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154 lines
5.4 KiB
Python

6 years ago
import argparse
import logging
import os
import sys
import config
import kinematics
from path.lib import point_rotate_z, matrix_mul
6 years ago
def collectPath(sub_folder):
scripts = {}
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))]:
module = __import__(script_name)
if not hasattr(module, 'path_generator'):
continue
scripts[script_name] = module.path_generator
return scripts
def show_detail(path, result):
print("path:{}:".format(path))
for i, p in enumerate(result):
print("{:2d} {:5.2f}, {:5.2f}, {:5.2f}".format(i, p[0], p[1], p[2]))
def verify_points(pt):
angles = kinematics.ik(pt)
ok = True
failed = []
for i, angle in enumerate(angles):
if angle < config.angleLimitation[i][0] or angle > config.angleLimitation[i][1]:
ok = False
failed.append((i, angle))
return ok, failed
def verify_path(path, params):
data, mode, _, _ = params
print("Verifying {}...".format(path))
all_ok = True
if mode == "shift":
# data: float[6][N][3]
assert(len(data) == 6)
for i in range(len(data[0])):
for j in range(6):
pt = [config.defaultPosition[j][k] - config.mountPosition[j][k] + data[j][i][k] for k in range(3)]
pt = point_rotate_z(pt, config.defaultAngle[j])
ok, failed = verify_points(pt)
if not ok:
print("{}, {} failed: {}".format(i, j, failed))
all_ok = False
elif mode == "matrix":
# data: np.matrix[N]
for i in range(len(data)):
for j in range(6):
pt = matrix_mul(data[i], config.defaultPosition[j])
for k in range(3):
pt[k] -= config.mountPosition[j][k]
pt = point_rotate_z(pt, config.defaultAngle[j])
ok, failed = verify_points(pt)
if not ok:
print("{}, {} failed: {}".format(i, j, failed))
all_ok = False
return all_ok
6 years ago
def generate_c_body(path, params):
data, mode, dur, entries = params
result = "\nconst Locations {}_paths[] {{\n".format(path)
if mode == "shift":
# data: float[6][N][3]
assert(len(data) == 6)
count = len(data[0])
for i in range(count):
result += " {" + ", ".join(
"{{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)
for j in range(6)
) + "},\n"
elif mode == "matrix":
# data: np.matrix[N]
count = len(data)
for i in range(count):
result += " {" + ", \n ".join(
"{{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(
e00=data[i].item((0,0)), e01=data[i].item((0,1)), e02=data[i].item((0,2)), e03=data[i].item((0,3)),
e10=data[i].item((1,0)), e11=data[i].item((1,1)), e12=data[i].item((1,2)), e13=data[i].item((1,3)),
e20=data[i].item((2,0)), e21=data[i].item((2,1)), e22=data[i].item((2,2)), e23=data[i].item((2,3)),
idx=j+1)
for j in range(6)
) + "},\n"
else:
raise RuntimeError("Generation mode: {} not supported".format(mode))
result += "};\n"
result += "const int {}_entries[] {{ {} }};\n".format(path, ",".join(str(e) for e in entries))
result += "const MovementTable {name}_table {{{name}_paths, {count}, {dur}, {name}_entries, {ecount} }};".format(name=path, count=count, dur=dur, ecount=len(entries))
return result
def generate_c_def(path):
return """const MovementTable& {name}Table() {{
return {name}_table;
}}""".format(name=path)
if __name__ == '__main__':
parser = argparse.ArgumentParser(description='pathTool: generate Hexapod path')
parser.add_argument('--pathDir', metavar='DIR', dest='path_dir', default='path',
help='path script directory (default: {})'.format('path'))
parser.add_argument('--outPath', metavar='PATH', dest='out_path', default='output/movement_table.h',
help='path script directory (default: {})'.format('output/movement_table.h'))
args = parser.parse_args()
sys.path.insert(0, args.path_dir)
# find available path generator
paths = collectPath(args.path_dir)
# generate all paths
results = {path: generator() for path, generator in paths.items()}
# verify all path is within safe angles
verified = [1 for path, data in results.items() if not verify_path(path, data)]
if len(verified) > 0:
print("There were errors, exit...")
else:
# output results
with open(args.out_path, "w") as f:
print("//", file=f)
print("// This file is generated, dont directly modify content...", file=f)
print("//", file=f)
print("namespace {", file=f)
for path, data in results.items():
print(generate_c_body(path, data), file=f)
print("}\n", file=f)
for path in results:
print(generate_c_def(path), file=f)
print("Result written to {}".format(args.out_path))
6 years ago