From d1e3d745659172e6983b2f7499c3146eaee33d00 Mon Sep 17 00:00:00 2001
From: "Stuckey, William M" <william.stuckey.stu@gtri.gatech.edu>
Date: Mon, 10 Sep 2018 17:22:20 -0400
Subject: [PATCH] nix matplotlib partial fix and warning, run script,
 documentation

---
 .gitignore                        |  6 +++++
 README.md                         | 10 ++++++++
 rps/examples/formation_control.py |  2 +-
 run_sim.py                        | 41 +++++++++++++++++++++++++++++++
 4 files changed, 58 insertions(+), 1 deletion(-)
 create mode 100755 run_sim.py

diff --git a/.gitignore b/.gitignore
index 7bbc71c..4df4e17 100644
--- a/.gitignore
+++ b/.gitignore
@@ -3,6 +3,12 @@ __pycache__/
 *.py[cod]
 *$py.class
 
+# vim files
+*.swp
+
+# ignore generated datafile
+*.npy
+
 # C extensions
 *.so
 
diff --git a/README.md b/README.md
index e9db014..5e75986 100644
--- a/README.md
+++ b/README.md
@@ -29,5 +29,15 @@ Though, these are included in the setup.py file.  For the absolutely correct lis
 There are a variety of examples in the 'examples' folder.  Check these out before
 starting your simulation!
 
+You can run the examples with
+```
+./run_sim.py rps/examples/<example_name>.py
+```
+
+You can also run the examples without the wrapper, but it won't perform any dependnecy sanity checks.
+```
+python3 rps/examples/<example_name>.py
+```
+
 # Submission Instructions
 When your simulation is complete, go the the Robotarium [website](https://www.robotarium.org), follow the instructions there, and see your code run on real robots!
diff --git a/rps/examples/formation_control.py b/rps/examples/formation_control.py
index 4a4facf..1d0edce 100644
--- a/rps/examples/formation_control.py
+++ b/rps/examples/formation_control.py
@@ -33,7 +33,7 @@
 iterations = 2000
 N = 6
 
-r = robotarium.Robotairum(number_of_agents=N, number_of_agents=10, show_figure=True, save_data=True, update_time=1)
+r = robotarium.Robotarium(number_of_agents=N, show_figure=True, save_data=True, update_time=1)
 
 si_barrier_cert = create_single_integrator_barrier_certificate(N)
 
diff --git a/run_sim.py b/run_sim.py
new file mode 100755
index 0000000..40287e0
--- /dev/null
+++ b/run_sim.py
@@ -0,0 +1,41 @@
+#!/usr/bin/env python3
+
+import os
+import sys
+
+# PyQt4 still has a bug where it fails to yeild interactive control
+# back to the starting terminal on some operating systems. This is
+# at least observed on Linux and may affect OSX as well. Manually
+# setting Qt4 return hooks didn't work. The only apparent fix
+# is to move to Qt5 if able. This method check if the required
+# PyQt5 modules and backend are present. If they are, we move the
+# renderer forward to PyQt5. Otherwise, we fallback to the default.
+#
+# Backend *MUST* be set before any subpackages are imported. 
+def select_pyplot_renderer():
+	try:
+		from PyQt5 import QtCore, QtGui, QtWidgets
+		import matplotlib
+		matplotlib.use('Qt5Agg')
+	except ImportError:
+		if sys.platform == "linux" or sys.platform == "linux2":
+			print('*** could not set sim renderer to Qt5Agg')
+			print('*** canvas may fail to yield interactive control on close')
+			print('*** please install PyQt5 if you experience issues')
+			print('\tDebian Package: python3-pyqt5')
+			print('\tFedora Core: python3-qt5')
+			print('')
+			print('')
+
+		# fallback renderer
+		import matplotlib
+		matplotlib.use('TkAgg')
+	
+
+select_pyplot_renderer()
+
+print('launching sim program: ' + sys.argv[1])
+print('')
+os.system('python3 ' + sys.argv[1])
+exit(0)
+