plot contours by arm assigned function (#71)

.gitignore

 **/__pycache__/
+.DS_Store
 *.pyc
 *.pkl
 *.so

src/plan_watcher.py

@@ -17,9 +17,9 @@ if __name__ == "__main__":
 
     # load plan address from args 
     parser = argparse.ArgumentParser(description='to watch, visulise and inspect loaded plans')
-    parser.add_argument('plan',
-        metavar='plan',
-        help='plan to read')
+    parser.add_argument('plan')
+
+    parser.add_argument('--gcode')
     args = parser.parse_args()
 
     # load plan
@@ -28,3 +28,7 @@ if __name__ == "__main__":
     print("plan loaded, it is {}s long".format(plan.len()))
     print("use plan.watch(x) to watch the plan in 3D")
     print("use plan.visualise(x) to plot plan")
+
+    if args.gcode is not None:
+        contours = gc.decode_gcode(args.gcode)
+        print("Contours loaded into variable contours")

src/utils/planning_tools.py

@@ -436,3 +436,21 @@ def get_tracker(model):
         print("Dependency graph completed and saved to " + pkl)
 
     return tracker
+
+
+def plot_plan_contours(plan, contours, colors=['black','magenta'], style='2d'):
+    """
+    wrapper for plotting contours
+    """
+    sorted_contours = []
+    for r in plan.trajs:
+        sorted_contours.append([])
+        for traj in plan.trajs[r]:
+            if traj.contour is not None:
+                sorted_contours[r].append(contours[traj.contour])
+    if style=='2d':
+        gc.plot_contours2d(*sorted_contours, colors=colors)
+    elif style=='3d':
+        gc.plot_contours3d(*sorted_contours, colors=colors)
+    else:
+        raise Exception("style must be '2d' or '3d'")