Class SheetPlan
source code
concrete class SheetPlan implements a Plan that is read from a
"sheet" -- a rectangular list-of-lists containing a spreadsheet
specifying the planned settings as a function of time.
Sheets can be read from a file using loadCSV(), or from an inline
multiline string using inlineCSV()
The first row of the sheet consists of string headings, starting with
the heading "t" (for time). Remaining headings specify bindings
to properties the Plan should set.
By default, the column headings will get automatically converted into
a binding using the format <<heading>>/@set_pos which means
that columns are assumed to be names of modules whose position is to be
set. WARNING: this default behavior is disabled if ANY bindings are
passed to the constructor.
The first column of the sheet (2nd row an on) MUST consist of numbers
in increasing order specifying the times at which the settings in that
row should be applied.
Empty elements in the sheet (None-s) are skipped.
If no column bindings are provided, column headings are assumed to be
module names of servo modules and each of these is bound to
<<module>>/@set_pos of the corresponding module. For example,
the sheet: >>> sheet = [ ... ["t",
"Nx15"], ... [0, 1000], ... [0.5, -1000] ] will
generate a +/- 10 degree step into the position of node 0x15
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__init__(self,
app,
sheet,
*arg,
**kw)
Initialize a Plan within some JoyApp application. |
source code
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Inherited from Plan:
forDuration,
isRunning,
onEvent,
onStart,
onStop,
push,
start,
step,
stop,
untilTime
Inherited from object:
__delattr__,
__format__,
__getattribute__,
__hash__,
__new__,
__reduce__,
__reduce_ex__,
__repr__,
__setattr__,
__sizeof__,
__str__,
__subclasshook__
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Inherited from object:
__class__
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__init__(self,
app,
sheet,
*arg,
**kw)
(Constructor)
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Initialize a Plan within some JoyApp application.
- Overrides:
object.__init__
- (inherited documentation)
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Update the sheet specifying the Plan.
NOTE: if the new sheet has different bindings form the old one, Weird
Things Will Happen!
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_autoBinding(self,
sheet,
fmt="%s/@set_pos")
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(private)
Given a sheet, automatically treat the column heads as servo module
names for which positions must be set
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Set rate at which sheet should be executed, e.g. rate=2 means execute
twice as fast
Only positive rates are allowed. Rate cannot be changed while the Plan
isRunning()
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(private)
Perform the set operations associated with a row
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(private)
Make sure that the sheet is syntactically correct
OUTPUT: setters, headings, sheet
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(final)
The behavior of a SheetPlan is defined relative to the Plan's start
time and rate. The plan goes down the sheet row by row in the specified
rate, sleeping until it is ready to apply the settings in that row.
Once the settings of the final row are applied, the Plan
terminates.
The 't' debug topic can be used to display SheetPlan timesteps
- Overrides:
Plan.behavior
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