Import cpp library in algorithms.py instead of __init__.py

Also some whitespace cleanup / unification and mode sanitation.

Author: HannesSommer

cuckoo_time_translator_python/python/cuckoo_time_translator/__init__.py

@@ -1 +0,0 @@
-from libcuckoo_time_translator_python import *

cuckoo_time_translator_python/python/cuckoo_time_translator/algorithms.py

@@ -0,0 +1 @@
+from .libcuckoo_time_translator_python import *

cuckoo_time_translator_python/python/cuckoo_time_translator/batch_algo.py

@@ -3,24 +3,26 @@
 import numpy as np
 import sys
 
+
 def chunks(l, n):
     """Yield successive n-sized chunks from l."""
     for i in range(0, len(l), n):
         yield l[i:i + n]
 
-def printDelayStat(delays, name, outlierLimit = None, file = None, chunkSizes = ()):
+
+def printDelayStat(delays, name, outlierLimit=None, file=None, chunkSizes=()):
     if delays is not None and len(delays):
         if outlierLimit:
             delays = delays[delays < outlierLimit]
-            
-        delays = np.array(delays) * 1e3 # convert to ms
-        
+
+        delays = np.array(delays) * 1e3  # convert to ms
+
         files = [sys.stdout]
         if file: files.append(file)
         for f in files:
-            print("%s: mean=%f ms, std=%f ms" % (name, np.mean(delays), np.std(delays)), file = f)
+            print("%s: mean=%f ms, std=%f ms" % (name, np.mean(delays), np.std(delays)), file=f)
             for n in chunkSizes:
-                print("std(%s over %d chunks) = %g ms" %(name, n, np.std([ np.mean(c) for c in chunks(delays, n)])), file = f)
+                print("std(%s over %d chunks) = %g ms" % (name, n, np.std([ np.mean(c) for c in chunks(delays, n)])), file=f)
 
     else :
         print("No %s data!" % name)

cuckoo_time_translator_python/python/cuckoo_time_translator/device_time_bags.py

@@ -1,7 +1,4 @@
-from __future__ import print_function
-
 import os
-import sys
 
 import pickle
 import rosbag
@@ -12,6 +9,7 @@
 
 DefaultTopic = '/device_time'
 
+
 def guessTopics(bagFile):
   with rosbag.Bag(bagFile) as bag:
     found = []
@@ -21,8 +19,10 @@ def guessTopics(bagFile):
 
   return found
 
+
 class DeviceTimeStream():
-  def __init__(self, bagFile, topic, invalidate = False):
+
+  def __init__(self, bagFile, topic, invalidate=False):
     eventsFile = os.path.realpath(bagFile) + topic.replace("/", "_") + ".p"
     if os.path.exists(eventsFile):
         if invalidate:
@@ -31,7 +31,7 @@ def __init__(self, bagFile, topic, invalidate = False):
             verbose("Loading from " + eventsFile)
             self.__dict__ = pickle.load(open(eventsFile, "rb"))
             return
-    
+
     bag = rosbag.Bag(bagFile)
 
     self.filtered_hw_times = TimestampSeries()

cuckoo_time_translator_python/python/cuckoo_time_translator/plotting.py

@@ -2,7 +2,6 @@
 
 from __future__ import print_function
 
-import sys
 import os
 import numpy as np
 import matplotlib
@@ -11,10 +10,12 @@
 
 from tools import *
 
-def show(block = True):
+
+def show(block=True):
     plt.show(block)
 
-def save(fig, legend, fileName, fileFormat = 'pdf', overwrite = False):
+
+def save(fig, legend, fileName, fileFormat='pdf', overwrite=False):
     fullFileName = fileName + '.' + fileFormat if not fileName.endswith(fileFormat) else fileName
     if not overwrite and os.path.exists(fullFileName):
         warn("Output file %s exists already! Not overwriting!" % fullFileName)
@@ -24,19 +25,19 @@ def save(fig, legend, fileName, fileFormat = 'pdf', overwrite = False):
     extra = ()
     if legend:
         extra = (legend,)
-        
+
     fig.savefig(fullFileName, bbox_inches='tight', format=fileFormat)
 
 
-def plotMultiDelays(x, delays, xLabel,  labels = None, title = None, markersize = 1.5, fileName = None, overwrite = None, colors = None, block = False, show = False):
+def plotMultiDelays(x, delays, xLabel, labels=None, title=None, markersize=1.5, fileName=None, overwrite=None, colors=None, block=False, show=False):
     if not colors:
         defaultColors = ['r', 'g', 'b']
         colors = list(reversed(defaultColors[:len(delays)]))
-    
+
     yLabel = "offset [msec]"
-        
+
     import matplotlib.gridspec as gridspec
-    
+
     figsize = (5, 2.5)
 
     breakX = False
@@ -47,28 +48,27 @@ def plotMyDelays(ax):
         if labels:
             for i, (d, l) in enumerate(zip(delays, labels)):
                 assert(len(xA) == len(d))
-                ax.plot(xA, np.asarray(d) * 1000, linestyle='-', marker='.', markersize= markersize, label = l, color = colors[i])
+                ax.plot(xA, np.asarray(d) * 1000, linestyle='-', marker='.', markersize=markersize, label=l, color=colors[i])
         else:
             for i, d in enumerate(delays):
                 assert(len(xA) == len(d))
-                ax.plot(xA, np.asarray(d) * 1000, linestyle='-', marker='.', markersize= markersize, color = colors[i])
+                ax.plot(xA, np.asarray(d) * 1000, linestyle='-', marker='.', markersize=markersize, color=colors[i])
 
-    fig, ax = plt.subplots(1, 1, figsize= figsize)
+    fig, ax = plt.subplots(1, 1, figsize=figsize)
     plotMyDelays(ax)
     ax.set_xlabel(xLabel)
     ax.set_ylabel(yLabel)
 
     if title:
         ax.set_title(title)
-    
+
     legend = None
     if labels:
         legend = ax.legend(loc='upper right', shadow=False)
 
-    
     if fileName:
-        save(fig, legend, fileName, overwrite = overwrite)
-        
+        save(fig, legend, fileName, overwrite=overwrite)
+
     if show:
       show(block)
     return fig

cuckoo_time_translator_python/python/cuckoo_time_translator/timestamp_filters.py

@@ -1,30 +1,28 @@
-from __future__ import print_function
-
 import numpy as np
-import math
-import sys
+import cuckoo_time_translator.algorithms as algorithms
+
+from cuckoo_time_translator.algorithms import LocalTime, RemoteTime
 
-import cuckoo_time_translator as ctt
-from cuckoo_time_translator import LocalTime, RemoteTime
 
 class TimestampFilter:
-  def __init__(self, owt, batch = False, switchTime = None):
+
+  def __init__(self, owt, batch=False, switchTime=None):
     if switchTime:
-      self.owt = ctt.SwitchingOwt(switchTime, owt)
+      self.owt = algorithms.SwitchingOwt(switchTime, owt)
     else:
       self.owt = owt
     self.batch = batch
     self.switchTime = switchTime
-    
+
     self._paramNames = { "batch" : False, "switchTime" : None }
-    
+
     self.name = self.__class__.__name__
 
   def _addParamNames(self, extra_names):
     return self._paramNames.update(extra_names)
 
-  def getConfigString(self, showDefaults = False):
-    return "%s(%s)" %  (self.name, ", ".join([ "%s=%s"% (name, getattr(self, name)) for name, default in self._paramNames.items() if showDefaults or default != getattr(self, name)]))
+  def getConfigString(self, showDefaults=False):
+    return "%s(%s)" % (self.name, ", ".join([ "%s=%s" % (name, getattr(self, name)) for name, default in self._paramNames.items() if showDefaults or default != getattr(self, name)]))
 
   def __str__(self):
     return self.getConfigString(False)
@@ -48,17 +46,21 @@ def apply(self, hwTimes, receiveTimes):
     return correctedhwTimes
 
   def getConfigAndStateString(self):
-    return self.owt.getNameAndConfigString() + ": "+ self.owt.getStateString()
+    return self.owt.getNameAndConfigString() + ": " + self.owt.getStateString()
+
 
 class ConvexHullFilter (TimestampFilter):
+
   def __init__(self, *args, **kwargs):
-    TimestampFilter.__init__(self, ctt.ConvexHullOwt(), *args, **kwargs)
+    TimestampFilter.__init__(self, algorithms.ConvexHullOwt(), *args, **kwargs)
+
 
 class KalmanFilter(TimestampFilter):
-  def __init__(self, outlierThreshold = None, sigmaSkew = None, *args, **kwargs):
-    k = ctt.KalmanOwt()
+
+  def __init__(self, outlierThreshold=None, sigmaSkew=None, *args, **kwargs):
+    k = algorithms.KalmanOwt()
     c = k.getConfig()
-    
+
     extra_params = { "outlierThreshold" : c.outlierThreshold, "sigmaSkew" : c.sigmaSkew }
 
     if outlierThreshold:
@@ -71,10 +73,12 @@ def __init__(self, outlierThreshold = None, sigmaSkew = None, *args, **kwargs):
 
     k.setConfig(c)
     TimestampFilter.__init__(self, k, *args, **kwargs)
-    
+
     self._addParamNames(extra_params)
 
+
 class LeastSquaresFilter(TimestampFilter):
+
   def __init__(self):
     TimestampFilter.__init__(self, None, batch=True)
 
@@ -84,11 +88,11 @@ def apply(self, hwTimes, receiveTimes):
 
     from scipy import stats
     self.skew, self.offset, r_value, p_value, std_err = stats.linregress(hwTimes, receiveTimes)
-    
+
     correctedhwTimes = [ self.offset + ht * self.skew for ht in hwTimes ]
     return correctedhwTimes
 
-  def getConfigString(self, showDefaults = False):
+  def getConfigString(self, showDefaults=False):
     return "LeastSquaresFilter()"
 
   def getConfigAndStateString(self):

cuckoo_time_translator_python/python/cuckoo_time_translator/timestamp_series.py

@@ -1,15 +1,8 @@
-from __future__ import print_function
-
-import os
-import sys
-
-import pickle
-import rosbag
-
 class TimestampSeries(list):
+
   def __init__(self):
     pass
-    
+
   def append(self, t):
     assert float == type(t), "type(t)=" + str(type(t))
     list.append(self, t)

cuckoo_time_translator_python/python/cuckoo_time_translator/tools.py

@@ -1,28 +1,35 @@
+from __future__ import print_function
+
 import exceptions
 try:
     from termcolor import colored
 except exceptions.ImportError:
     print("Unable to import termcolor.")
     print("Try:")
     print("sudo pip install termcolor")
-    def colored(X,Y):
+
+    def colored(X, Y):
         return X
 
 verbosity = False
 
+
 def info(text):
     print(colored(text, 'yellow'))
 
+
 def verbose(text):
     if verbosity:
         print(colored(text, 'yellow'))
 
+
 def warn(text):
     print(colored(str(text), 'red'))
 
 
 def error(text):
     print(colored("Error :" + str(text), 'red'))
 
+
 def ok(text):
     print(colored(str(text), 'green'))

cuckoo_time_translator_python/setup.py

@@ -1,5 +1,5 @@
 
-## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
+# # ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
 
 from distutils.core import setup
 from catkin_pkg.python_setup import generate_distutils_setup
@@ -9,6 +9,6 @@
     packages=['cuckoo_time_translator'],
     package_dir={'':'python'},
     scripts=['scripts/ctt_introspect.py']
-    )
+  )
 
 setup(**setup_args)

cuckoo_time_translator_python/test/Test.py

@@ -1,17 +1,18 @@
 #!/usr/bin/env python
 import os
-from cuckoo_time_translator import *
+from cuckoo_time_translator.algorithms import *
 
 import unittest
 
 from nose import SkipTest
 
+
 class TestTimes(unittest.TestCase):
+
   def testConversions(self):
     l = LocalTime(3)
     self.assertEqual(3, float(l))
 
-
   def _testFilter(self, c):
     self.assertFalse(c.isReady())
     l = c.updateAndTranslateToLocalTimestamp(RemoteTime(5), LocalTime(4))
@@ -29,5 +30,6 @@ def testConvexHull(self):
   def testKalman(self):
     self._testFilter(KalmanOwt())
 
+
 if __name__ == '__main__':
     unittest.main()