def remove_points_from_db(grid_num, new_border, points_to_remove):
grid_to_trajectories = DB.load_grid_to_trajectories()
trajectories, _ = grid_to_trajectories[grid_num]
grid_to_trajectories[grid_num] = [trajectories, new_border]
try:
db.save_pickle(grid_to_trajectories,
join(DB.path, 'grid_to_trajectories.pkl'))
except IOError:
None
DB.remove_point(points_to_remove)
return
def data_input(data_car, path): # Функция ввода данных пользователем
car_input = input("Введите марку автомобиля: ")
if car_input.isalpha() == False:
print ("Вы ошиблись, марка может состоять только из букв!")
power_input = input ("Введите мощность двигателя: " )
if power_input.isdigit() == False:
print ("Вы ошиблись, мощность может состоять только из цифр!")
data_car [car_input] = power_input
save_pickle(data_car, path)
def generate_robot_positions(number_of_positions=1000):
"""
Function to generate random positions for the base of the robot.
The positions will be saved and a db_visited_bases will be saved (bool array - False).
"""
rp = rail_place.rand_rail(turb.config, number_of_positions)
keys = [tuple(p.getPSAlpha()) for p in rp]
psalpha_dict = dict(zip(keys, range(0, len(keys))))
visited_bases = dict(zip(range(0, len(keys)), zeros(len(keys),
dtype=bool)))
db.save_pickle(psalpha_dict, join(path, 'bases_to_num.pkl'))
db.save_pickle(visited_bases, join(path, 'visited_bases.pkl'))
return
def grid_add(vis):
"""
After db_grid creation, some grids may be added.
"""
grid_to_mp = DB.load_grid_to_mp()
grid_to_trajectories = DB.load_grid_to_trajectories()
meridians = DB.load_grid_meridian()
parallels = DB.load_grid_parallel()
s = vis.plot_lists(meridians, 'meridians')
s = vis.plot(meridians[0], 'meridians', color=(0, 1, 0))
s = vis.plot(parallels[0], 'parallels', color=(0, 1, 0))
s = vis.plot_lists(parallels, 'parallels')
for key, value in grid_to_mp.iteritems():
rays = DB.compute_rays_from_parallels(grid_to_trajectories[key][0],
grid_to_trajectories[key][1])
s = vis.plot_lists(rays, 'points', color=tuple(random.rand(3)))
while True:
grid_to_mp = DB.load_grid_to_mp()
grid_to_trajectories = DB.load_grid_to_trajectories()
x = raw_input('Add: [(m1,m2),(p1,p2)]')
grid = ast.literal_eval(x)
key = max(grid_to_mp.keys()) + 1
trajectories_in_grid, border = DB.get_points_in_grid(
[meridians[grid[0][0]], meridians[grid[0][1]]],
[parallels[grid[1][0]], parallels[grid[1][1]]])
rays = DB.compute_rays_from_parallels(trajectories_in_grid, border)
vis.plot_lists(rays, 'rays')
x = raw_input('Save ? (y,n)')
if x == 'y':
bases = DB.get_bases_trajectories(trajectories_in_grid)
grid_to_mp[key] = grid
grid_to_trajectories[key] = [trajectories_in_grid, border]
try:
db.save_pickle(grid_to_mp, join(DB.path, 'grid_to_mp.pkl'))
except IOError:
None
try:
db.save_pickle(grid_to_trajectories,
join(DB.path, 'grid_to_trajectories.pkl'))
except IOError:
None
def generate_db():
""" Function to generate the trajectory_db and joints_db.
It can be called multiple times by different process.
"""
turb.robot.GetLink('Flame').Enable(False)
path_seg = join(path, 'seg')
try:
makedirs(path_seg)
except OSError as exception:
if exception.errno != errno.EEXIST:
raise
blade = DB.load_blade()
ptn = DB.load_points_to_num()
points = map(lambda x: blade.compute_ray_from_point(x), ptn.keys())
while True:
visited_bases = db.load_pickle(join(path, 'visited_bases.pkl'))
base_num = None
for key, value in visited_bases.iteritems():
if value == False:
visited_bases[key] = True
base_num = key
break
if base_num is None:
break
db.save_pickle(visited_bases, join(path, 'visited_bases.pkl'))
del visited_bases
ptb = DB.generate_db(base_num, points, do_side_filter)
if ptb == None:
continue
print 'saving base_num: ', base_num
try:
db.save_pickle(ptb, join(path_seg, str(base_num) + '.pkl'))
except IOError:
raise 'Error saving db_base_to_seg.pkl'
return
def generate_db_joints():
"""
Function to generate the trajectory_db and joints_db.
It can be called multiple times by different process.
"""
turb.robot.GetLink('Flame').Enable(False)
path_seg = join(path, 'seg')
try:
makedirs(path_seg)
except OSError as exception:
if exception.errno != errno.EEXIST:
raise
while True:
visited_bases = db.load_pickle(join(path, 'visited_bases.pkl'))
base_num = None
for key, value in visited_bases.iteritems():
if value == False:
visited_bases[key] = True
base_num = key
break
if base_num is None:
break
db.save_pickle(visited_bases, join(path, 'visited_bases.pkl'))
del visited_bases
base_to_seg = DB.generate_db_joints(
base_num, minimal_number_of_points_per_trajectory, do_side_filter)
if base_to_seg == None:
continue
print 'saving base_num: ', base_num
try:
db.save_pickle(base_to_seg, join(path_seg, str(base_num) + '.pkl'))
except IOError:
raise 'Error saving db_base_to_seg.pkl'
return
def grid_pick(vis):
"""
After the db_grid creation, some grids may not make sense.
Iteractive remove those grids with this function.
"""
grid_to_mp = DB.load_grid_to_mp()
grid_to_mp_copy = deepcopy(grid_to_mp)
grid_to_trajectories = DB.load_grid_to_trajectories()
meridians = DB.load_grid_meridian()
parallels = DB.load_grid_parallel()
for key, value in grid_to_mp.iteritems():
rays = DB.compute_rays_from_parallels(grid_to_trajectories[key][0],
grid_to_trajectories[key][1])
s = vis.plot(meridians[value[0][0]], 'meridian')
s = vis.plot(meridians[value[0][1]], 'meridian')
s = vis.plot(parallels[value[1][0]], 'parallel')
s = vis.plot(parallels[value[1][1]], 'parallel')
s = vis.plot_lists(rays, 'points', color=(1, 0, 0))
x = raw_input('Remove base ? (y,n)')
if x == 'y':
grid_to_mp_copy.pop(key, None)
grid_to_trajectories.pop(key, None)
print "Grid removed"
vis.remove_points('meridian')
vis.remove_points('parallel')
vis.remove_points('points')
try:
db.save_pickle(grid_to_mp_copy, join(DB.path, 'grid_to_mp.pkl'))
except IOError:
None
try:
db.save_pickle(grid_to_trajectories,
join(DB.path, 'grid_to_trajectories.pkl'))
except IOError:
None
return
def make_validate_file():
grids = []
gr = DB.info.findall('grids')
for g in gr:
grids += eval('blade_coverage.' + g.text + '()')
grids = list(set(grids))
db_grids = DB.get_dbs_grids()
grid_db_lines = dict()
for grid in grids:
db_lines = dict()
for dbi in db_grids.keys():
if grid in db_grids[dbi]:
line_grid = db.load_pickle(join(dbi, 'rails', 'line_grid.pkl'))
visited_lines = dict()
lines = line_grid.keys()
for line in lines:
if grid in line_grid[line]:
visited_lines[line] = 0
db_lines[dbi] = visited_lines
grid_db_lines[grid] = db_lines
db.save_pickle(grid_db_lines, join(DB.path, 'visited_lines.pkl'))
def merge_validation():
visited_lines = db.load_pickle(join(DB.path, 'visited_lines.pkl'))
onlyfiles = [
f for f in listdir(join(DB.path, 'validation'))
if isfile(join(DB.path, 'validation', f))
]
for afile in onlyfiles:
filename, file_extension = splitext(afile)
if file_extension == '.pkl':
try:
seg = db.load_pickle(join(DB.path, 'validation', afile))
except EOFError:
continue
grid = int(
filename[filename.find('_') +
1:][(filename[filename.find('_') + 1:]).find('_') +
1:])
for dbi in seg.keys():
line_grid = db.load_pickle(join(dbi, 'rails', 'line_grid.pkl'))
line_grid_dist = db.load_pickle(
join(dbi, 'rails', 'line_grid_dist.pkl'))
for line, ans in seg[dbi].iteritems():
if ans != 0:
try:
visited_lines[grid][dbi][line] = True
except KeyError:
None
if ans == -1:
try:
line_grid[line] = line_grid[line] - {grid}
_ = line_grid_dist[line].pop(grid, None)
except KeyError:
continue
db.save_pickle(line_grid, join(dbi, 'rails', 'line_grid.pkl'))
db.save_pickle(line_grid_dist,
join(dbi, 'rails', 'line_grid_dist.pkl'))
db.save_pickle(visited_lines, join(DB.path, 'visited_lines.pkl'))
return
def validate_bases():
"""
Function to validate the bases generated.
It can be called multiple times by different process.
"""
try:
makedirs(join(DB.path, 'validation'))
except OSError as exception:
if exception.errno != errno.EEXIST:
raise
turb.robot.GetLink('Flame').Enable(False)
while True:
visited_lines = db.load_pickle(join(DB.path, 'visited_lines.pkl'))
if len(visited_lines.keys()) == 0: return
grid = visited_lines.keys()[0]
visited_grid = visited_lines.pop(grid, None)
db.save_pickle(
visited_grid,
join(DB.path, 'validation', 'visited_grid_' + str(grid) + '.pkl'))
db.save_pickle(visited_lines, join(DB.path, 'visited_lines.pkl'))
del visited_lines
while True:
dbs = visited_grid.keys()
for dbi in dbs:
lines = visited_grid[dbi].keys()
for line in lines:
if visited_grid[dbi][line] == 0:
db_to_test = dbi
line_to_test = line
break
else:
continue
break
else:
break
dbs = DB.info.findall('db')
for dbi in dbs:
if dbi.find('name').text == basename(db_to_test):
DB.T = DB._extract_T(dbi)
DB.db_main_path = join(DB.path, dbi.find('path').text)
line_grid_dist = db.load_pickle(
join(db_to_test, 'rails', 'line_grid_dist.pkl'))
try:
point_near, distance, distance_str = line_grid_dist[
line_to_test][grid]
except KeyError:
continue
x1 = line_to_test[0][0]
y1 = line_to_test[0][1]
p = mathtools.closest_point_line_3d(array(line_to_test[0]),
array(line_to_test[1]),
point_near)
psa = (x1, sign(p[1]) * linalg.norm(p - line_to_test[0]),
sign(p[1]) * atan2(x1 - p[0], abs(p[1] - y1)))
res = blade_coverage.base_grid_validation(turb, psa, DB, grid)
if not res.success:
visited_grid[db_to_test][line_to_test] = -1
db.save_pickle(
visited_grid,
join(DB.path, 'validation',
'visited_grid_' + str(grid) + '.pkl'))
else:
visited_grid[db_to_test][line_to_test] = 1
db.save_pickle(
visited_grid,
join(DB.path, 'validation',
'visited_grid_' + str(grid) + '.pkl'))
return
def compile_db(directory):
db_main = DB.compile_db(directory)
db.save_pickle(db_main, join(DB.db_main_path, 'db.pkl'))
return
def create_db_from_segments(directory):
db_main = DB.create_db_from_segments(directory)
db.save_pickle(db_main, join(DB.db_main_path, 'db.pkl'))
return
