ecki/Robotics-at-Home-with-Raspberry-Pi-Pico
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Try again - using resampling and weighted observation model

Browse Source
This commit is contained in:
Danny Staple 2022-12-05 22:27:51 +00:00
parent bac9e4b69c
commit 543f4f3f0b
13 changed files with 1519 additions and 58 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

104
ch-13/8-seeking-target/robot/arena.py
View File

@ -13,39 +13,6 @@ boundary_lines = [
width = 1500
height = 1500
def get_binary_occupancy_grid():
## Convert the boundary lines to a grid map
## with 50mm resolution
grid_size = 50
overscan_in_cells = 5
grid_width = int(width / grid_size) + 2 * overscan_in_cells
grid_height = int(height / grid_size) + 2 * overscan_in_cells
grid = [[0 for x in range(grid_width)] for y in range(grid_height)]
for scan_line in range(grid_height):
scan_y = (scan_line - overscan_in_cells) * grid_size
if scan_y < 0 or scan_y > height:
grid[scan_line] = [1 for x in range(grid_width)]
continue
# For each line, set the left overscan to 1
# and the right overscan to 1, but account for the cutout
grid[scan_line][0:overscan_in_cells] = [1 for x in range(overscan_in_cells)]
if scan_y < 500:
cutout_start = int(1000 / grid_size)
grid[scan_line][overscan_in_cells + cutout_start:] = [1 for x in range(grid_width - overscan_in_cells - cutout_start)]
else:
grid[scan_line][overscan_in_cells + int(width / grid_size):] = [1 for x in range(grid_width - overscan_in_cells - int(width / grid_size))]
return grid
target_zone = [
[(1100, 900), (1100, 1100)],
[(1100, 1100), (1250, 1100)],
[(1250, 1100), (1250, 900)],
[(1250, 900), (1100, 900)],
]
target_zone_middle = (1175, 1000)
def point_is_inside_arena(x, y):
"""Return True if the point is inside the arena"""
@ -62,14 +29,6 @@ def point_is_inside_arena(x, y):
return False
return True
def point_is_inside_target_zone(point):
"""Return True if the point is inside the target zone"""
# cheat a little, the target zone is a rectangle.
# if the point is inside the rectangle, it's inside the target zone.
if point[0] < 1100 or point[0] > 1250 \
or point[1] < 900 or point[1] > 1100:
return False
return True
def distance_from_line_segment(line_segment, point_x, point_y):
"""Return the distance from the point to the line segment"""
@ -83,26 +42,55 @@ def distance_from_line_segment(line_segment, point_x, point_y):
return abs(a * point_x + b * point_y + c) / math.sqrt(a * a + b * b)
# def intersect_ray_with_line_segment(line_segment, ray_x, ray_y, ray_heading):
# """Return the distance from the ray origin to the intersection point along the given ray heading"""
# # get the line as a, b, c where ax + by + c = 0
# line_x1, line_y1 = line_segment[0]
# line_x2, line_y2 = line_segment[1]
# a = line_y1 - line_y2
# b = line_x2 - line_x1
# c = line_x1 * line_y2 - line_x2 * line_y1
# # calculate the intersection point
def intersection_distance_for_segment_and_ray(line_segment, ray_as_points):
"""Return the intersection distance of a ray with a line segment, or None if they don't intersect"""
# get the lines as a, b, c where ax + by + c = 0
line_x1, line_y1 = line_segment[0]
line_x2, line_y2 = line_segment[1]
a = line_y1 - line_y2
b = line_x2 - line_x1
c = line_x1 * line_y2 - line_x2 * line_y1
ray_ox, ray_oy = ray_as_points[0]
ray_x2, ray_y2 = ray_as_points[1]
d = ray_oy - ray_y2
e = ray_x2 - ray_ox
f = ray_ox * ray_y2 - ray_x2 * ray_oy
# calculate the intersection point
denominator = a * e - b * d
if denominator == 0:
# the lines are parallel
return None
x = (c * e - b * f) / denominator
y = (a * f - c * d) / denominator
# check that the intersection point is on both line segments
if x < min(line_segment[0][0], line_segment[1][0]) \
or x > max(line_segment[0][0], line_segment[1][0]) \
or y < min(line_segment[0][1], line_segment[1][1]) \
or y > max(line_segment[0][1], line_segment[1][1]):
return None
# calculate the distance from the ray origin to the intersection point
dx = x - ray_ox
dy = y - ray_oy
return math.sqrt(dx * dx + dy * dy)
def point_near_boundaries(point_x, point_y, distance):
"""Return True if the point is close enough to the boundary lines"""
for line_segment in boundary_lines:
if distance_from_line_segment(line_segment, point_x, point_y) < distance:
return True
return False
def heading_for_target_zone_middle(point_x, point_y):
"""Return the heading to the middle of the target zone"""
# get the heading to the middle of the target zone
heading = math.atan2(target_zone_middle[1] - point_y, target_zone_middle[0] - point_x)
# convert to degrees
heading = math.degrees(heading)
# convert to compass heading
heading = 90 - heading
# convert to 0-360
if heading < 0:
heading += 360
return heading
def distance_to_target_zone_middle(point_x, point_y):
"""Return the distance to the middle of the target zone"""
return math.sqrt((target_zone_middle[0] - point_x) ** 2 + (target_zone_middle[1] - point_y) ** 2)

90
ch-13/full-version/computer/display_from_robot.py Normal file
View File

@ -0,0 +1,90 @@
import asyncio
import json
import numpy as np
import matplotlib.pyplot as plt
from matplotlib.widgets import Button
from robot_ble_connection import BleConnection
class RobotDisplay:
def __init__(self):
self.ble_connection = BleConnection(self.handle_data)
self.line = ""
self.arena = {}
self.display_closed = False
self.fig, self.ax = plt.subplots()
self.pose_coords = []
self.pose_uv = []
def handle_close(self, _):
self.display_closed = True
def handle_data(self, data):
self.line += data.decode("utf-8")
while "\n" in self.line:
line, self.line = self.line.split("\n", 1)
# print(f"Received data: {line}")
try:
message = json.loads(line)
except ValueError:
print("Error parsing JSON")
return
if "arena" in message:
self.arena = message
if "poses" in message:
# the robot poses are an array of [x, y, theta] arrays.
# matplotlib quiver plots wants an [x] ,[y] and [angle] arrays
poses = np.array(message["poses"])
self.pose_coords = poses[:,0:1].T
angle_rads = np.deg2rad(poses[:,2])
self.pose_uv = np.array([np.cos(angle_rads), np.sin(angle_rads)])
def draw(self):
self.ax.clear()
if self.arena:
for line in self.arena["arena"]:
self.ax.plot(
[line[0][0], line[1][0]], [line[0][1], line[1][1]], color="black"
)
# for line in self.arena["target_zone"]:
# self.ax.plot(
# [line[0][0], line[1][0]], [line[0][1], line[1][1]], color="red"
# )
if len(self.pose_coords) > 0:
self.ax.quiver(self.pose_coords[0], self.pose_coords[1], self.pose_uv[0], self.pose_uv[1], color="blue")
async def send_command(self, command):
#+ "\n" - why does adding this (which sounds right) cause the ble stack (on the robot or computer? ) not to work any more?
request = (json.dumps({"command": command}) ).encode()
print(f"Sending request: {request}")
await self.ble_connection.send_uart_data(request)
def start(self, _):
self.button_task = asyncio.create_task(self.send_command("start"))
# def stop(self, _):
# self.button_task = asyncio.create_task(self.send_command("stop"))
async def main(self):
plt.ion()
await self.ble_connection.connect()
try:
await self.send_command("arena")
self.fig.canvas.mpl_connect("close_event", self.handle_close)
start_button = Button(plt.axes([0.7, 0.05, 0.1, 0.075]), "Start")
start_button.on_clicked(self.start)
# stop_button = Button(plt.axes([0.81, 0.05, 0.1, 0.075]), "Stop")
# stop_button.on_clicked(self.stop)
while not self.display_closed:
self.draw()
plt.draw()
plt.pause(0.05)
await asyncio.sleep(0.01)
finally:
await self.ble_connection.close()
robot_display = RobotDisplay()
asyncio.run(robot_display.main())

13
ch-13/full-version/computer/find_devices.py Normal file
View File

@ -0,0 +1,13 @@
import asyncio
import bleak
async def run():
ble_uuid = "6E400001-B5A3-F393-E0A9-E50E24DCCA9E"
ble_name = "Adafruit Bluefruit LE"
devices = await bleak.BleakScanner.discover(service_uuids=[ble_uuid])
print(f"Found {len(devices)} devices")
print([device.name for device in devices])
ble_device_info = [device for device in devices if device.name==ble_name][0]
print(f"Found robot {ble_device_info.name}...")
asyncio.run(run())

789
ch-13/full-version/computer/poetry.lock generated Normal file
View File

@ -0,0 +1,789 @@
[[package]]
name = "async-timeout"
version = "4.0.2"
description = "Timeout context manager for asyncio programs"
category = "main"
optional = false
python-versions = ">=3.6"
[[package]]
name = "black"
version = "22.10.0"
description = "The uncompromising code formatter."
category = "dev"
optional = false
python-versions = ">=3.7"
[package.dependencies]
click = ">=8.0.0"
mypy-extensions = ">=0.4.3"
pathspec = ">=0.9.0"
platformdirs = ">=2"
tomli = {version = ">=1.1.0", markers = "python_full_version < \"3.11.0a7\""}
typing-extensions = {version = ">=3.10.0.0", markers = "python_version < \"3.10\""}
[package.extras]
colorama = ["colorama (>=0.4.3)"]
d = ["aiohttp (>=3.7.4)"]
jupyter = ["ipython (>=7.8.0)", "tokenize-rt (>=3.2.0)"]
uvloop = ["uvloop (>=0.15.2)"]
[[package]]
name = "bleak"
version = "0.19.0"
description = "Bluetooth Low Energy platform Agnostic Klient"
category = "main"
optional = false
python-versions = ">=3.7,<4.0"
[package.dependencies]
async-timeout = ">=3.0.0,<5"
bleak-winrt = {version = ">=1.2.0,<2.0.0", markers = "platform_system == \"Windows\""}
dbus-fast = {version = ">=1.22.0,<2.0.0", markers = "platform_system == \"Linux\""}
pyobjc-core = {version = ">=8.5.1,<9.0.0", markers = "platform_system == \"Darwin\""}
pyobjc-framework-CoreBluetooth = {version = ">=8.5.1,<9.0.0", markers = "platform_system == \"Darwin\""}
pyobjc-framework-libdispatch = {version = ">=8.5.1,<9.0.0", markers = "platform_system == \"Darwin\""}
[[package]]
name = "bleak-winrt"
version = "1.2.0"
description = "Python WinRT bindings for Bleak"
category = "main"
optional = false
python-versions = "*"
[[package]]
name = "click"
version = "8.1.3"
description = "Composable command line interface toolkit"
category = "dev"
optional = false
python-versions = ">=3.7"
[package.dependencies]
colorama = {version = "*", markers = "platform_system == \"Windows\""}
[[package]]
name = "colorama"
version = "0.4.6"
description = "Cross-platform colored terminal text."
category = "dev"
optional = false
python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*,>=2.7"
[[package]]
name = "contourpy"
version = "1.0.6"
description = "Python library for calculating contours of 2D quadrilateral grids"
category = "main"
optional = false
python-versions = ">=3.7"
[package.dependencies]
numpy = ">=1.16"
[package.extras]
bokeh = ["bokeh", "selenium"]
docs = ["docutils (<0.18)", "sphinx (<=5.2.0)", "sphinx-rtd-theme"]
test = ["Pillow", "flake8", "isort", "matplotlib", "pytest"]
test-minimal = ["pytest"]
test-no-codebase = ["Pillow", "matplotlib", "pytest"]
[[package]]
name = "cycler"
version = "0.11.0"
description = "Composable style cycles"
category = "main"
optional = false
python-versions = ">=3.6"
[[package]]
name = "dbus-fast"
version = "1.64.0"
description = "A faster version of dbus-next"
category = "main"
optional = false
python-versions = ">=3.7,<4.0"
[package.dependencies]
async-timeout = {version = ">=3.0.0", markers = "python_version < \"3.11\""}
[[package]]
name = "fonttools"
version = "4.38.0"
description = "Tools to manipulate font files"
category = "main"
optional = false
python-versions = ">=3.7"
[package.extras]
all = ["brotli (>=1.0.1)", "brotlicffi (>=0.8.0)", "fs (>=2.2.0,<3)", "lxml (>=4.0,<5)", "lz4 (>=1.7.4.2)", "matplotlib", "munkres", "scipy", "skia-pathops (>=0.5.0)", "sympy", "uharfbuzz (>=0.23.0)", "unicodedata2 (>=14.0.0)", "xattr", "zopfli (>=0.1.4)"]
graphite = ["lz4 (>=1.7.4.2)"]
interpolatable = ["munkres", "scipy"]
lxml = ["lxml (>=4.0,<5)"]
pathops = ["skia-pathops (>=0.5.0)"]
plot = ["matplotlib"]
repacker = ["uharfbuzz (>=0.23.0)"]
symfont = ["sympy"]
type1 = ["xattr"]
ufo = ["fs (>=2.2.0,<3)"]
unicode = ["unicodedata2 (>=14.0.0)"]
woff = ["brotli (>=1.0.1)", "brotlicffi (>=0.8.0)", "zopfli (>=0.1.4)"]
[[package]]
name = "kiwisolver"
version = "1.4.4"
description = "A fast implementation of the Cassowary constraint solver"
category = "main"
optional = false
python-versions = ">=3.7"
[[package]]
name = "matplotlib"
version = "3.6.1"
description = "Python plotting package"
category = "main"
optional = false
python-versions = ">=3.8"
[package.dependencies]
contourpy = ">=1.0.1"
cycler = ">=0.10"
fonttools = ">=4.22.0"
kiwisolver = ">=1.0.1"
numpy = ">=1.19"
packaging = ">=20.0"
pillow = ">=6.2.0"
pyparsing = ">=2.2.1"
python-dateutil = ">=2.7"
setuptools_scm = ">=7"
[[package]]
name = "mypy-extensions"
version = "0.4.3"
description = "Experimental type system extensions for programs checked with the mypy typechecker."
category = "dev"
optional = false
python-versions = "*"
[[package]]
name = "numpy"
version = "1.23.4"
description = "NumPy is the fundamental package for array computing with Python."
category = "main"
optional = false
python-versions = ">=3.8"
[[package]]
name = "packaging"
version = "21.3"
description = "Core utilities for Python packages"
category = "main"
optional = false
python-versions = ">=3.6"
[package.dependencies]
pyparsing = ">=2.0.2,<3.0.5 || >3.0.5"
[[package]]
name = "pathspec"
version = "0.10.1"
description = "Utility library for gitignore style pattern matching of file paths."
category = "dev"
optional = false
python-versions = ">=3.7"
[[package]]
name = "Pillow"
version = "9.3.0"
description = "Python Imaging Library (Fork)"
category = "main"
optional = false
python-versions = ">=3.7"
[package.extras]
docs = ["furo", "olefile", "sphinx (>=2.4)", "sphinx-copybutton", "sphinx-issues (>=3.0.1)", "sphinx-removed-in", "sphinxext-opengraph"]
tests = ["check-manifest", "coverage", "defusedxml", "markdown2", "olefile", "packaging", "pyroma", "pytest", "pytest-cov", "pytest-timeout"]
[[package]]
name = "platformdirs"
version = "2.5.2"
description = "A small Python module for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
category = "dev"
optional = false
python-versions = ">=3.7"
[package.extras]
docs = ["furo (>=2021.7.5b38)", "proselint (>=0.10.2)", "sphinx (>=4)", "sphinx-autodoc-typehints (>=1.12)"]
test = ["appdirs (==1.4.4)", "pytest (>=6)", "pytest-cov (>=2.7)", "pytest-mock (>=3.6)"]
[[package]]
name = "pyobjc-core"
version = "8.5.1"
description = "Python<->ObjC Interoperability Module"
category = "main"
optional = false
python-versions = ">=3.6"
[[package]]
name = "pyobjc-framework-Cocoa"
version = "8.5.1"
description = "Wrappers for the Cocoa frameworks on macOS"
category = "main"
optional = false
python-versions = ">=3.6"
[package.dependencies]
pyobjc-core = ">=8.5.1"
[[package]]
name = "pyobjc-framework-CoreBluetooth"
version = "8.5.1"
description = "Wrappers for the framework CoreBluetooth on macOS"
category = "main"
optional = false
python-versions = ">=3.6"
[package.dependencies]
pyobjc-core = ">=8.5.1"
pyobjc-framework-Cocoa = ">=8.5.1"
[[package]]
name = "pyobjc-framework-libdispatch"
version = "8.5.1"
description = "Wrappers for libdispatch on macOS"
category = "main"
optional = false
python-versions = ">=3.6"
[package.dependencies]
pyobjc-core = ">=8.5.1"
[[package]]
name = "pyparsing"
version = "3.0.9"
description = "pyparsing module - Classes and methods to define and execute parsing grammars"
category = "main"
optional = false
python-versions = ">=3.6.8"
[package.extras]
diagrams = ["jinja2", "railroad-diagrams"]
[[package]]
name = "python-dateutil"
version = "2.8.2"
description = "Extensions to the standard Python datetime module"
category = "main"
optional = false
python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,>=2.7"
[package.dependencies]
six = ">=1.5"
[[package]]
name = "setuptools"
version = "65.5.0"
description = "Easily download, build, install, upgrade, and uninstall Python packages"
category = "main"
optional = false
python-versions = ">=3.7"
[package.extras]
docs = ["furo", "jaraco.packaging (>=9)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-hoverxref (<2)", "sphinx-inline-tabs", "sphinx-notfound-page (==0.8.3)", "sphinx-reredirects", "sphinxcontrib-towncrier"]
testing = ["build[virtualenv]", "filelock (>=3.4.0)", "flake8 (<5)", "flake8-2020", "ini2toml[lite] (>=0.9)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "mock", "pip (>=19.1)", "pip-run (>=8.8)", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=1.3)", "pytest-flake8", "pytest-mypy (>=0.9.1)", "pytest-perf", "pytest-xdist", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
testing-integration = ["build[virtualenv]", "filelock (>=3.4.0)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "pytest", "pytest-enabler", "pytest-xdist", "tomli", "virtualenv (>=13.0.0)", "wheel"]
[[package]]
name = "setuptools-scm"
version = "7.0.5"
description = "the blessed package to manage your versions by scm tags"
category = "main"
optional = false
python-versions = ">=3.7"
[package.dependencies]
packaging = ">=20.0"
setuptools = "*"
tomli = ">=1.0.0"
typing-extensions = "*"
[package.extras]
test = ["pytest (>=6.2)", "virtualenv (>20)"]
toml = ["setuptools (>=42)"]
[[package]]
name = "six"
version = "1.16.0"
description = "Python 2 and 3 compatibility utilities"
category = "main"
optional = false
python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*"
[[package]]
name = "tomli"
version = "2.0.1"
description = "A lil' TOML parser"
category = "main"
optional = false
python-versions = ">=3.7"
[[package]]
name = "typing-extensions"
version = "4.4.0"
description = "Backported and Experimental Type Hints for Python 3.7+"
category = "main"
optional = false
python-versions = ">=3.7"
[metadata]
lock-version = "1.1"
python-versions = "^3.9"
content-hash = "4ec6eb3464cbb49afad347e67bdf7c353d7ea4030fd8ed4257098a5df334eb99"
[metadata.files]
async-timeout = [
{file = "async-timeout-4.0.2.tar.gz", hash = "sha256:2163e1640ddb52b7a8c80d0a67a08587e5d245cc9c553a74a847056bc2976b15"},
{file = "async_timeout-4.0.2-py3-none-any.whl", hash = "sha256:8ca1e4fcf50d07413d66d1a5e416e42cfdf5851c981d679a09851a6853383b3c"},
]
black = [
{file = "black-22.10.0-1fixedarch-cp310-cp310-macosx_11_0_x86_64.whl", hash = "sha256:5cc42ca67989e9c3cf859e84c2bf014f6633db63d1cbdf8fdb666dcd9e77e3fa"},
{file = "black-22.10.0-1fixedarch-cp311-cp311-macosx_11_0_x86_64.whl", hash = "sha256:5d8f74030e67087b219b032aa33a919fae8806d49c867846bfacde57f43972ef"},
{file = "black-22.10.0-1fixedarch-cp37-cp37m-macosx_10_16_x86_64.whl", hash = "sha256:197df8509263b0b8614e1df1756b1dd41be6738eed2ba9e9769f3880c2b9d7b6"},
{file = "black-22.10.0-1fixedarch-cp38-cp38-macosx_10_16_x86_64.whl", hash = "sha256:2644b5d63633702bc2c5f3754b1b475378fbbfb481f62319388235d0cd104c2d"},
{file = "black-22.10.0-1fixedarch-cp39-cp39-macosx_11_0_x86_64.whl", hash = "sha256:e41a86c6c650bcecc6633ee3180d80a025db041a8e2398dcc059b3afa8382cd4"},
{file = "black-22.10.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:2039230db3c6c639bd84efe3292ec7b06e9214a2992cd9beb293d639c6402edb"},
{file = "black-22.10.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:14ff67aec0a47c424bc99b71005202045dc09270da44a27848d534600ac64fc7"},
{file = "black-22.10.0-cp310-cp310-win_amd64.whl", hash = "sha256:819dc789f4498ecc91438a7de64427c73b45035e2e3680c92e18795a839ebb66"},
{file = "black-22.10.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:5b9b29da4f564ba8787c119f37d174f2b69cdfdf9015b7d8c5c16121ddc054ae"},
{file = "black-22.10.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b8b49776299fece66bffaafe357d929ca9451450f5466e997a7285ab0fe28e3b"},
{file = "black-22.10.0-cp311-cp311-win_amd64.whl", hash = "sha256:21199526696b8f09c3997e2b4db8d0b108d801a348414264d2eb8eb2532e540d"},
{file = "black-22.10.0-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:1e464456d24e23d11fced2bc8c47ef66d471f845c7b7a42f3bd77bf3d1789650"},
{file = "black-22.10.0-cp37-cp37m-win_amd64.whl", hash = "sha256:9311e99228ae10023300ecac05be5a296f60d2fd10fff31cf5c1fa4ca4b1988d"},
{file = "black-22.10.0-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:fba8a281e570adafb79f7755ac8721b6cf1bbf691186a287e990c7929c7692ff"},
{file = "black-22.10.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:915ace4ff03fdfff953962fa672d44be269deb2eaf88499a0f8805221bc68c87"},
{file = "black-22.10.0-cp38-cp38-win_amd64.whl", hash = "sha256:444ebfb4e441254e87bad00c661fe32df9969b2bf224373a448d8aca2132b395"},
{file = "black-22.10.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:974308c58d057a651d182208a484ce80a26dac0caef2895836a92dd6ebd725e0"},
{file = "black-22.10.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:72ef3925f30e12a184889aac03d77d031056860ccae8a1e519f6cbb742736383"},
{file = "black-22.10.0-cp39-cp39-win_amd64.whl", hash = "sha256:432247333090c8c5366e69627ccb363bc58514ae3e63f7fc75c54b1ea80fa7de"},
{file = "black-22.10.0-py3-none-any.whl", hash = "sha256:c957b2b4ea88587b46cf49d1dc17681c1e672864fd7af32fc1e9664d572b3458"},
{file = "black-22.10.0.tar.gz", hash = "sha256:f513588da599943e0cde4e32cc9879e825d58720d6557062d1098c5ad80080e1"},
]
bleak = [
{file = "bleak-0.19.0-py3-none-any.whl", hash = "sha256:ccdba0d17dcceb1326e4e46600b37e9019cd52ce01948e2a3dbd6c94d1e4de01"},
{file = "bleak-0.19.0.tar.gz", hash = "sha256:cce5200ca9bac7daaa74dd009c867c8c2b161a124e234c74307462e86caf50e6"},
]
bleak-winrt = [
{file = "bleak-winrt-1.2.0.tar.gz", hash = "sha256:0577d070251b9354fc6c45ffac57e39341ebb08ead014b1bdbd43e211d2ce1d6"},
{file = "bleak_winrt-1.2.0-cp310-cp310-win32.whl", hash = "sha256:a2ae3054d6843ae0cfd3b94c83293a1dfd5804393977dd69bde91cb5099fc47c"},
{file = "bleak_winrt-1.2.0-cp310-cp310-win_amd64.whl", hash = "sha256:677df51dc825c6657b3ae94f00bd09b8ab88422b40d6a7bdbf7972a63bc44e9a"},
{file = "bleak_winrt-1.2.0-cp311-cp311-win32.whl", hash = "sha256:9449cdb942f22c9892bc1ada99e2ccce9bea8a8af1493e81fefb6de2cb3a7b80"},
{file = "bleak_winrt-1.2.0-cp311-cp311-win_amd64.whl", hash = "sha256:98c1b5a6a6c431ac7f76aa4285b752fe14a1c626bd8a1dfa56f66173ff120bee"},
{file = "bleak_winrt-1.2.0-cp37-cp37m-win32.whl", hash = "sha256:623ac511696e1f58d83cb9c431e32f613395f2199b3db7f125a3d872cab968a4"},
{file = "bleak_winrt-1.2.0-cp37-cp37m-win_amd64.whl", hash = "sha256:13ab06dec55469cf51a2c187be7b630a7a2922e1ea9ac1998135974a7239b1e3"},
{file = "bleak_winrt-1.2.0-cp38-cp38-win32.whl", hash = "sha256:5a36ff8cd53068c01a795a75d2c13054ddc5f99ce6de62c1a97cd343fc4d0727"},
{file = "bleak_winrt-1.2.0-cp38-cp38-win_amd64.whl", hash = "sha256:810c00726653a962256b7acd8edf81ab9e4a3c66e936a342ce4aec7dbd3a7263"},
{file = "bleak_winrt-1.2.0-cp39-cp39-win32.whl", hash = "sha256:dd740047a08925bde54bec357391fcee595d7b8ca0c74c87170a5cbc3f97aa0a"},
{file = "bleak_winrt-1.2.0-cp39-cp39-win_amd64.whl", hash = "sha256:63130c11acfe75c504a79c01f9919e87f009f5e742bfc7b7a5c2a9c72bf591a7"},
]
click = [
{file = "click-8.1.3-py3-none-any.whl", hash = "sha256:bb4d8133cb15a609f44e8213d9b391b0809795062913b383c62be0ee95b1db48"},
{file = "click-8.1.3.tar.gz", hash = "sha256:7682dc8afb30297001674575ea00d1814d808d6a36af415a82bd481d37ba7b8e"},
]
colorama = [
{file = "colorama-0.4.6-py2.py3-none-any.whl", hash = "sha256:4f1d9991f5acc0ca119f9d443620b77f9d6b33703e51011c16baf57afb285fc6"},
{file = "colorama-0.4.6.tar.gz", hash = "sha256:08695f5cb7ed6e0531a20572697297273c47b8cae5a63ffc6d6ed5c201be6e44"},
]
contourpy = [
{file = "contourpy-1.0.6-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:613c665529899b5d9fade7e5d1760111a0b011231277a0d36c49f0d3d6914bd6"},
{file = "contourpy-1.0.6-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:78ced51807ccb2f45d4ea73aca339756d75d021069604c2fccd05390dc3c28eb"},
{file = "contourpy-1.0.6-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:b3b1bd7577c530eaf9d2bc52d1a93fef50ac516a8b1062c3d1b9bcec9ebe329b"},
{file = "contourpy-1.0.6-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d8834c14b8c3dd849005e06703469db9bf96ba2d66a3f88ecc539c9a8982e0ee"},
{file = "contourpy-1.0.6-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:f4052a8a4926d4468416fc7d4b2a7b2a3e35f25b39f4061a7e2a3a2748c4fc48"},
{file = "contourpy-1.0.6-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:1c0e1308307a75e07d1f1b5f0f56b5af84538a5e9027109a7bcf6cb47c434e72"},
{file = "contourpy-1.0.6-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:9fc4e7973ed0e1fe689435842a6e6b330eb7ccc696080dda9a97b1a1b78e41db"},
{file = "contourpy-1.0.6-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:08e8d09d96219ace6cb596506fb9b64ea5f270b2fb9121158b976d88871fcfd1"},
{file = "contourpy-1.0.6-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:f33da6b5d19ad1bb5e7ad38bb8ba5c426d2178928bc2b2c44e8823ea0ecb6ff3"},
{file = "contourpy-1.0.6-cp310-cp310-win32.whl", hash = "sha256:12a7dc8439544ed05c6553bf026d5e8fa7fad48d63958a95d61698df0e00092b"},
{file = "contourpy-1.0.6-cp310-cp310-win_amd64.whl", hash = "sha256:eadad75bf91897f922e0fb3dca1b322a58b1726a953f98c2e5f0606bd8408621"},
{file = "contourpy-1.0.6-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:913bac9d064cff033cf3719e855d4f1db9f1c179e0ecf3ba9fdef21c21c6a16a"},
{file = "contourpy-1.0.6-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:46deb310a276cc5c1fd27958e358cce68b1e8a515fa5a574c670a504c3a3fe30"},
{file = "contourpy-1.0.6-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:b64f747e92af7da3b85631a55d68c45a2d728b4036b03cdaba4bd94bcc85bd6f"},
{file = "contourpy-1.0.6-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:50627bf76abb6ba291ad08db583161939c2c5fab38c38181b7833423ab9c7de3"},
{file = "contourpy-1.0.6-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:358f6364e4873f4d73360b35da30066f40387dd3c427a3e5432c6b28dd24a8fa"},
{file = "contourpy-1.0.6-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c78bfbc1a7bff053baf7e508449d2765964d67735c909b583204e3240a2aca45"},
{file = "contourpy-1.0.6-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:e43255a83835a129ef98f75d13d643844d8c646b258bebd11e4a0975203e018f"},
{file = "contourpy-1.0.6-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:375d81366afd547b8558c4720337218345148bc2fcffa3a9870cab82b29667f2"},
{file = "contourpy-1.0.6-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:b98c820608e2dca6442e786817f646d11057c09a23b68d2b3737e6dcb6e4a49b"},
{file = "contourpy-1.0.6-cp311-cp311-win32.whl", hash = "sha256:0e4854cc02006ad6684ce092bdadab6f0912d131f91c2450ce6dbdea78ee3c0b"},
{file = "contourpy-1.0.6-cp311-cp311-win_amd64.whl", hash = "sha256:d2eff2af97ea0b61381828b1ad6cd249bbd41d280e53aea5cccd7b2b31b8225c"},
{file = "contourpy-1.0.6-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:5b117d29433fc8393b18a696d794961464e37afb34a6eeb8b2c37b5f4128a83e"},
{file = "contourpy-1.0.6-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:341330ed19074f956cb20877ad8d2ae50e458884bfa6a6df3ae28487cc76c768"},
{file = "contourpy-1.0.6-cp37-cp37m-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:371f6570a81dfdddbb837ba432293a63b4babb942a9eb7aaa699997adfb53278"},
{file = "contourpy-1.0.6-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9447c45df407d3ecb717d837af3b70cfef432138530712263730783b3d016512"},
{file = "contourpy-1.0.6-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:730c27978a0003b47b359935478b7d63fd8386dbb2dcd36c1e8de88cbfc1e9de"},
{file = "contourpy-1.0.6-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:da1ef35fd79be2926ba80fbb36327463e3656c02526e9b5b4c2b366588b74d9a"},
{file = "contourpy-1.0.6-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:cd2bc0c8f2e8de7dd89a7f1c10b8844e291bca17d359373203ef2e6100819edd"},
{file = "contourpy-1.0.6-cp37-cp37m-win32.whl", hash = "sha256:3a1917d3941dd58732c449c810fa7ce46cc305ce9325a11261d740118b85e6f3"},
{file = "contourpy-1.0.6-cp37-cp37m-win_amd64.whl", hash = "sha256:06ca79e1efbbe2df795822df2fa173d1a2b38b6e0f047a0ec7903fbca1d1847e"},
{file = "contourpy-1.0.6-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:e626cefff8491bce356221c22af5a3ea528b0b41fbabc719c00ae233819ea0bf"},
{file = "contourpy-1.0.6-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:dbe6fe7a1166b1ddd7b6d887ea6fa8389d3f28b5ed3f73a8f40ece1fc5a3d340"},
{file = "contourpy-1.0.6-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:e13b31d1b4b68db60b3b29f8e337908f328c7f05b9add4b1b5c74e0691180109"},
{file = "contourpy-1.0.6-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a79d239fc22c3b8d9d3de492aa0c245533f4f4c7608e5749af866949c0f1b1b9"},
{file = "contourpy-1.0.6-cp38-cp38-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:9e8e686a6db92a46111a1ee0ee6f7fbfae4048f0019de207149f43ac1812cf95"},
{file = "contourpy-1.0.6-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:acd2bd02f1a7adff3a1f33e431eb96ab6d7987b039d2946a9b39fe6fb16a1036"},
{file = "contourpy-1.0.6-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:03d1b9c6b44a9e30d554654c72be89af94fab7510b4b9f62356c64c81cec8b7d"},
{file = "contourpy-1.0.6-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:b48d94386f1994db7c70c76b5808c12e23ed7a4ee13693c2fc5ab109d60243c0"},
{file = "contourpy-1.0.6-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:208bc904889c910d95aafcf7be9e677726df9ef71e216780170dbb7e37d118fa"},
{file = "contourpy-1.0.6-cp38-cp38-win32.whl", hash = "sha256:444fb776f58f4906d8d354eb6f6ce59d0a60f7b6a720da6c1ccb839db7c80eb9"},
{file = "contourpy-1.0.6-cp38-cp38-win_amd64.whl", hash = "sha256:9bc407a6af672da20da74823443707e38ece8b93a04009dca25856c2d9adadb1"},
{file = "contourpy-1.0.6-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:aa4674cf3fa2bd9c322982644967f01eed0c91bb890f624e0e0daf7a5c3383e9"},
{file = "contourpy-1.0.6-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:6f56515e7c6fae4529b731f6c117752247bef9cdad2b12fc5ddf8ca6a50965a5"},
{file = "contourpy-1.0.6-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:344cb3badf6fc7316ad51835f56ac387bdf86c8e1b670904f18f437d70da4183"},
{file = "contourpy-1.0.6-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:0b1e66346acfb17694d46175a0cea7d9036f12ed0c31dfe86f0f405eedde2bdd"},
{file = "contourpy-1.0.6-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:8468b40528fa1e15181cccec4198623b55dcd58306f8815a793803f51f6c474a"},
{file = "contourpy-1.0.6-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:1dedf4c64185a216c35eb488e6f433297c660321275734401760dafaeb0ad5c2"},
{file = "contourpy-1.0.6-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:494efed2c761f0f37262815f9e3c4bb9917c5c69806abdee1d1cb6611a7174a0"},
{file = "contourpy-1.0.6-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:75a2e638042118118ab39d337da4c7908c1af74a8464cad59f19fbc5bbafec9b"},
{file = "contourpy-1.0.6-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:a628bba09ba72e472bf7b31018b6281fd4cc903f0888049a3724afba13b6e0b8"},
{file = "contourpy-1.0.6-cp39-cp39-win32.whl", hash = "sha256:e1739496c2f0108013629aa095cc32a8c6363444361960c07493818d0dea2da4"},
{file = "contourpy-1.0.6-cp39-cp39-win_amd64.whl", hash = "sha256:a457ee72d9032e86730f62c5eeddf402e732fdf5ca8b13b41772aa8ae13a4563"},
{file = "contourpy-1.0.6-pp37-pypy37_pp73-macosx_10_9_x86_64.whl", hash = "sha256:d912f0154a20a80ea449daada904a7eb6941c83281a9fab95de50529bfc3a1da"},
{file = "contourpy-1.0.6-pp37-pypy37_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:4081918147fc4c29fad328d5066cfc751da100a1098398742f9f364be63803fc"},
{file = "contourpy-1.0.6-pp37-pypy37_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:0537cc1195245bbe24f2913d1f9211b8f04eb203de9044630abd3664c6cc339c"},
{file = "contourpy-1.0.6-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:dcd556c8fc37a342dd636d7eef150b1399f823a4462f8c968e11e1ebeabee769"},
{file = "contourpy-1.0.6-pp37-pypy37_pp73-win_amd64.whl", hash = "sha256:f6ca38dd8d988eca8f07305125dec6f54ac1c518f1aaddcc14d08c01aebb6efc"},
{file = "contourpy-1.0.6-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:c1baa49ab9fedbf19d40d93163b7d3e735d9cd8d5efe4cce9907902a6dad391f"},
{file = "contourpy-1.0.6-pp38-pypy38_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:211dfe2bd43bf5791d23afbe23a7952e8ac8b67591d24be3638cabb648b3a6eb"},
{file = "contourpy-1.0.6-pp38-pypy38_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:c38c6536c2d71ca2f7e418acaf5bca30a3af7f2a2fa106083c7d738337848dbe"},
{file = "contourpy-1.0.6-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:1b1ee48a130da4dd0eb8055bbab34abf3f6262957832fd575e0cab4979a15a41"},
{file = "contourpy-1.0.6-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:5641927cc5ae66155d0c80195dc35726eae060e7defc18b7ab27600f39dd1fe7"},
{file = "contourpy-1.0.6-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:7ee394502026d68652c2824348a40bf50f31351a668977b51437131a90d777ea"},
{file = "contourpy-1.0.6-pp39-pypy39_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:0b97454ed5b1368b66ed414c754cba15b9750ce69938fc6153679787402e4cdf"},
{file = "contourpy-1.0.6-pp39-pypy39_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:0236875c5a0784215b49d00ebbe80c5b6b5d5244b3655a36dda88105334dea17"},
{file = "contourpy-1.0.6-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:84c593aeff7a0171f639da92cb86d24954bbb61f8a1b530f74eb750a14685832"},
{file = "contourpy-1.0.6-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:9b0e7fe7f949fb719b206548e5cde2518ffb29936afa4303d8a1c4db43dcb675"},
{file = "contourpy-1.0.6.tar.gz", hash = "sha256:6e459ebb8bb5ee4c22c19cc000174f8059981971a33ce11e17dddf6aca97a142"},
]
cycler = [
{file = "cycler-0.11.0-py3-none-any.whl", hash = "sha256:3a27e95f763a428a739d2add979fa7494c912a32c17c4c38c4d5f082cad165a3"},
{file = "cycler-0.11.0.tar.gz", hash = "sha256:9c87405839a19696e837b3b818fed3f5f69f16f1eec1a1ad77e043dcea9c772f"},
]
dbus-fast = [
{file = "dbus_fast-1.64.0-cp310-cp310-manylinux_2_17_i686.manylinux_2_5_i686.manylinux1_i686.manylinux2014_i686.whl", hash = "sha256:d6ee2acd48a6f22836a0782786c0f617a70bd33353100028a26b351e653c83a4"},
{file = "dbus_fast-1.64.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ff97c83a30ccf9ffe43df1721f0bff90fdfbe39a583c77a52932046b5f707b9c"},
{file = "dbus_fast-1.64.0-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:6d912844d3763140fdb4d9c474d1d86e8129c9a498e1cbcdf54ac71811a081df"},
{file = "dbus_fast-1.64.0-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:48248467c8cc25af0bf42676f337ee8b56a2c8c3b9df1eb7a51f649e74401343"},
{file = "dbus_fast-1.64.0-cp311-cp311-manylinux_2_17_i686.manylinux_2_5_i686.manylinux1_i686.manylinux2014_i686.whl", hash = "sha256:f44e5b3025db2f0c689afc34478fa3d522c45af5721aacebcfc4c3e9c268b23a"},
{file = "dbus_fast-1.64.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:939417ecc4ea438ba9287f2a8df92329eb87179c69f627d3eb27af609ac59446"},
{file = "dbus_fast-1.64.0-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:3cace85b55be5f82f2bb51f98d834f92e572668a05f6492e96ea90a8728a2983"},
{file = "dbus_fast-1.64.0-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:fa2e77bef181d3e9f72176ad750da2b448b2000238cef56dafa1b08093a78a90"},
{file = "dbus_fast-1.64.0-cp37-cp37m-manylinux_2_17_i686.manylinux_2_5_i686.manylinux1_i686.manylinux2014_i686.whl", hash = "sha256:5b04c84d0345fba5ceb6bb56bfa5c3f34a3a9995a2d1ea17857c1e2e50cc4a26"},
{file = "dbus_fast-1.64.0-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:72275f7054c683b2c340d0a6baf922fa0d0cef9ec00cb2262d2242d3c428b8d8"},
{file = "dbus_fast-1.64.0-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:b235c111dd9746f3d2a4c2ce1f9d7c255fe6ba64537551154d10599f9aef279c"},
{file = "dbus_fast-1.64.0-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:fad7108eddd552ccca7a7b49bd61848bc6936bdaf1dd9a4e4c6b031c25b61c9c"},
{file = "dbus_fast-1.64.0-cp38-cp38-manylinux_2_17_i686.manylinux_2_5_i686.manylinux1_i686.manylinux2014_i686.whl", hash = "sha256:76301537ebf0ca4fe9b42f1463038386728d5655817639b1f62737126f85ed09"},
{file = "dbus_fast-1.64.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:99eda460d32673d1261cfa9422d356f5d09dc10dd094158a9e8e19903991af3c"},
{file = "dbus_fast-1.64.0-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:78cee1896db352fbddac0c3eb91f0c97f93627b6f010b4987ac0b724a88020fa"},
{file = "dbus_fast-1.64.0-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:660f824f3a13d5b18140ee356823ae0fb263d4c182451130fd2b1e594b9bad1a"},
{file = "dbus_fast-1.64.0-cp39-cp39-manylinux_2_17_i686.manylinux_2_5_i686.manylinux1_i686.manylinux2014_i686.whl", hash = "sha256:838254b626427d919c652fe3fc5841a6c6f20b3c12e5335d7d32124111161461"},
{file = "dbus_fast-1.64.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2bb73f5a364ab22151892d349991ae57a3d4e18fa4c6a6d0134f5a0b8cfaefc8"},
{file = "dbus_fast-1.64.0-cp39-cp39-manylinux_2_31_x86_64.whl", hash = "sha256:c0d3e18a2b793e7e774773190db631b729bd7ca0b88c63415e286fbe7f4c8320"},
{file = "dbus_fast-1.64.0-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:a0a4e64ac5a994239cb1200cfc7ce9d2173233c9a5f3f48dca3bf3ca3e8e132a"},
{file = "dbus_fast-1.64.0-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:d27260f6998f614dfb9c9fa2c9674402134e8a221b57f52a7dfecce2bed2df37"},
{file = "dbus_fast-1.64.0-pp37-pypy37_pp73-manylinux_2_17_i686.manylinux_2_5_i686.manylinux1_i686.manylinux2014_i686.whl", hash = "sha256:735feead084951a1daf9c71480f4bfe84b127cacd9af0fddf70cdf7043f7a29c"},
{file = "dbus_fast-1.64.0-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:025583c613beb58abd24e993e3be6098002eac9d01afff1e7180e5ddbbf74772"},
{file = "dbus_fast-1.64.0-pp38-pypy38_pp73-manylinux_2_17_i686.manylinux_2_5_i686.manylinux1_i686.manylinux2014_i686.whl", hash = "sha256:09488197ffc535ad62d048e532e127d12e4878a3af8b7cd5cf34819f1bd6ddca"},
{file = "dbus_fast-1.64.0-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux_2_5_x86_64.manylinux1_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d9d395687bcd0098cdacdfb8c1897c81998aabd07c13dd599e8fa2e73f04f704"},
{file = "dbus_fast-1.64.0-pp39-pypy39_pp73-manylinux_2_17_i686.manylinux_2_5_i686.manylinux1_i686.manylinux2014_i686.whl", hash = "sha256:830f028efa0753f6833a7f6491789436cfc63debdfac697465e334f3dd7c14d6"},
{file = "dbus_fast-1.64.0-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux_2_5_x86_64.manylinux1_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7d2cec285c42c1fe4921ae879e975693376bd9c815494c354aa1b63fb40bbfaf"},
{file = "dbus_fast-1.64.0.tar.gz", hash = "sha256:794d67fc6369962bb291edf68c76a4b10a5f019c6c9b0458ca22c0d318cea659"},
]
fonttools = [
{file = "fonttools-4.38.0-py3-none-any.whl", hash = "sha256:820466f43c8be8c3009aef8b87e785014133508f0de64ec469e4efb643ae54fb"},
{file = "fonttools-4.38.0.zip", hash = "sha256:2bb244009f9bf3fa100fc3ead6aeb99febe5985fa20afbfbaa2f8946c2fbdaf1"},
]
kiwisolver = [
{file = "kiwisolver-1.4.4-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:2f5e60fabb7343a836360c4f0919b8cd0d6dbf08ad2ca6b9cf90bf0c76a3c4f6"},
{file = "kiwisolver-1.4.4-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:10ee06759482c78bdb864f4109886dff7b8a56529bc1609d4f1112b93fe6423c"},
{file = "kiwisolver-1.4.4-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:c79ebe8f3676a4c6630fd3f777f3cfecf9289666c84e775a67d1d358578dc2e3"},
{file = "kiwisolver-1.4.4-cp310-cp310-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:abbe9fa13da955feb8202e215c4018f4bb57469b1b78c7a4c5c7b93001699938"},
{file = "kiwisolver-1.4.4-cp310-cp310-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:7577c1987baa3adc4b3c62c33bd1118c3ef5c8ddef36f0f2c950ae0b199e100d"},
{file = "kiwisolver-1.4.4-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:f8ad8285b01b0d4695102546b342b493b3ccc6781fc28c8c6a1bb63e95d22f09"},
{file = "kiwisolver-1.4.4-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:8ed58b8acf29798b036d347791141767ccf65eee7f26bde03a71c944449e53de"},
{file = "kiwisolver-1.4.4-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:a68b62a02953b9841730db7797422f983935aeefceb1679f0fc85cbfbd311c32"},
{file = "kiwisolver-1.4.4-cp310-cp310-win32.whl", hash = "sha256:e92a513161077b53447160b9bd8f522edfbed4bd9759e4c18ab05d7ef7e49408"},
{file = "kiwisolver-1.4.4-cp310-cp310-win_amd64.whl", hash = "sha256:3fe20f63c9ecee44560d0e7f116b3a747a5d7203376abeea292ab3152334d004"},
{file = "kiwisolver-1.4.4-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:e0ea21f66820452a3f5d1655f8704a60d66ba1191359b96541eaf457710a5fc6"},
{file = "kiwisolver-1.4.4-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:bc9db8a3efb3e403e4ecc6cd9489ea2bac94244f80c78e27c31dcc00d2790ac2"},
{file = "kiwisolver-1.4.4-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:d5b61785a9ce44e5a4b880272baa7cf6c8f48a5180c3e81c59553ba0cb0821ca"},
{file = "kiwisolver-1.4.4-cp311-cp311-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:c2dbb44c3f7e6c4d3487b31037b1bdbf424d97687c1747ce4ff2895795c9bf69"},
{file = "kiwisolver-1.4.4-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:6295ecd49304dcf3bfbfa45d9a081c96509e95f4b9d0eb7ee4ec0530c4a96514"},
{file = "kiwisolver-1.4.4-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:4bd472dbe5e136f96a4b18f295d159d7f26fd399136f5b17b08c4e5f498cd494"},
{file = "kiwisolver-1.4.4-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:bf7d9fce9bcc4752ca4a1b80aabd38f6d19009ea5cbda0e0856983cf6d0023f5"},
{file = "kiwisolver-1.4.4-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:78d6601aed50c74e0ef02f4204da1816147a6d3fbdc8b3872d263338a9052c51"},
{file = "kiwisolver-1.4.4-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:877272cf6b4b7e94c9614f9b10140e198d2186363728ed0f701c6eee1baec1da"},
{file = "kiwisolver-1.4.4-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:db608a6757adabb32f1cfe6066e39b3706d8c3aa69bbc353a5b61edad36a5cb4"},
{file = "kiwisolver-1.4.4-cp311-cp311-musllinux_1_1_ppc64le.whl", hash = "sha256:5853eb494c71e267912275e5586fe281444eb5e722de4e131cddf9d442615626"},
{file = "kiwisolver-1.4.4-cp311-cp311-musllinux_1_1_s390x.whl", hash = "sha256:f0a1dbdb5ecbef0d34eb77e56fcb3e95bbd7e50835d9782a45df81cc46949750"},
{file = "kiwisolver-1.4.4-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:283dffbf061a4ec60391d51e6155e372a1f7a4f5b15d59c8505339454f8989e4"},
{file = "kiwisolver-1.4.4-cp311-cp311-win32.whl", hash = "sha256:d06adcfa62a4431d404c31216f0f8ac97397d799cd53800e9d3efc2fbb3cf14e"},
{file = "kiwisolver-1.4.4-cp311-cp311-win_amd64.whl", hash = "sha256:e7da3fec7408813a7cebc9e4ec55afed2d0fd65c4754bc376bf03498d4e92686"},
{file = "kiwisolver-1.4.4-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:62ac9cc684da4cf1778d07a89bf5f81b35834cb96ca523d3a7fb32509380cbf6"},
{file = "kiwisolver-1.4.4-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:41dae968a94b1ef1897cb322b39360a0812661dba7c682aa45098eb8e193dbdf"},
{file = "kiwisolver-1.4.4-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:02f79693ec433cb4b5f51694e8477ae83b3205768a6fb48ffba60549080e295b"},
{file = "kiwisolver-1.4.4-cp37-cp37m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:d0611a0a2a518464c05ddd5a3a1a0e856ccc10e67079bb17f265ad19ab3c7597"},
{file = "kiwisolver-1.4.4-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:db5283d90da4174865d520e7366801a93777201e91e79bacbac6e6927cbceede"},
{file = "kiwisolver-1.4.4-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:1041feb4cda8708ce73bb4dcb9ce1ccf49d553bf87c3954bdfa46f0c3f77252c"},
{file = "kiwisolver-1.4.4-cp37-cp37m-win32.whl", hash = "sha256:a553dadda40fef6bfa1456dc4be49b113aa92c2a9a9e8711e955618cd69622e3"},
{file = "kiwisolver-1.4.4-cp37-cp37m-win_amd64.whl", hash = "sha256:03baab2d6b4a54ddbb43bba1a3a2d1627e82d205c5cf8f4c924dc49284b87166"},
{file = "kiwisolver-1.4.4-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:841293b17ad704d70c578f1f0013c890e219952169ce8a24ebc063eecf775454"},
{file = "kiwisolver-1.4.4-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:f4f270de01dd3e129a72efad823da90cc4d6aafb64c410c9033aba70db9f1ff0"},
{file = "kiwisolver-1.4.4-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:f9f39e2f049db33a908319cf46624a569b36983c7c78318e9726a4cb8923b26c"},
{file = "kiwisolver-1.4.4-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c97528e64cb9ebeff9701e7938653a9951922f2a38bd847787d4a8e498cc83ae"},
{file = "kiwisolver-1.4.4-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:1d1573129aa0fd901076e2bfb4275a35f5b7aa60fbfb984499d661ec950320b0"},
{file = "kiwisolver-1.4.4-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:ad881edc7ccb9d65b0224f4e4d05a1e85cf62d73aab798943df6d48ab0cd79a1"},
{file = "kiwisolver-1.4.4-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:b428ef021242344340460fa4c9185d0b1f66fbdbfecc6c63eff4b7c29fad429d"},
{file = "kiwisolver-1.4.4-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:2e407cb4bd5a13984a6c2c0fe1845e4e41e96f183e5e5cd4d77a857d9693494c"},
{file = "kiwisolver-1.4.4-cp38-cp38-win32.whl", hash = "sha256:75facbe9606748f43428fc91a43edb46c7ff68889b91fa31f53b58894503a191"},
{file = "kiwisolver-1.4.4-cp38-cp38-win_amd64.whl", hash = "sha256:5bce61af018b0cb2055e0e72e7d65290d822d3feee430b7b8203d8a855e78766"},
{file = "kiwisolver-1.4.4-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:8c808594c88a025d4e322d5bb549282c93c8e1ba71b790f539567932722d7bd8"},
{file = "kiwisolver-1.4.4-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:f0a71d85ecdd570ded8ac3d1c0f480842f49a40beb423bb8014539a9f32a5897"},
{file = "kiwisolver-1.4.4-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:b533558eae785e33e8c148a8d9921692a9fe5aa516efbdff8606e7d87b9d5824"},
{file = "kiwisolver-1.4.4-cp39-cp39-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:efda5fc8cc1c61e4f639b8067d118e742b812c930f708e6667a5ce0d13499e29"},
{file = "kiwisolver-1.4.4-cp39-cp39-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:7c43e1e1206cd421cd92e6b3280d4385d41d7166b3ed577ac20444b6995a445f"},
{file = "kiwisolver-1.4.4-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:bc8d3bd6c72b2dd9decf16ce70e20abcb3274ba01b4e1c96031e0c4067d1e7cd"},
{file = "kiwisolver-1.4.4-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:4ea39b0ccc4f5d803e3337dd46bcce60b702be4d86fd0b3d7531ef10fd99a1ac"},
{file = "kiwisolver-1.4.4-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:968f44fdbf6dd757d12920d63b566eeb4d5b395fd2d00d29d7ef00a00582aac9"},
{file = "kiwisolver-1.4.4-cp39-cp39-win32.whl", hash = "sha256:da7e547706e69e45d95e116e6939488d62174e033b763ab1496b4c29b76fabea"},
{file = "kiwisolver-1.4.4-cp39-cp39-win_amd64.whl", hash = "sha256:ba59c92039ec0a66103b1d5fe588fa546373587a7d68f5c96f743c3396afc04b"},
{file = "kiwisolver-1.4.4-pp37-pypy37_pp73-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:91672bacaa030f92fc2f43b620d7b337fd9a5af28b0d6ed3f77afc43c4a64b5a"},
{file = "kiwisolver-1.4.4-pp37-pypy37_pp73-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:787518a6789009c159453da4d6b683f468ef7a65bbde796bcea803ccf191058d"},
{file = "kiwisolver-1.4.4-pp37-pypy37_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:da152d8cdcab0e56e4f45eb08b9aea6455845ec83172092f09b0e077ece2cf7a"},
{file = "kiwisolver-1.4.4-pp37-pypy37_pp73-win_amd64.whl", hash = "sha256:ecb1fa0db7bf4cff9dac752abb19505a233c7f16684c5826d1f11ebd9472b871"},
{file = "kiwisolver-1.4.4-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:28bc5b299f48150b5f822ce68624e445040595a4ac3d59251703779836eceff9"},
{file = "kiwisolver-1.4.4-pp38-pypy38_pp73-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:81e38381b782cc7e1e46c4e14cd997ee6040768101aefc8fa3c24a4cc58e98f8"},
{file = "kiwisolver-1.4.4-pp38-pypy38_pp73-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:2a66fdfb34e05b705620dd567f5a03f239a088d5a3f321e7b6ac3239d22aa286"},
{file = "kiwisolver-1.4.4-pp38-pypy38_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:872b8ca05c40d309ed13eb2e582cab0c5a05e81e987ab9c521bf05ad1d5cf5cb"},
{file = "kiwisolver-1.4.4-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:70e7c2e7b750585569564e2e5ca9845acfaa5da56ac46df68414f29fea97be9f"},
{file = "kiwisolver-1.4.4-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:9f85003f5dfa867e86d53fac6f7e6f30c045673fa27b603c397753bebadc3008"},
{file = "kiwisolver-1.4.4-pp39-pypy39_pp73-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:2e307eb9bd99801f82789b44bb45e9f541961831c7311521b13a6c85afc09767"},
{file = "kiwisolver-1.4.4-pp39-pypy39_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b1792d939ec70abe76f5054d3f36ed5656021dcad1322d1cc996d4e54165cef9"},
{file = "kiwisolver-1.4.4-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f6cb459eea32a4e2cf18ba5fcece2dbdf496384413bc1bae15583f19e567f3b2"},
{file = "kiwisolver-1.4.4-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:36dafec3d6d6088d34e2de6b85f9d8e2324eb734162fba59d2ba9ed7a2043d5b"},
{file = "kiwisolver-1.4.4.tar.gz", hash = "sha256:d41997519fcba4a1e46eb4a2fe31bc12f0ff957b2b81bac28db24744f333e955"},
]
matplotlib = [
{file = "matplotlib-3.6.1-cp310-cp310-macosx_10_12_universal2.whl", hash = "sha256:7730e60e751cfcfe7fcb223cf03c0b979e9a064c239783ad37929d340a364cef"},
{file = "matplotlib-3.6.1-cp310-cp310-macosx_10_12_x86_64.whl", hash = "sha256:9dd40505ccc526acaf9a5db1b3029e237c64b58f1249983b28a291c2d6a1d0fa"},
{file = "matplotlib-3.6.1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:85948b303534b69fd771126764cf883fde2af9b003eb5778cb60f3b46f93d3f6"},
{file = "matplotlib-3.6.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:71eced071825005011cdc64efbae2e2c76b8209c18aa487dedf69796fe4b1e40"},
{file = "matplotlib-3.6.1-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:220314c2d6b9ca11570d7cd4b841c9f3137546f188336003b9fb8def4dcb804d"},
{file = "matplotlib-3.6.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2cc5d726d4d42865f909c5208a7841109d76584950dd0587b01a77cc279d4ab7"},
{file = "matplotlib-3.6.1-cp310-cp310-win32.whl", hash = "sha256:183bf3ac6a6023ee590aa4b677f391ceed65ec0d6b930901a8483c267bd12995"},
{file = "matplotlib-3.6.1-cp310-cp310-win_amd64.whl", hash = "sha256:a68b91ac7e6bb26100a540a033f54c95fe06d9c0aa51312c2a52d07d1bde78f4"},
{file = "matplotlib-3.6.1-cp311-cp311-macosx_10_12_universal2.whl", hash = "sha256:4648f0d79a87bf50ee740058305c91091ee5e1fbb71a7d2f5fe6707bfe328d1c"},
{file = "matplotlib-3.6.1-cp311-cp311-macosx_10_12_x86_64.whl", hash = "sha256:9403764017d20ff570f7ce973a8b9637f08a6109118f4e0ce6c7493d8849a0d3"},
{file = "matplotlib-3.6.1-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:e4c8b5a243dd29d50289d694e931bd6cb6ae0b5bd654d12c647543d63862540c"},
{file = "matplotlib-3.6.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c1effccef0cea2d4da9feeed22079adf6786f92c800a7d0d2ef2104318a1c66c"},
{file = "matplotlib-3.6.1-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:8dc25473319afabe49150267e54648ac559c33b0fc2a80c8caecfbbc2948a820"},
{file = "matplotlib-3.6.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:47cb088bbce82ae9fc2edf3c25e56a5c6142ce2553fea2b781679f960a70c207"},
{file = "matplotlib-3.6.1-cp311-cp311-win32.whl", hash = "sha256:4d3b0e0a4611bd22065bbf47e9b2f689ac9e575bcb850a9f0ae2bbed75cab956"},
{file = "matplotlib-3.6.1-cp311-cp311-win_amd64.whl", hash = "sha256:e3c116e779fbbf421a9e4d3060db259a9bb486d98f4e3c5a0877c599bd173582"},
{file = "matplotlib-3.6.1-cp38-cp38-macosx_10_12_universal2.whl", hash = "sha256:565f514dec81a41cbed10eb6011501879695087fc2787fb89423a466508abbbd"},
{file = "matplotlib-3.6.1-cp38-cp38-macosx_10_12_x86_64.whl", hash = "sha256:05e86446562063d6186ff6d700118c0dbd5dccc403a6187351ee526c48878f10"},
{file = "matplotlib-3.6.1-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:8245e85fd793f58edf29b8a9e3be47e8ecf76ea1a1e8240545f2746181ca5787"},
{file = "matplotlib-3.6.1-cp38-cp38-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:1e2c75d5d1ff6b7ef9870360bfa23bea076b8dc0945a60d19453d7619ed9ea8f"},
{file = "matplotlib-3.6.1-cp38-cp38-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:c9756a8e69f6e1f76d47eb42132175b6814da1fbeae0545304c6d0fc2aae252a"},
{file = "matplotlib-3.6.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:6f5788168da2661b42f7468063b725cc73fdbeeb80f2704cb2d8c415e9a57c50"},
{file = "matplotlib-3.6.1-cp38-cp38-win32.whl", hash = "sha256:0bab7564aafd5902128d54b68dca04f5755413fb6b502100bb0235a545882c48"},
{file = "matplotlib-3.6.1-cp38-cp38-win_amd64.whl", hash = "sha256:3c53486278a0629fd892783271dc994b962fba8dfe207445d039e14f1928ea46"},
{file = "matplotlib-3.6.1-cp39-cp39-macosx_10_12_universal2.whl", hash = "sha256:27337bcb38d5db7430c14f350924542d75416ec1546d5d9d9f39b362b71db3fb"},
{file = "matplotlib-3.6.1-cp39-cp39-macosx_10_12_x86_64.whl", hash = "sha256:fad858519bd6d52dbfeebdbe04d00dd8e932ed436f1c535e61bcc970a96c11e4"},
{file = "matplotlib-3.6.1-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:4a3d903588b519b38ed085d0ae762a1dcd4b70164617292175cfd91b90d6c415"},
{file = "matplotlib-3.6.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:87bdbd37d0a41e025879863fe9b17bab15c0421313bc33e77e5e1aa54215c9c5"},
{file = "matplotlib-3.6.1-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:e632f66218811d4cf8b7a2a649e25ec15406c3c498f72d19e2bcf8377f38445d"},
{file = "matplotlib-3.6.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8ddd58324dc9a77e2e56d7b7aea7dbd0575b6f7cd1333c3ca9d388ac70978344"},
{file = "matplotlib-3.6.1-cp39-cp39-win32.whl", hash = "sha256:12ab21d0cad122f5b23688d453a0280676e7c42f634f0dbd093d15d42d142b1f"},
{file = "matplotlib-3.6.1-cp39-cp39-win_amd64.whl", hash = "sha256:563896ba269324872ace436a57775dcc8322678a9496b28a8c25cdafa5ec2b92"},
{file = "matplotlib-3.6.1-pp38-pypy38_pp73-macosx_10_12_x86_64.whl", hash = "sha256:52935b7d4ccbf0dbc9cf454dbb10ca99c11cbe8da9467596b96e5e21fd4dfc5c"},
{file = "matplotlib-3.6.1-pp38-pypy38_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:87027ff7b2edeb14476900261ef04d4beae949e1dfa0a3eb3ad6a6efbf9d0e1d"},
{file = "matplotlib-3.6.1-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a4de03085afb3b80fab341afaf8e60dfe06ce439b6dfed55d657cf34a7bc3c40"},
{file = "matplotlib-3.6.1-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:b53387d4e59432ff221540a4ffb5ee9669c69417805e4faf0148a00d701c61f9"},
{file = "matplotlib-3.6.1-pp39-pypy39_pp73-macosx_10_12_x86_64.whl", hash = "sha256:02561141c434154f7bae8e5449909d152367cb40aa57bfb2a27f2748b9c5f95f"},
{file = "matplotlib-3.6.1-pp39-pypy39_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:d0161ebf87518ecfe0980c942d5f0d5df0e080c1746ebaab2027a969967014b7"},
{file = "matplotlib-3.6.1-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2469f57e4c5cc0e85eddc7b30995ea9c404a78c0b1856da75d1a5887156ca350"},
{file = "matplotlib-3.6.1-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:5f97141e05baf160c3ec125f06ceb2a44c9bb62f42fcb8ee1c05313c73e99432"},
{file = "matplotlib-3.6.1.tar.gz", hash = "sha256:e2d1b7225666f7e1bcc94c0bc9c587a82e3e8691da4757e357e5c2515222ee37"},
]
mypy-extensions = [
{file = "mypy_extensions-0.4.3-py2.py3-none-any.whl", hash = "sha256:090fedd75945a69ae91ce1303b5824f428daf5a028d2f6ab8a299250a846f15d"},
{file = "mypy_extensions-0.4.3.tar.gz", hash = "sha256:2d82818f5bb3e369420cb3c4060a7970edba416647068eb4c5343488a6c604a8"},
]
numpy = [
{file = "numpy-1.23.4-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:95d79ada05005f6f4f337d3bb9de8a7774f259341c70bc88047a1f7b96a4bcb2"},
{file = "numpy-1.23.4-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:926db372bc4ac1edf81cfb6c59e2a881606b409ddc0d0920b988174b2e2a767f"},
{file = "numpy-1.23.4-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c237129f0e732885c9a6076a537e974160482eab8f10db6292e92154d4c67d71"},
{file = "numpy-1.23.4-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a8365b942f9c1a7d0f0dc974747d99dd0a0cdfc5949a33119caf05cb314682d3"},
{file = "numpy-1.23.4-cp310-cp310-win32.whl", hash = "sha256:2341f4ab6dba0834b685cce16dad5f9b6606ea8a00e6da154f5dbded70fdc4dd"},
{file = "numpy-1.23.4-cp310-cp310-win_amd64.whl", hash = "sha256:d331afac87c92373826af83d2b2b435f57b17a5c74e6268b79355b970626e329"},
{file = "numpy-1.23.4-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:488a66cb667359534bc70028d653ba1cf307bae88eab5929cd707c761ff037db"},
{file = "numpy-1.23.4-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:ce03305dd694c4873b9429274fd41fc7eb4e0e4dea07e0af97a933b079a5814f"},
{file = "numpy-1.23.4-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:8981d9b5619569899666170c7c9748920f4a5005bf79c72c07d08c8a035757b0"},
{file = "numpy-1.23.4-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7a70a7d3ce4c0e9284e92285cba91a4a3f5214d87ee0e95928f3614a256a1488"},
{file = "numpy-1.23.4-cp311-cp311-win32.whl", hash = "sha256:5e13030f8793e9ee42f9c7d5777465a560eb78fa7e11b1c053427f2ccab90c79"},
{file = "numpy-1.23.4-cp311-cp311-win_amd64.whl", hash = "sha256:7607b598217745cc40f751da38ffd03512d33ec06f3523fb0b5f82e09f6f676d"},
{file = "numpy-1.23.4-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:7ab46e4e7ec63c8a5e6dbf5c1b9e1c92ba23a7ebecc86c336cb7bf3bd2fb10e5"},
{file = "numpy-1.23.4-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:a8aae2fb3180940011b4862b2dd3756616841c53db9734b27bb93813cd79fce6"},
{file = "numpy-1.23.4-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:8c053d7557a8f022ec823196d242464b6955a7e7e5015b719e76003f63f82d0f"},
{file = "numpy-1.23.4-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a0882323e0ca4245eb0a3d0a74f88ce581cc33aedcfa396e415e5bba7bf05f68"},
{file = "numpy-1.23.4-cp38-cp38-win32.whl", hash = "sha256:dada341ebb79619fe00a291185bba370c9803b1e1d7051610e01ed809ef3a4ba"},
{file = "numpy-1.23.4-cp38-cp38-win_amd64.whl", hash = "sha256:0fe563fc8ed9dc4474cbf70742673fc4391d70f4363f917599a7fa99f042d5a8"},
{file = "numpy-1.23.4-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:c67b833dbccefe97cdd3f52798d430b9d3430396af7cdb2a0c32954c3ef73894"},
{file = "numpy-1.23.4-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:f76025acc8e2114bb664294a07ede0727aa75d63a06d2fae96bf29a81747e4a7"},
{file = "numpy-1.23.4-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:12ac457b63ec8ded85d85c1e17d85efd3c2b0967ca39560b307a35a6703a4735"},
{file = "numpy-1.23.4-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:95de7dc7dc47a312f6feddd3da2500826defdccbc41608d0031276a24181a2c0"},
{file = "numpy-1.23.4-cp39-cp39-win32.whl", hash = "sha256:f2f390aa4da44454db40a1f0201401f9036e8d578a25f01a6e237cea238337ef"},
{file = "numpy-1.23.4-cp39-cp39-win_amd64.whl", hash = "sha256:f260da502d7441a45695199b4e7fd8ca87db659ba1c78f2bbf31f934fe76ae0e"},
{file = "numpy-1.23.4-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:61be02e3bf810b60ab74e81d6d0d36246dbfb644a462458bb53b595791251911"},
{file = "numpy-1.23.4-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:296d17aed51161dbad3c67ed6d164e51fcd18dbcd5dd4f9d0a9c6055dce30810"},
{file = "numpy-1.23.4-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:4d52914c88b4930dafb6c48ba5115a96cbab40f45740239d9f4159c4ba779962"},
{file = "numpy-1.23.4.tar.gz", hash = "sha256:ed2cc92af0efad20198638c69bb0fc2870a58dabfba6eb722c933b48556c686c"},
]
packaging = [
{file = "packaging-21.3-py3-none-any.whl", hash = "sha256:ef103e05f519cdc783ae24ea4e2e0f508a9c99b2d4969652eed6a2e1ea5bd522"},
{file = "packaging-21.3.tar.gz", hash = "sha256:dd47c42927d89ab911e606518907cc2d3a1f38bbd026385970643f9c5b8ecfeb"},
]
pathspec = [
{file = "pathspec-0.10.1-py3-none-any.whl", hash = "sha256:46846318467efc4556ccfd27816e004270a9eeeeb4d062ce5e6fc7a87c573f93"},
{file = "pathspec-0.10.1.tar.gz", hash = "sha256:7ace6161b621d31e7902eb6b5ae148d12cfd23f4a249b9ffb6b9fee12084323d"},
]
Pillow = [
{file = "Pillow-9.3.0-cp310-cp310-macosx_10_10_x86_64.whl", hash = "sha256:0b7257127d646ff8676ec8a15520013a698d1fdc48bc2a79ba4e53df792526f2"},
{file = "Pillow-9.3.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:b90f7616ea170e92820775ed47e136208e04c967271c9ef615b6fbd08d9af0e3"},
{file = "Pillow-9.3.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:68943d632f1f9e3dce98908e873b3a090f6cba1cbb1b892a9e8d97c938871fbe"},
{file = "Pillow-9.3.0-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:be55f8457cd1eac957af0c3f5ece7bc3f033f89b114ef30f710882717670b2a8"},
{file = "Pillow-9.3.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5d77adcd56a42d00cc1be30843d3426aa4e660cab4a61021dc84467123f7a00c"},
{file = "Pillow-9.3.0-cp310-cp310-manylinux_2_28_aarch64.whl", hash = "sha256:829f97c8e258593b9daa80638aee3789b7df9da5cf1336035016d76f03b8860c"},
{file = "Pillow-9.3.0-cp310-cp310-manylinux_2_28_x86_64.whl", hash = "sha256:801ec82e4188e935c7f5e22e006d01611d6b41661bba9fe45b60e7ac1a8f84de"},
{file = "Pillow-9.3.0-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:871b72c3643e516db4ecf20efe735deb27fe30ca17800e661d769faab45a18d7"},
{file = "Pillow-9.3.0-cp310-cp310-win32.whl", hash = "sha256:655a83b0058ba47c7c52e4e2df5ecf484c1b0b0349805896dd350cbc416bdd91"},
{file = "Pillow-9.3.0-cp310-cp310-win_amd64.whl", hash = "sha256:9f47eabcd2ded7698106b05c2c338672d16a6f2a485e74481f524e2a23c2794b"},
{file = "Pillow-9.3.0-cp311-cp311-macosx_10_10_x86_64.whl", hash = "sha256:57751894f6618fd4308ed8e0c36c333e2f5469744c34729a27532b3db106ee20"},
{file = "Pillow-9.3.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:7db8b751ad307d7cf238f02101e8e36a128a6cb199326e867d1398067381bff4"},
{file = "Pillow-9.3.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3033fbe1feb1b59394615a1cafaee85e49d01b51d54de0cbf6aa8e64182518a1"},
{file = "Pillow-9.3.0-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:22b012ea2d065fd163ca096f4e37e47cd8b59cf4b0fd47bfca6abb93df70b34c"},
{file = "Pillow-9.3.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b9a65733d103311331875c1dca05cb4606997fd33d6acfed695b1232ba1df193"},
{file = "Pillow-9.3.0-cp311-cp311-manylinux_2_28_aarch64.whl", hash = "sha256:502526a2cbfa431d9fc2a079bdd9061a2397b842bb6bc4239bb176da00993812"},
{file = "Pillow-9.3.0-cp311-cp311-manylinux_2_28_x86_64.whl", hash = "sha256:90fb88843d3902fe7c9586d439d1e8c05258f41da473952aa8b328d8b907498c"},
{file = "Pillow-9.3.0-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:89dca0ce00a2b49024df6325925555d406b14aa3efc2f752dbb5940c52c56b11"},
{file = "Pillow-9.3.0-cp311-cp311-win32.whl", hash = "sha256:3168434d303babf495d4ba58fc22d6604f6e2afb97adc6a423e917dab828939c"},
{file = "Pillow-9.3.0-cp311-cp311-win_amd64.whl", hash = "sha256:18498994b29e1cf86d505edcb7edbe814d133d2232d256db8c7a8ceb34d18cef"},
{file = "Pillow-9.3.0-cp37-cp37m-macosx_10_10_x86_64.whl", hash = "sha256:772a91fc0e03eaf922c63badeca75e91baa80fe2f5f87bdaed4280662aad25c9"},
{file = "Pillow-9.3.0-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:afa4107d1b306cdf8953edde0534562607fe8811b6c4d9a486298ad31de733b2"},
{file = "Pillow-9.3.0-cp37-cp37m-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:b4012d06c846dc2b80651b120e2cdd787b013deb39c09f407727ba90015c684f"},
{file = "Pillow-9.3.0-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:77ec3e7be99629898c9a6d24a09de089fa5356ee408cdffffe62d67bb75fdd72"},
{file = "Pillow-9.3.0-cp37-cp37m-manylinux_2_28_aarch64.whl", hash = "sha256:6c738585d7a9961d8c2821a1eb3dcb978d14e238be3d70f0a706f7fa9316946b"},
{file = "Pillow-9.3.0-cp37-cp37m-manylinux_2_28_x86_64.whl", hash = "sha256:828989c45c245518065a110434246c44a56a8b2b2f6347d1409c787e6e4651ee"},
{file = "Pillow-9.3.0-cp37-cp37m-win32.whl", hash = "sha256:82409ffe29d70fd733ff3c1025a602abb3e67405d41b9403b00b01debc4c9a29"},
{file = "Pillow-9.3.0-cp37-cp37m-win_amd64.whl", hash = "sha256:41e0051336807468be450d52b8edd12ac60bebaa97fe10c8b660f116e50b30e4"},
{file = "Pillow-9.3.0-cp38-cp38-macosx_10_10_x86_64.whl", hash = "sha256:b03ae6f1a1878233ac620c98f3459f79fd77c7e3c2b20d460284e1fb370557d4"},
{file = "Pillow-9.3.0-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:4390e9ce199fc1951fcfa65795f239a8a4944117b5935a9317fb320e7767b40f"},
{file = "Pillow-9.3.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:40e1ce476a7804b0fb74bcfa80b0a2206ea6a882938eaba917f7a0f004b42502"},
{file = "Pillow-9.3.0-cp38-cp38-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:a0a06a052c5f37b4ed81c613a455a81f9a3a69429b4fd7bb913c3fa98abefc20"},
{file = "Pillow-9.3.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:03150abd92771742d4a8cd6f2fa6246d847dcd2e332a18d0c15cc75bf6703040"},
{file = "Pillow-9.3.0-cp38-cp38-manylinux_2_28_aarch64.whl", hash = "sha256:15c42fb9dea42465dfd902fb0ecf584b8848ceb28b41ee2b58f866411be33f07"},
{file = "Pillow-9.3.0-cp38-cp38-manylinux_2_28_x86_64.whl", hash = "sha256:51e0e543a33ed92db9f5ef69a0356e0b1a7a6b6a71b80df99f1d181ae5875636"},
{file = "Pillow-9.3.0-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:3dd6caf940756101205dffc5367babf288a30043d35f80936f9bfb37f8355b32"},
{file = "Pillow-9.3.0-cp38-cp38-win32.whl", hash = "sha256:f1ff2ee69f10f13a9596480335f406dd1f70c3650349e2be67ca3139280cade0"},
{file = "Pillow-9.3.0-cp38-cp38-win_amd64.whl", hash = "sha256:276a5ca930c913f714e372b2591a22c4bd3b81a418c0f6635ba832daec1cbcfc"},
{file = "Pillow-9.3.0-cp39-cp39-macosx_10_10_x86_64.whl", hash = "sha256:73bd195e43f3fadecfc50c682f5055ec32ee2c933243cafbfdec69ab1aa87cad"},
{file = "Pillow-9.3.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:1c7c8ae3864846fc95f4611c78129301e203aaa2af813b703c55d10cc1628535"},
{file = "Pillow-9.3.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:2e0918e03aa0c72ea56edbb00d4d664294815aa11291a11504a377ea018330d3"},
{file = "Pillow-9.3.0-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:b0915e734b33a474d76c28e07292f196cdf2a590a0d25bcc06e64e545f2d146c"},
{file = "Pillow-9.3.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:af0372acb5d3598f36ec0914deed2a63f6bcdb7b606da04dc19a88d31bf0c05b"},
{file = "Pillow-9.3.0-cp39-cp39-manylinux_2_28_aarch64.whl", hash = "sha256:ad58d27a5b0262c0c19b47d54c5802db9b34d38bbf886665b626aff83c74bacd"},
{file = "Pillow-9.3.0-cp39-cp39-manylinux_2_28_x86_64.whl", hash = "sha256:97aabc5c50312afa5e0a2b07c17d4ac5e865b250986f8afe2b02d772567a380c"},
{file = "Pillow-9.3.0-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:9aaa107275d8527e9d6e7670b64aabaaa36e5b6bd71a1015ddd21da0d4e06448"},
{file = "Pillow-9.3.0-cp39-cp39-win32.whl", hash = "sha256:bac18ab8d2d1e6b4ce25e3424f709aceef668347db8637c2296bcf41acb7cf48"},
{file = "Pillow-9.3.0-cp39-cp39-win_amd64.whl", hash = "sha256:b472b5ea442148d1c3e2209f20f1e0bb0eb556538690fa70b5e1f79fa0ba8dc2"},
{file = "Pillow-9.3.0-pp37-pypy37_pp73-macosx_10_10_x86_64.whl", hash = "sha256:ab388aaa3f6ce52ac1cb8e122c4bd46657c15905904b3120a6248b5b8b0bc228"},
{file = "Pillow-9.3.0-pp37-pypy37_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:dbb8e7f2abee51cef77673be97760abff1674ed32847ce04b4af90f610144c7b"},
{file = "Pillow-9.3.0-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:bca31dd6014cb8b0b2db1e46081b0ca7d936f856da3b39744aef499db5d84d02"},
{file = "Pillow-9.3.0-pp37-pypy37_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:c7025dce65566eb6e89f56c9509d4f628fddcedb131d9465cacd3d8bac337e7e"},
{file = "Pillow-9.3.0-pp37-pypy37_pp73-win_amd64.whl", hash = "sha256:ebf2029c1f464c59b8bdbe5143c79fa2045a581ac53679733d3a91d400ff9efb"},
{file = "Pillow-9.3.0-pp38-pypy38_pp73-macosx_10_10_x86_64.whl", hash = "sha256:b59430236b8e58840a0dfb4099a0e8717ffb779c952426a69ae435ca1f57210c"},
{file = "Pillow-9.3.0-pp38-pypy38_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:12ce4932caf2ddf3e41d17fc9c02d67126935a44b86df6a206cf0d7161548627"},
{file = "Pillow-9.3.0-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ae5331c23ce118c53b172fa64a4c037eb83c9165aba3a7ba9ddd3ec9fa64a699"},
{file = "Pillow-9.3.0-pp38-pypy38_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:0b07fffc13f474264c336298d1b4ce01d9c5a011415b79d4ee5527bb69ae6f65"},
{file = "Pillow-9.3.0-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:073adb2ae23431d3b9bcbcff3fe698b62ed47211d0716b067385538a1b0f28b8"},
{file = "Pillow-9.3.0.tar.gz", hash = "sha256:c935a22a557a560108d780f9a0fc426dd7459940dc54faa49d83249c8d3e760f"},
]
platformdirs = [
{file = "platformdirs-2.5.2-py3-none-any.whl", hash = "sha256:027d8e83a2d7de06bbac4e5ef7e023c02b863d7ea5d079477e722bb41ab25788"},
{file = "platformdirs-2.5.2.tar.gz", hash = "sha256:58c8abb07dcb441e6ee4b11d8df0ac856038f944ab98b7be6b27b2a3c7feef19"},
]
pyobjc-core = [
{file = "pyobjc-core-8.5.1.tar.gz", hash = "sha256:f8592a12de076c27006700c4a46164478564fa33d7da41e7cbdd0a3bf9ddbccf"},
{file = "pyobjc_core-8.5.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:b62dcf987cc511188fc2aa5b4d3b9fd895361ea4984380463497ce4b0752ddf4"},
{file = "pyobjc_core-8.5.1-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:0accc653501a655f66c13f149a1d3d30e6cb65824edf852f7960a00c4f930d5b"},
{file = "pyobjc_core-8.5.1-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:f82b32affc898e9e5af041c1cecde2c99f2ce160b87df77f678c99f1550a4655"},
{file = "pyobjc_core-8.5.1-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:f7b2f6b6f3caeb882c658fe0c7098be2e8b79893d84daa8e636cb3e58a07df00"},
{file = "pyobjc_core-8.5.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:872c0202c911a5a2f1269261c168e36569f6ddac17e5d854ac19e581726570cc"},
{file = "pyobjc_core-8.5.1-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:21f92e231a4bae7f2d160d065f5afbf5e859a1e37f29d34ac12592205fc8c108"},
{file = "pyobjc_core-8.5.1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:315334dd09781129af6a39641248891c4caa57043901750b0139c6614ce84ec0"},
]
pyobjc-framework-Cocoa = [
{file = "pyobjc-framework-Cocoa-8.5.1.tar.gz", hash = "sha256:9a3de5cdb4644e85daf53f2ed912ef6c16ea5804a9e65552eafe62c2e139eb8c"},
{file = "pyobjc_framework_Cocoa-8.5.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:aa572acc2628488a47be8d19f4701fc96fce7377cc4da18316e1e08c3918521a"},
{file = "pyobjc_framework_Cocoa-8.5.1-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:cb3ae21c8d81b7f02a891088c623cef61bca89bd671eff58c632d2f926b649f3"},
{file = "pyobjc_framework_Cocoa-8.5.1-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:88f08f5bd94c66d373d8413c1d08218aff4cff0b586e0cc4249b2284023e7577"},
{file = "pyobjc_framework_Cocoa-8.5.1-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:063683b57e4bd88cb0f9631ae65d25ec4eecf427d2fe8d0c578f88da9c896f3f"},
{file = "pyobjc_framework_Cocoa-8.5.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:8f8806ddfac40620fb27f185d0f8937e69e330617319ecc2eccf6b9c8451bdd1"},
{file = "pyobjc_framework_Cocoa-8.5.1-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:7733a9a201df9e0cc2a0cf7bf54d76bd7981cba9b599353b243e3e0c9eefec10"},
{file = "pyobjc_framework_Cocoa-8.5.1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:f0ab227f99d3e25dd3db73f8cde0999914a5f0dd6a08600349d25f95eaa0da63"},
]
pyobjc-framework-CoreBluetooth = [
{file = "pyobjc-framework-CoreBluetooth-8.5.1.tar.gz", hash = "sha256:b4f621fc3b5bf289db58e64fd746773b18297f87a0ffc5502de74f69133301c1"},
{file = "pyobjc_framework_CoreBluetooth-8.5.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:bc720f2987a4d28dc73b13146e7c104d717100deb75c244da68f1d0849096661"},
{file = "pyobjc_framework_CoreBluetooth-8.5.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:2167f22886beb5b3ae69e475e055403f28eab065c49a25e2b98b050b483be799"},
{file = "pyobjc_framework_CoreBluetooth-8.5.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:aa9587a36eca143701731e8bb6c369148f8cc48c28168d41e7323828e5117f2d"},
]
pyobjc-framework-libdispatch = [
{file = "pyobjc-framework-libdispatch-8.5.1.tar.gz", hash = "sha256:066fb34fceb326307559104d45532ec2c7b55426f9910b70dbefd5d1b8fd530f"},
{file = "pyobjc_framework_libdispatch-8.5.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:a316646ab30ba2a97bc828f8e27e7bb79efdf993d218a9c5118396b4f81dc762"},
{file = "pyobjc_framework_libdispatch-8.5.1-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:7730a29e4d9c7d8c2e8d9ffb60af0ab6699b2186296d2bff0a2dd54527578bc3"},
{file = "pyobjc_framework_libdispatch-8.5.1-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:76208d9d2b0071df2950800495ac0300360bb5f25cbe9ab880b65cb809764979"},
{file = "pyobjc_framework_libdispatch-8.5.1-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:1ad9aa4773ff1d89bf4385c081824c4f8708b50e3ac2fe0a9d590153242c0f67"},
{file = "pyobjc_framework_libdispatch-8.5.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:81e1833bd26f15930faba678f9efdffafc79ec04e2ea8b6d1b88cafc0883af97"},
{file = "pyobjc_framework_libdispatch-8.5.1-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:73226e224436eb6383e7a8a811c90ed597995adb155b4f46d727881a383ac550"},
{file = "pyobjc_framework_libdispatch-8.5.1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:d115355ce446fc073c75cedfd7ab0a13958adda8e3a3b1e421e1f1e5f65640da"},
]
pyparsing = [
{file = "pyparsing-3.0.9-py3-none-any.whl", hash = "sha256:5026bae9a10eeaefb61dab2f09052b9f4307d44aee4eda64b309723d8d206bbc"},
{file = "pyparsing-3.0.9.tar.gz", hash = "sha256:2b020ecf7d21b687f219b71ecad3631f644a47f01403fa1d1036b0c6416d70fb"},
]
python-dateutil = [
{file = "python-dateutil-2.8.2.tar.gz", hash = "sha256:0123cacc1627ae19ddf3c27a5de5bd67ee4586fbdd6440d9748f8abb483d3e86"},
{file = "python_dateutil-2.8.2-py2.py3-none-any.whl", hash = "sha256:961d03dc3453ebbc59dbdea9e4e11c5651520a876d0f4db161e8674aae935da9"},
]
setuptools = [
{file = "setuptools-65.5.0-py3-none-any.whl", hash = "sha256:f62ea9da9ed6289bfe868cd6845968a2c854d1427f8548d52cae02a42b4f0356"},
{file = "setuptools-65.5.0.tar.gz", hash = "sha256:512e5536220e38146176efb833d4a62aa726b7bbff82cfbc8ba9eaa3996e0b17"},
]
setuptools-scm = [
{file = "setuptools_scm-7.0.5-py3-none-any.whl", hash = "sha256:7930f720905e03ccd1e1d821db521bff7ec2ac9cf0ceb6552dd73d24a45d3b02"},
{file = "setuptools_scm-7.0.5.tar.gz", hash = "sha256:031e13af771d6f892b941adb6ea04545bbf91ebc5ce68c78aaf3fff6e1fb4844"},
]
six = [
{file = "six-1.16.0-py2.py3-none-any.whl", hash = "sha256:8abb2f1d86890a2dfb989f9a77cfcfd3e47c2a354b01111771326f8aa26e0254"},
{file = "six-1.16.0.tar.gz", hash = "sha256:1e61c37477a1626458e36f7b1d82aa5c9b094fa4802892072e49de9c60c4c926"},
]
tomli = [
{file = "tomli-2.0.1-py3-none-any.whl", hash = "sha256:939de3e7a6161af0c887ef91b7d41a53e7c5a1ca976325f429cb46ea9bc30ecc"},
{file = "tomli-2.0.1.tar.gz", hash = "sha256:de526c12914f0c550d15924c62d72abc48d6fe7364aa87328337a31007fe8a4f"},
]
typing-extensions = [
{file = "typing_extensions-4.4.0-py3-none-any.whl", hash = "sha256:16fa4864408f655d35ec496218b85f79b3437c829e93320c7c9215ccfd92489e"},
{file = "typing_extensions-4.4.0.tar.gz", hash = "sha256:1511434bb92bf8dd198c12b1cc812e800d4181cfcb867674e0f8279cc93087aa"},
]

21
ch-13/full-version/computer/pyproject.toml Normal file
View File

@ -0,0 +1,21 @@
[tool.poetry]
name = "modelling-space"
version = "0.1.0"
description = ""
authors = ["Danny Staple <danny@orionrobots.co.uk>"]
readme = "README.md"
packages = [{include = "modelling_space"}]
[tool.poetry.dependencies]
python = "^3.9"
matplotlib = "3.6.1"
numpy = "1.23.4"
bleak = "0.19.0"
[tool.poetry.group.dev.dependencies]
black = "^22.10.0"
[build-system]
requires = ["poetry-core"]
build-backend = "poetry.core.masonry.api"

3
ch-13/full-version/computer/requirements.txt Normal file
View File

@ -0,0 +1,3 @@
matplotlib==3.6.1
numpy==1.23.4
bleak==0.19.0

38
ch-13/full-version/computer/robot_ble_connection.py Normal file
View File

@ -0,0 +1,38 @@
import asyncio
import bleak
class BleConnection:
# See https://learn.adafruit.com/introducing-adafruit-ble-bluetooth-low-energy-friend/uart-service
ble_uuid = "6E400001-B5A3-F393-E0A9-E50E24DCCA9E"
rx_gatt = "6E400003-B5A3-F393-E0A9-E50E24DCCA9E"
tx_gatt = "6E400002-B5A3-F393-E0A9-E50E24DCCA9E"
ble_name = "Adafruit Bluefruit LE"
def __init__(self, receive_handler):
self.ble_client = None
self.receive_handler = receive_handler
def _uart_handler(self, _, data: bytes):
self.receive_handler(data)
async def connect(self):
print("Scanning for devices...")
devices = await bleak.BleakScanner.discover(service_uuids=[self.ble_uuid])
print(f"Found {len(devices)} devices")
print([device.name for device in devices])
ble_device_info = [device for device in devices if device.name==self.ble_name][0]
print(f"Connecting to {ble_device_info.name}...")
self.ble_client = bleak.BleakClient(ble_device_info.address)
await self.ble_client.connect()
print("Connected to {}".format(ble_device_info.name))
self.notify_task = asyncio.create_task(
self.ble_client.start_notify(self.rx_gatt, self._uart_handler)
)
async def close(self):
await self.ble_client.disconnect()
async def send_uart_data(self, data):
await self.ble_client.write_gatt_char(self.tx_gatt, data)

84
ch-13/full-version/robot/arena.py Normal file
View File

@ -0,0 +1,84 @@
"""Represent the lines and target zone of the arena"""
import math
boundary_lines = [
[(0,0), (0, 1500)],
[(0, 1500), (1500, 1500)],
[(1500, 1500), (1500, 500)],
[(1500, 500), (1000, 500)],
[(1000, 500), (1000, 0)],
[(1000, 0), (0, 0)],
]
width = 1500
height = 1500
def point_is_inside_arena(x, y):
"""Return True if the point is inside the arena.
if the point is inside the rectangle, but not inside the cutout, it's inside the arena.
"""
# is it inside the rectangle?
if x < 0 or x > width \
or y < 0 or y > height:
return False
# is it inside the cutout?
if x > 1000 and y < 500:
return False
return True
## intention - we can use a distance squared function to avoid the square root, and just square the distance sensor readings too.
def get_ray_distance_to_segment_squared(ray, segment):
"""Return the distance squared from the ray origin to the intersection point along the given ray heading.
The segments are boundary lines, which will be horizontal or vertical, and have known lengths.
The ray can have any heading, and will be infinite in length.
Ray -> (x, y, heading)
Segment -> ((x1, y1), (x2, y2))
"""
ray_x, ray_y, ray_heading = ray
segment_x1, segment_y1 = segment[0]
segment_x2, segment_y2 = segment[1]
# if the segment is horizontal, the ray will intersect it at a known y value
if segment_y1 == segment_y2:
# if the ray is horizontal, it will never intersect the segment
if ray_heading == 0:
return None
# calculate the x value of the intersection point
intersection_x = ray_x + (segment_y1 - ray_y) / math.tan(ray_heading)
# is the intersection point on the segment?
if intersection_x < segment_x1 or intersection_x > segment_x2:
return None
# calculate the distance from the ray origin to the intersection point
return (intersection_x - ray_x) ** 2 + (segment_y1 - ray_y) ** 2
# if the segment is vertical, the ray will intersect it at a known x value
if segment_x1 == segment_x2:
# if the ray is vertical, it will never intersect the segment
if ray_heading == math.pi / 2:
return None
# calculate the y value of the intersection point
intersection_y = ray_y + (segment_x1 - ray_x) * math.tan(ray_heading)
# is the intersection point on the segment?
if intersection_y < segment_y1 or intersection_y > segment_y2:
return None
# calculate the distance from the ray origin to the intersection point
return (segment_x1 - ray_x) ** 2 + (intersection_y - ray_y) ** 2
else:
raise Exception("Segment is not horizontal or vertical")
def get_ray_distance_squared_to_nearest_boundary_segment(ray):
"""Return the distance from the ray origin to the intersection point along the given ray heading.
The segments are boundary lines, which will be horizontal or vertical, and have known lengths.
The ray can have any heading, and will be infinite in length.
Ray -> (x, y, heading)
"""
# find the distance to each segment
distances = []
for segment in boundary_lines:
distance_squared = get_ray_distance_to_segment_squared(ray, segment)
if distance_squared is not None:
distances.append(distance_squared)
# return the minimum distance
if distances:
return min(distances)
else:
return None

230
ch-13/full-version/robot/code.py Normal file
View File

@ -0,0 +1,230 @@
import asyncio
import json
import random
from ulab import numpy as np
from guassian import get_gaussian_sample
import arena
import robot
import pid_controller
# initial sample set - uniform
# then apply sensor model
# then resample
# then apply motion model
# and repeat
class Simulation:
def __init__(self):
self.population_size = 200
self.left_distance = 100
self.right_distance = 100
self.occupancy_grid = arena.get_binary_occupancy_grid()
self.time_step = 0.1
# Poses - each an array of [x, y, heading]
self.poses = np.array(
[(random.uniform(0, arena.width), random.uniform(0, arena.height), random.uniform(0, 360)) for _ in range(self.population_size)],
dtype=np.float,
)
# use pids to avoid collisions
# speed is proportional to distance from wall -> further we are from wall, faster we can go
# turn is proportional to difference between left and right distance sensors.
self.forward_distance_pid = pid_controller.PIDController(0.1, 0.01, 0.01)
self.turn_pid = pid_controller.PIDController(0.1, 0.01, 0.01)
self.distance_aim = 100
def apply_sensor_model(self, distance_left, distance_right):
# Based on vl53l1x sensor readings, create weight for each pose.
# vl53l1x standard dev is +/- 5 mm. Each distance is a mean reading
# we will first determine sensor positions based on poses
# project forward based on distances sensed, introducing noise (based on standard dev)
# then check this projected position against occupancy grid
# and weight accordingly
# distance sensor positions projected forward. left_x, left_y, right_x, right_y
distance_sensor_positions = np.array(
(self.poses.shape[0], 6), dtype=np.float)
# sensors - they are facing forward, either side of the robot. Project them out to the sides
# based on each poses heading
# left sensor
poses_left_90 = np.radians(self.poses[:, 2] + 90)
distance_sensor_positions[:, 0] = self.poses[:, 0] + np.cos(poses_left_90) * robot.distance_sensor_from_middle
distance_sensor_positions[:, 1] = self.poses[:, 1] + np.sin(poses_left_90) * robot.distance_sensor_from_middle
# right sensor
poses_right_90 = np.radians(self.poses[:, 2] - 90)
distance_sensor_positions[:, 2] = self.poses[:, 0] + np.cos(poses_right_90) * robot.distance_sensor_from_middle
distance_sensor_positions[:, 3] = self.poses[:, 1] + np.sin(poses_right_90) * robot.distance_sensor_from_middle
# for each sensor position, find the distance to the nearest obstacle
distance_sensor_standard_dev = 5
dl_squared = distance_left ** 2
dr_squared = distance_right ** 2
# weighted poses a numpy array of weights for each pose
weights = np.empty(self.poses.shape[0], dtype=np.float)
for index, sensor_position in enumerate(distance_sensor_positions):
# difference between this distance and the distance sensed is the error
# add noise to this error
# left sensor
left_ray = sensor_position[0], sensor_position[1], self.poses[index, 2]
noise = get_gaussian_sample(0, distance_sensor_standard_dev)
left_actual = arena.get_ray_distance_squared_to_nearest_boundary_segment(left_ray) + noise
left_error = abs(left_actual - dl_squared) # error
# right sensor
right_ray = sensor_position[2], sensor_position[3], self.poses[index, 2]
noise = get_gaussian_sample(0, distance_sensor_standard_dev)
right_actual = arena.get_ray_distance_squared_to_nearest_boundary_segment(right_ray) + noise
right_error = abs(right_actual - dr_squared) #error
# weight is the inverse of the error
weights[index] = 1 / (left_error + right_error)
#normalise the weights
weights = weights / np.sum(weights)
return weights
def resample(self, weights):
# based on the weights, resample the poses
# weights is a numpy array of weights
# resample is a numpy array of indices into the poses array
samples = []
# use low variance resampling
start = random.uniform(0, 1 / self.population_size)
cumulative_weights = weights[0]
source_index = 0
for current_index in range(self.population_size):
sample_index = start + current_index / self.population_size
while sample_index > cumulative_weights:
source_index += 1
cumulative_weights += weights[source_index]
samples.append(source_index)
# set poses to the resampled poses
self.poses = self.poses[samples]
async def move_robot(self):
"""move forward, apply the motion model"""
starting_heading = robot.imu.euler[0]
encoder_left = robot.left_encoder.read()
encoder_right = robot.right_encoder.read()
# move forward - use distance sensor to determine how far to go
distance_error = self.distance_aim - min(self.left_distance, self.right_distance)
forward_speed = self.forward_distance_pid.calculate(distance_error, self.time_step)
turn_error = self.left_distance - self.right_distance
turn_speed = self.turn_pid.calculate(turn_error, self.time_step)
robot.set_left(forward_speed + turn_speed)
robot.set_right(forward_speed - turn_speed)
await asyncio.sleep(self.time_step)
# record sensor changes
left_movement = robot.left_encoder.read() - encoder_left
right_movement = robot.right_encoder.read() - encoder_right
speed_in_mm = robot.ticks_to_m * ((left_movement + right_movement) / 2) * 1000
new_heading = robot.imu.euler[0]
if new_heading:
heading_change = starting_heading - new_heading
else:
print("Failed to get heading")
heading_change = 0
# move poses (this is a bit cheeky, and should be using icc)
heading_standard_dev = 2 # degrees
speed_standard_dev = 5 # mm
radians = np.radians(self.poses[2])
heading_model = [get_gaussian_sample(0, heading_standard_dev) for _ in range(self.poses.shape[1])]
speed_model = [get_gaussian_sample(speed_in_mm, speed_standard_dev) for _ in range(self.poses.shape[1])]
self.poses[:,0] += speed_model * np.cos(radians)
self.poses[:,1] += speed_model * np.sin(radians)
self.poses[:,2] += np.full(self.poses[2].shape, heading_change + heading_model)
self.poses[:,2] = np.vectorize(lambda n: n % 360)(self.poses[2])
async def distance_sensor_updater(self):
robot.left_distance.start_ranging()
robot.right_distance.start_ranging()
while True:
if robot.left_distance.data_ready and robot.left_distance.distance:
self.left_distance = robot.left_distance.distance * 10 # convert to mm
robot.left_distance.clear_interrupt()
if robot.right_distance.data_ready and robot.right_distance.distance:
self.right_distance = robot.right_distance.distance * 10
robot.right_distance.clear_interrupt()
await asyncio.sleep(0.1)
async def run(self):
asyncio.create_task(self.distance_sensor_updater())
try:
for _ in range(15):
weights = self.apply_sensor_model()
self.resample(weights)
await self.move_robot()
finally:
robot.stop()
def send_json(data):
robot.uart.write((json.dumps(data) + "\n").encode())
def read_command():
data = robot.uart.readline()
try:
decoded = data.decode()
except UnicodeError:
print("UnicodeError decoding :")
print(data)
return None
try:
request = json.loads(decoded)
except ValueError:
print("ValueError reading json from:")
print(decoded)
return None
return request
async def updater(simulation):
print("starting updater")
while True:
sys_status, gyro, accel, mag = robot.imu.calibration_status
if sys_status < 3:
send_json(
{
"imu_calibration": {
"gyro": gyro,
"accel": accel,
"mag": mag,
"sys": sys_status,
}
}
)
send_json(
{
"poses": simulation.poses.tolist(),
}
)
await asyncio.sleep(0.5)
async def command_handler(simulation):
update_task = asyncio.create_task(updater(simulation))
simulation_task = asyncio.create_task(simulation.run())
print("Starting handler")
while True:
if robot.uart.in_waiting:
print("Receiving data...")
request = read_command()
if not request:
print("no request")
continue
if request["command"] == "arena":
send_json(
{
"arena": arena.boundary_lines
}
)
await asyncio.sleep(0.1)
simulation = Simulation()
asyncio.run(command_handler(simulation))

16
ch-13/full-version/robot/guassian.py Normal file
View File

@ -0,0 +1,16 @@
import random
import math
def get_standard_normal_sample():
"""Using the Marsaglia Polar method"""
# timeit on mac says - 0.915
while True:
u = random.uniform(-1, 1)
v = random.uniform(-1, 1)
s = u * u + v * v
if s >= 1:
continue
return u * math.sqrt(-2 * math.log(s) / s)
def get_gaussian_sample(mean, standard_deviation):
return get_standard_normal_sample() * standard_deviation + mean

27
ch-13/full-version/robot/pid_controller.py Normal file
View File

@ -0,0 +1,27 @@
class PIDController:
def __init__(self, kp, ki, kd, d_filter_gain=0.1, imax=None, imin=None):
self.kp = kp
self.ki = ki
self.kd = kd
self.d_filter_gain = d_filter_gain
self.imax = imax
self.imin = imin
self.reset()
def reset(self):
self.integral = 0
self.error_prev = 0
self.derivative = 0
def calculate(self, error, dt):
self.integral += error * dt
if self.imax is not None and self.integral > self.imax:
self.integral = self.imax
if self.imin is not None and self.integral < self.imin:
self.integral = self.imin
# Add a low pass filter to the difference
difference = (error - self.error_prev) * self.d_filter_gain
self.error_prev += difference
self.derivative = difference / dt
return self.kp * error + self.ki * self.integral + self.kd * self.derivative

84
ch-13/full-version/robot/pio_encoder.py Normal file
View File

@ -0,0 +1,84 @@
import rp2pio
import adafruit_pioasm
import array
import asyncio
program = """
; use the osr for count
; input pins c1 c2
set y, 0 ; clear y
mov osr, y ; and clear osr
read:
; x will be the old value
; y the new values
mov x, y ; store old Y in x
in null, 32 ; Clear ISR - using y
in pins, 2 ; read two pins into y
mov y, isr
jmp x!=y, different ; Jump if its different
jmp read ; otherwise loop back to read
different:
; x has old value, y has new.
; extract the upper bit of X.
in x, 31 ; get bit 31 - old p1 (remember which direction it came in)
in null, 31 ; keep only 1 bit
mov x, isr ; put this back in x
jmp !x, c1_old_zero
c1_old_not_zero:
jmp pin, count_up
jmp count_down
c1_old_zero:
jmp pin, count_down
; fall through
count_up:
; for a clockwise move - we'll add 1 by inverting
mov x, ~ osr ; store inverted OSR on x
jmp x--, fake ; use jump to take off 1
fake:
mov x, ~ x ; invert back
jmp send
count_down:
; for a clockwise move, just take one off
mov x, osr ; store osr in x
jmp x--, send ; dec and send
send:
; send x.
mov isr, x ; send it
push noblock ; put ISR into input FIFO
mov osr, x ; put X back in OSR
jmp read ; loop back
"""
assembled = adafruit_pioasm.assemble(program)
class QuadratureEncoder:
def __init__(self, first_pin, second_pin, reversed=False):
"""Encoder with 2 pins. Must use sequential pins on the board"""
self.sm = rp2pio.StateMachine(
assembled,
frequency=0,
first_in_pin=first_pin,
jmp_pin=second_pin,
in_pin_count=2,
)
self.reversed = reversed
self._buffer = array.array("i", [0])
asyncio.create_task(self.poll_loop())
async def poll_loop(self):
while True:
await asyncio.sleep(0)
while self.sm.in_waiting:
self.sm.readinto(self._buffer)
def read(self):
if self.reversed:
return -self._buffer[0]
else:
return self._buffer[0]

78
ch-13/full-version/robot/robot.py Executable file
View File

@ -0,0 +1,78 @@
import board
import pwmio
import pio_encoder
import busio
import adafruit_vl53l1x
import math
import busio
import adafruit_bno055
uart = busio.UART(board.GP12, board.GP13, baudrate=9600)
wheel_diameter_mm = 70
wheel_circumference_mm = math.pi * wheel_diameter_mm
gear_ratio = 298
encoder_poles = 28
ticks_per_revolution = encoder_poles * gear_ratio
ticks_to_m = (wheel_circumference_mm / ticks_per_revolution) / 1000
m_to_ticks = 1 / ticks_to_m
motor_A2 = pwmio.PWMOut(board.GP17, frequency=100)
motor_A1 = pwmio.PWMOut(board.GP16, frequency=100)
motor_B2 = pwmio.PWMOut(board.GP18, frequency=100)
motor_B1 = pwmio.PWMOut(board.GP19, frequency=100)
right_motor = motor_A1, motor_A2
left_motor = motor_B1, motor_B2
right_encoder = pio_encoder.QuadratureEncoder(board.GP20, board.GP21)
left_encoder = pio_encoder.QuadratureEncoder(board.GP26, board.GP27, reversed=True)
i2c0 = busio.I2C(sda=board.GP0, scl=board.GP1)
i2c1 = busio.I2C(sda=board.GP2, scl=board.GP3)
left_distance = adafruit_vl53l1x.VL53L1X(i2c0)
right_distance = adafruit_vl53l1x.VL53L1X(i2c1)
distance_sensor_from_middle = 40 # approx mm
imu = adafruit_bno055.BNO055_I2C(i2c0)
imu.mode = adafruit_bno055.NDOF_MODE # should be in chapter 12!
def stop():
motor_A1.duty_cycle = 0
motor_A2.duty_cycle = 0
motor_B1.duty_cycle = 0
motor_B2.duty_cycle = 0
def set_speed(motor, speed):
# Swap motor pins if we reverse the speed
if abs(speed) < 0.1:
motor[0].duty_cycle = 0
motor[1].duty_cycle = 1
return
if speed < 0:
direction = motor[1], motor[0]
speed = -speed
else:
direction = motor
speed = min(speed, 1) # limit to 1.0
max_speed = 2 ** 16 - 1
direction[0].duty_cycle = int(max_speed * speed)
direction[1].duty_cycle = 0
def set_left(speed):
set_speed(left_motor, speed)
def set_right(speed):
set_speed(right_motor, speed)
def check_imu_status():
sys_status, gyro, accel, mag = imu.calibration_status
uart.write(f"Sys: {sys_status}, Gyro: {gyro}, Accel: {accel}, Mag: {mag}\n".encode())
return sys_status == 3