rename folders

software/path tool/src/main.py

@@ -0,0 +1,153 @@
+import argparse
+import logging
+import os
+import sys
+
+import config
+import kinematics
+from path.lib import point_rotate_z, matrix_mul
+
+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
+
+
+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))
+
+