pyacptrak helps you to create ACOPOStrak resources for projects, training, meetings, mappView widgets, etc... It is a powerful tool when used together with Jupyter-Lab (Or Jupyter Notes) but could be used as stand alone module.
To install pyacptrak, run the following command:
pip install pyacptrak
To install pyacptrak, along with the tools you need to develop and run tests, run the following command:
pip install pyacptrak[dev]
The library support the 4 type of segments ('AA', 'AB', 'BA' and 'BB').
Obtain segment information:
import pyacptrak as at
print(at.Segment('aa').info())
Output:
{'length': 660,
'type': '8F1I01.AA66.xxxx-1',
'description': 'ACOPOStrak straight segment'}
Plot segment:
import pyacptrak as at
at.Segment('aa').plot()
The plot function supports rotation in degrees:
import pyacptrak as at
at.Segment('ab').plot(-45)
The library has 5 types of pre-built tracks (TRACK0, TRACK45, TRACK90, TRACK135 and TRACK180).
import pyacptrak as at
at.TRACK135.plot()
But you could also build your own tracks using individual segments.
import pyacptrak as at
track1 = (at.Segment('aa') * 2) + at.Segment('ab') + (at.Segment('bb') * 2) + at.Segment('ba')
track1.plot()
Or using the pre-configured tracks (This makes it easier).
import pyacptrak as at
track1 = (at.TRACK0 * 2) + at.TRACK135
track1.plot()
The plot function supports rotation for tracks:
import pyacptrak as at
track1 = (at.TRACK0 * 2) + at.TRACK135
track1.plot(15)
The arguments seg_prefix (Default value "gSeg_") and seg_offset (default value "1") are available from v0.0.5 to configure the segment variable names
The library supports working with loops, the arguments for the loop are width and height, the unit is considering the 660mm grid so a loop(2,1) would draw the smallest possible loop (If no arguments are passed it will consider w=2, h=1).
import pyacptrak as at
at.Loop(2,1).plot()
For loops wider than 1 it uses 90° tracks instead of 180°
import pyacptrak as at
at.Loop(3,2).plot()
The plot function also support rotation for loops
import pyacptrak as at
at.Loop(3,2).plot(190)
It is possible to save the SVG file of any of the classes by chaining the method save().
The save() accepts one argument to define the name of the output file, if no name is passed, the default filename will be the class name.
import pyacptrak as at
at.Loop(3,2).plot(190).save()
Output: Saves a "Loop.svg" file
It is possible to configure the shuttle type by using the size (50mm , 100mm, 244mm), selecting if it is one or two sided magnet (For diverter) and the magnet type (Straight, skewed) by using the PARAM class
at.PARAM.shuttle.size = 100 # 50, 100, 244
at.PARAM.shuttle.magnet_plate = 1 # 1 = Non diverter, 2 = Diverter
at.PARAM.shuttle.magnet_type = 'Straight' # Straight, Skewed
It is possible to configure the default control parameters, the PID values will be calculated automatically depending the configured shuttle and the controller type (Soft, medium, hard).
at.PARAM.segment.controller = 'Hard' # soft, medium, hard
When any of these parameters changes, the user will be notified if the control parameters and/or the shuttle type have been updated
The control parameters have been updated
The shuttle model and dimensions have been updated: 8F1SA.203.xxxxxx-x
The complete PARAM class is shown below:
<class 'pyacptrak.pyacptrak._param'>
segment = <class 'pyacptrak.pyacptrak._segment'>
control_par = <class 'pyacptrak.pyacptrak._control_par'>
ff_force_neg = 2.0
ff_force_pos = 2.0
ff_speed_force_factor = 2.0
ff_total_mass = 0.8
pos_proportional_gain = 300
speed_proportional_gain = 180
elongation = Inactive
simulation = Off
speed_filter = Not Used
stop_reaction = Induction Halt
shuttle = <class 'pyacptrak.pyacptrak._shuttle'>
auto_dimensions = True
collision_distance = 0.002
collision_strategy = Constant
convoy = Inactive
count = 10
error_stop = 0.006
extent_back = 0.05
extent_front = 0.05
model = 8F1SA.203.xxxxxx-x
stereotype = ShuttleStereotype_1
stereotype_par = <class 'pyacptrak.pyacptrak._sh_stereotype_par'>
acceleration = 50.0
deceleration = 50.0
jerk = 0.02
recontrol = Active
user_data = 0
velocity = 4.0
width = 0.03
visu = <class 'pyacptrak.pyacptrak._visu'>
task = 4
The library supports working with assemblies, the arguments for the assembly are a list of Track elements and a name (By default "gAssembly_1") which will be used for the exported files
import pyacptrak as at
asm1 = at.Assembly([at.Loop(3,1), at.Loop()])
It is possible to plot each track of the assembly by accessing the track index:
asm1.track[0].plot()
asm1.track[1].plot()
It is also possible to access all track methods from each Track element within the assembly class.
The arguments seg_prefix (Default value "gSeg_") and seg_offset (default value "1") are available from v0.0.5 to configure the segment variable names. When each track has different seg_prefix name the offset will reset by default (This behavior could be overriden by passing a value in the seg_offset argument):
import pyacptrak as at
l1 = at.Loop(3,1, seg_prefix='gLoop1_')
l2 = at.Loop(seg_prefix='gLoop2_')
asm = at.Assembly([l1,l2])
print(asm.track[0].info())
This will print all the information of the track:
{'seg_prefix': 'gLoop1_',
'seg_offset': 1,
'length': 4560,
'segment': [{'name': 'gLoop1_001',
'length': 450,
'type': '8F1I01.AB2B.xxxx-1',
'description': 'ACOPOStrak curve segment A'},
{'name': 'gLoop1_002',
'length': 240,
'type': '8F1I01.BB4B.xxxx-1',
'description': 'ACOPOStrak circular arc segment'},
{'name': 'gLoop1_003',
'length': 240,
'type': '8F1I01.BB4B.xxxx-1',
'description': 'ACOPOStrak circular arc segment'},
{'name': 'gLoop1_004',
'length': 240,
'type': '8F1I01.BB4B.xxxx-1',
'description': 'ACOPOStrak circular arc segment'},
{'name': 'gLoop1_005',
'length': 450,
'type': '8F1I01.BA2B.xxxx-1',
'description': 'ACOPOStrak curve segment B'},
{'name': 'gLoop1_006',
'length': 660,
'type': '8F1I01.AA66.xxxx-1',
'description': 'ACOPOStrak straight segment'},
{'name': 'gLoop1_007',
'length': 450,
'type': '8F1I01.AB2B.xxxx-1',
'description': 'ACOPOStrak curve segment A'},
{'name': 'gLoop1_008',
'length': 240,
'type': '8F1I01.BB4B.xxxx-1',
'description': 'ACOPOStrak circular arc segment'},
{'name': 'gLoop1_009',
'length': 240,
'type': '8F1I01.BB4B.xxxx-1',
'description': 'ACOPOStrak circular arc segment'},
{'name': 'gLoop1_010',
'length': 240,
'type': '8F1I01.BB4B.xxxx-1',
'description': 'ACOPOStrak circular arc segment'},
{'name': 'gLoop1_011',
'length': 450,
'type': '8F1I01.BA2B.xxxx-1',
'description': 'ACOPOStrak curve segment B'},
{'name': 'gLoop1_012',
'length': 660,
'type': '8F1I01.AA66.xxxx-1',
'description': 'ACOPOStrak straight segment'}]}
Or could show the compacted version by passing the compact optional argument:
import pyacptrak as at
l1 = at.Loop(3,1, seg_prefix='gLoop1_')
l2 = at.Loop(seg_prefix='gLoop2_')
asm = at.Assembly([l1,l2])
asm.track[0].info(compact = True)
This will print the main track information and the number of segments in the track:
{'seg_prefix': 'gLoop1_',
'seg_offset': 1,
'length': 4560,
'segment': 'The track has 12 segments'}
It is possible to configure the SVG settings (Starting with v0.0.6)
import pyacptrak as at
at.Loop(3,1).plot(angle=20, show_id=True, seg_body_fill='#ff8800', seg_border_stroke='#0000ff', seg_id_stroke='#ff0000')
Copyright © Jorge Centeno
Licensed under the GNU GPLv3 license.
- Bug fix: The save method was not working because of a typo in the image attribute.
- Bug fix: The class initialization didn't accept the arguments
seg_prefixandseg_offset.- Bug fix: The
Assemblyclass export method was not working due to wrongstringtobyteconversion.
- Change: The library
svgutilshas been removed and replaced withsvgwrite.- Change: The SVG resources installed with
pyacptrakare now removed.- New feature: All SVG images are now generated from scratch, this allows the library to modify the color of the elements and insert text (Like segment ID). This also expands the posibility to implement new features or add elements to the SVG images in future versions.
- New feature: All
plot()methods have the following optional arguments to configure the SVG image:
- show_id: bool = False: Show or hide the segment id.
- seg_body_fill: str = None: Configure the fill color of the segment, accepts a hexadecimal color code. The default value is '#EEEEEE'.
- seg_body_stroke: str = None: Configure the stroke (Edge) color of the segment body, acceptas a hexadecimal color code. The default value is '#A9A9A9'.
- seg_border_stroke: str = None: Configure the stroke color of the segment border (The work area), accepts a hexadecimal color code. The default value is '#FF8800'.
- seg_dir_fill: str = None: Configure the fill color of the arrow that represents the segment encoder direction, accepts a hexadecimal color code. The default value is '#CCCCCC'.
- seg_dir_stroke: str = None: Configure the stroke (Edge) color of the segment direction arrow, accepts a hexadecimal color code. The default value is '#CCCCCC'.
- seg_id_fill: str = None: Configure the fill color of the segment ID text, accepts a hexadecimal color code. The default value is '#BBBBBB'.
- seg_id_stroke: str = None: Configure the stroke (Edge) color of the segment id, accepts a hexadecimal color code. The default value is '#BBBBBB'.
- seg_id_stroke_width: float = None: Configure the width of the segment id stroke. The default value is '0.15'
- Bug fix: Removed unecessary packages from
install_requires. The combination some module versions generated the following error whenpyacptrakwas installed in Python 3.9:× python setup.py egg_info did not run successfully. │ exit code: 1 ╰─> [1 lines of output] ERROR: Can not execute `setup.py` since setuptools is not available in the build environment. [end of output]
- New feature: When the shuttle type and/or the controller configuration changes via the
PARAMclass, the PID controller parameters will be automatically calculated based on the recomended values from Automation Help.- New feature: The
info()method of the Track, Loop and Assembly classes may now receive an optional argumentcompact(The default value is False).
- New feature: the export method is available, it will automatically create the assembly configuration file
AsmCfg.assemblyand the shuttle stereotype fileShCfg.shuttlestereotype. Both files will be generated in the same folder where the python program is running and could be imported (Or copy/pasted) into the Automation Studio project.- New feature: The
nameargument is available to configure a name for the assembly, the default value is "gAssembly_1".
- New feature: The
seg_prefixargument is available to configure a prefix for the segment variable names, the default value is "gSeg_".- New feature: The
seg_offsetargument is available to configure an offset for the segment variable names, the default value is "1".
- Bug fix: As a result of moving the "img" folder location in v0.0.3 the SVG images were not installed with the package, now this works correctly and the images are installed together with the package.
- License changed from MIT to GNU GPLv3.
- Added TypeError for addition and multiplication operators.
- Added
typeguardandtypingpackages to typecheck the methods.- Added
xmltodictpackage to create the xml configuration files for the AS project.- Added
PARAMvariable to configure the exported files.- Reduced the size of SVG files.
- Change: Removed the
infoattribute.- New feature: The
info()method was added to get the segment information.- Bug fix: Multiplying a segment object by an integer "n" would create a Track class object with "n" segments all pointing to the same segment object.
- New feature: The
seg_prefixargument (Optional) was added to theTrackclass to create the segment variable. The default value is "gSeg_".- New feature: The
seg_offsetargument (Optional) was added to theTrackclass to configure an offset for the segment variable. The default value is "1".- New feature: The
info()method was added to get the track information.- Bug fix: Adding or multiplying Track objects would create a Track class object with elements pointing to the same segment objects.
- New feature: Added addition and multiplication operators, the result will return an
Assemblyobject.- Bug fix: The inherited
length()method didn't work because theLoopclass had alengthattribute that was overwritting the methodlength()of the parent classTrack.
- New feature: Class added to the package.
- New feature: The
export()method was added.
- The assembly configuration file (AsmCfg.assembly) will be generated.
- The shuttle stereotype file (ShCfg.shuttlestereotype) will be generated.