Fixed #13 by changing to NavigationToolbar2Tk.

Updated copyright year. Made robot attributes (type, etc) class attributes.
aarant · Feb 8, 2019 · 53ff58f · 53ff58f
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Showing 24 changed files with 37 additions and 38 deletions.
diff --git a/dist/Soar-1.5.2.tar.gz b/dist/Soar-1.5.2.tar.gz
diff --git a/docs/source/conf.py b/docs/source/conf.py
@@ -59,17 +59,17 @@ def __getattr__(cls, name):
 
 # General information about the project.
 project = 'Soar'
-copyright = '2017, Andrew Antonitis'
+copyright = '2019, Andrew Antonitis'
 author = 'Andrew Antonitis'
 
 # The version info for the project you're documenting, acts as replacement for
 # |version| and |release|, also used in various other places throughout the
 # built documents.
 #
 # The short X.Y version.
-version = '1.5.1'
+version = '1.5.2'
 # The full version, including alpha/beta/rc tags.
-release = '1.5.1'
+release = '1.5.2'
 
 # The language for content autogenerated by Sphinx. Refer to documentation
 # for a list of supported languages.

diff --git a/setup.py b/setup.py
@@ -15,7 +15,7 @@
       packages=['soar', 'soar.brains', 'soar.gui', 'soar.robot', 'soar.sim', 'soar.worlds'],
       package_data={'': ['*.gif']},
       entry_points={'console_scripts': ['soar = soar.__main__:main',]},
-      install_requires=['pyserial>=3.0', 'matplotlib>=2.0'],
+      install_requires=['pyserial>=3.0,<4.0', 'matplotlib>=3.0,<4.0'],
       python_requires='>=3.3',
       license='LGPLv3',
       classifiers=['License :: OSI Approved :: GNU Lesser General Public License v3 (LGPLv3)',

diff --git a/soar/__init__.py b/soar/__init__.py
@@ -1,5 +1,5 @@
 # Soar (Snakes on a Robot): A Python robotics framework.
-# Copyright (C) 2017 Andrew Antonitis. Licensed under the LGPLv3.
+# Copyright (C) 2019 Andrew Antonitis. Licensed under the LGPLv3.
 #
 # This program is free software: you can redistribute it and/or modify
 # it under the terms of the GNU Lesser General Public License as published by
@@ -15,16 +15,16 @@
 # along with this program.  If not, see <http://www.gnu.org/licenses/>.
 #
 # soar/__init__.py
-""" Soar (Snakes on a Robot) v1.5.1
+""" Soar (Snakes on a Robot) v1.5.2
 
 An extensible Python framework for both simulating and interacting with robots.
 
-Copyright (C) 2017 Andrew Antonitis. Licensed under the LGPLv3.
+Copyright (C) 2019 Andrew Antonitis. Licensed under the LGPLv3.
 """
 
 
-__version__ = '1.5.1'
+__version__ = '1.5.2'
 blerb = 'Soar (Snakes on a Robot) v' + __version__ + ': A Python robotics framework.\n' \
                                                      'https://github.com/arantonitis/soar\n\n' \
-                                                     'Copyright (C) 2017 Andrew Antonitis. Licensed under the LGPLv3.'
+                                                     'Copyright (C) 2019 Andrew Antonitis. Licensed under the LGPLv3.'
 
diff --git a/soar/__main__.py b/soar/__main__.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 # Soar (Snakes on a Robot): A Python robotics framework.
-# Copyright (C) 2017 Andrew Antonitis. Licensed under the LGPLv3.
+# Copyright (C) 2019 Andrew Antonitis. Licensed under the LGPLv3.
 #
 # soar/__main__.py
 """ Allows use of Soar from the command line by passing arguments to :func:`soar.client.main`

diff --git a/soar/client.py b/soar/client.py
@@ -1,5 +1,5 @@
 # Soar (Snakes on a Robot): A Python robotics framework.
-# Copyright (C) 2017 Andrew Antonitis. Licensed under the LGPLv3.
+# Copyright (C) 2019 Andrew Antonitis. Licensed under the LGPLv3.
 #
 # soar/client.py
 """ Soar client entrypoint.

diff --git a/soar/common.py b/soar/common.py
@@ -1,5 +1,5 @@
 # Soar (Snakes on a Robot): A Python robotics framework.
-# Copyright (C) 2017 Andrew Antonitis. Licensed under the LGPLv3.
+# Copyright (C) 2019 Andrew Antonitis. Licensed under the LGPLv3.
 #
 # soar/common.py
 # TODO: Move these into __init__?

diff --git a/soar/controller.py b/soar/controller.py
@@ -1,5 +1,5 @@
 # Soar (Snakes on a Robot): A Python robotics framework.
-# Copyright (C) 2017 Andrew Antonitis. Licensed under the LGPLv3.
+# Copyright (C) 2019 Andrew Antonitis. Licensed under the LGPLv3.
 #
 # soar/controller.py
 """ Controller classes and functions for controlling robots, simulated or real. """

diff --git a/soar/errors.py b/soar/errors.py
@@ -1,5 +1,5 @@
 # Soar (Snakes on a Robot): A Python robotics framework.
-# Copyright (C) 2017 Andrew Antonitis. Licensed under the LGPLv3.
+# Copyright (C) 2019 Andrew Antonitis. Licensed under the LGPLv3.
 #
 # soar/errors.py
 """ Soar error classes. """

diff --git a/soar/gui/__init__.py b/soar/gui/__init__.py
@@ -1,5 +1,5 @@
 # Soar (Snakes on a Robot): A Python robotics framework.
-# Copyright (C) 2017 Andrew Antonitis. Licensed under the LGPLv3.
+# Copyright (C) 2019 Andrew Antonitis. Licensed under the LGPLv3.
 #
 # soar/gui/__init__.py
 """ Soar GUI Modules.

diff --git a/soar/gui/canvas.py b/soar/gui/canvas.py
@@ -1,5 +1,5 @@
 # Soar (Snakes on a Robot): A Python robotics framework.
-# Copyright (C) 2017 Andrew Antonitis. Licensed under the LGPLv3.
+# Copyright (C) 2019 Andrew Antonitis. Licensed under the LGPLv3.
 #
 # soar/gui/canvas.py
 """ Soar canvas classes and methods.

diff --git a/soar/gui/output.py b/soar/gui/output.py
@@ -1,5 +1,5 @@
 # Soar (Snakes on a Robot): A Python robotics framework.
-# Copyright (C) 2017 Andrew Antonitis. Licensed under the LGPLv3.
+# Copyright (C) 2019 Andrew Antonitis. Licensed under the LGPLv3.
 #
 # soar/gui/output.py
 """ Soar output classes.

diff --git a/soar/gui/plot_window.py b/soar/gui/plot_window.py
@@ -22,7 +22,7 @@
 if platform.system() == 'Darwin':  # Fix for Soar crashing on macOS
     matplotlib.use('TkAgg')
 # Tk backends, used for plotting in various modes (GUI or headless)
-from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg, FigureCanvasAgg, NavigationToolbar2TkAgg
+from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg, FigureCanvasAgg, NavigationToolbar2Tk
 import matplotlib.pyplot as plt
 from tkinter import Tk, Toplevel, TOP, BOTH
 
@@ -63,7 +63,7 @@ def make_window(self):
         This method is called during initialization and it is unlikely you will need to call it elsewhere.
         """
         self.canvas.get_tk_widget().pack(side=TOP, fill=BOTH, expand=1)
-        self.toolbar = NavigationToolbar2TkAgg(self.canvas, self.canvas._master)
+        self.toolbar = NavigationToolbar2Tk(self.canvas, self.canvas._master)
         self.toolbar.update()
         self.canvas._tkcanvas.pack(side=TOP, fill=BOTH, expand=1)
 

diff --git a/soar/gui/soar_ui.py b/soar/gui/soar_ui.py
@@ -1,5 +1,5 @@
 # Soar (Snakes on a Robot): A Python robotics framework.
-# Copyright (C) 2017 Andrew Antonitis. Licensed under the LGPLv3.
+# Copyright (C) 2019 Andrew Antonitis. Licensed under the LGPLv3.
 #
 # soar/gui/soar_ui.py
 """ Soar Main GUI classes.

diff --git a/soar/hooks.py b/soar/hooks.py
@@ -1,5 +1,5 @@
 # Soar (Snakes on a Robot): A Python robotics framework.
-# Copyright (C) 2017 Andrew Antonitis. Licensed under the LGPLv3.
+# Copyright (C) 2019 Andrew Antonitis. Licensed under the LGPLv3.
 #
 # soar/hooks.py
 """ Functions for brains to hook into various elements of Soar.

diff --git a/soar/robot/__init__.py b/soar/robot/__init__.py
@@ -1,5 +1,5 @@
 # Soar (Snakes on a Robot): A Python robotics framework.
-# Copyright (C) 2017 Andrew Antonitis. Licensed under the LGPLv3.
+# Copyright (C) 2019 Andrew Antonitis. Licensed under the LGPLv3.
 #
 # soar/robot/__init__.py
 """ Soar robot modules, containing the BaseRobot class, example robot subclasses, and bundled implementations like

diff --git a/soar/robot/arcos.py b/soar/robot/arcos.py
@@ -1,5 +1,5 @@
 # Soar (Snakes on a Robot): A Python robotics framework.
-# Copyright (C) 2017 Andrew Antonitis. Licensed under the LGPLv3.
+# Copyright (C) 2019 Andrew Antonitis. Licensed under the LGPLv3.
 #
 # soar/robot/arcos.py
 """ ARCOS (Advanced Robot Control and Operations Software) Client.

diff --git a/soar/robot/base.py b/soar/robot/base.py
@@ -1,5 +1,5 @@
 # Soar (Snakes on a Robot): A Python robotics framework.
-# Copyright (C) 2017 Andrew Antonitis. Licensed under the LGPLv3.
+# Copyright (C) 2019 Andrew Antonitis. Licensed under the LGPLv3.
 #
 # soar/robot/base.py
 """ Soar BaseRobot class, intended as a parent class for nontrivial/useful robots.
@@ -14,6 +14,7 @@
 
 
 class BaseRobot(WorldObject):
+    type = 'BaseRobot'
     """ A base robot class, intended to be subclassed and overridden.
 
     Any robot usable in SoaR should supplement or re-implement this class' methods with the desired behavior.
@@ -40,7 +41,6 @@ class BaseRobot(WorldObject):
 
     def __init__(self, polygon, **options):
         WorldObject.__init__(self, do_draw=True, do_step=True, **options)  # Robots are always drawn and stepped
-        self.type = 'BaseRobot'
         self.simulated = True
         self.world = None
         self.pose = Pose(0, 0, 0)

diff --git a/soar/robot/names.py b/soar/robot/names.py
@@ -1,5 +1,5 @@
 # Soar (Snakes on a Robot): A Python robotics framework.
-# Copyright (C) 2017 Andrew Antonitis. Licensed under the LGPLv3.
+# Copyright (C) 2019 Andrew Antonitis. Licensed under the LGPLv3.
 #
 # soar/robot/names.py
 """ Generate a neutral name from an arbitrary serial number string. """

diff --git a/soar/robot/pioneer.py b/soar/robot/pioneer.py
@@ -1,5 +1,5 @@
 # Soar (Snakes on a Robot): A Python robotics framework.
-# Copyright (C) 2017 Andrew Antonitis. Licensed under the LGPLv3.
+# Copyright (C) 2019 Andrew Antonitis. Licensed under the LGPLv3.
 #
 # soar/robot/pioneer.py
 """ A PioneerRobot class, for representing a real or simulated Pioneer 3 robot.
@@ -55,6 +55,12 @@ def gen_tone_pairs(note_string, bpm=120):
 
 
 class PioneerRobot(BaseRobot):
+    type = 'Pioneer3'
+    # Sonar poses relative to the robot's center
+    sonar_poses = [Pose(0.08, 0.134, pi/2), Pose(0.122, 0.118, 5*pi/18), Pose(0.156, 0.077, pi/6),
+                   Pose(0.174, 0.0266, pi/18), Pose(0.174, -0.0266, -pi/18), Pose(0.156, -0.077, -pi/6),
+                   Pose(0.122, -0.118, -5*pi/18), Pose(0.08, -0.134, -pi/2)]
+    SONAR_MAX = 1.5  # meters
     """ An abstract, universal Pioneer 3 robot. Instances of this class can be fully simulated, or used to communicate
     with an actual Pioneer3 robot over a serial port.
 
@@ -83,13 +89,6 @@ def __init__(self, **options):
                                                   (-0.034, 0.190), (-0.051, 0.190), (-0.051, 0.150), (-0.153, 0.150),
                                                   (-0.223, 0.074), (-0.223, -0.103), (-0.153, -0.179), (-0.051, -0.179),
                                                   (-0.051, -0.219)], None, fill='black', dummy=True))
-        self.type = 'Pioneer3'
-        # Sonar poses relative to the robot's center
-        self.sonar_poses = [Pose(0.08, 0.134, pi/2), Pose(0.122, 0.118, 5*pi/18),
-                            Pose(0.156, 0.077, pi/6), Pose(0.174, 0.0266, pi/18),
-                            Pose(0.174, -0.0266, -pi/18), Pose(0.156, -0.077, -pi/6),
-                            Pose(0.122, -0.118, -5*pi/18), Pose(0.08, -0.134, -pi/2)]
-        self.SONAR_MAX = 1.5  # meters
         self.arcos = None  # The ARCOS client, if connected
         self.serial_device = None  # The serial device, if connected
         self._fv = 0.0  # Internal forward velocity storage

diff --git a/soar/sim/__init__.py b/soar/sim/__init__.py
@@ -1,5 +1,5 @@
 # Soar (Snakes on a Robot): A Python robotics framework.
-# Copyright (C) 2017 Andrew Antonitis. Licensed under the LGPLv3.
+# Copyright (C) 2019 Andrew Antonitis. Licensed under the LGPLv3.
 #
 # soar/sim/__init__.py
 """ Simulation modules, containing general 2D geometry methods, graphical world objects with collision detection, etc.

diff --git a/soar/sim/geometry.py b/soar/sim/geometry.py
@@ -1,5 +1,5 @@
 # Soar (Snakes on a Robot): A Python robotics framework.
-# Copyright (C) 2017 Andrew Antonitis. Licensed under the LGPLv3.
+# Copyright (C) 2019 Andrew Antonitis. Licensed under the LGPLv3.
 #
 # soar/sim/geometry.py
 """ Geometry classes, for manipulating points, collections of points, lines, and normalizing angles. """

diff --git a/soar/sim/world.py b/soar/sim/world.py
@@ -1,5 +1,5 @@
 # Soar (Snakes on a Robot): A Python robotics framework.
-# Copyright (C) 2017 Andrew Antonitis. Licensed under the LGPLv3.
+# Copyright (C) 2019 Andrew Antonitis. Licensed under the LGPLv3.
 #
 # soar/sim/world.py
 """ Soar World and WorldObject classes/subclasses, for simulating and drawing worlds. """

diff --git a/soar/update.py b/soar/update.py
@@ -1,5 +1,5 @@
 # Soar (Snakes on a Robot): A Python robotics framework.
-# Copyright (C) 2017 Andrew Antonitis. Licensed under the LGPLv3.
+# Copyright (C) 2019 Andrew Antonitis. Licensed under the LGPLv3.
 #
 # soar/update.py
 """ Function to check for updates on PyPI, and return a message for the user. """