def _prep_section(self, book_key, ident):
base_dir = self.repo_dir / book_key
b = marccup.parser.generic.GenericParser()
u = marccup.composer.html5.Html5Composer()
t = (base_dir / 'part' / f'{ident:04d}').read_text()
o = b.parse(t)
g = oaktree.proxy.braket.BraketProxy()
k = oaktree.proxy.braket.BraketProxy(indent='')
g.save(o, Path(base_dir / ".tmp" / f'{ident:04d}.parsed.bkt'))
#k.save(o, Path( base_dir / ".tmp" / f'{ident:04d}.parsednoindent.bkt'))
h = oaktree.Leaf('tmp')
u.compose(o, h)
#g.save(h.sub[0], Path( base_dir / ".tmp" / f'{ident:04d}.composed.bkt'))
#k.save(h.sub[0], Path( base_dir / ".tmp" / f'{ident:04d}.composednoindent.bkt'))
f = oaktree.proxy.html5.Html5Proxy(indent='', fragment=True)
#f.save(h.sub[0], Path( base_dir / ".tmp" / f'{ident:04d}.result.html'))
f.save(h.sub[0], Path(base_dir / ".cache" / "part" / f'{ident:04d}'))
return f.save(h.sub[0])
def __init__(self, shelf=None, proxy=None):
self.static_dir = Path(os.environ['SPEXT_static_DIR'])
self.repo_dir = Path(os.environ['SPEXT_repo_DIR'])
self.shelf = shelf
self.proxy = proxy
self.book_lst = (self.repo_dir / "index.json").load()
def plot(self, save_dir=None):
v, f, n, d, t, z = self.prep()
t_xx, j_xx, a_xx, s_xx = self.t_xx, self.j_xx, self.a_xx, self.s_xx
T, J, A, S = self.symbolic_equation(n)
plt.figure(figsize=(8.27, 11.69))
title = f"{self.bch} :: {self.param} :: {f(self.pg):0.5e}"
### jerk ###
plt.subplot(3, 1, 1)
for i in range(n):
plt.plot([
t_xx[i][0],
] + list(t_xx[i]) + [
t_xx[i][-1],
], [
0.0,
] + list(j_xx[i]) + [
0.0,
])
plt.grid()
plt.title(title)
plt.ylabel("jerk")
### acceleration ###
plt.subplot(3, 1, 2)
for i in range(n):
plt.plot(t_xx[i], a_xx[i])
print([i.subs(v) for i in A])
a_lst = [f(i) for i in A]
plt.plot(t, a_lst, 'o', color="grey")
plt.grid()
plt.ylabel("acceleration")
### speed ###
plt.subplot(3, 1, 3)
for i in range(n):
plt.plot(t_xx[i], s_xx[i])
s_lst = [f(i) for i in S]
plt.plot(t, s_lst, 'o', color="grey")
plt.grid()
plt.ylabel("speed")
# check_sg, check_ag = check_target(s_lst[-1], val['S_g']), check_target(a_lst[-1], 0.0)
if save_dir:
save_pth = Path(save_dir) / f"trajbang3({self.param}).png"
Path(save_dir).make_dirs()
plt.savefig(str(save_pth))
print(save_pth)
plt.close()
else:
save_pth = None
plt.show()
def save(self, pth):
pth = Path(pth).with_suffix('.tsv')
stack = [
self.rec_lst,
]
for i in range(len(self.rec['t'])):
stack.append([self.rec[k][i] for k in self.rec_lst])
pth.save(stack)
def __init__(self):
self.static_dir = Path(os.environ['MARCCUP_static_DIR'])
self.shelf = marccup.server.shelf.MarccupShelf()
self.proxy = marccup.server.proxy.MarccupProxy()
self.to_html5 = marccup.composer.html5.Html5Composer()
class SpextShelf() :
""" un objet générique, à instancier une seule fois, qui maintient la liste de tous les livres disponibles,
permet la mise à jour des caches et la generation à la volée """
def __init__(self, repo_dir, debug=True) :
self.repo_dir = Path(repo_dir).resolve()
self.debug = debug
self.book_map = dict()
def scan(self, check=False) :
print(f">>> SpextShelf.scan({self.repo_dir})")
for pth in self.repo_dir.rglob('__doc__') :
key = str(pth.parent.relative_to(self.repo_dir))
print(f"SpextShelf.scan({key})")
value = spext.book.BookHandler(pth.parent)
if check :
value.check()
self.book_map[key] = value
(self.repo_dir / "index.json").save(sorted(self.book_map))
print(f">>> SpextShelf.scan() DONE")
def __init__(self, base_dir, local_pth='.build_cache.shelve'): self.base_dir = Path(base_dir) self.local_pth = str(local_pth)q pth = self.cache_pth pth.make_parents() self.file_map = dict() self.in_progress = dict()
def __init__(self, node_name, replay_no) : self.node_name = node_name self.replay_no = replay_no self.node_dir = Path(os.environ["UNITEST_build_DIR"]).resolve() / node_name self.replay_dir = self.node_dir / "replay" / replay_no self.data_len = None self.data_pth = self.replay_dir / "context.reb"
def __init__(self):
self.repo_dir = Path(os.environ['MARCCUP_repo_DIR'])
self.book_set = set()
for book_key in self.scan(self.repo_dir):
self.install(book_key)
self.book_set.add(book_key)
print(self.book_set)
def _get_section(self, *pos, **nam):
if 'b' not in nam or 's' not in nam:
raise cherrypy.HTTPError(400)
if nam['b'] not in self.shelf.book_set:
raise cherrypy.HTTPError(404)
return self.proxy._get_section(nam['b'], int(nam['s']))
s = int(nam['s'])
b = self.shelf[nam['b']]
t = (b.base_dir / 'part' / f'{s:04d}').read_text()
e = b.expand_shortcut(t)
Path(b.base_dir / ".tmp" / f'{s:04d}.expanded.bkt').write_text(e)
o = b.parse_section(e)
g = oaktree.proxy.braket.BraketProxy()
k = oaktree.proxy.braket.BraketProxy(indent='')
g.save(o, Path(b.base_dir / ".tmp" / f'{s:04d}.parsed.bkt'))
k.save(o, Path(b.base_dir / ".tmp" / f'{s:04d}.parsednoindent.bkt'))
h = oaktree.Leaf('tmp')
self.to_html5.compose(o, h)
g.save(h.sub[0], Path(b.base_dir / ".tmp" / f'{s:04d}.composed.bkt'))
k.save(h.sub[0],
Path(b.base_dir / ".tmp" / f'{s:04d}.composednoindent.bkt'))
f = oaktree.proxy.html5.Html5Proxy(indent='', fragment=True)
f.save(h.sub[0], Path(b.base_dir / ".tmp" / f'{s:04d}.result.html'))
return f.save(h.sub[0])
def to_wsk_qnd_point(self, r_lst):
w_lst = [
"wsk_qnd_point_T wsk_qnd_line_arr[wsk_qnd_line_LEN] = {",
]
for verb, lat, lon, radius, alt, spd, width in r_lst:
print(verb, lat, lon, radius, alt, spd, width)
verb_id = 0 if radius == 0.0 else 1
w_lst.append('\t' +
str([verb_id, [lat, lon], alt, spd, radius]).replace(
'[', '{').replace(']', '}') + ',')
w_lst.append("};")
w_txt = '\n'.join(w_lst)
Path("4_wsk_qnd.c").write_text(w_txt)
def __init__(self, base_dir) : self.base_dir = Path(base_dir).resolve() self.toc = spext.book.toc.BookToc(self) self.ref = spext.book.ref.BookRef(self) self.cache_dir = self.base_dir / '.cache' self.cache_dir.make_dirs() (self.cache_dir / 'part').make_dirs() self.log_pth = None self.ident_set = None self._last_ident = None
def check(self,
a0: float,
s0: float,
ag: float,
sg: float,
result_dir=None):
jm, am, a0, s0, ag, sg = self.__prep__(a0, s0, ag, sg)
val = self.val
def f(e):
try:
return float(e.subs(val))
except AttributeError:
return float(e)
res = self.compute(a0, s0, ag, sg)
cmd, dur, T, J, A, S, D = self.integrate(res)
# check all acceleration values are inside the limits (except a0 which can be out of bounds)
ai_condition = all(self.check_is_inside(f(i), -am, am) for i in A[1:])
ag_condition = self.check_is_close(f(A[-1]), ag)
sg_condition = self.check_is_close(f(S[-1]), sg)
total_condition = ag_condition and ai_condition and sg_condition
print(
f"TrajBang3(jm={jm}, am={am}, a0={a0}, s0={s0}, ag={ag}, sg={sg}) ==>",
k(total_condition))
print("> cmd :", '\t'.join(f"{i:5g}" for i in cmd))
print("> dur :", '\t'.join(f"{i:5g}" for i in dur))
print("-" * 4)
print(
" > T :", '\t'.join(f"{i:5g}" for i in ([
0.0,
] + list(itertools.accumulate(T)))))
print(" > A :", '\t'.join(f"{i:5g}" for i in A), f" \t=( {ag} )>",
k(ag_condition), k(ai_condition))
print(" > S :", '\t'.join(f"{i:5g}" for i in S), f" \t=( {sg} )>",
k(sg_condition))
print(" > D :", '\t'.join(f"{i:5g}" for i in D))
if not total_condition:
with Path('error_listing.log').open('at') as fid:
fid.write(f"\n{self.title} ==>\n\t{cmd}\n\t{dur}\n")
def _prep_section(self, key, ident):
base_dir = self.repo_dir / key
cache_dir = base_dir / '.cache'
local_pth = Path('part') / f'{ident:05d}'
# read the source_file
src_pth = base_dir / local_pth
src_byt = src_pth.read_bytes()
src_hsh = '<!-- {0} -->'.format(hashlib.blake2s(src_byt).hexdigest())
# check the hash of the cached version
dst_pth = cache_dir / local_pth
try:
with dst_pth.open('rt') as fid:
dst_hsh = fid.readline().strip()
except FileNotFoundError:
dst_hsh = ''
if dst_hsh != src_hsh or key == '_test':
print(
f">>> SpextProxy._prep_section({key}, {ident}) \x1b[33mPROCESSED\x1b[0m"
)
src_txt = src_byt.decode('utf8')
if key == '_test':
debug_dir = base_dir / '.debug' / f'{ident:05d}'
debug_dir.make_dirs()
else:
debug_dir = None
dst_txt = self.mcp_to_html(src_txt, debug_dir)
with dst_pth.open('wt') as fid:
fid.write(src_hsh + '\n')
fid.write(dst_txt)
else:
print(
f">>> SpextProxy._prep_section({key}, {ident}) \x1b[36mCACHED\x1b[0m"
)
def unroll_tempate(node_name, template_name, context_info):
node_dir = Path(os.environ['UNITEST_build_DIR']) / node_name
if not node_dir.is_dir():
raise ValueError("Not a valid model directory:{0}".format(node_dir))
template_dir = Path(os.environ['UNITEST_template_DIR']) / template_name
if not template_dir.is_dir():
raise ValueError(
"Not a valid template directory:{0}".format(template_dir))
unitest.unroll_template_folder(template_dir, node_dir, {
'scade_map': context_info,
'node_name': node_name
})
def _prep_refer(self, book_key):
# un fichier appelé référence, qui contient, pour chaque section, la liste des
# alinea, paragraphes, figures, equations (ou l'inverse)
# ce fichier est créé s'il n'existe pas, mais il n'est mis à jour que lorsqu'un fichier est modifié
# ou lors d'une requête explicite
refer_map = dict()
section_set = set(
int(pth.name)
for pth in (self.repo_dir / book_key / 'part').glob('*'))
other_set = set()
for s_ident in sorted(section_set):
pth = self.repo_dir / book_key / 'part' / f'{s_ident:04d}'
txt = pth.read_text()
u = marccup.parser.book.BookParser()
o_section = u.parse(txt)
b = oaktree.proxy.braket.BraketProxy()
b.save(o_section, Path('debug.bkt'))
for o in o_section.walk():
if o.ident != None:
other_set.add(o.ident)
if o.tag not in refer_map:
refer_map[o.tag] = collections.defaultdict(set)
refer_map[o.tag][s_ident].add(o.ident)
refer_map['__next__'] = max(section_set | other_set) + 1
dst_pth = self.repo_dir / book_key / '.cache' / 'refer.json'
dst_pth.save(refer_map)
print(refer_map)
return refer_map
def map_interface(node_name, include_lst):
cwd = Path(os.environ['UNITEST_build_DIR']) / node_name / "mapping"
cwd.make_dirs()
(cwd / 'structarray_interface.c').write_text(scade_interface_template)
cmd = (["gcc", "-save-temps", "-std=c99", "-g"] +
[f"-I{str(include_dir)}" for include_dir in include_lst] +
["structarray_interface.c", "-o", "structarray_interface.exe"])
ret = cwd.run(*cmd)
if ret.returncode != 0:
raise ValueError("gcc couldn't compile properly")
ret = cwd.run("./structarray_interface.exe")
for k in ["input", "output"]:
u = structarray.StructInfo(cwd / 'structarray_interface.exe')
u.parse(k)
u.save(cwd, k)
def __init__(self, meta=None, data=None):
self.meta = None
self.data = None
self.length = 0
if meta is not None:
m = Path(meta)
if m.is_file():
self.meta = m
self.load_meta(m)
if data is not None:
d = Path(data)
if d.is_file():
self.data = d
self.load_data(d)
self.extract_map = dict()
self.extract_lst = list()
def map_context(node_name, include_lst):
cwd = Path(os.environ['UNITEST_build_DIR']) / node_name / "mapping"
cwd.make_dirs()
(cwd / 'structarray_context.c').write_text(
scade_context_template.format(node_name=node_name))
cmd = (["gcc", "-save-temps", "-std=c99", "-g"] +
[f"-I{str(include_dir)}" for include_dir in include_lst] +
["structarray_context.c", "-o", "structarray_context.exe"])
ret = cwd.run(*cmd)
if ret.returncode != 0:
raise ValueError("gcc couldn't compile properly")
ret = cwd.run("./structarray_context.exe")
txt = ret.stdout.decode(sys.stdout.encoding)
(cwd / "structarray_ctype.json").write_text(txt.replace(',\n}', '\n}'))
u = structarray.StructInfo(cwd / 'structarray_context.exe')
u.parse('context')
u.save(cwd, 'context')
return u
def plot_3(c, d, val, prefix="check/"):
# on recopie val
val = {k: v for k, v in val.items()}
n = len(c)
T, J, A, S = symbolic_equation_3(n)
print("d = ", d)
t = np.cumsum([
0.0,
] + d)
print("t = ", t)
z = [float(i * val['J_m']) for i in c]
print("z = ", z)
for i in range(n):
val[f"T_{i}"] = d[i]
val[f"J_{i}"] = z[i]
t_xx = [np.linspace(t[i], t[i + 1], 50) for i in range(n)]
plt.figure(figsize=(8.27, 11.69))
title = f"jm={val['J_m']}, am={val['A_m']}, a0={val['A_0']}, s0={val['S_0']}, sg={val['S_g']}"
### jerk ###
plt.subplot(3, 1, 1)
j_xx = [(np.ones_like(t_xx[0]) * z[i]) for i in range(n)]
for i in range(n):
plt.plot([
t_xx[i][0],
] + list(t_xx[i]) + [
t_xx[i][-1],
], [
0.0,
] + list(j_xx[i]) + [
0.0,
])
plt.grid()
plt.title(title)
plt.ylabel("jerk")
### acceleration ###
plt.subplot(3, 1, 2)
a_xx = list()
for i in range(n):
a_xx.append((a_xx[-1][-1] if a_xx else val['A_0']) +
(t_xx[i] - t[i]) * j_xx[i][0])
for i in range(n):
plt.plot(t_xx[i], a_xx[i])
a_lst = [i.subs(val) for i in A]
plt.plot(t, a_lst, 'o', color="grey")
plt.grid()
plt.ylabel("acceleration")
print("acc:", ', '.join(f'{round(float(i), 5):8.5f}' for i in a_lst))
### speed ###
plt.subplot(3, 1, 3)
s_xx = list()
for i in range(n):
s_xx.append((s_xx[-1][-1] if s_xx else val['S_0']) +
(a_xx[i][0] * (t_xx[i] - t[i])) +
(j_xx[i][0] * (t_xx[i] - t[i])**2 / 2.0))
for i in range(n):
plt.plot(t_xx[i], s_xx[i])
s_lst = [i.subs(val) for i in S]
plt.plot(t, s_lst, 'o', color="grey")
plt.grid()
plt.ylabel("speed")
print("spd:", ', '.join(f'{round(float(i), 5):8.5f}' for i in s_lst))
if prefix:
check_sg, check_ag = check_target(s_lst[-1], val['S_g']), check_target(
a_lst[-1], 0.0)
#if check_sg != "OK" or check_ag != "OK" :
Path("check").make_dirs()
plt.savefig(
f"check/{prefix}.compute_3({title}).{check_sg}.{check_ag}.png")
else:
plt.show()
return a_lst, s_lst
#!/usr/bin/env python3
import math
from cc_pathlib import Path
import goto.globe.aircraft
import goto.globe.common
goto.globe.common.earth_radius = 1000.0 / math.pi
u = goto.globe.aircraft.Aircraft(0.0, 0.0, 0.0, math.radians(90.0), 1.0, 0.0)
for i in range(100):
u.step()
u.dump(Path("go_east.tsv"))
#!/usr/bin/env python3
import random
import sys
random.seed(0)
from cc_pathlib import Path
tmp_dir = Path('./tmp')
tmp_dir.make_dirs()
tmp_dir.delete(content_only=True)
letter = 'abcdefghijklmnopqrstuvwxyz0123456789'
content_map = dict()
for i in range(256):
l = random.randrange(8, 16)
c = random.randrange(len(letter))
m = letter[c] * l
(tmp_dir / f"{i:04d}.txt").write_text(m)
content_map[i] = m
tmp_dir.dedup('*.txt')
exit_value = 0
for i in content_map:
m_ref = content_map[i]
m_tst = (tmp_dir / f"{i:04d}.txt").read_text()
self.extract()
stack = self.get_stack()
header = stack[0]
has_error = False
print("\x1b[31mNan\x1b[0m")
print("\x1b[32mInf\x1b[0m")
for n, line in enumerate(stack[1:]):
print(f"--- {n}")
for i, item in enumerate(line):
if math.isnan(item):
print(f"\x1b[31m{header[i]}\x1b[0m")
has_error = True
if math.isinf(item):
print(f"\x1b[32m{header[i]}\x1b[0m")
has_error = True
if has_error:
break
if __name__ == '__main__':
u = StructArray(
Path(
"/C/autools/source/a876969/vertex/unitest/build/EagleStateEstimator/mapping/context.tsv"
),
Path(
"/C/autools/source/a876969/vertex/unitest/build/EagleStateEstimator/replay/test01/context.reb"
))
u.to_tsv(Path("debug.tsv"))
u.debug_nan(4)
#!/usr/bin/env python3
import math
from cc_pathlib import Path
import goto.globe.aircraft
import goto.globe.common
goto.globe.common.earth_radius = 1000.0 / math.pi
u = goto.globe.aircraft.Aircraft(0.0, 0.0, 0.0, math.radians(0.0), 1.0, 0.0)
for i in range(100):
u.step()
u.dump(Path("go_north.tsv"))
def __init__(self):
# load
centerline_pth = Path("1_centerline.json")
effective_pth = Path("2_effective.json")
if Path("0_skeleton.json").is_file():
self.r_skeleton = Path("0_skeleton.json").load()
self.plot_segment(self.r_skeleton, Path("0_skeleton.plot.json"))
# apply first pass
self.r_centerline = self.pass_1(self.r_skeleton)
Path("1_centerline.json").save(self.r_centerline)
self.plot_segment(self.r_centerline,
Path("1_centerline.plot.json"))
self.plot_corridor(Path("3_corridor.plot.json"))
if centerline_pth.is_file():
self.r_effective = self.pass_2(self.r_centerline)
Path("2_effective.json").save(self.r_centerline)
else:
self.r_effective = effective_pth.load()
self.plot_segment(self.r_effective, Path("2_effective.plot.json"))
self.to_wsk_qnd_point(self.r_effective)
#!/usr/bin/env python3
import collections
from cc_pathlib import Path
from goto.globe.blip import Blip
WskPt = collections.namedtuple('WskPt', ['verb', 'pos', 'radius', 'alt', 'spd', 'width'])
w_lst = list()
for p in Path("source.json").load() :
w = WskPt(("GOTO" if len(w_lst) else "START"), Blip(p['lat'], p['lon']), p['leg_radius'], p['alt'], p['speed'], p['corridor_radius'])
w_lst.append([w.verb, w.pos.lat, w.pos.lon, -w.radius, w.alt, w.spd, w.width])
Path("2_effective.json").save(w_lst, filter_opt={'verbose':True})
if self.output is None:
self.output = self.fid.getvalue()
elif isinstance(self.output, list):
self.output = '\n'.join(self.output)
else:
self.fid.close()
def __enter__(self):
return self, self.open()
def __exit__(self, exc_type, exc_value, traceback):
self.close()
if __name__ == '__main__':
# objet ouvert sur un handler de fichier ouvert en écriture
fid = open("tutu_fid.txt", 'wt')
with UniversalWriter(fid) as (u, w):
w("toto\n")
# objet ouvert sur un Path()
pth = Path("tutu_Path.txt")
with UniversalWriter(pth) as (u, w):
w("toto\n")
# objet ouvert sur None
with UniversalWriter() as (u, w):
w("toto\n")
print(u.fid.getvalue())
#!/usr/bin/env python3
import os
import traceback
from cc_pathlib import Path
import mako.template
unitest_dir = Path(os.environ['UNITEST_build_DIR'])
def unroll_template_file(src_dir, src_pth, dst_dir, arg_nam) :
#print("unroll_template_file({0}, {1}, {2}, {3})".format(src_dir, src_pth, dst_dir, arg_nam))
src_pth = (src_dir / src_pth)
if src_pth.is_file() :
if src_pth.suffix == ".mako" :
m = mako.template.Template(filename=str(src_pth), module_directory=str(unitest_dir / '.mako_template'))
dst_pth = (dst_dir / src_pth.relative_to(src_dir)).with_suffix('')
# print("MAKO :: {0}\n -> {1}".format(src_pth, dst_pth))
dst_pth.parent.mkdir(parents=True, exist_ok=True)
try :
dst_pth.write_text(m.render(** arg_nam))
except Exception as e :
dst_pth.write_text(f'Failed rendering ! {e}\n------\n{traceback.format_exc()}')
else :
dst_pth = (dst_dir / src_pth.relative_to(src_dir))
# print("COPY :: {0}\n -> {1}".format(src_pth, dst_pth))
dst_pth.parent.mkdir(parents=True, exist_ok=True)
dst_pth.write_bytes(src_pth.read_bytes())
else :
raise ValueError("not a valid .mako file:{0}".format(src_dir / src_pth))
def __init__(self, repo_dir, debug=True) : self.repo_dir = Path(repo_dir).resolve() self.debug = debug self.book_map = dict()
#!/usr/bin/env python3
import sys
from cc_pathlib import Path
import oaktree
import marccup
section_name = sys.argv[1]
section_pth = Path("document") / f"{section_name}.bkt"
section_txt = section_pth.read_text()
u = marccup.Parser(debug_dir=Path("tmp"))
p = oaktree.Leaf("section")
u.parse_section(p, section_txt)
v = marccup.Composer(p, Path("tmp/result.html"))
