y,18.06,<,-1,M,x,14.8,y,17.7,<,-1,M,x,14.86,y,26.33,<,-1,G,x,14.86,y,26.33,<,90"
print(sparkiStats.tellSparkiHelper(ins))
print("gv.pendingInstructions: {0}".format(gv.pendingInstructions))
print(sparkiStats.tellSparkiHelper(""))
if True:
string = "PO,x,12.3,y,45.6,<,10"
for i in range(150):
writePose(string)
import os
import sys
import serial
import time
from datetime import datetime
import pickle
import sharedVars as gv
import sparkiStats
import utilities
from pandas import DataFrame
createMapData = True
gv.logFile = open("pickleLogRun.txt","at") # Append and text file
if utilities.fileExists(gv.pickleWithMap):
print("pickle file exists")
gv.originalMode = 'G'
sparkiStats.zLoadMapElementsFromPickle()
sparkiStats.zLoadGoalElementFromPickle()
sparkiStats.writeVariables()
if createMapData == True:
data = {"x" : [], "y" : []}
"""
for idx in range(len(gv.nodeList)):
data["x"].append(gv.nodeList[idx]["x"])
data["y"].append(gv.nodeList[idx]["y"])
"""
for aPath in gv.pathsVisited: