Run yapf on Spline UI
Signed-off-by: Ravago Jones <ravagojones@gmail.com>
Change-Id: I36b9b9f5da164496b3e97791ba4e6c6bb6c863d1
diff --git a/frc971/control_loops/python/graph.py b/frc971/control_loops/python/graph.py
index 2801f88..77288ea 100644
--- a/frc971/control_loops/python/graph.py
+++ b/frc971/control_loops/python/graph.py
@@ -12,6 +12,7 @@
FigureCanvas)
from matplotlib.figure import Figure
+
class Graph(Gtk.Bin):
def __init__(self):
super(Graph, self).__init__()
@@ -35,7 +36,7 @@
try:
self.queue.get_nowait()
except queue.Empty:
- pass # was already empty
+ pass # was already empty
# replace with new request
self.queue.put_nowait(new_copy)
diff --git a/frc971/control_loops/python/path_edit.py b/frc971/control_loops/python/path_edit.py
index 5070988..788bb23 100755
--- a/frc971/control_loops/python/path_edit.py
+++ b/frc971/control_loops/python/path_edit.py
@@ -28,12 +28,11 @@
class FieldWidget(Gtk.DrawingArea):
"""Create a GTK+ widget on which we will draw using Cairo"""
-
def __init__(self):
super(FieldWidget, self).__init__()
self.set_field(FIELD)
- self.set_size_request(
- self.mToPx(self.field.width), self.mToPx(self.field.length))
+ self.set_size_request(self.mToPx(self.field.width),
+ self.mToPx(self.field.length))
self.points = Points()
self.graph = Graph()
@@ -90,9 +89,10 @@
@property
def field_transform(self):
field_transform = cairo.Matrix()
- field_transform.scale(1, -1) # flipped y-axis
+ field_transform.scale(1, -1) # flipped y-axis
field_transform.scale(1 / self.pxToM_scale(), 1 / self.pxToM_scale())
- field_transform.translate(self.field.width / 2, -1 * self.field.length / 2)
+ field_transform.translate(self.field.width / 2,
+ -1 * self.field.length / 2)
return field_transform
# returns the scale from pixels in field space to meters in field space
@@ -109,19 +109,16 @@
def draw_robot_at_point(self, cr, i, p, spline):
p1 = [spline.Point(i)[0], spline.Point(i)[1]]
- p2 = [
- spline.Point(i + p)[0],
- spline.Point(i + p)[1]
- ]
+ p2 = [spline.Point(i + p)[0], spline.Point(i + p)[1]]
#Calculate Robot
distance = np.sqrt((p2[1] - p1[1])**2 + (p2[0] - p1[0])**2)
x_difference_o = p2[0] - p1[0]
y_difference_o = p2[1] - p1[1]
- x_difference = x_difference_o * (
- self.field.robot.length / 2) / distance
- y_difference = y_difference_o * (
- self.field.robot.length / 2) / distance
+ x_difference = x_difference_o * (self.field.robot.length /
+ 2) / distance
+ y_difference = y_difference_o * (self.field.robot.length /
+ 2) / distance
front_middle = []
front_middle.append(p1[0] + x_difference)
@@ -134,10 +131,8 @@
slope = [-(1 / x_difference_o) / (1 / y_difference_o)]
angle = np.arctan(slope)
- x_difference = np.sin(angle[0]) * (
- self.field.robot.width / 2)
- y_difference = np.cos(angle[0]) * (
- self.field.robot.width / 2)
+ x_difference = np.sin(angle[0]) * (self.field.robot.width / 2)
+ y_difference = np.cos(angle[0]) * (self.field.robot.width / 2)
front_1 = []
front_1.append(front_middle[0] - x_difference)
@@ -155,20 +150,20 @@
back_2.append(back_middle[0] + x_difference)
back_2.append(back_middle[1] + y_difference)
- x_difference = x_difference_o * (
- self.field.robot.length / 2 + ROBOT_SIDE_TO_BALL_CENTER) / distance
- y_difference = y_difference_o * (
- self.field.robot.length / 2 + ROBOT_SIDE_TO_BALL_CENTER) / distance
+ x_difference = x_difference_o * (self.field.robot.length / 2 +
+ ROBOT_SIDE_TO_BALL_CENTER) / distance
+ y_difference = y_difference_o * (self.field.robot.length / 2 +
+ ROBOT_SIDE_TO_BALL_CENTER) / distance
#Calculate Ball
ball_center = []
ball_center.append(p1[0] + x_difference)
ball_center.append(p1[1] + y_difference)
- x_difference = x_difference_o * (
- self.field.robot.length / 2 + ROBOT_SIDE_TO_HATCH_PANEL) / distance
- y_difference = y_difference_o * (
- self.field.robot.length / 2 + ROBOT_SIDE_TO_HATCH_PANEL) / distance
+ x_difference = x_difference_o * (self.field.robot.length / 2 +
+ ROBOT_SIDE_TO_HATCH_PANEL) / distance
+ y_difference = y_difference_o * (self.field.robot.length / 2 +
+ ROBOT_SIDE_TO_HATCH_PANEL) / distance
#Calculate Panel
panel_center = []
@@ -199,8 +194,7 @@
set_color(cr, palette["ORANGE"], 0.5)
cr.move_to(back_middle[0], back_middle[1])
cr.line_to(ball_center[0], ball_center[1])
- cr.arc(ball_center[0], ball_center[1], BALL_RADIUS, 0,
- 2 * np.pi)
+ cr.arc(ball_center[0], ball_center[1], BALL_RADIUS, 0, 2 * np.pi)
cr.stroke()
#Draw Panel
@@ -212,15 +206,17 @@
cr.set_source_rgba(0, 0, 0, 1)
def do_draw(self, cr): # main
- cr.set_matrix(self.field_transform.multiply(self.zoom_transform).multiply(cr.get_matrix()))
+ cr.set_matrix(
+ self.field_transform.multiply(self.zoom_transform).multiply(
+ cr.get_matrix()))
cr.save()
set_color(cr, palette["BLACK"])
cr.set_line_width(self.pxToM(1))
- cr.rectangle(-0.5 * self.field.width, -0.5 * self.field.length, self.field.width,
- self.field.length)
+ cr.rectangle(-0.5 * self.field.width, -0.5 * self.field.length,
+ self.field.width, self.field.length)
cr.set_line_join(cairo.LINE_JOIN_ROUND)
cr.stroke()
@@ -248,11 +244,11 @@
if self.points.getSplines():
self.draw_splines(cr)
for i, points in enumerate(self.points.getSplines()):
- points = [
- np.array([x, y])
- for (x, y) in points
- ]
- draw_control_points(cr, points, width=self.pxToM(5), radius=self.pxToM(2))
+ points = [np.array([x, y]) for (x, y) in points]
+ draw_control_points(cr,
+ points,
+ width=self.pxToM(5),
+ radius=self.pxToM(2))
p0, p1, p2, p3, p4, p5 = points
first_tangent = p0 + 2.0 * (p1 - p0)
@@ -285,9 +281,7 @@
cr.move_to(
spline.Point(k - 0.008)[0],
spline.Point(k - 0.008)[1])
- cr.line_to(
- spline.Point(k)[0],
- spline.Point(k)[1])
+ cr.line_to(spline.Point(k)[0], spline.Point(k)[1])
cr.stroke()
if i == 0:
self.draw_robot_at_point(cr, 0, 0.008, spline)
@@ -345,8 +339,8 @@
self.graph.schedule_recalculate(self.points)
def attempt_append_multispline(self):
- if (len(self.multispline_stack) == 0 or
- self.points.toMultiSpline() != self.multispline_stack[-1]):
+ if (len(self.multispline_stack) == 0
+ or self.points.toMultiSpline() != self.multispline_stack[-1]):
self.multispline_stack.append(self.points.toMultiSpline())
def clear_graph(self, should_attempt_append=True):
@@ -361,26 +355,24 @@
#redraw entire graph
self.queue_draw()
-
def undo(self):
try:
self.multispline_stack.pop()
except IndexError:
return
if len(self.multispline_stack) == 0:
- self.clear_graph(should_attempt_append=False) #clear, don't do anything
+ self.clear_graph(
+ should_attempt_append=False) #clear, don't do anything
return
multispline = self.multispline_stack[-1]
if multispline['spline_count'] > 0:
self.points.fromMultiSpline(multispline)
- self.mode= Mode.kEditing
+ self.mode = Mode.kEditing
else:
self.mode = Mode.kPlacing
self.clear_graph(should_attempt_append=False)
self.queue_draw()
-
-
def do_key_press_event(self, event):
keyval = Gdk.keyval_to_lower(event.keyval)
if keyval == Gdk.KEY_z and event.state & Gdk.ModifierType.CONTROL_MASK:
@@ -406,8 +398,7 @@
if self.mode == Mode.kEditing:
if self.index_of_edit > -1:
self.points.setSplines(self.spline_edit, self.index_of_edit,
- self.mousex,
- self.mousey)
+ self.mousex, self.mousey)
self.points.splineExtrapolate(self.spline_edit)
@@ -422,8 +413,7 @@
event.x, event.y)
if self.mode == Mode.kPlacing:
- if self.points.add_point(
- self.mousex, self.mousey):
+ if self.points.add_point(self.mousex, self.mousey):
self.mode = Mode.kEditing
self.graph.schedule_recalculate(self.points)
elif self.mode == Mode.kEditing:
@@ -464,8 +454,7 @@
if self.mode == Mode.kEditing and self.spline_edit != -1:
self.points.updates_for_mouse_move(self.index_of_edit,
- self.spline_edit,
- self.mousex,
+ self.spline_edit, self.mousex,
self.mousey, difs)
self.points.update_lib_spline()
@@ -497,7 +486,8 @@
scale = min(scale, 1)
# undo the scaled translation that the old zoom transform did
- x, y = self.invert(self.zoom_transform).transform_point(event.x, event.y)
+ x, y = self.invert(self.zoom_transform).transform_point(
+ event.x, event.y)
# move the origin to point
self.zoom_transform.translate(x, y)
diff --git a/frc971/control_loops/python/points.py b/frc971/control_loops/python/points.py
index 5fc4c4a..dd7e199 100644
--- a/frc971/control_loops/python/points.py
+++ b/frc971/control_loops/python/points.py
@@ -3,6 +3,7 @@
from libspline import Spline, DistanceSpline, Trajectory
import copy
+
class Points():
def __init__(self):
self.points = [] # Holds all points not yet in spline
diff --git a/frc971/control_loops/python/spline_graph.py b/frc971/control_loops/python/spline_graph.py
index 2e67480..7bd6b45 100755
--- a/frc971/control_loops/python/spline_graph.py
+++ b/frc971/control_loops/python/spline_graph.py
@@ -36,6 +36,7 @@
def undo_func(self, *args):
self.field.undo()
+
def long_changed(self, button):
value = self.long_input.get_value()
self.field.points.setConstraint("LONGITUDINAL_ACCELERATION", value)