Kalman-and-Bayesian-Filters-in-Python/book_format.py

# -*- coding: utf-8 -*-

"""Copyright 2015 Roger R Labbe Jr.


Code supporting the book

Kalman and Bayesian Filters in Python
https://github.com/rlabbe/Kalman-and-Bayesian-Filters-in-Python


This is licensed under an MIT license. See the LICENSE.txt file
for more information.
"""

from __future__ import (absolute_import, division, print_function,
                        unicode_literals)

from contextlib import contextmanager
from IPython.core.display import HTML
import json
import os.path
import sys
import warnings
from kf_book.book_plots import set_figsize, reset_figsize

def test_installation():
    try:
        import filterpy
    except:
        print("Please install FilterPy from the command line by running the command\n\t$ pip install filterpy\n\nSee chapter 0 for instructions.")

    try:
        import numpy
    except:
        print("Please install NumPy before continuing. See chapter 0 for instructions.")

    try:
        import scipy
    except:
        print("Please install SciPy before continuing. See chapter 0 for instructions.")

    try:
        import sympy
    except:
        print("Please install SymPy before continuing. See chapter 0 for instructions.")

    try:
        import matplotlib
    except:
        print("Please install matplotlib before continuing. See chapter 0 for instructions.")

    from distutils.version import LooseVersion

    v = filterpy.__version__
    min_version = "1.4.4"
    if LooseVersion(v) < LooseVersion(min_version):
       print("Minimum FilterPy version supported is {}. "
             "Please install a more recent version.\n"
             "   ex: pip install filterpy --upgrade".format(
             min_version))


    v = matplotlib.__version__
    min_version = "1.5.0" # this is really old!!!
    if LooseVersion(v) < LooseVersion(min_version):
       print("Minimum Matplotlib version supported is {}. "
             "Please install a more recent version.".format(min_version))

    # require Python 2.7, or 3.5+

    import sys
    v = sys.version_info
    if v.major > 3:
        # I guess if we are this far in the future it'll work? Who knows.
        # I just don't want to start getting issue reports when Python goes
        # to 4.0
        return

    if (v.major == 2 and v.minor != 7) or (v.major == 3 and v.minor < 5):
        print('You must use Python version 2.7 or 3.5+ for the notebooks to work correctly')


    # need to add test for IPython. I think I want to be at 6, which also implies
    # Python 3, matplotlib 2+, etc.

# ensure that we have the correct packages loaded. This is
# called when this module is imported at the top of each book
# chapter so the reader can see that they need to update their environment.
test_installation()


# now that we've tested the existence of all packages go ahead and import

import matplotlib
import matplotlib.pylab as pylab
import matplotlib.pyplot as plt
import numpy as np

# version 1.4.3 of matplotlib has a bug that makes
# it issue a spurious warning on every plot that
# clutters the notebook output
if matplotlib.__version__ == '1.4.3':
    warnings.simplefilter(action="ignore", category=FutureWarning)

try:
    matplotlib.style.use('default')
except:
    pass


with warnings.catch_warnings():
    warnings.simplefilter("ignore", matplotlib.MatplotlibDeprecationWarning)
    pylab.rcParams['figure.max_open_warning'] = 50


@contextmanager
def numpy_precision(precision):
    old = np.get_printoptions()['precision']
    np.set_printoptions(precision=precision)
    yield
    np.set_printoptions(old)

@contextmanager
def printoptions(*args, **kwargs):
    original = np.get_printoptions()
    np.set_printoptions(*args, **kwargs)
    yield
    np.set_printoptions(**original)

def _decode_list(data):
    rv = []
    for item in data:
        if isinstance(item, unicode):
            item = item.encode('utf-8')
        elif isinstance(item, list):
            item = _decode_list(item)
        elif isinstance(item, dict):
            item = _decode_dict(item)
        rv.append(item)
    return rv

def _decode_dict(data):
    rv = {}
    for key, value in data.iteritems():
        if isinstance(key, unicode):
            key = key.encode('utf-8')
        if isinstance(value, unicode):
            value = value.encode('utf-8')
        elif isinstance(value, list):
            value = _decode_list(value)
        elif isinstance(value, dict):
            value = _decode_dict(value)
        rv[key] = value
    return rv


def set_style():
    version = [int(version_no) for version_no in matplotlib.__version__.split('.')]

    try:
        if sys.version_info[0] >= 3:
            style = json.load(open("./kf_book/538.json"))
        else:
            style = json.load(open(".//kf_book/538.json"), object_hook=_decode_dict)

        with warnings.catch_warnings():
            warnings.simplefilter("ignore", matplotlib.MatplotlibDeprecationWarning)
            plt.rcParams.update(style)
    except:
        pass
    np.set_printoptions(suppress=True, precision=3, 
                        threshold=10000., linewidth=70,
                        formatter={'float':lambda x:' {:.3}'.format(x)})

    # I don't know why I have to do this, but I have to call
    # with suppress a second time or the notebook doesn't suppress
    # exponents
    np.set_printoptions(suppress=True)
    reset_figsize()

    style = '''
        <style>
        .output_wrapper, .output {
            height:auto !important;
            max-height:100000px; 
        }
        .output_scroll {
            box-shadow:none !important;
            webkit-box-shadow:none !important;
        }
        </style>
    '''
    jscript = '''
        %%javascript
        IPython.OutputArea.auto_scroll_threshold = 9999;
    '''
    return HTML(style)