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96 lines
3.7 KiB
Python
96 lines
3.7 KiB
Python
6 years ago
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import argparse
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import logging
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import os
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import sys
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def collectPath(sub_folder):
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scripts = {}
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for script_name in [f[:-3] for f in sorted(os.listdir(sub_folder)) if f.endswith('.py') and os.path.isfile(os.path.join(sub_folder, f))]:
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module = __import__(script_name)
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if not hasattr(module, 'path_generator'):
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continue
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scripts[script_name] = module.path_generator
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return scripts
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def show_detail(path, result):
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print("path:{}:".format(path))
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for i, p in enumerate(result):
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print("{:2d} {:5.2f}, {:5.2f}, {:5.2f}".format(i, p[0], p[1], p[2]))
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def generate_c_body(path, params):
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data, mode, dur, entries = params
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result = "\nconst Locations {}_paths[] {{\n".format(path)
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if mode == "shift":
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# data: float[6][N][3]
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assert(len(data) == 6)
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count = len(data[0])
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for i in range(count):
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result += " {" + ", ".join(
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"{{P{idx}X+({x:.2f}), P{idx}Y+({y:.2f}), P{idx}Z+({z:.2f})}}".format(x=data[j][i][0], y=data[j][i][1], z=data[j][i][2], idx=j+1)
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for j in range(6)
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) + "},\n"
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elif mode == "matrix":
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# data: np.matrix[N]
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count = len(data)
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for i in range(count):
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result += " {" + ", \n ".join(
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"{{P{idx}X*{e00:.2f} + P{idx}Y*{e01:.2f} + P{idx}Z*{e02:.2f} + {e03:.2f}, P{idx}X*{e10:.2f} + P{idx}Y*{e11:.2f} + P{idx}Z*{e12:.2f} + {e13:.2f}, P{idx}X*{e20:.2f} + P{idx}Y*{e21:.2f} + P{idx}Z*{e22:.2f} + {e23:.2f}}}".format(
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e00=data[i].item((0,0)), e01=data[i].item((0,1)), e02=data[i].item((0,2)), e03=data[i].item((0,3)),
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e10=data[i].item((1,0)), e11=data[i].item((1,1)), e12=data[i].item((1,2)), e13=data[i].item((1,3)),
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e20=data[i].item((2,0)), e21=data[i].item((2,1)), e22=data[i].item((2,2)), e23=data[i].item((2,3)),
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idx=j+1)
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for j in range(6)
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) + "},\n"
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else:
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raise RuntimeError("Generation mode: {} not supported".format(mode))
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result += "};\n"
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result += "const int {}_entries[] {{ {} }};\n".format(path, ",".join(str(e) for e in entries))
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result += "const MovementTable {name}_table {{{name}_paths, {count}, {dur}, {name}_entries, {ecount} }};".format(name=path, count=count, dur=dur, ecount=len(entries))
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return result
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def generate_c_def(path):
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return """const MovementTable& {name}Table() {{
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return {name}_table;
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}}""".format(name=path)
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if __name__ == '__main__':
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parser = argparse.ArgumentParser(description='pathTool: generate Hexapod path')
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parser.add_argument('--pathDir', metavar='DIR', dest='path_dir', default='path',
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help='path script directory (default: {})'.format('path'))
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parser.add_argument('--outPath', metavar='PATH', dest='out_path', default='output/movement_table.h',
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help='path script directory (default: {})'.format('output/movement_table.h'))
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args = parser.parse_args()
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sys.path.insert(0, args.path_dir)
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# find available path generator
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paths = collectPath(args.path_dir)
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# generate all paths
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results = {path: generator() for path, generator in paths.items()}
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# output results
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with open(args.out_path, "w") as f:
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print("//", file=f)
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print("// This file is generated, dont directly modify content...", file=f)
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print("//", file=f)
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print("namespace {", file=f)
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for path, data in results.items():
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print(generate_c_body(path, data), file=f)
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print("}\n", file=f)
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for path in results:
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print(generate_c_def(path), file=f)
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print("Result written to {}".format(args.out_path))
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