diff --git a/grafic.py b/grafic.py
index a88a9756639c9bf33b396bdd854edfcba0a342cf..c8f875911d0ecf6eed77315693529c679369feb1 100644
--- a/grafic.py
+++ b/grafic.py
@@ -19,7 +19,15 @@ import random
#%% class
+"""
+# This class can plot values as a consistant graph.
+# With the method update you can insert a new value to the graph and the grafic will refresh automaticly.
+"""
class Line_Plotter:
+ """
+ # The constructor needs a title, for the diagramm as well as a lable for the x and y axses.
+ # Optional you can set the number of values that are plottet on the x-axses.
+ """
def __init__(self, title, x_lable, y_lable ,x_scale = 100):
self.counter = 0
self.fig = plt.figure()
@@ -35,7 +43,10 @@ class Line_Plotter:
self.fig.canvas.draw()
self.fig.canvas.flush_events()
-
+ """
+ # The method update insert a new value to the graph an refresh the graph automaticly.
+ # It needs only the value as a parameter.
+ """
def update(self, value):
self.y = np.append(self.y, value)
self.y = self.y[1:]
@@ -51,11 +62,22 @@ class Line_Plotter:
self.ax.set_ylim(self.y.min(), self.y.max())
self.counter = self.counter + 1
-
+
+ """
+ # The method close ensures that the window is closed.
+ """
def close(self):
plt.close(self.fig)
+"""
+# This class can plot values as a continues graph.
+# It can plot the values with a given timedelta to the last known value.
+"""
class Line_Plotter_Time:
+ """
+ # The constructor needs a title, for the diagramm as well as a lable for the x and y axses.
+ # Optional you can set the number of values that are plottet on the x-axses.
+ """
def __init__(self, title, x_lable, y_lable ,x_scale = 100):
self.x_scale = x_scale
self.fig = plt.figure()
@@ -69,7 +91,11 @@ class Line_Plotter_Time:
self.ax.set_xlabel(x_lable)
self.ax.set_ylabel(y_lable)
-
+ """
+ # The method update insert a new value to the graph on the timestamp delte which is given an refresh the graph automaticly.
+ # It needs the value and a given time delta to the last value as a parameter.
+ # The timedelta will be summed to the hight time of a datapoint in the digramm and will plot at this time the new value.
+ """
def update(self, value, time_delta):
self.y = np.append(self.y, value)
self.x = np.append(self.x, self.x[self.x.size -1] + time_delta)
@@ -85,10 +111,20 @@ class Line_Plotter_Time:
self.ax.set_xlim(self.x[0],self.x[self.x.size -1])
self.ax.set_ylim(self.y.min(), self.y.max())
+ """
+ # The method close ensures that the window is closed.
+ """
def close(self):
plt.close(self.fig)
+"""
+# This class can plot the racetrack and highlighte the current section.
+# It should also display a little robot an update the position, but unfortunately, it's not function properly.
+"""
class Track_Plotter:
+ """
+ # This constructor needs a set of trackparts which contains a URL to the backgroundimage for the plot.
+ """
def __init__(self, background_url, track, ratio = 1):
self.background = img.imread(background_url)
self.track = track
@@ -104,6 +140,9 @@ class Track_Plotter:
plt.show(block=False)
plt.pause(0.1)
+ """
+ # Wich this funtion you get a set of trackparts. The URLs are not includet in this git.
+ """
def get_set_of_trackparts_3():
# Track plotting
trackparts = []
@@ -127,6 +166,9 @@ class Track_Plotter:
return (background, track)
+ """
+ # This method is internal used to create the robot.
+ """
def __create_triangle(self, position, direction):
# Definiere die Position der Ecke des Dreiecks
x = position[0]
@@ -154,7 +196,10 @@ class Track_Plotter:
# Erstelle das Dreieck
self.__triangle = patches.Polygon([(x1, y1), (x2, y2), (x3, y3)], closed=True, fill=True, facecolor='green', alpha=0.5)
return self.__triangle
-
+
+ """
+ # This function is used to select a section and set up that backgorundimage
+ """
def select_trackpart(self, trackpart_name):
trackpart = self.track[self.track.name == trackpart_name]
image = img.imread(trackpart.iloc[0].image_url)
@@ -162,12 +207,20 @@ class Track_Plotter:
self.fig.canvas.draw()
self.fig.canvas.flush_events()
+ """
+ # This funktion is used to set the robot to the startposition of a trackpart.
+ # Currently the robot simulation is not usable!
+ """
def set_robot_to_trackpart(self, trackpart_name):
trackpart = self.track[self.track.name == trackpart_name]
self.robot_position = trackpart.iloc[0].start_position
self.robot_direction = trackpart.iloc[0].start_direction
self.update_robot()
+ """
+ # This funktion is used to move the robot forward.
+ # Currently the robot simulation is not usable!
+ """
def move_robot_forward(self, distance):
x,y = self.robot_position
theta = np.deg2rad(self.robot_direction)
@@ -176,14 +229,26 @@ class Track_Plotter:
self.robot_position = (x_new, y_new)
self.update_robot()
+ """
+ # This funktion is used to set the robot to a specific position on the plot.
+ # Currently the robot simulation is not usable!
+ """
def move_robot_to_position(self, position):
self.robot_position += position
self.update_robot()
+ """
+ # This funktion is used to rotate the robot.
+ # Currently the robot simulation is not usable!
+ """
def rotate_robot(self, rotation):
self.robot_direction += rotation
self.update_robot()
+ """
+ # This funktion enable the plotting of the robot.
+ # Currently the robot simulation is not usable!
+ """
def activate_robot(self):
print("Do not use this method!!! - activate_robot")
self.robot_is_active = True
@@ -194,6 +259,10 @@ class Track_Plotter:
self.fig.canvas.draw_idle()
self.fig.canvas.flush_events()
+ """
+ # This funktion is used to update the position and orientation of the robot on the plot.
+ # Currently the robot simulation is not usable!
+ """
def update_robot(self):
print("Do not use this method!!! - update_robot")
if self.robot_is_active:
@@ -225,11 +294,19 @@ class Track_Plotter:
# self.fig.canvas.blit(self.fig.bbox)
# self.fig.canvas.flush_events()
-
+ """
+ # This funktion close the window.
+ """
def close(self):
plt.close(self.fig)
+"""
+# This class creates a little Dashborad with the most important information from the robot and the localization.
+"""
class Dashboard:
+ """
+ # This constructor needs nothing and set up all values for the dashboard.
+ """
def __init__(self):
self.current_section_type = ""
self.last_sections_type = ""
@@ -265,46 +342,73 @@ class Dashboard:
self.window.update_idletasks()
self.window.update()
+ """
+ # This function sets the current section type to the dashboard
+ """
def set_current_section_type(self, section_type):
self.current_section_type = section_type
self.label_current_section_type.config(text="current section type: " + self.current_section_type)
self.update_window()
+ """
+ # This function sets the last sections type to the dashboard
+ """
def set_last_sections_type(self, last_sections_type):
self.last_sections_type = last_sections_type
self.label_last_sections_type.config(text="last sections type: " + self.last_sections_type)
self.update_window()
+ """
+ # This function sets the value enter new section to the dashboard
+ """
def set_enter_new_section(self, enter_new_section):
self.enter_new_section = enter_new_section
self.label_enter_new_section.config(text="enter new section: " + self.enter_new_section)
self.update_window()
+ """
+ # This function sets the last known section to the dashboard
+ """
def set_last_known_section(self, last_known_section):
self.last_known_section = last_known_section
self.label_last_known_section.config(text="last known section: " + self.last_known_section)
self.update_window()
+ """
+ # This function sets the counter fail localization to the dashboard
+ """
def set_count_fail_loc(self, count_fail_loc):
self.count_fail_loc = count_fail_loc
self.label_count_fail_loc.config(text="count fail loc: " + str(self.count_fail_loc))
self.update_window()
+ """
+ # This function sets the x position of the robot to the dashboard
+ """
def set_x_position(self, x_position):
self.x_position = x_position/1000
self.label_x_position.config(text="x position: " + str(self.x_position) + " m")
self.update_window()
-
+
+ """
+ # This function sets the y position of the robot to the dashboard
+ """
def set_y_position(self, y_position):
self.y_position = y_position/1000
self.label_y_position.config(text="y position: " + str(self.y_position) + " m")
self.update_window()
-
+
+ """
+ # This function sets the driven distance on the section to the dashboard
+ """
def set_driven_distance_on_section(self, driven_distance_on_section):
self.driven_distance_on_section = driven_distance_on_section/1000
self.label_driven_distance_on_section.config(text="driven distance on section: " + str(self.driven_distance_on_section) + " m")
self.update_window()
+ """
+ # This function update the dashboard it's self. without this method, the dashboard will not refresh.
+ """
def update_window(self):
self.window.update_idletasks()
self.window.update()