|
| 1 | +#!/usr/bin/env python3 |
| 2 | + |
| 3 | +# a simple Robotics & Vision Toolbox "shell", runs Python3 and loads |
| 4 | +# NumPy, SciPy, RTB-P, SMTB-P, MVTB-P. |
| 5 | +# |
| 6 | +# Run it from the shell |
| 7 | +# $ rvctool |
| 8 | +# |
| 9 | +# Default switches can be set using the environent variables RVCTOOL, eg. |
| 10 | +# |
| 11 | +# setenv RVCTOOL "-n" |
| 12 | +# export RVCTOOL="-n" |
| 13 | + |
| 14 | +# import stuff |
| 15 | +import os |
| 16 | +from pathlib import Path |
| 17 | +import sys |
| 18 | +from importlib.metadata import version |
| 19 | +import argparse |
| 20 | + |
| 21 | +from pygments.token import Token |
| 22 | +from IPython.terminal.prompts import Prompts |
| 23 | +from IPython.terminal.prompts import ClassicPrompts |
| 24 | +from traitlets.config import Config |
| 25 | +import IPython |
| 26 | +import matplotlib as mpl |
| 27 | + |
| 28 | +try: |
| 29 | + from colored import fg, bg, attr |
| 30 | + |
| 31 | + _colored = True |
| 32 | + # print('using colored output') |
| 33 | +except ImportError: |
| 34 | + # print('colored not found') |
| 35 | + _colored = False |
| 36 | + |
| 37 | +# imports for use by IPython and user |
| 38 | +from math import pi # lgtm [py/unused-import] |
| 39 | +import numpy as np |
| 40 | +from scipy import linalg, optimize |
| 41 | +import matplotlib.pyplot as plt # lgtm [py/unused-import] |
| 42 | +from spatialmath import * # lgtm [py/polluting-import] |
| 43 | +from spatialmath.base import * |
| 44 | +from spatialmath.base import sym |
| 45 | + |
| 46 | + |
| 47 | +def parse_arguments(): |
| 48 | + parser = argparse.ArgumentParser( |
| 49 | + prog="rvctool", |
| 50 | + epilog=( |
| 51 | + "To set defaults put the relevant command line switches as a string in the" |
| 52 | + " environment varible RVCTOOL." |
| 53 | + ), |
| 54 | + description=( |
| 55 | + "Interactive python enviroment for exploring the Robotics & Machine Vision" |
| 56 | + " toolboxes for Python" |
| 57 | + ), |
| 58 | + ) |
| 59 | + parser.add_argument("script", default=None, nargs="?", help="specify script to run") |
| 60 | + |
| 61 | + parser.add_argument( |
| 62 | + "-B", "--backend", default=None, help="specify graphics backend" |
| 63 | + ) |
| 64 | + parser.add_argument( |
| 65 | + "-C", |
| 66 | + "--color", |
| 67 | + default="neutral", |
| 68 | + help=( |
| 69 | + "specify terminal color scheme (neutral, lightbg, nocolor, linux), linux is" |
| 70 | + " for dark mode" |
| 71 | + ), |
| 72 | + ) |
| 73 | + parser.add_argument("--confirmexit", "-x", default=False, help="confirm exit") |
| 74 | + parser.add_argument("--prompt", "-p", default=None, help="input prompt") |
| 75 | + parser.add_argument( |
| 76 | + "-r", |
| 77 | + "--resultprefix", |
| 78 | + default=None, |
| 79 | + help="execution result prefix, include {} for execution count number", |
| 80 | + ) |
| 81 | + parser.add_argument( |
| 82 | + "-b", |
| 83 | + "--no-banner", |
| 84 | + dest="banner", |
| 85 | + default=True, |
| 86 | + action="store_false", |
| 87 | + help="suppress startup banner", |
| 88 | + ) |
| 89 | + parser.add_argument( |
| 90 | + "-c", |
| 91 | + "--nocwd", |
| 92 | + dest="cwd", |
| 93 | + default=True, |
| 94 | + action="store_false", |
| 95 | + help="suppress cwd to RVC3 folder", |
| 96 | + ) |
| 97 | + parser.add_argument( |
| 98 | + "-a", |
| 99 | + "--showassign", |
| 100 | + default=False, |
| 101 | + action="store_true", |
| 102 | + help="do not display the result of assignments", |
| 103 | + ) |
| 104 | + parser.add_argument( |
| 105 | + "-n", |
| 106 | + "--normal", |
| 107 | + dest="book", |
| 108 | + default=True, |
| 109 | + action="store_false", |
| 110 | + help="use normal ipython settings for prompts and display on assignment", |
| 111 | + ) |
| 112 | + parser.add_argument( |
| 113 | + "-R", |
| 114 | + "--no-robot", |
| 115 | + dest="robot", |
| 116 | + default=True, |
| 117 | + action="store_false", |
| 118 | + help="do not import robotics toolbox (RTB-P)", |
| 119 | + ) |
| 120 | + parser.add_argument( |
| 121 | + "-V", |
| 122 | + "--no-vision", |
| 123 | + dest="vision", |
| 124 | + default=True, |
| 125 | + action="store_false", |
| 126 | + help="do not import vision toolbox (MVTB-P)", |
| 127 | + ) |
| 128 | + parser.add_argument( |
| 129 | + "--ansi", |
| 130 | + default=False, |
| 131 | + action="store_true", |
| 132 | + help="use ANSImatrix to display matrices", |
| 133 | + ) |
| 134 | + parser.add_argument( |
| 135 | + "-e", |
| 136 | + "--examples", |
| 137 | + default=False, |
| 138 | + action="store_true", |
| 139 | + help="change working directory to shipped examples", |
| 140 | + ) |
| 141 | + parser.add_argument( |
| 142 | + "-s", |
| 143 | + "--swift", |
| 144 | + default=False, |
| 145 | + action="store_true", |
| 146 | + help="use Swift as default backend", |
| 147 | + ) |
| 148 | + |
| 149 | + # add options for light/dark mode |
| 150 | + |
| 151 | + env = os.getenv("RVCTOOL") |
| 152 | + if env is not None: |
| 153 | + # if envariable is set, parse it just like command line options |
| 154 | + args = parser.parse_args(env.split()) |
| 155 | + # then use it to set the defaults for the actual command line parsing |
| 156 | + parser.set_defaults(**args.__dict__) |
| 157 | + |
| 158 | + args, rest = parser.parse_known_args() |
| 159 | + |
| 160 | + # remove the arguments we've just parsed from sys.argv so that IPython can have a |
| 161 | + # go at them later |
| 162 | + sys.argv = [sys.argv[0]] + rest |
| 163 | + |
| 164 | + if args.script is not None: |
| 165 | + args.banner = False |
| 166 | + |
| 167 | + return args |
| 168 | + |
| 169 | + |
| 170 | +def make_banner(args): |
| 171 | + # http://patorjk.com/software/taag/#p=display&f=Standard&t=RVC%203 |
| 172 | + # print the banner: standard |
| 173 | + # https://patorjk.com/software/taag/#p=display&f=Standard&t=Robotics%2C%20Vision%20%26%20Control%203 |
| 174 | + |
| 175 | + banner = fg("yellow") |
| 176 | + banner += r""" ____ _ _ _ __ ___ _ ___ ____ _ _ _____ |
| 177 | +| _ \ ___ | |__ ___ | |_(_) ___ ___ \ \ / (_)___(_) ___ _ __ ( _ ) / ___|___ _ __ | |_ _ __ ___ | | |___ / |
| 178 | +| |_) / _ \| '_ \ / _ \| __| |/ __/ __| \ \ / /| / __| |/ _ \| '_ \ / _ \/\ | | / _ \| '_ \| __| '__/ _ \| | |_ \ |
| 179 | +| _ < (_) | |_) | (_) | |_| | (__\__ \_ \ V / | \__ \ | (_) | | | | | (_> < | |__| (_) | | | | |_| | | (_) | | ___) | |
| 180 | +|_| \_\___/|_.__/ \___/ \__|_|\___|___( ) \_/ |_|___/_|\___/|_| |_| \___/\/ \____\___/|_| |_|\__|_| \___/|_| |____/ |
| 181 | + |/ |
| 182 | +for Python""" |
| 183 | + |
| 184 | + versions = [] |
| 185 | + if args.robot: |
| 186 | + versions.append(f"RTB=={version('roboticstoolbox-python')}") |
| 187 | + if args.vision: |
| 188 | + versions.append(f"MVTB=={version('machinevision-toolbox-python')}") |
| 189 | + try: |
| 190 | + versions.append(f"SG=={version('spatialmath-python')}") |
| 191 | + except: |
| 192 | + pass |
| 193 | + versions.append(f"SMTB=={version('spatialmath-python')}") |
| 194 | + versions.append(f"NumPy=={version('numpy')}") |
| 195 | + versions.append(f"SciPy=={version('scipy')}") |
| 196 | + versions.append(f"Matplotlib=={version('matplotlib')}") |
| 197 | + |
| 198 | + # create banner |
| 199 | + banner += " (" + ", ".join(versions) + ")" |
| 200 | + banner += r""" |
| 201 | +
|
| 202 | + import math |
| 203 | + import numpy as np |
| 204 | + from scipy import linalg, optimize |
| 205 | + import matplotlib.pyplot as plt |
| 206 | + from spatialmath import * |
| 207 | + from spatialmath.base import * |
| 208 | + from spatialmath.base import sym |
| 209 | + from spatialgeometry import * |
| 210 | + """ |
| 211 | + if args.robot: |
| 212 | + banner += "from roboticstoolbox import *\n" |
| 213 | + if args.vision: |
| 214 | + banner += """ from machinevisiontoolbox import * |
| 215 | + import machinevisiontoolbox.base as mvb |
| 216 | + """ |
| 217 | + |
| 218 | + banner += r""" |
| 219 | + # useful variables |
| 220 | + from math import pi |
| 221 | + puma = models.DH.Puma560() |
| 222 | + panda = models.DH.Panda() |
| 223 | +
|
| 224 | + func/object? - show brief help |
| 225 | + help(func/object) - show detailed help |
| 226 | + func/object?? - show source code |
| 227 | + """ |
| 228 | + banner += attr(0) |
| 229 | + |
| 230 | + return banner |
| 231 | + |
| 232 | + |
| 233 | +def startup(): |
| 234 | + plt.ion() |
| 235 | + |
| 236 | + |
| 237 | +def main(): |
| 238 | + args = parse_arguments() |
| 239 | + # print(args) |
| 240 | + |
| 241 | + if args.book: |
| 242 | + # set book options |
| 243 | + args.resultprefix = "" |
| 244 | + args.prompt = ">>> " |
| 245 | + args.showassign = True |
| 246 | + args.ansi = False |
| 247 | + args.examples = True |
| 248 | + |
| 249 | + # setup defaults |
| 250 | + np.set_printoptions( |
| 251 | + linewidth=120, |
| 252 | + formatter={"float": lambda x: f"{x:8.4g}" if abs(x) > 1e-10 else f"{0:8.4g}"}, |
| 253 | + ) |
| 254 | + |
| 255 | + globs = globals() |
| 256 | + if args.robot: |
| 257 | + exec("from spatialgeometry import *", globs) |
| 258 | + exec("from roboticstoolbox import *", globs) |
| 259 | + from roboticstoolbox import __path__ |
| 260 | + |
| 261 | + sys.path.append(str(Path(__path__[0]) / "examples")) |
| 262 | + |
| 263 | + # load some robot models |
| 264 | + globs["puma"] = models.DH.Puma560() |
| 265 | + globs["panda"] = models.DH.Panda() |
| 266 | + |
| 267 | + # set default backend for Robot.plot |
| 268 | + if args.swift: |
| 269 | + Robot.default_backend = "swift" |
| 270 | + |
| 271 | + if args.vision: |
| 272 | + exec("from machinevisiontoolbox import *", globs) |
| 273 | + exec("import machinevisiontoolbox.base as mvbase", globs) |
| 274 | + |
| 275 | + # set matrix printing mode for spatialmath |
| 276 | + SE3._ansimatrix = args.ansi |
| 277 | + |
| 278 | + # set default matplotlib backend |
| 279 | + if args.backend is not None: |
| 280 | + print(f"Using matplotlib backend {args.backend}") |
| 281 | + mpl.use(args.backend) |
| 282 | + |
| 283 | + if args.banner: |
| 284 | + banner = make_banner(args) |
| 285 | + print(banner) |
| 286 | + |
| 287 | + if args.showassign and args.banner: |
| 288 | + print( |
| 289 | + fg("red") |
| 290 | + + "Results of assignments will be displayed, use trailing ; to suppress" |
| 291 | + + attr(0) |
| 292 | + + "\n" |
| 293 | + ) |
| 294 | + |
| 295 | + # append to the module path |
| 296 | + # - RVC3 models and examples |
| 297 | + # - RTB examples |
| 298 | + root = Path(__file__).absolute().parent.parent |
| 299 | + sys.path.append(str(root / "models")) |
| 300 | + sys.path.append(str(root / "examples")) |
| 301 | + |
| 302 | + if args.cwd: |
| 303 | + os.chdir(root) |
| 304 | + |
| 305 | + class MyPrompt(Prompts): |
| 306 | + def in_prompt_tokens(self, cli=None): |
| 307 | + if args.prompt is None: |
| 308 | + return super().in_prompt_tokens() |
| 309 | + else: |
| 310 | + return [(Token.Prompt, args.prompt)] |
| 311 | + |
| 312 | + def out_prompt_tokens(self, cli=None): |
| 313 | + if args.resultprefix is None: |
| 314 | + # traditional behaviour |
| 315 | + return super().out_prompt_tokens() |
| 316 | + else: |
| 317 | + return [ |
| 318 | + (Token.Prompt, args.resultprefix.format(self.shell.execution_count)) |
| 319 | + ] |
| 320 | + |
| 321 | + # set configuration options, there are lots, see |
| 322 | + # https://ipython.readthedocs.io/en/stable/config/options/terminal.html |
| 323 | + c = Config() |
| 324 | + c.InteractiveShellEmbed.colors = args.color |
| 325 | + c.InteractiveShell.confirm_exit = args.confirmexit |
| 326 | + # c.InteractiveShell.prompts_class = ClassicPrompts |
| 327 | + c.InteractiveShell.prompts_class = MyPrompt |
| 328 | + if args.showassign: |
| 329 | + c.InteractiveShell.ast_node_interactivity = "last_expr_or_assign" |
| 330 | + c.TerminalIPythonApp.display_banner = args.banner |
| 331 | + |
| 332 | + # set precision, same as %precision |
| 333 | + c.PlainTextFormatter.float_precision = "%.3f" |
| 334 | + |
| 335 | + # set up a script to be executed by IPython when we get there |
| 336 | + code = None |
| 337 | + if args.script is not None: |
| 338 | + path = Path(args.script) |
| 339 | + if not path.exists(): |
| 340 | + raise ValueError(f"script does not exist: {args.script}") |
| 341 | + code = path.open("r").readlines() |
| 342 | + |
| 343 | + if code is None: |
| 344 | + code = [ |
| 345 | + "startup()", |
| 346 | + "%precision %.3g;", |
| 347 | + ] |
| 348 | + |
| 349 | + c.InteractiveShellApp.exec_lines = code |
| 350 | + IPython.start_ipython(config=c, user_ns=globals()) |
| 351 | + |
| 352 | + |
| 353 | +if __name__ == "__main__": |
| 354 | + main() |
0 commit comments