def _plot_polar(theta, rho):
global _plt
window = _plt.kwargs['window']
r_min, r_max = window[2:]
rho = (rho - r_min) / (r_max - r_min)
x = rho * np.cos(theta)
y = rho * np.sin(theta)
gr.polyline(x, y)
def draw_vehicle_ellipse(x, P):
ell = covariance_ellipse(x[0:2], P[0:2, 0:2], n_sigma=2)
gr.settransparency(0.8)
gr.setlinewidth(2)
# gr.setlinecolorind(983)
gr.polyline(ell[0, :], ell[1, :])
gr.setlinewidth(1)
gr.settransparency(1.0)
def _plot_polar(theta, rho):
global _plt
window = _plt.kwargs['window']
r_min, r_max = window[2:]
rho = (rho - r_min) / (r_max - r_min)
x = rho * np.cos(theta)
y = rho * np.sin(theta)
gr.polyline(x, y)
def draw_vehicle(x):
"""Draw the vehicle CM as a circle. Draw a line for the vehicle heading.
x = [x, y, phi]
"""
gr.setmarkertype(gr.MARKERTYPE_CIRCLE)
gr.setmarkersize(2)
gr.setmarkercolorind(1) # black
gr.polymarker([x[0]], [x[1]])
xh = [x[0], x[0] + 5 * np.cos(x[2])]
yh = [x[1], x[1] + 5 * np.sin(x[2])]
gr.polyline(xh, yh)
def _draw_legend():
global _plt
viewport = _plt.kwargs['viewport']
num_labels = len(_plt.kwargs['labels'])
location = _plt.kwargs.get('location', 1)
gr.savestate()
gr.selntran(0)
gr.setscale(0)
w = 0
for label in _plt.kwargs['labels']:
tbx, tby = gr.inqtextext(0, 0, label)
w = max(w, tbx[2])
num_lines = len(_plt.args)
h = (num_lines + 1) * 0.03
if location in (8, 9, 10):
px = 0.5 * (viewport[0] + viewport[1] - w)
elif location in (2, 3, 6):
px = viewport[0] + 0.11
else:
px = viewport[1] - 0.05 - w
if location in (5, 6, 7, 10):
py = 0.5 * (viewport[2] + viewport[3] + h) - 0.03
elif location in (3, 4, 8):
py = viewport[2] + h
else:
py = viewport[3] - 0.06
gr.setfillintstyle(gr.INTSTYLE_SOLID)
gr.setfillcolorind(0)
gr.fillrect(px - 0.08, px + w + 0.02, py + 0.03, py - 0.03 * num_lines)
gr.setlinetype(gr.LINETYPE_SOLID)
gr.setlinecolorind(1)
gr.setlinewidth(1)
gr.drawrect(px - 0.08, px + w + 0.02, py + 0.03, py - 0.03 * num_lines)
i = 0
gr.uselinespec(" ")
for (x, y, z, c, spec) in _plt.args:
gr.savestate()
mask = gr.uselinespec(spec)
if mask in (0, 1, 3, 4, 5):
gr.polyline([px - 0.07, px - 0.01], [py, py])
if mask & 2:
gr.polymarker([px - 0.06, px - 0.02], [py, py])
gr.restorestate()
gr.settextalign(gr.TEXT_HALIGN_LEFT, gr.TEXT_VALIGN_HALF)
if i < num_labels:
gr.textext(px, py, _plt.kwargs['labels'][i])
i += 1
py -= 0.03
gr.selntran(1)
gr.restorestate()
def _draw_legend():
global _plt
viewport = _plt.kwargs['viewport']
num_labels = len(_plt.kwargs['labels'])
location = _plt.kwargs.get('location', 1)
gr.savestate()
gr.selntran(0)
gr.setscale(0)
w = 0
for label in _plt.kwargs['labels']:
tbx, tby = gr.inqtextext(0, 0, label)
w = max(w, tbx[2])
num_lines = len(_plt.args)
h = (num_lines + 1) * 0.03
if location in (8, 9, 10):
px = 0.5 * (viewport[0] + viewport[1] - w)
elif location in (2, 3, 6):
px = viewport[0] + 0.11
else:
px = viewport[1] - 0.05 - w
if location in (5, 6, 7, 10):
py = 0.5 * (viewport[2] + viewport[3] + h) - 0.03
elif location in (3, 4, 8):
py = viewport[2] + h
else:
py = viewport[3] - 0.06
gr.setfillintstyle(gr.INTSTYLE_SOLID)
gr.setfillcolorind(0)
gr.fillrect(px - 0.08, px + w + 0.02, py + 0.03, py - 0.03 * num_lines)
gr.setlinetype(gr.LINETYPE_SOLID)
gr.setlinecolorind(1)
gr.setlinewidth(1)
gr.drawrect(px - 0.08, px + w + 0.02, py + 0.03, py - 0.03 * num_lines)
i = 0
gr.uselinespec(" ")
for (x, y, z, c, spec) in _plt.args:
gr.savestate()
mask = gr.uselinespec(spec)
if mask in (0, 1, 3, 4, 5):
gr.polyline([px - 0.07, px - 0.01], [py, py])
if mask & 2:
gr.polymarker([px - 0.06, px - 0.02], [py, py])
gr.restorestate()
gr.settextalign(gr.TEXT_HALIGN_LEFT, gr.TEXT_VALIGN_HALF)
if i < num_labels:
gr.textext(px, py, _plt.kwargs['labels'][i])
i += 1
py -= 0.03
gr.selntran(1)
gr.restorestate()
def drawGR(self):
if self.linetype is not None and self.x:
# preserve old values
lcolor = gr.inqlinecolorind()
gr.setlinewidth(2)
gr.setlinecolorind(self.linecolor)
for xi, yi in zip(self.x, self.y):
gr.polyline([xi, xi], [0, yi])
# restore old values
gr.setlinecolorind(lcolor)
gr.setlinewidth(1)
def drawGR(self):
lwidth = gr.inqlinewidth()
gr.setlinewidth(0.)
PlotAxes.drawGR(self)
if self.drawxylines:
xmin, xmax, ymin, ymax = self.getWindow()
linecolor = gr.inqlinecolorind()
gr.setlinecolorind(self.xylinecolor)
for xpos in self.xlines:
gr.polyline([xpos, xpos], [ymin, ymax])
for ypos in self.ylines:
gr.polyline([xmin, xmax], [ypos, ypos])
gr.setlinecolorind(linecolor)
gr.setlinewidth(lwidth)
def pendulum(theta, length, mass):
l = length[0] + length[1]
gr.clearws()
gr.setviewport(0, 1, 0, 1)
gr.setwindow(-l, l, -l, l)
gr.setmarkertype(gr.MARKERTYPE_SOLID_CIRCLE)
gr.setmarkercolorind(86)
pivot = [0, 0.775] # draw pivot point
gr.fillarea([-0.2, 0.2, 0.2, -0.2], [0.75, 0.75, 0.8, 0.8])
for i in range(2):
x = [pivot[0], pivot[0] + sin(theta[i]) * length[i]]
y = [pivot[1], pivot[1] - cos(theta[i]) * length[i]]
gr.polyline(x, y) # draw rod
gr.setmarkersize(3 * mass[i])
gr.polymarker([x[1]], [y[1]]) # draw bob
pivot = [x[1], y[1]]
gr.updatews()
return
def pendulum(theta, length, mass):
l = length[0] + length[1]
gr.clearws()
gr.setviewport(0, 1, 0, 1)
gr.setwindow(-l, l, -l, l)
gr.setmarkertype(gr.MARKERTYPE_SOLID_CIRCLE)
gr.setmarkercolorind(86)
pivot = [0, 0.775] # draw pivot point
gr.fillarea([-0.2, 0.2, 0.2, -0.2], [0.75, 0.75, 0.8, 0.8])
for i in range(2):
x = [pivot[0], pivot[0] + sin(theta[i]) * length[i]]
y = [pivot[1], pivot[1] - cos(theta[i]) * length[i]]
gr.polyline(x, y) # draw rod
gr.setmarkersize(3 * mass[i])
gr.polymarker([x[1]], [y[1]]) # draw bob
pivot = [x[1], y[1]]
gr.updatews()
return
def pendulum(t, theta, omega, acceleration):
gr.clearws()
gr.setviewport(0, 1, 0, 1)
x = [0.5, 0.5 + np.sin(theta) * 0.4]
y = [0.8, 0.8 - np.cos(theta) * 0.4]
# draw pivot point
gr.fillarea([0.46, 0.54, 0.54, 0.46], [0.79, 0.79, 0.81, 0.81]),
gr.setlinecolorind(1)
gr.setlinewidth(2)
gr.polyline(x, y) # draw rod
gr.setmarkersize(5)
gr.setmarkertype(gr.MARKERTYPE_SOLID_CIRCLE)
gr.setmarkercolorind(86)
gr.polymarker([x[1]], [y[1]]) # draw bob
gr.setlinecolorind(4)
V = 0.05 * omega # show angular velocity
gr.drawarrow(x[1], y[1], x[1] + V * np.cos(theta),
y[1] + V * np.sin(theta))
gr.setlinecolorind(2)
A = 0.05 * acceleration # show angular acceleration
gr.drawarrow(x[1], y[1], x[1] + A * np.sin(theta),
y[1] + A * np.cos(theta))
gr.settextfontprec(2, gr.TEXT_PRECISION_STRING)
gr.setcharheight(0.032)
gr.settextcolorind(1)
gr.textext(0.05, 0.95, 'Damped Pendulum')
gr.setcharheight(0.040)
gr.mathtex(0.4, 0.22, '\\omega=\\dot{\\theta}')
gr.mathtex(0.4, 0.1,
'\\dot{\\omega}=-\\gamma\\omega-\\frac{g}{l}sin(\\theta)')
gr.setcharheight(0.028)
gr.textext(0.05, 0.22, 't:%7.2f' % t)
gr.textext(0.05, 0.16, '\\theta:%7.2f' % (theta / np.pi * 180))
gr.settextcolorind(4)
gr.textext(0.05, 0.10, '\\omega:%7.2f' % omega)
gr.settextcolorind(2)
gr.textext(0.05, 0.04, 'y_{A}:%6.2f' % acceleration)
gr.updatews()
def pendulum(t, theta, omega, acceleration):
gr.clearws()
gr.setviewport(0, 1, 0, 1)
x = [0.5, 0.5 + sin(theta) * 0.4]
y = [0.8, 0.8 - cos(theta) * 0.4]
# draw pivot point
gr.fillarea([0.46, 0.54, 0.54, 0.46], [0.79, 0.79, 0.81, 0.81]),
gr.setlinecolorind(1)
gr.setlinewidth(2)
gr.polyline(x, y) # draw rod
gr.setmarkersize(5)
gr.setmarkertype(gr.MARKERTYPE_SOLID_CIRCLE)
gr.setmarkercolorind(86)
gr.polymarker([x[1]], [y[1]]) # draw bob
gr.setlinecolorind(4)
V = 0.05 * omega # show angular velocity
gr.drawarrow(x[1], y[1], x[1] + V*cos(theta), y[1] + V*sin(theta))
gr.setlinecolorind(2)
A = 0.05 * acceleration # show angular acceleration
gr.drawarrow(x[1], y[1], x[1] + A*sin(theta), y[1] + A*cos(theta))
gr.settextfontprec(2, gr.TEXT_PRECISION_STRING)
gr.setcharheight(0.032)
gr.settextcolorind(1)
gr.textext(0.05, 0.95, 'Damped Pendulum')
gr.setcharheight(0.040)
gr.mathtex(0.4, 0.22, '\\omega=\\dot{\\theta}')
gr.mathtex(0.4, 0.1, '\\dot{\\omega}=-\\gamma\\omega-\\frac{g}{l}sin(\\theta)')
gr.setcharheight(0.028)
gr.textext(0.05, 0.22, 't:%7.2f' % t)
gr.textext(0.05, 0.16, '\\theta:%7.2f' % (theta / pi * 180))
gr.settextcolorind(4)
gr.textext(0.05, 0.10, '\\omega:%7.2f' % omega)
gr.settextcolorind(2)
gr.textext(0.05, 0.04, 'y_{A}:%6.2f' % acceleration)
gr.updatews()
def _draw_legend():
global _plt
viewport = _plt.kwargs['viewport']
num_labels = len(_plt.kwargs['labels'])
gr.savestate()
gr.selntran(0)
gr.setscale(0)
w = 0
for label in _plt.kwargs['labels']:
tbx, tby = gr.inqtextext(0, 0, label)
w = max(w, tbx[2])
px = viewport[1] - 0.05 - w
py = viewport[3] - 0.06
gr.setfillintstyle(gr.INTSTYLE_SOLID)
gr.setfillcolorind(0)
gr.fillrect(px - 0.08, px + w + 0.02, py + 0.03, py - 0.03 * num_labels)
gr.setlinetype(1)
gr.setlinecolorind(1)
gr.setlinewidth(1)
gr.drawrect(px - 0.08, px + w + 0.02, py + 0.03, py - 0.03 * num_labels)
i = 0
gr.uselinespec(" ")
for (x, y, z, c, spec) in _plt.args:
gr.savestate()
mask = gr.uselinespec(spec)
if mask in (0, 1, 3, 4, 5):
gr.polyline([px - 0.07, px - 0.01], [py, py])
if mask & 2:
gr.polymarker([px - 0.06, px - 0.02], [py, py])
gr.restorestate()
gr.settextalign(gr.TEXT_HALIGN_LEFT, gr.TEXT_VALIGN_HALF)
if i < num_labels:
gr.textext(px, py, _plt.kwargs['labels'][i])
i += 1
py -= 0.03
gr.selntran(1)
gr.restorestate()
def _draw_polar_axes():
global _plt
viewport = _plt.kwargs['viewport']
diag = ((viewport[1]-viewport[0])**2 + (viewport[3]-viewport[2])**2)**0.5
charheight = max(0.018 * diag, 0.012)
window = _plt.kwargs['window']
r_min, r_max = window[2], window[3]
gr.savestate()
gr.setcharheight(charheight)
gr.setlinetype(gr.LINETYPE_SOLID)
tick = 0.5 * gr.tick(r_min, r_max)
n = int(round((r_max - r_min) / tick + 0.5))
for i in range(n+1):
r = i / n
if i % 2 == 0:
gr.setlinecolorind(88)
if i > 0:
gr.drawarc(-r, r, -r, r, 0, 359)
gr.settextalign(gr.TEXT_HALIGN_LEFT, gr.TEXT_VALIGN_HALF)
x, y = gr.wctondc(0.05, r)
gr.text(x, y, "%g" % (r_min + i * tick))
else:
gr.setlinecolorind(90)
gr.drawarc(-r, r, -r, r, 0, 359)
for alpha in range(0, 360, 45):
sinf = np.sin(np.radians(alpha+90))
cosf = np.cos(np.radians(alpha+90))
gr.polyline([sinf, 0], [cosf, 0])
gr.settextalign(gr.TEXT_HALIGN_CENTER, gr.TEXT_VALIGN_HALF)
x, y = gr.wctondc(1.1 * sinf, 1.1 * cosf)
gr.textext(x, y, "%d^o" % alpha)
gr.restorestate()
def _draw_polar_axes():
global _plt
viewport = _plt.kwargs['viewport']
diag = ((viewport[1]-viewport[0])**2 + (viewport[3]-viewport[2])**2)**0.5
charheight = max(0.018 * diag, 0.012)
window = _plt.kwargs['window']
r_min, r_max = window[2], window[3]
gr.savestate()
gr.setcharheight(charheight)
gr.setlinetype(gr.LINETYPE_SOLID)
tick = 0.5 * gr.tick(r_min, r_max)
n = int(round((r_max - r_min) / tick + 0.5))
for i in range(n+1):
r = i / n
if i % 2 == 0:
gr.setlinecolorind(88)
if i > 0:
gr.drawarc(-r, r, -r, r, 0, 359)
gr.settextalign(gr.TEXT_HALIGN_LEFT, gr.TEXT_VALIGN_HALF)
x, y = gr.wctondc(0.05, r)
gr.text(x, y, "%g" % (r_min + i * tick))
else:
gr.setlinecolorind(90)
gr.drawarc(-r, r, -r, r, 0, 359)
for alpha in range(0, 360, 45):
sinf = np.sin(np.radians(alpha+90))
cosf = np.cos(np.radians(alpha+90))
gr.polyline([sinf, 0], [cosf, 0])
gr.settextalign(gr.TEXT_HALIGN_CENTER, gr.TEXT_VALIGN_HALF)
x, y = gr.wctondc(1.1 * sinf, 1.1 * cosf)
gr.textext(x, y, "%d^o" % alpha)
gr.restorestate()
def draw(self, wsviewport=None):
if self.xvalues is not None:
rangex = (self.xvalues.min(), self.xvalues.max())
else:
rangex = (0, 10)
if self.yvalues is not None:
rangey = gr.adjustrange(self.yvalues.min(), self.yvalues.max())
else:
rangey = (0, 4)
if wsviewport is None:
gr.setwsviewport(0, self.mwidth, 0, self.mheight)
else:
gr.setwsviewport(*wsviewport)
gr.setwswindow(0, self.sizex, 0, self.sizey)
gr.setviewport(0.075 * self.sizex, 0.95 * self.sizex,
0.075 * self.sizey, 0.95 * self.sizey)
gr.setwindow(rangex[0], rangex[1], rangey[0], rangey[1])
gr.setcharheight(0.012)
gr.setfillintstyle(1)
gr.setfillcolorind(0)
gr.fillrect(rangex[0], rangex[1], rangey[0], rangey[1])
if self.xvalues is not None and self.yvalues is not None:
gr.setlinecolorind(2)
gr.polyline(self.xvalues, self.yvalues)
else:
gr.text(0.4 * self.sizex, 0.5 * self.sizey, "no elements selected")
gr.setlinecolorind(1)
gr.axes(0.2, 0.2, rangex[0], rangey[0], 5, 5, 0.0075)
gr.axes(0.2, 0.2, rangex[1], rangey[1], -5, -5, -0.0075)
if self.title is not None:
gr.text(0.8 * self.sizex, 0.9 * self.sizey, self.title)
def draw(self, wsviewport=None):
if self.xvalues is not None:
rangex = (self.xvalues.min(), self.xvalues.max())
else:
rangex = (0, 10)
if self.yvalues is not None:
rangey = gr.adjustrange(self.yvalues.min(), self.yvalues.max())
else:
rangey = (0, 4)
if wsviewport is None:
gr.setwsviewport(0, self.mwidth, 0, self.mheight)
else:
gr.setwsviewport(*wsviewport)
gr.setwswindow(0, self.sizex, 0, self.sizey)
gr.setviewport(0.075 * self.sizex, 0.95 * self.sizex,
0.075 * self.sizey, 0.95 * self.sizey)
gr.setwindow(rangex[0], rangex[1], rangey[0], rangey[1])
gr.setcharheight(0.012)
gr.setfillintstyle(1)
gr.setfillcolorind(0)
gr.fillrect(rangex[0], rangex[1], rangey[0], rangey[1])
if self.xvalues is not None and self.yvalues is not None:
gr.setlinecolorind(2)
gr.polyline(self.xvalues, self.yvalues)
else:
gr.text(0.4 * self.sizex, 0.5 * self.sizey, "no elements selected")
gr.setlinecolorind(1)
gr.axes(0.2, 0.2, rangex[0], rangey[0], 5, 5, 0.0075)
gr.axes(0.2, 0.2, rangex[1], rangey[1], -5, -5, -0.0075)
if self.title is not None:
gr.text(0.8 * self.sizex, 0.9 * self.sizey, self.title)
wf = wave.open(
os.path.join(os.path.dirname(os.path.realpath(__file__)),
'Monty_Python.wav'), 'rb')
pa = pyaudio.PyAudio()
stream = pa.open(format=pa.get_format_from_width(wf.getsampwidth()),
channels=wf.getnchannels(),
rate=wf.getframerate(),
output=True)
gr.setwindow(0, SAMPLES, -30000, 30000)
gr.setviewport(0.05, 0.95, 0.05, 0.95)
gr.setlinecolorind(218)
gr.setfillintstyle(1)
gr.setfillcolorind(208)
data = wf.readframes(SAMPLES)
while data != '' and len(data) == SAMPLES * wf.getsampwidth():
stream.write(data)
amplitudes = numpy.fromstring(data, dtype=numpy.short)
power = abs(scipy.fftpack.fft(amplitudes / 512.0))[:SAMPLES / 2:2] - 30000
gr.clearws()
gr.fillrect(0, SAMPLES, -30000, 30000)
gr.grid(40, 1200, 0, 0, 5, 5)
gr.polyline(range(SAMPLES)[0::4], amplitudes[0::4])
gr.polyline(range(SAMPLES)[0::4], power)
gr.updatews()
data = wf.readframes(SAMPLES)
import gr
SAMPLES = 2048
wf = wave.open(os.path.join(os.path.dirname(os.path.realpath(__file__)),
'Monty_Python.wav'), 'rb')
pa = pyaudio.PyAudio()
stream = pa.open(format=pa.get_format_from_width(wf.getsampwidth()),
channels=wf.getnchannels(), rate=wf.getframerate(), output=True)
gr.setwindow(0, SAMPLES, -30000, 30000)
gr.setviewport(0.05, 0.95, 0.05, 0.95)
gr.setlinecolorind(218)
gr.setfillintstyle(1)
gr.setfillcolorind(208)
data = wf.readframes(SAMPLES)
while data != '' and len(data) == SAMPLES * wf.getsampwidth():
stream.write(data)
amplitudes = numpy.fromstring(data, dtype=numpy.short)
power = abs(numpy.fft.fft(amplitudes / 512.0))[:SAMPLES/2:2] - 30000
gr.clearws()
gr.fillrect(0, SAMPLES, -30000, 30000)
gr.grid(40, 1200, 0, 0, 5, 5)
gr.polyline(range(SAMPLES)[0::4], amplitudes[0::4])
gr.polyline(range(SAMPLES)[0::4], power)
gr.updatews()
data = wf.readframes(SAMPLES)
gr.setscale(1)
start = time.time()
while time.time() - start < 10:
try:
power = get_spectrum()
peakind = signal.find_peaks_cwt(power, np.array([5]))
except (IOError):
continue
gr.clearws()
gr.setlinewidth(1)
gr.setlinecolorind(1)
gr.grid(1, 5, 50, 0, 1, 2)
gr.axes(1, 5, 50, 0, 1, 2, -0.008)
gr.setcharheight(0.020)
gr.text(0.15, 0.965, '100Hz')
gr.text(0.47, 0.965, '1kHz')
gr.text(0.79, 0.965, '10kHz')
gr.setlinecolorind(4)
gr.polyline(f[1:], power[1:])
for p in peakind:
if power[p] > 10:
gr.setlinewidth(2)
gr.setlinecolorind(2)
xe, ye = parabolic(f[p], power, p)
print(xe, ye)
gr.polyline([xe] * 2, [0, ye])
gr.updatews()
def drawGR(self):
if self.visible:
color = gr.inqlinecolorind()
gr.setlinecolorind(GRCOLORS['white'])
gr.polyline(self.x, self.y)
gr.setlinecolorind(color)
def main():
ymin, ymax = 0.0, 5.0
timestep = 0.03
kp, ki, kd = 0.5, 8.0, 0.001
pid = PIDController(kp,
ki,
kd, (ymax - ymin) / 2,
timestep,
min_output=0,
max_output=1.0)
plant = EmaFilter(alpha=0.7)
init_plot_window(0, 1, 0, 1)
queue_size = 100
t = deque(maxlen=queue_size)
y1 = deque(maxlen=queue_size)
y2 = deque(maxlen=queue_size)
counter = 0
target = 0.0
t0 = time()
while True:
start = time()
if counter % 100 == 0:
target = np.random.randint(low=1, high=5)
pid.setpoint = target / ymax # Normalize to lie inside [0, 1]
# Simulation of measured input
plant_value = plant.ema(pid.output * (ymax - ymin))
pid.update(plant_value / (ymax - ymin), time())
t.append(time() - t0)
y1.append(target)
y2.append(pid.output * (ymax - ymin))
if counter > 0:
xmin, xmax = t[0], t[-1]
# ymin, ymax = min(min(y1), min(y2)), max(max(y1), max(y2))
gr.clearws()
gr.setwindow(xmin, xmax, ymin, ymax)
# Target
gr.setlinewidth(2)
linecolor(0, 0, 1.0)
gr.polyline(t, y1)
# Controller value
gr.setlinewidth(2)
linecolor(1.0, 0, 0)
gr.polyline(t, y2)
gr.setlinewidth(1)
linecolor(0, 0, 0)
draw_axes(1.0, 5.0 / 10, xmin, ymin, x_major=2, y_major=2)
gr.updatews()
counter += 1
sleep(max(timestep - (time() - start), 0.0))
from __future__ import print_function
from __future__ import unicode_literals
import sys
import os
import numpy as np
import gr
sys.path.insert(0, os.path.abspath('../src'))
from statistics.rdf import Kernels
x = np.linspace(-1.25, 1.25, 500)
for name in dir(Kernels):
if name.startswith('_') or name == 'bandwidth':
continue
kernel = getattr(Kernels, name)
y = kernel(x)
gr.beginprint(name.lower()+'.svg')
gr.clearws()
gr.setwsviewport(0, 0.1, 0, 0.06)
gr.setviewport(0, 1, 0, 1)
gr.setwindow(-1.25, 1.25, -0.25, 1.25)
gr.grid(0.1, 0.1, 0, 0, 5, 5)
gr.axes(0.1, 0.1, 0, 0, 5, 5, -0.01)
gr.setlinewidth(2)
gr.setlinecolorind(2)
gr.polyline(x, y)
gr.setlinecolorind(1)
gr.setlinewidth(1)
gr.updatews()
gr.endprint()
start = time.time()
while time.time() - start < 10:
try:
power = get_spectrum()
peakind = signal.find_peaks_cwt(power, numpy.array([5]))
except (IOError):
continue
gr.clearws()
gr.setlinewidth(1)
gr.setlinecolorind(1)
gr.grid(1, 5, 50, 0, 1, 2)
gr.axes(1, 5, 50, 0, 1, 2, -0.008)
gr.setcharheight(0.020)
gr.text(0.15, 0.965, '100Hz')
gr.text(0.47, 0.965, '1kHz')
gr.text(0.79, 0.965, '10kHz')
gr.setlinecolorind(4)
gr.polyline(f[1:], power[1:])
for p in peakind:
if power[p] > 10:
gr.setlinewidth(2)
gr.setlinecolorind(2)
xe, ye = parabolic(f[p], power, p)
print(xe, ye)
gr.polyline([xe] * 2, [0, ye])
gr.updatews()
gr.setregenflags(gr.MPL_POSTPONE_UPDATE)
for t in range(100):
plt.cla()
fig = plt.subplot(133)
fig.xaxis.set_ticks([-100, 0, 100])
fig.yaxis.set_ticks([])
plt.ylim([0, 1000])
plt.hist(angles[t], 20, normed=0, facecolor='g', alpha=0.5)
plt.show()
gr.setviewport(0, 0.7, 0, 0.7)
gr.setwindow(0.1, 0.9, 0.05, 0.85)
mogli.draw(molecules[t],
bonds_param=1.15,
camera=((60, 0, 0), (0, 0, 0), (0, 1, 0)))
gr.settextalign(gr.TEXT_HALIGN_CENTER, gr.TEXT_VALIGN_HALF)
gr.text(0.35, 0.7,
'700K (%.1f ps) # of bonds: %d' % (t / 10.0, len(angles[t])))
lens.append(len(angles[t]))
if t > 0:
gr.setwindow(0, 10, 3500, 5000)
gr.setviewport(0.1, 0.6, 0.05, 0.1)
gr.axes(1, 0, 0, 3500, 2, 0, 0.005)
gr.polyline(np.arange(t + 1) / 10.0, lens)
gr.updatews()
def _plot_data(**kwargs):
global _plt
_plt.kwargs.update(kwargs)
if not _plt.args:
return
kind = _plt.kwargs.get('kind', 'line')
if _plt.kwargs['clear']:
gr.clearws()
if kind in ('imshow', 'isosurface'):
_set_viewport(kind, _plt.kwargs['subplot'])
elif not _plt.kwargs['ax']:
_set_viewport(kind, _plt.kwargs['subplot'])
_set_window(kind)
_draw_axes(kind)
gr.setcolormap(_plt.kwargs.get('colormap', gr.COLORMAP_COOLWARM))
gr.uselinespec(" ")
for x, y, z, c, spec in _plt.args:
gr.savestate()
if 'alpha' in _plt.kwargs:
gr.settransparency(_plt.kwargs['alpha'])
if kind == 'line':
mask = gr.uselinespec(spec)
if mask in (0, 1, 3, 4, 5):
gr.polyline(x, y)
if mask & 2:
gr.polymarker(x, y)
elif kind == 'scatter':
gr.setmarkertype(gr.MARKERTYPE_SOLID_CIRCLE)
if z is not None or c is not None:
if c is not None:
c_min = c.min()
c_ptp = c.ptp()
for i in range(len(x)):
if z is not None:
gr.setmarkersize(z[i] / 100.0)
if c is not None:
c_index = 1000 + int(255 * (c[i]-c_min)/c_ptp)
gr.setmarkercolorind(c_index)
gr.polymarker([x[i]], [y[i]])
else:
gr.polymarker(x, y)
elif kind == 'stem':
gr.setlinecolorind(1)
gr.polyline(_plt.kwargs['window'][:2], [0, 0])
gr.setmarkertype(gr.MARKERTYPE_SOLID_CIRCLE)
gr.uselinespec(spec)
for xi, yi in zip(x, y):
gr.polyline([xi, xi], [0, yi])
gr.polymarker(x, y)
elif kind == 'hist':
y_min = _plt.kwargs['window'][2]
for i in range(1, len(y)):
gr.setfillcolorind(989)
gr.setfillintstyle(gr.INTSTYLE_SOLID)
gr.fillrect(x[i-1], x[i], y_min, y[i])
gr.setfillcolorind(1)
gr.setfillintstyle(gr.INTSTYLE_HOLLOW)
gr.fillrect(x[i-1], x[i], y_min, y[i])
elif kind == 'contour':
z_min, z_max = _plt.kwargs['zrange']
gr.setspace(z_min, z_max, 0, 90)
h = [z_min + i/19*(z_max-z_min) for i in range(20)]
if x.shape == y.shape == z.shape:
x, y, z = gr.gridit(x, y, z, 200, 200)
z.shape = np.prod(z.shape)
gr.contour(x, y, h, z, 1000)
_colorbar(0, 20)
elif kind == 'contourf':
if x.shape == y.shape == z.shape:
x, y, z = gr.gridit(x, y, z, 200, 200)
z.shape = (200, 200)
if _plt.kwargs['scale'] & gr.OPTION_Z_LOG != 0:
z = np.log(z)
width, height = z.shape
data = np.array(1000+(z-z.min()) / z.ptp() * 255, np.int32)
x_min, x_max = _plt.kwargs['xrange']
y_min, y_max = _plt.kwargs['yrange']
gr.cellarray(x_min, x_max, y_max, y_min, width, height, data)
_colorbar()
elif kind == 'wireframe':
if x.shape == y.shape == z.shape:
x, y, z = gr.gridit(x, y, z, 50, 50)
gr.setfillcolorind(0)
z.shape = np.prod(z.shape)
gr.surface(x, y, z, gr.OPTION_FILLED_MESH)
_draw_axes(kind, 2)
elif kind == 'surface':
if x.shape == y.shape == z.shape:
x, y, z = gr.gridit(x, y, z, 200, 200)
z.shape = np.prod(z.shape)
if _plt.kwargs.get('accelerate', True):
gr3.surface(x, y, z, gr.OPTION_COLORED_MESH)
else:
gr.surface(x, y, z, gr.OPTION_COLORED_MESH)
_draw_axes(kind, 2)
_colorbar(0.05)
elif kind == 'plot3':
gr.polyline3d(x, y, z)
_draw_axes(kind, 2)
elif kind == 'scatter3':
gr.polymarker3d(x, y, z)
_draw_axes(kind, 2)
elif kind == 'imshow':
_plot_img(z)
elif kind == 'isosurface':
_plot_iso(z)
gr.restorestate()
if kind in ('line', 'scatter', 'stem') and 'labels' in _plt.kwargs:
_draw_legend()
if _plt.kwargs['update']:
gr.updatews()
if gr.isinline():
return gr.show()
wf = wave.open(
os.path.join(os.path.dirname(os.path.realpath(__file__)),
'Monty_Python.wav'), 'rb')
pa = pyaudio.PyAudio()
stream = pa.open(format=pa.get_format_from_width(wf.getsampwidth()),
channels=wf.getnchannels(),
rate=wf.getframerate(),
output=True)
gr.setwindow(0, SAMPLES, -30000, 30000)
gr.setviewport(0.05, 0.95, 0.05, 0.95)
gr.setlinecolorind(218)
gr.setfillintstyle(1)
gr.setfillcolorind(208)
data = wf.readframes(SAMPLES)
while data != '' and len(data) == SAMPLES * wf.getsampwidth():
stream.write(data)
amplitudes = np.frombuffer(data, dtype=np.short)
power = abs(np.fft.fft(amplitudes / 512.0))[:SAMPLES // 2:2] - 30000
gr.clearws()
gr.fillrect(0, SAMPLES, -30000, 30000)
gr.grid(40, 1200, 0, 0, 5, 5)
gr.polyline(np.arange(0, SAMPLES, 4), amplitudes[0::4])
gr.polyline(np.arange(0, SAMPLES, 4), power)
gr.updatews()
data = wf.readframes(SAMPLES)
def _plot_data(**kwargs):
global _plt
_plt.kwargs.update(kwargs)
if not _plt.args:
return
kind = _plt.kwargs.get('kind', 'line')
if _plt.kwargs['clear']:
gr.clearws()
if kind in ('imshow', 'isosurface'):
_set_viewport(kind, _plt.kwargs['subplot'])
elif not _plt.kwargs['ax']:
_set_viewport(kind, _plt.kwargs['subplot'])
_set_window(kind)
if kind == 'polar':
_draw_polar_axes()
else:
_draw_axes(kind)
if 'cmap' in _plt.kwargs:
warnings.warn('The parameter "cmap" has been replaced by "colormap". The value of "cmap" will be ignored.', stacklevel=3)
colormap = _plt.kwargs.get('colormap', gr.COLORMAP_VIRIDIS)
if colormap is not None:
gr.setcolormap(colormap)
gr.uselinespec(" ")
for x, y, z, c, spec in _plt.args:
gr.savestate()
if 'alpha' in _plt.kwargs:
gr.settransparency(_plt.kwargs['alpha'])
if kind == 'line':
mask = gr.uselinespec(spec)
if mask in (0, 1, 3, 4, 5):
gr.polyline(x, y)
if mask & 2:
gr.polymarker(x, y)
elif kind == 'scatter':
gr.setmarkertype(gr.MARKERTYPE_SOLID_CIRCLE)
if z is not None or c is not None:
if c is not None:
c_min = c.min()
c_ptp = c.ptp()
for i in range(len(x)):
if z is not None:
gr.setmarkersize(z[i] / 100.0)
if c is not None:
c_index = 1000 + int(255 * (c[i]-c_min)/c_ptp)
gr.setmarkercolorind(c_index)
gr.polymarker([x[i]], [y[i]])
else:
gr.polymarker(x, y)
elif kind == 'stem':
gr.setlinecolorind(1)
gr.polyline(_plt.kwargs['window'][:2], [0, 0])
gr.setmarkertype(gr.MARKERTYPE_SOLID_CIRCLE)
gr.uselinespec(spec)
for xi, yi in zip(x, y):
gr.polyline([xi, xi], [0, yi])
gr.polymarker(x, y)
elif kind == 'hist':
y_min = _plt.kwargs['window'][2]
for i in range(1, len(y)+1):
gr.setfillcolorind(989)
gr.setfillintstyle(gr.INTSTYLE_SOLID)
gr.fillrect(x[i-1], x[i], y_min, y[i-1])
gr.setfillcolorind(1)
gr.setfillintstyle(gr.INTSTYLE_HOLLOW)
gr.fillrect(x[i-1], x[i], y_min, y[i-1])
elif kind == 'contour':
z_min, z_max = _plt.kwargs['zrange']
gr.setspace(z_min, z_max, 0, 90)
h = [z_min + i/19*(z_max-z_min) for i in range(20)]
if x.shape == y.shape == z.shape:
x, y, z = gr.gridit(x, y, z, 200, 200)
z.shape = np.prod(z.shape)
gr.contour(x, y, h, z, 1000)
_colorbar(0, 20)
elif kind == 'contourf':
z_min, z_max = _plt.kwargs['zrange']
gr.setspace(z_min, z_max, 0, 90)
scale = _plt.kwargs['scale']
gr.setscale(scale)
if x.shape == y.shape == z.shape:
x, y, z = gr.gridit(x, y, z, 200, 200)
z.shape = (200, 200)
gr.surface(x, y, z, gr.OPTION_CELL_ARRAY)
_colorbar()
elif kind == 'hexbin':
nbins = _plt.kwargs.get('nbins', 40)
cntmax = gr.hexbin(x, y, nbins)
if cntmax > 0:
_plt.kwargs['zrange'] = (0, cntmax)
_colorbar()
elif kind == 'heatmap':
x_min, x_max, y_min, y_max = _plt.kwargs['window']
width, height = z.shape
cmap = _colormap()
icmap = np.zeros(256, np.uint32)
for i in range(256):
r, g, b, a = cmap[i]
icmap[i] = (int(r*255) << 0) + (int(g*255) << 8) + (int(b*255) << 16) + (int(a*255) << 24)
z_min, z_max = _plt.kwargs.get('zlim', (np.min(z), np.max(z)))
if z_max < z_min:
z_max, z_min = z_min, z_max
if z_max > z_min:
data = (z - z_min) / (z_max - z_min) * 255
else:
data = np.zeros((width, height))
rgba = np.zeros((width, height), np.uint32)
for x in range(width):
for y in range(height):
rgba[x, y] = icmap[int(data[x, y])]
gr.drawimage(x_min, x_max, y_min, y_max, width, height, rgba)
_colorbar()
elif kind == 'wireframe':
if x.shape == y.shape == z.shape:
x, y, z = gr.gridit(x, y, z, 50, 50)
gr.setfillcolorind(0)
z.shape = np.prod(z.shape)
gr.surface(x, y, z, gr.OPTION_FILLED_MESH)
_draw_axes(kind, 2)
elif kind == 'surface':
if x.shape == y.shape == z.shape:
x, y, z = gr.gridit(x, y, z, 200, 200)
z.shape = np.prod(z.shape)
if _plt.kwargs.get('accelerate', True):
gr3.clear()
gr3.surface(x, y, z, gr.OPTION_COLORED_MESH)
else:
gr.surface(x, y, z, gr.OPTION_COLORED_MESH)
_draw_axes(kind, 2)
_colorbar(0.05)
elif kind == 'plot3':
gr.polyline3d(x, y, z)
_draw_axes(kind, 2)
elif kind == 'scatter3':
gr.polymarker3d(x, y, z)
_draw_axes(kind, 2)
elif kind == 'imshow':
_plot_img(z)
elif kind == 'isosurface':
_plot_iso(z)
elif kind == 'polar':
gr.uselinespec(spec)
_plot_polar(x, y)
elif kind == 'trisurf':
gr.trisurface(x, y, z)
_draw_axes(kind, 2)
_colorbar(0.05)
elif kind == 'tricont':
zmin, zmax = _plt.kwargs['zrange']
levels = np.linspace(zmin, zmax, 20)
gr.tricontour(x, y, z, levels)
gr.restorestate()
if kind in ('line', 'scatter', 'stem') and 'labels' in _plt.kwargs:
_draw_legend()
if _plt.kwargs['update']:
gr.updatews()
if gr.isinline():
return gr.show()
def _plot_data(**kwargs):
global _plt
_plt.kwargs.update(kwargs)
if not _plt.args:
return
kind = _plt.kwargs.get('kind', 'line')
if _plt.kwargs['clear']:
gr.clearws()
if kind in ('imshow', 'isosurface'):
_set_viewport(kind, _plt.kwargs['subplot'])
elif not _plt.kwargs['ax']:
_set_viewport(kind, _plt.kwargs['subplot'])
_set_window(kind)
if kind == 'polar':
_draw_polar_axes()
else:
_draw_axes(kind)
gr.setcolormap(_plt.kwargs.get('colormap', gr.COLORMAP_COOLWARM))
gr.uselinespec(" ")
for x, y, z, c, spec in _plt.args:
gr.savestate()
if 'alpha' in _plt.kwargs:
gr.settransparency(_plt.kwargs['alpha'])
if kind == 'line':
mask = gr.uselinespec(spec)
if mask in (0, 1, 3, 4, 5):
gr.polyline(x, y)
if mask & 2:
gr.polymarker(x, y)
elif kind == 'scatter':
gr.setmarkertype(gr.MARKERTYPE_SOLID_CIRCLE)
if z is not None or c is not None:
if c is not None:
c_min = c.min()
c_ptp = c.ptp()
for i in range(len(x)):
if z is not None:
gr.setmarkersize(z[i] / 100.0)
if c is not None:
c_index = 1000 + int(255 * (c[i]-c_min)/c_ptp)
gr.setmarkercolorind(c_index)
gr.polymarker([x[i]], [y[i]])
else:
gr.polymarker(x, y)
elif kind == 'stem':
gr.setlinecolorind(1)
gr.polyline(_plt.kwargs['window'][:2], [0, 0])
gr.setmarkertype(gr.MARKERTYPE_SOLID_CIRCLE)
gr.uselinespec(spec)
for xi, yi in zip(x, y):
gr.polyline([xi, xi], [0, yi])
gr.polymarker(x, y)
elif kind == 'hist':
y_min = _plt.kwargs['window'][2]
for i in range(1, len(y)+1):
gr.setfillcolorind(989)
gr.setfillintstyle(gr.INTSTYLE_SOLID)
gr.fillrect(x[i-1], x[i], y_min, y[i-1])
gr.setfillcolorind(1)
gr.setfillintstyle(gr.INTSTYLE_HOLLOW)
gr.fillrect(x[i-1], x[i], y_min, y[i-1])
elif kind == 'contour':
z_min, z_max = _plt.kwargs['zrange']
gr.setspace(z_min, z_max, 0, 90)
h = [z_min + i/19*(z_max-z_min) for i in range(20)]
if x.shape == y.shape == z.shape:
x, y, z = gr.gridit(x, y, z, 200, 200)
z.shape = np.prod(z.shape)
gr.contour(x, y, h, z, 1000)
_colorbar(0, 20)
elif kind == 'contourf':
z_min, z_max = _plt.kwargs['zrange']
gr.setspace(z_min, z_max, 0, 90)
if x.shape == y.shape == z.shape:
x, y, z = gr.gridit(x, y, z, 200, 200)
z.shape = (200, 200)
if _plt.kwargs['scale'] & gr.OPTION_Z_LOG != 0:
z = np.log(z)
gr.surface(x, y, z, gr.OPTION_CELL_ARRAY)
_colorbar()
elif kind == 'hexbin':
nbins = _plt.kwargs.get('nbins', 40)
cntmax = gr.hexbin(x, y, nbins)
if cntmax > 0:
_plt.kwargs['zrange'] = (0, cntmax)
_colorbar()
elif kind == 'heatmap':
x_min, x_max, y_min, y_max = _plt.kwargs['window']
width, height = z.shape
cmap = _colormap()
icmap = np.zeros(256, np.uint32)
for i in range(256):
r, g, b, a = cmap[i]
icmap[i] = (int(r*255) << 0) + (int(g*255) << 8) + (int(b*255) << 16) + (int(a*255) << 24)
z_range = np.ptp(z)
if z_range > 0:
data = (z - np.min(z)) / z_range * 255
else:
data = np.zeros((width, height))
rgba = np.zeros((width, height), np.uint32)
for x in range(width):
for y in range(height):
rgba[x, y] = icmap[int(data[x, y])]
gr.drawimage(x_min, x_max, y_min, y_max, width, height, rgba)
_colorbar()
elif kind == 'wireframe':
if x.shape == y.shape == z.shape:
x, y, z = gr.gridit(x, y, z, 50, 50)
gr.setfillcolorind(0)
z.shape = np.prod(z.shape)
gr.surface(x, y, z, gr.OPTION_FILLED_MESH)
_draw_axes(kind, 2)
elif kind == 'surface':
if x.shape == y.shape == z.shape:
x, y, z = gr.gridit(x, y, z, 200, 200)
z.shape = np.prod(z.shape)
if _plt.kwargs.get('accelerate', True):
gr3.clear()
gr3.surface(x, y, z, gr.OPTION_COLORED_MESH)
else:
gr.surface(x, y, z, gr.OPTION_COLORED_MESH)
_draw_axes(kind, 2)
_colorbar(0.05)
elif kind == 'plot3':
gr.polyline3d(x, y, z)
_draw_axes(kind, 2)
elif kind == 'scatter3':
gr.polymarker3d(x, y, z)
_draw_axes(kind, 2)
elif kind == 'imshow':
_plot_img(z)
elif kind == 'isosurface':
_plot_iso(z)
elif kind == 'polar':
gr.uselinespec(spec)
_plot_polar(x, y)
elif kind == 'trisurf':
gr.trisurface(x, y, z)
_draw_axes(kind, 2)
_colorbar(0.05)
gr.restorestate()
if kind in ('line', 'scatter', 'stem') and 'labels' in _plt.kwargs:
_draw_legend()
if _plt.kwargs['update']:
gr.updatews()
if gr.isinline():
return gr.show()
def draw_observation_lines(x, observations):
for (r, b) in observations:
x1, x2 = x[0], x[0] + r * np.cos(b + x[2])
y1, y2 = x[1], x[1] + r * np.sin(b + x[2])
gr.polyline([x1, x2], [y1, y2])
# fig = plt.Fig()
# ax_left = fig[0, 0]
# ax_right = fig[0, 1]
# ax_left._configure_2d()
# ax_left.title.text = 'Current Clamp Recording'
# ax_left.ylabel.text = 'Membrane Potential (mV)'
# ax_left.xlabel.text = 'Time (ms)'
selected = None
# cmap = get_colormap('hsl', value=0.5)
# colors = cmap.map(np.linspace(0.1, 0.9, df.shape[0]))
# colors = cmap.map(np.linspace(0.1, 0.9, CYCLE))
# ax_right.histogram(df.iloc[:,3])
# df2 = df.copy()
df = df.groupby("cycle_no")
gr.clearws()
for i, (group_name, data) in enumerate(df):
color_id = i - int(i / 256) * 256
gr.setlinecolorind(int(color_id))
gr.polyline(data["cycle_cnt"].tolist(), data["val"].tolist())
gr.updatews()
"""
or
for i, (group_name, data) in enumerate(df):
gr.pygr.oplot((data["cycle_cnt"], data["val"]))
"""