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fix(backends): PyPlot backend fixes, Connector as a Protocol, one window-title helper - #788
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…aunch, PyPlot2 window title ShapePlot.plot used an undefined name and always raised NameError. EllipsePlot with an etype other than 'v' or 'f' failed later with an AttributeError. PyPlot.__repr__ read sim_time before launch set it. PyPlot2.launch assumed a figure manager with set_window_title, which a headless backend does not have. Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
… ShapePlot and EllipsePlot use axes_logic Swift does not depend on RTB and so cannot inherit from Connector, though load_backend returns it as one. A Protocol states what RTB needs of a backend, and the PyPlot backends inherit it for the defaults. The teach pendant's ellipsoids are set with setattr, they are not part of the interface. Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
…ends and Vehicle Vehicle reached into canvas.manager itself; MVTB has its own with a bare except. The helper does nothing for a figure without a window. Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
SMTB PR #263. The copy stays until the minimum Spatial Math version has it. Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Not up to standards ⛔🔴 Issues
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| Category | Results |
|---|---|
| ErrorProne | 1 high |
| Security | 1 critical |
🟢 Metrics 23 complexity · 2 duplication
Metric Results Complexity 23 Duplication 2
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…f the same name Python 3.10 mock resolves roboticstoolbox.backends.PyPlot.PyPlot to the class. Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Codecov Report❌ Patch coverage is Additional details and impacted files@@ Coverage Diff @@
## main #788 +/- ##
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Coverage 0.00% 0.00%
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Files 144 144
Lines 14871 14853 -18
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Summary
Fixes in the PyPlot backends (problems 44 to 48 of the typing pass) and a truthful type for what a backend is.
Fixes
ShapePlot.plotused an undefined name (ax) and always raisedNameError. Its axes now come fromaxes_logic, soax=means "draw into this axes" andNonereuses the current 3D axes or makes one, as elsewhere in RTB.EllipsePlotwith anetypeother than'v'or'f'failed later withAttributeError; it raisesValueErrorat construction. The defaultcentreis a tuple, not a shared list.PyPlot.__repr__readsim_timebeforelaunchset it; it is set in__init__.PyPlot2.launchassumed a figure manager withset_window_title, which a headless backend does not have.Connectoris aProtocol. Swift does not depend on RTB and cannot inherit fromConnector, yetload_backendreturned it as one. The Protocol states what RTB needs of a backend (launch,step,reset,restart,close,add,remove,holdand thesupports_teachandsupports_ellipseflags).PyPlot,PyPlot2andROSinherit it explicitly, which gives them the defaults and keeps a missing method an error at construction. The teach pendant's ellipsoids are set withsetattrrather than being part of the interface.One
set_window_title(fig, title)inroboticstoolbox.tools.plot, used byPyPlot,PyPlot2andVehicle(which reached intocanvas.manageritself). It does nothing for a figure without a window. It usesspatialmath.base.set_window_titleonce that exists (SMTB PR rai-opensource/spatialmath-python#263), and the local copy goes then.Not changed
Test plan
tests/test_pyplot_backend_fixes.py🤖 Generated with Claude Code