add random circle to grbl; fix tests

misko · Nov 23, 2024 · 322d5c9 · 322d5c9
1 parent 7c0dc0c
commit 322d5c9
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Showing 3 changed files with 22 additions and 2 deletions.
diff --git a/spf/grbl/grbl_interactive.py b/spf/grbl/grbl_interactive.py
@@ -1,6 +1,7 @@
 import argparse
 import logging
 import queue
+import random
 import select
 import sys
 import threading
@@ -28,6 +29,7 @@
 tx_calibration_point = np.array([550, 450])
 circle_center = np.array([2000, 1500])
 max_circle_diameter = 1900
+min_circle_diameter = 900
 
 run_grbl = True
 
@@ -749,6 +751,7 @@ def __init__(self, controller, routine):
         self.routines = {
             "v1_calibrate": self.v1_calibrate,
             "rx_circle": self.rx_circle,
+            "rx_random_circle": self.rx_random_circle,
             "tx_circle": self.tx_circle,
             "bounce": self.bounce,
         }
@@ -861,6 +864,23 @@ def rx_circle(self):
             ),
         ]
 
+    def rx_random_circle(self):
+        self.planners = [
+            CirclePlanner(
+                self.controller.dynamics,
+                start_point=self.controller.position["xy"][0],
+                circle_diameter=random.randint(
+                    min_circle_diameter, max_circle_diameter
+                ),
+                circle_center=circle_center,
+            ),
+            StationaryPlanner(
+                self.controller.dynamics,
+                start_point=self.controller.position["xy"][1],
+                stationary_point=circle_center,
+            ),
+        ]
+
     def v1_calibrate(self):
         self.planners = [
             StationaryPlanner(

diff --git a/spf/model_training_and_inference/models/single_point_networks_inference.py b/spf/model_training_and_inference/models/single_point_networks_inference.py
@@ -129,7 +129,7 @@ def run_inference_on_ds(
         precompute_cache=precompute_cache,
     )
 
-    _, val_dataloader = load_dataloaders(
+    _, val_dataloader, _ = load_dataloaders(
         datasets_config=datasets_config,
         optim_config=optim_config,
         global_config=config["global"],

diff --git a/tests/test_new_models.py b/tests/test_new_models.py
@@ -128,7 +128,7 @@ def dataloader_inference(
     model, global_config, datasets_config, optim_config, model_config
 ):
 
-    _, val_dataloader = load_dataloaders(
+    _, val_dataloader, _ = load_dataloaders(
         datasets_config=datasets_config,
         optim_config=optim_config,
         global_config=global_config,