From d02e08bf4ba88975342cb0ce262ddfc799f5c20e Mon Sep 17 00:00:00 2001
From: mpboyer <matthieupierre.boyer@gmail.com>
Date: Tue, 14 Jan 2025 11:24:37 +0100
Subject: [PATCH] #derive show

- add class to allow for concurrent plotting of simulated position
- switch position for loop function since it will be the same for all
simulators
---
 hardware.py  |  2 +-
 simulator.py | 99 ++++++++++++++++++++++++++++++++++++++--------------
 2 files changed, 74 insertions(+), 27 deletions(-)

diff --git a/hardware.py b/hardware.py
index 71a8d21..83240db 100644
--- a/hardware.py
+++ b/hardware.py
@@ -17,7 +17,7 @@ class Hardware:
 
 class SimuHardware(Hardware):
     def __init__(self, bind):
-        super().__init__()
+        Hardware.__init__(self)
         self.s = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
         self.s.connect(bind)
 
diff --git a/simulator.py b/simulator.py
index c192e63..3c753cd 100644
--- a/simulator.py
+++ b/simulator.py
@@ -3,8 +3,8 @@ import os
 import typing
 import time
 import numpy as np
-
-from sympy.abc import alpha
+import matplotlib.pyplot as plt
+from matplotlib.colors import LinearSegmentedColormap
 
 
 def parse_speed(text):
@@ -13,24 +13,6 @@ def parse_speed(text):
 
 
 class Simulator:
-    def __init__(self, bind):
-        self.s = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
-        try:
-            os.remove(bind)
-        except FileNotFoundError:
-            pass
-        self.s.bind(bind)
-        self.s.listen()
-
-
-class NaiveSimulator(Simulator):
-    steps = [0, 0, 0]
-    pos = np.array([0., 0., 0.])
-    speed = np.array([0., 0., 0.])
-
-    time_step = 0
-    last_update = 0.
-
     # X_STEPS_PER_INCH = 4800
     X_STEPS_PER_MM: float = 188.97
     X_MOTOR_STEPS: float = 200
@@ -43,30 +25,95 @@ class NaiveSimulator(Simulator):
     Z_STEPS_PER_MM: float = 188.97
     Z_MOTOR_STEPS: int = 200
 
+    pos = np.array([0., 0., 0.])
+    speed = np.array([0., 0., 0.])
+
     def __init__(self, bind):
-        super().__init__(bind)
-        self.last_update = time.time()
+        self.s = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
+        try:
+            os.remove(bind)
+        except FileNotFoundError:
+            pass
+        self.s.bind(bind)
+        self.s.listen()
         while True:
-            self.loop()
+            try:
+                self.loop()
+            except KeyboardInterrupt:  # Just so everything is fine when quitting
+                self.s.close()
+                plt.ioff()
+                try:
+                    os.remove(bind)
+                except FileNotFoundError:
+                    pass
 
     def loop(self):
         req = socket.SocketIO(self.s, 'r').readline()
         match req:
             case 'request':
                 print("At your service")
-                self.request()
+                self.request()  # These are the functions that need to be implemented
             case 'realize':
                 print("Contemplating Life")
                 self.realize()
         print("Job Done")
 
+    def realize(self):
+        pass
+
+    def request(self):
+        pass
+
+
+class Douche:
+    colors = [(125, 29, 211), (255, 229, 0)]
+    cm = LinearSegmentedColormap.from_list(
+        "Custom", colors, N=42
+    )
+    last_x = None
+    last_y = None
+
+    def __init__(self):
+        # We will assume no points are `really` in 3D.
+        plt.ion()
+        fig = plt.figure()
+        self.ax = fig.gca()
+        self.xs = []
+        self.ys = []
+        self.line, = self.ax.plot(self.xs, self.ys, cmap=self.cm)
+
+    def add_point(self, x, y):
+        self.xs.append(x)
+        self.ys.append(y)
+        self.line.set_data(self.xs, self.ys)
+        plt.draw()
+
+
+class NaiveSimulator(Simulator, Douche):
+    steps = [0, 0, 0]
+
+    time_step = 0
+    last_update = 0.
+
+    alpha = 1.
+
+    def __init__(self, bind):
+        self.last_update = time.time()  # Custom Simulation
+
+        Douche.__init__(self)  # Prepare to show the simulation
+        self.add_point(self.pos[0], self.pos[1])
+        Simulator.__init__(self, bind)  # Simulator loop
+
     def request(self):
         self.s.send(f"{self.steps[0]}".encode())
         self.s.send(f"{self.steps[1]}".encode())
         self.s.send(f"{self.steps[2]}".encode())
 
+        self.add_point(self.pos[0], self.pos[1])
+
+
     def realize(self):
-        print("MA VIE C'EST DE LA MERDE")
+        print("I JUST REALIZED: MA VIE C'EST DE LA MERDE")
         lt = time.time()
         self.time_step = lt - self.last_update
         self.last_update = lt
@@ -74,7 +121,7 @@ class NaiveSimulator(Simulator):
         y_v = parse_speed(socket.SocketIO(self.s, 'r').readline())
         z_v = parse_speed(socket.SocketIO(self.s, 'r').readline())
 
-        inertia = - alpha * self.speed
+        inertia = - self.alpha * self.speed
         gamma_command = np.array([x_v, y_v, z_v]) - self.speed
         self.speed = self.time_step * (inertia + gamma_command)
         step_increment = np.ceil(self.speed * self.time_step * np.array([1 / self.X_MOTOR_STEPS, 1 / self.Y_MOTOR_STEPS, 1 / self.Z_MOTOR_STEPS]))