Update doc for blendnavipy

doc/source/conf.py

@@ -42,7 +42,8 @@ extensions = ['matplotlib.sphinxext.only_directives',
               'sphinx.ext.coverage',
               'sphinx.ext.mathjax',
               'sphinx.ext.viewcode',
-              'sphinxarg.ext']
+              'sphinxarg.ext',
+              'sphinx.ext.inheritance_diagram']
 
 # Add any paths that contain templates here, relative to this directory.
 templates_path = ['_templates']

doc/source/gettingstarted.rst

@@ -3,6 +3,10 @@ Getting started
 
 Installing navipy
 -----------------
+It is recommanded to install navipy in a \
+`virtual environment <https://virtualenvwrapper.readthedocs.io/en/latest/install.html>`_ . By doing \
+so, the python version installed on the system and the one used by \
+navipy may differ, and ease the use of blender rendering engine. 
 
 .. code-block:: bash
 
@@ -15,6 +19,15 @@ Testing navipy
 
    python -m unittest discover navipy
 
+Testing blender
+---------------
+Navipy comes with a command line tool to run your script under blender.\
+ It is however required that the python version used by blender, and the one use by navipy matche. To test your installation of blender and navipy you can download the (:download:`script <../../navipy/sensors/blendnavipy_test.py>`) and run it under blender with the following command:
+
+ .. code-block:: bash
+		 
+   blendnavipy --python-script='blendnavipy_test.py' 
+
 
 The core modules
 ----------------

doc/source/overview/moving.rst

@@ -8,3 +8,8 @@ Overview
 Summary
 *******
 .. automodule:: navipy.moving.agent
+
+Inheritance
+***********
+.. inheritance-diagram:: navipy.moving.agent
+

navipy/sensors/blendnavipy.py

@@ -7,6 +7,8 @@ import shutil
 import inspect
 import tempfile
 import argparse
+from platform import system
+from distutils.spawn import find_executable
 
 
 def activate_virtualenv(venv_path):
@@ -52,7 +54,7 @@ def parser_blendnavipy():
     arghelp = 'Path to the environment (.blend) in which your agent lives'
     parser.add_argument('--blender-world',
                         type=str,
-                        default=None,
+                        default='',
                         help=arghelp)
     arghelp = 'Path to your python script to be run in blender'
     parser.add_argument('--python-script',
@@ -98,9 +100,14 @@ def main():
 
     args = parser_blendnavipy().parse_args()
     if args.blender_command is None:
-        # Find blender command to do a system call
-        args.blender_command = shutil.which('blender')
-
+        if system() == 'Windows':
+            args.blender_command = find_executable("blender")
+        else:
+            # Find blender command to do a system call
+            args.blender_command = shutil.which('blender')
+    if args.blender_command is None:
+        raise NameError('Blender executable could not be found. ' +
+                        'Please specify the full path to it')
     python_script = args.python_script
 
     header = '""" Script generated by {}"""\n'.format(sys.argv[0])
@@ -119,15 +126,15 @@ def main():
                 '# activate virtualenv within blender\n'.encode(encoding))
             for line in inspect.getsourcelines(activate_virtualenv)[0]:
                 tfile.write(line.encode(encoding))
-                line = 'activate_virtualenv(\"{}\")\n'.format(venv_path)
-                tfile.write(line.encode(encoding))
+            line = 'activate_virtualenv(\"{}\")\n'.format(venv_path)
+            tfile.write(line.encode(encoding))
         elif syspath is not None:
             tfile.write(
                 '# add navipy path within blender\n'.encode(encoding))
             for line in inspect.getsourcelines(append_path)[0]:
                 tfile.write(line.encode(encoding))
-                line = 'activate_virtualenv({})\n'.format(str(syspath))
-                tfile.write(line.encode(encoding))
+            line = 'append_path({})\n'.format(str(syspath))
+            tfile.write(line.encode(encoding))
         else:
             raise NameError('The path to navipy could not be found')