annotate py/utils.py @ 569:d7575050e4be

StepIntegrator
author Matt Johnston <matt@ucc.asn.au>
date Wed, 11 Nov 2015 00:07:21 +0800
parents 59cb8449ef97
children 11cebd6f0bfb
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1 import os
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2 import sys
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3 import ctypes
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4 import time
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5 import select
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6 import logging
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7 import binascii
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8 import json
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9 import datetime
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10
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11 D = logging.debug
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12 L = logging.info
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13 W = logging.warning
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14 E = logging.error
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15
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16 DEFAULT_TRIES = 3
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17 READLINE_SELECT_TIMEOUT = 1
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18
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19 def EX(msg, *args, **kwargs):
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20 kwargs['exc_info'] = True
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21 logging.error(msg, *args, **kwargs)
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22
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23 clock_gettime = None
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24 no_clock_gettime = True
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25 def monotonic_time():
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26 global clock_gettime
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27 global no_clock_gettime
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28 if no_clock_gettime:
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29 return time.time()
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30
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31 class timespec(ctypes.Structure):
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32 _fields_ = [
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33 ('tv_sec', ctypes.c_long),
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34 ('tv_nsec', ctypes.c_long)
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35 ]
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36 if not clock_gettime:
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37 try:
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38 librt = ctypes.CDLL('librt.so.0', use_errno=True)
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39 clock_gettime = librt.clock_gettime
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40 clock_gettime.argtypes = [ctypes.c_int, ctypes.POINTER(timespec)]
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41 except:
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42 W("No clock_gettime(), using fake fallback.")
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43 no_clock_gettime = True
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44 return time.time()
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45
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46 t = timespec()
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47 CLOCK_MONOTONIC = 1 # see <linux/time.h>
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48
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49 if clock_gettime(CLOCK_MONOTONIC, ctypes.pointer(t)) != 0:
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50 errno_ = ctypes.get_errno()
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51 raise OSError(errno_, os.strerror(errno_))
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52 return t.tv_sec + t.tv_nsec * 1e-9
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53
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54 # decorator, tries a number of times, returns None on failure, sleeps between
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55 # Must be used as "@retry()" if arguments are defaulted
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56 def retry(retries=DEFAULT_TRIES, try_time = 1):
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57 def inner(func):
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58 def new_f(*args, **kwargs):
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59 for i in range(retries):
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60 d = func(*args, **kwargs)
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61 if d is not None:
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62 return d
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63 time.sleep(try_time)
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64 return None
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65
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66 new_f.__name__ = func.__name__
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67 return new_f
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68 return inner
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69
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70 def readline(sock):
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71 timeout = READLINE_SELECT_TIMEOUT
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72 buf = ''
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73 while True:
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74 (rlist, wlist, xlist) = select.select([sock], [], [], timeout)
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75 if sock not in rlist:
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76 # hit timeout
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77 return None
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78
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79 c = sock.recv(1)
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80 if c == '':
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81 # lightblue timeout
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82 return None
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83 if c == '\r':
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84 continue
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85
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86 buf += c
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87 if c == '\n':
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88 return buf
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89
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90 # from http://blog.stalkr.net/2011/04/pctf-2011-32-thats-no-bluetooth.html
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91 def crc16(buff, crc = 0, poly = 0x8408):
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92 l = len(buff)
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93 i = 0
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94 while i < l:
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95 ch = ord(buff[i])
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96 uc = 0
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97 while uc < 8:
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98 if (crc & 1) ^ (ch & 1):
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99 crc = (crc >> 1) ^ poly
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100 else:
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101 crc >>= 1
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102 ch >>= 1
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103 uc += 1
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104 i += 1
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105 return crc
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106
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107 def cheap_daemon():
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108 L("Daemonising.")
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109 sys.stdout.flush()
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110 sys.stderr.flush()
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111 out = file('/dev/null', 'a+')
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112 os.dup2(out.fileno(), sys.stdout.fileno())
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113 os.dup2(out.fileno(), sys.stderr.fileno())
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114
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115 try:
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116 pid = os.fork()
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117 if pid > 0:
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118 sys.exit(0)
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119 except OSError as e:
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120 E("Bad fork()")
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121 sys.exit(1)
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122
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123 os.setsid()
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124
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125 try:
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126 pid = os.fork()
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127 if pid > 0:
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128 sys.exit(0)
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129 except OSError as e:
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130 E("Bad fork()")
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131 sys.exit(1)
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132
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133 def uptime():
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134 try:
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135 return float(open('/proc/uptime', 'r').read().split(' ', 1)[0])
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136 except Exception as e:
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137 return -1
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138
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139
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140 def json_load_round_float(s, **args):
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141 return json.loads(s,parse_float = lambda f: round(float(f), 2), **args)
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142
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143 class NotTooOften(object):
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144 """ prevents things happening more than once per limit.
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145 Isn't monotonic, good enough for logging. eg
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146 self.logfailure = NotTooOften(180) # 3 minutes
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147 ...
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148 if self.logfailure():
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149 L("blah")
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150 """
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151 def __init__(self, limit):
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152 """ limit is a delay in seconds or TimeDelta """
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153 if type(limit) is datetime.timedelta:
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154 self.limit = limit
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155 else:
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156 self.limit = datetime.timedelta(seconds=limit)
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157
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158 # must be positive
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159 assert self.limit > datetime.timedelta(0)
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160 self.last = datetime.datetime(10, 1, 1)
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161
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162 def __call__(self):
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163 if datetime.datetime.now() - self.last > self.limit:
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164 self.last = datetime.datetime.now()
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165 return True
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166
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167 def log(self, msg):
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Matt Johnston <matt@ucc.asn.au>
parents: 556
diff changeset
168 """ calls L(msg) if it isn't too often, otherwise D(msg)
59cb8449ef97 Limit log
Matt Johnston <matt@ucc.asn.au>
parents: 556
diff changeset
169 """
59cb8449ef97 Limit log
Matt Johnston <matt@ucc.asn.au>
parents: 556
diff changeset
170 if self():
59cb8449ef97 Limit log
Matt Johnston <matt@ucc.asn.au>
parents: 556
diff changeset
171 L(msg + " (log interval %s)" % str(self.limit))
59cb8449ef97 Limit log
Matt Johnston <matt@ucc.asn.au>
parents: 556
diff changeset
172 else:
59cb8449ef97 Limit log
Matt Johnston <matt@ucc.asn.au>
parents: 556
diff changeset
173 D(msg)
569
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
174
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
175 class StepIntegrator(object):
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
176 """
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
177 >>> s = StepIntegrator(lambda: t, 40)
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
178 >>> t = 1
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
179 >>> s.turn(1)
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
180 >>> t = 10
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
181 >>> s.turn(0)
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
182 >>> t = 20
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
183 >>> s.turn(1)
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
184 >>> t = 30
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
185 >>> print(s.integrate())
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
186 19
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
187 >>> s.turn(0)
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
188 >>> print(s.integrate())
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
189 19
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
190 >>> t = 35
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
191 >>> print(s.integrate())
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
192 19
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
193 >>> t = 42
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
194 >>> print(s.integrate())
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
195 18
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
196 >>> t = 52
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
197 >>> print(s.integrate())
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
198 10
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
199 >>> t = 69
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
200 >>> print(s.integrate())
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
201 1
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
202 >>> t = 70
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
203 >>> print(s.integrate())
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
204 0
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
205 >>> t = 170
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
206 >>> print(s.integrate())
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
207 0
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
208 """
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
209 def __init__(self, timefn, limittime):
d7575050e4be StepIntegrator
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parents: 564
diff changeset
210 # _on_periods is a list of [[start, end]]. End is None if still on
d7575050e4be StepIntegrator
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parents: 564
diff changeset
211 self._on_periods = []
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
212 self._timefn = timefn
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
213 self._limittime = limittime
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
214
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
215 def turn(self, value):
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
216 if not self._on_periods:
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
217 if value:
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
218 self._on_periods.append([self._timefn(), None])
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
219 return
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
220
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
221 # state hasn't changed
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
222 on_now = (self._on_periods[-1][1] is None)
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
223 if value == on_now:
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
224 return
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
225
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
226 if value:
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
227 self._on_periods.append([self._timefn(), None])
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
228 else:
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
229 self._on_periods[-1][1] = self._timefn()
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
230
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
231 def _trim(self):
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
232 begin = self._timefn() - self._limittime
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
233 # shortcut, first start is after begin
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
234 if not self._on_periods or self._on_periods[0][0] >= begin:
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
235 return
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
236
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
237 new_periods = []
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
238 for s, e in self._on_periods:
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
239 if s == e:
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
240 continue
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
241 elif s >= begin:
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
242 new_periods.append([s,e])
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
243 elif e is not None and e < begin:
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
244 continue
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
245 else:
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
246 new_periods.append([begin, e])
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
247 self._on_periods = new_periods
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
248
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
249 def integrate(self):
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
250 self._trim()
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
251 tot = 0
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
252 for s, e in self._on_periods:
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
253 if e is None:
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
254 e = self._timefn()
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
255 tot += (e-s)
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
256 return tot
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
257
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
258
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
259
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
260
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
261
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
262
d7575050e4be StepIntegrator
Matt Johnston <matt@ucc.asn.au>
parents: 564
diff changeset
263