utils Package

class pypot.utils.Point2D(x, y)

Bases: tuple

Create new instance of Point2D(x, y)

x

Alias for field number 0

y

Alias for field number 1

class pypot.utils.Point3D(x, y, z)

Bases: tuple

Create new instance of Point3D(x, y, z)

x

Alias for field number 0

y

Alias for field number 1

z

Alias for field number 2

pypot.utils.Point

alias of pypot.utils.Point3D

class pypot.utils.Vector3D(x, y, z)

Bases: tuple

Create new instance of Vector3D(x, y, z)

x

Alias for field number 0

y

Alias for field number 1

z

Alias for field number 2

pypot.utils.Vector

alias of pypot.utils.Vector3D

class pypot.utils.Quaternion(x, y, z, w)

Bases: tuple

Create new instance of Quaternion(x, y, z, w)

w

Alias for field number 3

x

Alias for field number 0

y

Alias for field number 1

z

Alias for field number 2

pypot.utils.attrsetter(item)

class pypot.utils.SyncEvent(period=0.1)

Bases: object

request()

done()

is_recent

needed

stoppablethread Module

class pypot.utils.stoppablethread.StoppableThread(setup=None, target=None, teardown=None)

Bases: object

Stoppable version of python Thread.

This class provides the following mechanism on top of “classical” python Thread:

• you can stop the thread (if you defined your run method accordingly).
• you can restart a thread (stop it and re-run it)
• you can pause/resume a thread

Warning

It is up to the subclass to correctly respond to the stop, pause/resume signals (see run() for details).

Parameters:

• setup (func) – specific setup function to use (otherwise self.setup)
• target (func) – specific target function to use (otherwise self.run)
• teardown (func) – specific teardown function to use (otherwise self.teardown)

start()

Start the run method as a new thread.

It will first stop the thread if it is already running.

stop(wait=True)

Stop the thread.

More precisely, sends the stopping signal to the thread. It is then up to the run method to correctly responds.

join()

Wait for the thread termination.

running

Whether the thread is running.

started

Whether the thread has been started.

wait_to_start(allow_failure=False)

Wait for the thread to actually starts.

should_stop()

Signals if the thread should be stopped or not.

wait_to_stop()

Wait for the thread to terminate.

setup()

Setup method call just before the run.

run()

Run method of the thread.

Note

In order to be stoppable (resp. pausable), this method has to check the running property - as often as possible to improve responsivness - and terminate when should_stop() (resp. should_pause()) becomes True. For instance:

while self.should_stop():
    do_atom_work()
    ...

teardown()

Teardown method call just after the run.

should_pause()

Signals if the thread should be paused or not.

paused

pause()

Requests the thread to pause.

resume()

Requests the thread to resume.

wait_to_resume()

Waits until the thread is resumed.

pypot.utils.stoppablethread.make_update_loop(thread, update_func)

Makes a run loop which calls an update function at a predefined frequency.

class pypot.utils.stoppablethread.StoppableLoopThread(frequency, update=None)

Bases: pypot.utils.stoppablethread.StoppableThread

LoopThread calling an update method at a pre-defined frequency.

Note

This class does not mean to be accurate. The given frequency will be approximately followed - depending for instance on CPU load - and only reached if the update method takes less time than the chosen loop period.

Params float frequency:  called frequency of the update() method

run()

Called the update method at the pre-defined frequency.

update()

Update method called at the pre-defined frequency.

trajectory Module

class pypot.utils.trajectory.MinimumJerkTrajectory(initial, final, duration, init_vel=0.0, init_acc=0.0, final_vel=0.0, final_acc=0.0)

Bases: object

compute()

get_value(t)

domain(x)

test_domain(x)

fix_input(x)

get_generator()

class pypot.utils.trajectory.GotoMinJerk(motor, position, duration, frequency=50)

Bases: pypot.utils.stoppablethread.StoppableLoopThread

setup()

Setup method call just before the run.

update()

Update method called at the pre-defined frequency.

elapsed_time

class pypot.utils.trajectory.GotoLinear(motor, position, duration, frequency=50)

Bases: pypot.utils.stoppablethread.StoppableLoopThread

update()

Update method called at the pre-defined frequency.