def __repr__(self):
if len(self.d.items()) == 0:
return "Empty DDist"
else:
dictRepr = reduce(operator.add,
[util.prettyString(k)+": "+\
util.prettyString(p)+", " \
for (k, p) in self.d.items()])
return "DDist(" + dictRepr[:-2] + ")"
def __repr__(self):
if len(self.d.items()) == 0:
return "Empty DDist"
else:
dictRepr = reduce(operator.add,
[util.prettyString(k)+": "+\
util.prettyString(p)+", " \
for (k, p) in self.d.items()])
return "DDist(" + dictRepr[:-2] + ")"
def __str__(self):
return (
"Sonar: "
+ util.prettyString(self.sonars)
+ "; Odo: "
+ util.prettyString(self.odometry)
+ "; Analog: "
+ util.prettyString(self.analogInputs)
)
def plotSlime(self):
maxT = len(self.slimeData)
if maxT == 0:
print 'No slime to plot'
return
slimeX = [p[0] for p in self.slimeData]
slimeY = [p[1] for p in self.slimeData]
(xLower, xUpper, yLower,
yUpper) = self.getEquallyScaledBounds(slimeX, slimeY)
xRange = xUpper - xLower
yRange = yUpper - yLower
if util.within(xRange, 0, 0.001):
return
if self.slimeWindow:
self.slimeWindow.destroy()
self.slimeWindow = dw.DrawingWindow(\
self.windowSize, self.windowSize, xLower, xUpper, yLower, yUpper,
'slime')
# Draw dimensions
self.slimeWindow.drawText(xLower + 0.1 * xRange,
yLower + 0.05 * yRange,
util.prettyString(xLower),
color="black")
self.slimeWindow.drawText(xUpper - 0.1 * xRange,
yLower + 0.05 * yRange,
util.prettyString(xUpper),
color="black")
self.slimeWindow.drawText(xLower + 0.05 * xRange,
yLower + 0.1 * yRange,
util.prettyString(yLower),
color="black")
self.slimeWindow.drawText(xLower + 0.05 * xRange,
yUpper - 0.1 * yRange,
util.prettyString(yUpper),
color="black")
# Draw axes
xMin = min(slimeX)
xMax = max(slimeX)
yMin = min(slimeY)
yMax = max(slimeY)
self.slimeWindow.drawLineSeg(xMin, yMin, xUpper - 0.1 * xRange, yMin,
'gray')
self.slimeWindow.drawLineSeg(xMin, yMin, xMin, yUpper - 0.1 * yRange,
'gray')
# Draw slime
for i in range(maxT):
self.slimeWindow.drawRobot(
slimeX[i], slimeY[i], slimeX[i], slimeY[i],
colors.RGBToPyColor(colors.HSVtoRGB(i * 360.0 / maxT, 1.0,
1.0)), 2)
def __str__(self):
result = 'DE: y[n] = '
for i in range(len(self.cCoeffs)):
result += util.prettyString(self.cCoeffs[i])+'y[n-'+str(i+1)+'] + '
for i in range(len(self.dCoeffs)):
if i == 0:
result += util.prettyString(self.dCoeffs[i])+'x[n] + '
else:
result +=util.prettyString(self.dCoeffs[i])+'x[n-'+str(i)+'] + '
return result[:-2]
def __str__(self):
result = 'DE: y[n] = '
for i in range(len(self.cCoeffs)):
result += util.prettyString(
self.cCoeffs[i]) + 'y[n-' + str(i + 1) + '] + '
for i in range(len(self.dCoeffs)):
if i == 0:
result += util.prettyString(self.dCoeffs[i]) + 'x[n] + '
else:
result += util.prettyString(
self.dCoeffs[i]) + 'x[n-' + str(i) + '] + '
return result[:-2]
def plotSlime(self):
maxT = len(self.slimeData)
if maxT == 0:
print 'No slime to plot'
return
slimeX = [p[0] for p in self.slimeData]
slimeY = [p[1] for p in self.slimeData]
(xLower, xUpper, yLower, yUpper) = self.getEquallyScaledBounds(slimeX,
slimeY)
xRange = xUpper - xLower
yRange = yUpper - yLower
if util.within(xRange, 0, 0.001):
return
if self.slimeWindow:
self.slimeWindow.destroy()
self.slimeWindow = dw.DrawingWindow(\
self.windowSize, self.windowSize, xLower, xUpper, yLower, yUpper,
'slime')
# Draw dimensions
self.slimeWindow.drawText(xLower + 0.1 * xRange, yLower + 0.05 * yRange,
util.prettyString(xLower), color = "black")
self.slimeWindow.drawText(xUpper - 0.1 * xRange, yLower + 0.05 * yRange,
util.prettyString(xUpper), color = "black")
self.slimeWindow.drawText(xLower + 0.05 * xRange, yLower + 0.1 * yRange,
util.prettyString(yLower), color = "black")
self.slimeWindow.drawText(xLower + 0.05 * xRange, yUpper - 0.1 * yRange,
util.prettyString(yUpper), color = "black")
# Draw axes
xMin = min(slimeX)
xMax = max(slimeX)
yMin = min(slimeY)
yMax = max(slimeY)
self.slimeWindow.drawLineSeg(xMin, yMin, xUpper - 0.1 * xRange, yMin,
'gray')
self.slimeWindow.drawLineSeg(xMin, yMin, xMin, yUpper - 0.1 * yRange,
'gray')
# Draw slime
for i in range(maxT):
self.slimeWindow.drawRobot(slimeX[i], slimeY[i],
slimeX[i], slimeY[i],
colors.RGBToPyColor(colors.HSVtoRGB(i*360.0/maxT, 1.0, 1.0)),
2)
def printDebugInfo(self, depth, state, nextState, inp, out, debugParams):
"""
Default method for printing out all of the debugging
information for a primitive machine.
"""
self.guaranteeName()
if debugParams.verbose and not debugParams.compact:
if debugParams.printInput:
print ' '*depth, self.name, "In:", \
util.prettyString(inp), \
"Out:", util.prettyString(out), \
"Next State:", util.prettyString(nextState)
else:
print ' '*depth, self.name, \
"Out:", util.prettyString(out), \
"Next State:", util.prettyString(nextState)
self.doTraceTasks(inp, state, out, debugParams)
def getNextValues(self, state, inp):
out = None
first = True
while not out in self.legalInputs:
if not first: print 'Illegal input:', out
out = raw_input('Type an input (' + \
util.prettyString(self.legalInputs) + \
' ): ')
if not out == 'quit': out = int(out)
first = False
return (out == 'quit', out)
def getNextValues(self, state, inp):
out = None
first = True
while not out in self.legalInputs:
if not first: print 'Illegal input:', out
out = raw_input('Type an input (' + \
util.prettyString(self.legalInputs) + \
' ): ')
if not out == 'quit': out = int(out)
first = False
return (out == 'quit', out)
def getNextValues(self, state, inp):
out = None
first = True
while not out in self.legalInputs:
if not first:
print "Illegal input:", out
out = raw_input("Type an input (" + util.prettyString(self.legalInputs) + " ): ")
if not out == "quit":
out = int(out)
first = False
return (out == "quit", out)
def __str__(self):
return 'Act: ' + '(fvel = ' + util.prettyString(self.fvel) + \
', rvel = ' + util.prettyString(self.rvel) + ')'
def __str__(self):
return 'Sonar: ' + util.prettyString(self.sonars) + \
"; Odo: " + util.prettyString(self.odometry) +\
"; Analog: " + util.prettyString(self.analogInputs)
def __str__(self):
return "Act: " + "(fvel = " + util.prettyString(self.fvel) + ", rvel = " + util.prettyString(self.rvel) + ")"
def __str__(self):
return 'Act: ' + '(fvel = ' + util.prettyString(self.fvel) + \
', rvel = ' + util.prettyString(self.rvel) + ')'
def __str__(self):
return 'Circuit: '+util.prettyString(self.components)
def __str__(self):
return 'Circuit: ' + util.prettyString(self.components)
