attime.py

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# Define a python class to execute sequencial action during a SOT execution.
#
# Examples would be:
# attime(1800,lambda: sigset(sot.damping,0.9))
# attime(1920,lambda: sigset(sot.damping,0.1))
# attime(1920,lambda: pop(tw))
# attime(850,lambda: sigset(taskSupportSmall.controlGain,0.01))
# @attime(400)
# def action400():
#    print 'toto'
#


class attimeAlways:
    None


ALWAYS = attimeAlways()


class attimeStop:
    None


STOP = attimeStop()


class Calendar:
    def __init__(self):
        self.events = dict()
        self.ping = list()
        # self.periodic=list()

    def __repr__(self):
        res = ""
        for iter, funpairs in sorted(self.events.iteritems()):
            res += str(iter) + ": \n"
            for funpair in funpairs:
                if funpair[1] == "":
                    res += funpair[0] + "\n"
                else:
                    res += str(funpair[1]) + "\n"
        return res

    def stop(self, *args):
        self.registerEvents(STOP, *args)

    def registerEvent(self, iter, pairfundoc):
        # if iter==ALWAYS:
        # self.periodic.append(pairfundoc)
        # return
        if iter == STOP:
            self.events[ALWAYS].remove(pairfundoc)

        if iter not in self.events.keys():
            self.events[iter] = list()
        self.events[iter].append(pairfundoc)

    def registerEvents(self, iter, *funs):
        """
        3 entry types are possible: 1. only the functor. 2. a pair
        (functor,doc). 3. a list of pairs (functor,doc).
        """
        if len(funs) == 2 and callable(funs[0]) and isinstance(funs[1], str):
            self.registerEvent(iter, (funs[0], funs[1]))
        else:
            for fun in funs:
                if isinstance(fun, tuple):
                    self.registerEvent(iter, fun)
                else:  # assert iscallable(fun)
                    if "functor" in fun.__dict__:
                        self.registerEvent(iter, (fun.functor, fun.functor.__doc__))
                    else:
                        self.registerEvent(iter, (fun, fun.__doc__))

    def addPing(self, f):
        self.ping.append(f)

    def callPing(self):
        for f in self.ping:
            f()

    def run(self, iter, *args):
        if ALWAYS in self.events:
            for fun, doc in self.events[ALWAYS]:
                fun(*args)
        if iter in self.events:
            self.callPing()
            for fun, doc in self.events[iter]:
                intro = "At time " + str(iter) + ": "
                if doc is not None:
                    print(intro, doc)
                else:
                    if fun.__doc__ is not None:
                        print(intro, fun.__doc__)
                    else:
                        print(intro, "Runing ", fun)
                fun(*args)

    def __call__(self, iterarg, *funs):
        if len(funs) == 0:
            return self.generatorDecorator(iterarg)
        else:
            self.registerEvents(iterarg, *funs)

    def generatorDecorator(self, iterarg):
        """
        This next calling pattern is a little bit strange. Use it to decorate
        a function definition: @attime(30) def run30(): ...
        """

        class calendarDeco:
            iterRef = iterarg
            calendarRef = self
            fun = None

            def __init__(selfdeco, functer):
                if functer.__doc__ is None:
                    functer.__doc__ = "No doc fun"
                if len(functer.__doc__) > 0:
                    selfdeco.__doc__ = functer.__doc__
                    selfdeco.__doc__ += (
                        " (will be run at time " + str(selfdeco.iterRef) + ")"
                    )
                selfdeco.fun = functer
                selfdeco.calendarRef.registerEvents(
                    selfdeco.iterRef, functer, functer.__doc__
                )

            def __call__(selfdeco, *args):
                selfdeco.fun(*args)

        return calendarDeco

    def fastForward(self, t):
        for i in range(t + 1):
            self.run(i)


attime = Calendar()


def sigset(s, v):
    return s.__class__.value.__set__(s, v)


def refset(mt, v):
    return mt.__class__.ref.__set__(mt, v)