def __init__(self, omap_path, sparki):
self.omap = ObstacleMap(omap_path, noise_range=1)
self.rangefinder = Rangefinder(cone_width=deg2rad(15.),
obstacle_width=1.)
FrontEnd.__init__(self, self.omap.width, self.omap.height)
self.sparki = sparki
self.robot = Robot()
# center robot
self.robot.x = self.omap.width * 0.5
self.robot.y = self.omap.height * 0.5
# create particle filter
alpha = [0.5, 0.5, 0.5, 0.5]
self.particle_filter = ParticleFilter(num_particles=50,
alpha=alpha,
robot=self.robot,
omap=self.omap)
# set message callback
self.sparki.message_callback = self.message_received
# last timestamp received
self.last_timestamp = 0
def sineMotion(ids, commandRate, offset, amp, freq):
robot = Robot(expectedIds=ids, commandRate=commandRate, cropMethod=None)
nIds = len(ids)
motionFunction = lambda time: [offset + amp * sin(2 * pi * time * freq) for ii in range(nIds)]
robot.run(motionFunction, runSeconds=10, interpBegin=1, resetFirst=False)
def run_training(maze_size=(6, 6),
trap_number=1,
epoch=20,
epsilon0=0.3,
alpha=0.3,
gamma=0.9):
# # 可选的参数：
# epoch = 20
# # 随机探索的初始概率
# epsilon0 = 0.3
# # 松弛变量
# alpha = 0.3
# # 折扣因子
# gamma = 0.9
# # 地图大小
# maze_size = (6, 6)
# # 陷阱数量
# trap_number = 1
g = Maze(maze_size=maze_size, trap_number=trap_number)
r = Robot(g, alpha=alpha, epsilon0=epsilon0, gamma=gamma)
r.set_status(learning=True)
runner = Runner(r, g)
runner.run_training(epoch, display_direction=True)
# runner.generate_movie(filename = "final1.mp4") # 你可以注释该行代码，加快运行速度，不过你就无法观察到视频了。
# runner.plot_results()
return runner
def Process():
toy = Robot()
try:
print("\n")
print("Welcome to the Toy Robot application.\n")
print("Proceed to enter commands. Press CTRL-C to exit.\n")
# Loop until we receive a kill signal.
while True:
# BUG: Change to input() for Python 3.x
line = raw_input("> ")
try:
# Parse the command.
cmd = Command(line)
# Execute the validated command on the robot.
cmd.Execute(toy)
except CommandException as ce:
print(ce)
except RobotException as re:
print(re)
except CompassHeadingException as he:
print(he)
except KeyboardInterrupt as kb:
print("Keyboard exit signal detected.")
pass
finally:
print("Exit requested.")
toy.Cleanup()
print("Application successfully exited.")
return
def newRobots(x,y):
robot = Robot()
robot.set_x(x)
robot.set_y(y)
robot.set_speedX(random.choice((-1, 1)))
robot.set_speedY(random.choice((-1, 1)))
robots.add_robot(robot)
def test_raise_engage_length_value_error(self):
# it should pass only if the result is raising a ValueError
world_size = (5, 4)
lost_robots = []
with self.assertRaises(ValueError):
robot = Robot(world_size, lost_robots, 10, 10, 'N')
robot.engage('k' * 102)
def start(self):
last_update = rospy.Time.now().to_sec()
self.robots["robot0"] = Robot("robot0", [0, 1, 0], 4000, [4, 0])
self.robots["robot1"] = Robot("robot1", [0, 0, 1], 4000, [-4, 0])
R = rospy.Rate(150)
rospy.sleep(5)
print ("HOLD WASD to move, E to exit")
while not (rospy.is_shutdown() or self.shutdown):
delta_time = rospy.Time.now().to_sec() - last_update
for k, robot1 in self.robots.items():
if robot1.alive:
robot1(delta_time)
for k2, robot2 in self.robots.items():
try:
if k != k2:
position, quaternion = self.listener.lookupTransform("/"+robot1.damage.id, "/"+robot2.id, rospy.Time())
distance = math.sqrt(position[0] * position[0] + position[1] * position[1])
if distance < robot1.damage.length[0] / 2.0:
robot2.destroy()
except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException):
continue
R.sleep()
last_update = rospy.Time.now().to_sec()
def __init__(self,r_name,r_id,x_off,y_off,theta_off, capacity):
Robot.__init__(self,r_name,r_id,x_off,y_off,theta_off)
self.carrier_pub = rospy.Publisher("carrier_position",String, queue_size=10)
self.carrier_sub = rospy.Subscriber("carrier_position", String, self.carrier_callback)
self.picker_sub = rospy.Subscriber("picker_position", String, self.picker_callback)
self.kiwi_sub = rospy.Subscriber("picker_kiwi_transfer", String, self.kiwi_callback)
self.kiwi_pub = rospy.Publisher("carrier_kiwi_transfer",String, queue_size=10)
self.queue_pub = rospy.Publisher("carrier_allocation_request", String, queue_size=10)
self.queue_sub = rospy.Subscriber("carrier_allocation_response", String, self.queue_callback)
self.next_robot_id = None
self.carrier_robots = ["0,0,0","0,0,0","0,0,0","0,0,0","0,0,0","0,0,0","0,0,0","0,0,0","0,0,0","0,0,0"]
self.picker_robots = ["0,0,0","0,0,0","0,0,0","0,0,0","0,0,0","0,0,0","0,0,0","0,0,0","0,0,0","0,0,0"]
self.max_load = capacity
self.previousState = self.CarrierState.WAITINGFORPICKER
self.is_going_home = False
#these variables are used to help the laser callback, it will help in dealing with entities/debris on
# it's path to the picker robot
#self.StageLaser_sub = rospy.Subscriber(self.robot_node_identifier+"/base_scan",sensor_msgs.msg.LaserScan,self.StageLaser_callback)
self.ReadLaser = False
self.FiveCounter = 0
self._divertingPath_ = False
def __init__(self):
Robot.__init__(self)
self.wheel_radius = 0.02
self.encoder_ticks_per_wheel_rev = 225
self.wheel_base_length = 0.09
self.max_speed = 0.3
self._x, self._y, self._heading = STARTING_LOCATION
# for getting velocities
self.labyrinth = Labyrinth(
MazeGenerator(LENGTH_OF_MAZE, LENGTH_OF_MAZE))
self.position = Position(*STARTING_LOCATION, self.wheel_radius,
self.encoder_ticks_per_wheel_rev)
self.micro_state = MicroRobotState.UNKNOWN
self.macro_state = MacroRobotState.MAPPING
self.clew = DFS()
self.previous_ticks = (0, 0)
self.angle_ticker = 0
self.angle_pid = PIDLoop(5, 0, 0.1)
self.power_val = 2
self.acceptable_angle_error = .1
self.acceptable_physical_offset = 0.01
self.angle_ticks_needed = 100
self.next_cell = tuple()
# for printing the graph
self.real_xs = []
self.determined_xs = []
self.real_ys = []
self.determined_ys = []
self.race_start = 0
return
def create_fleet(self):
robot_one = Robot('Tim', 5, 25)
robot_two = Robot('Phil', 25, 60)
robot_three = Robot('Rodney', 15, 40)
self.fleet_of_robots.append(robot_one)
self.fleet_of_robots.append(robot_two)
self.fleet_of_robots.append(robot_three)
def __init__(self, robot_position, world_map, shared_map, shared_visited, robot_search_mode):
self.robot = Robot([robot_position[0], robot_position[1]], shared_map, shared_visited, robot_search_mode)
self.robot_current_position_in_world_map = [robot_position[0], robot_position[1]]
self.world_map = world_map
self.timestep = 11
self.TOTAL_WAITING_TIME = 10
self.stopped = False
def select_a_rect_distance_search(self):
self.load_environment()
self.clear_components()
self.optionDialog = DialogOption()
self.optionDialog.display_option_message("Do you want avoid cycles")
option_response = self.optionDialog.get_taken_option()
message = "Please specify the numerator and denominator to complement the heuristic method"
aSearchValueDialog = DialogASearchValues()
aSearchValueDialog.show_request_message(message)
numerator = aSearchValueDialog.get_numerator()
denominator = aSearchValueDialog.get_denominator()
self.robot = Robot(self,self.environment,self.dimension,self.queue_dimension,"A*h1",option_response,numerator,denominator)
if option_response:
self.labelSelectedSearch.setText("A* Straight Line Distance avoiding cycles")
else:
self.labelSelectedSearch.setText("A* Straight Line Distance with cycles")
self.draw_environment()
self.plainTextEditRobotStatus.appendPlainText("Ready .......")
self.pushButtonMoveRobot.setEnabled(False)
self.pushButtonLookGraph.setEnabled(True)
self.pushButtonFastSearch.setEnabled(True)
self.pushButtonNextStep.setEnabled(True)
def test_robots(self):
parser = urlparse(self.url)
domain = parser.hostname
isexistrobot = self.r.get(domain)
if isexistrobot is None:
# Collect Robots.txt
robot = Robot(self.url)
lst_rule = robot.get_rule()
# Save to Redis
self.r.set(domain, lst_rule)
if robot.is_allowed(self.url):
return True
else:
return False
else:
lst_rule = literal_eval(isexistrobot)
path = parser.path
for item in lst_rule:
if '.' in item:
item = item.replace('.', '\.')
if '*' in item:
item = item.replace('*', '.*')
if '?' in item:
item = item.replace('?', '\?')
ro = match(item, path)
if ro is not None:
return False
else:
return True
def setUp(self):
self.robot = Robot()
self.tests_data = {}
self.images_data = {}
for image_file in os.listdir(TESTS_DATA_PATH):
self.tests_data[os.path.splitext(image_file)[0]] = cv2.imread(TESTS_DATA_PATH + image_file)
for image_file in os.listdir(IMAGE_DATA_PATH):
self.images_data[os.path.splitext(image_file)[0]] = cv2.imread(IMAGE_DATA_PATH + image_file)
def test_raise_value_error(self):
# it should pass only if the result is raising a ValueError
world_size = (5, 4)
lost_robots = []
with self.assertRaises(ValueError):
wrong_x_robot = Robot(world_size, lost_robots, 55, 20, 'N')
wrong_y_robot = Robot(world_size, lost_robots, 20, 55, 'E')
wrong_direction_robot = Robot(world_size, lost_robots, 20, 20, 'K')
def test_robot_random(self):
game = Game('X', 'O')
robot = Robot()
score = game.get_score_of_grid(game.grid)
x, y = robot.get_random_move_robot(game)
robot.do_move_robot(game, x, y)
new_score = game.get_score_of_grid(game.grid)
self.assertTrue(score['O'] < new_score['O'])
def grasp_centroid_data():
wd = '/home/lou00015/data/gsp/'
cid = vrep.simxStart('127.0.0.1', 19997, True, True, 5000, 5)
eid = 0
nb_grasp = 25
if cid != -1:
pos = [0, 0, 0.15]
while True:
vrep.simxStartSimulation(cid, vrep.simx_opmode_blocking)
panda = Robot(cid)
obj_name, obj_hdl = add_object(cid, 'imported_part_0', pos)
time.sleep(1.0)
cloud = panda.get_pointcloud()
centroid = np.average(cloud, axis=0)
print('centroid: ', centroid)
if len(cloud) == 0:
print('no cloud found')
continue
elif centroid[2] > 0.045:
print('perception error')
continue
np.save(wd + 'cloud_' + str(eid) + '.npy', cloud) # save point cloud
cloud = np.delete(cloud, np.where(cloud[:,2]<0.015), axis=0)
pose_set, pt_set = grasp_pose_generation(45, cloud, nb_grasp)
pose = pose_set[10]
pt = centroid
emptyBuff = bytearray()
landing_mtx = [pose[0][0],pose[0][1],pose[0][2],pt[0],
pose[1][0],pose[1][1], pose[1][2],pt[1],
pose[2][0],pose[2][1],pose[2][2],pt[2]]
np.save(wd + 'action_' + str(eid) + '.npy', landing_mtx) # save action
vrep.simxCallScriptFunction(cid, 'landing', vrep.sim_scripttype_childscript, 'setlanding', [], landing_mtx, [], emptyBuff, vrep.simx_opmode_blocking)
ending_mtx = [pose[0][0], pose[0][1], pose[0][2], pt[0],
pose[1][0], pose[1][1], pose[1][2], pt[1],
pose[2][0], pose[2][1], pose[2][2], pt[2]+0.15]
vrep.simxCallScriptFunction(cid, 'ending', vrep.sim_scripttype_childscript, 'setending', [], ending_mtx,
[], emptyBuff, vrep.simx_opmode_blocking)
time.sleep(1.0)
print('executing experiment %d: ' % (eid))
print('at: ', pt)
vrep.simxCallScriptFunction(cid, 'Sphere', vrep.sim_scripttype_childscript, 'grasp', [], [], [], emptyBuff, vrep.simx_opmode_blocking)
while True:
res, finish = vrep.simxGetIntegerSignal(cid, "finish", vrep.simx_opmode_oneshot_wait)
if finish == 18:
res, end_pos = vrep.simxGetObjectPosition(cid, obj_hdl, -1, vrep.simx_opmode_blocking)
break
if end_pos[2]>0.05:
label = 1
else:
label = 0
print(label)
f = open(wd + 'label.txt', 'a+')
f.write(str(label))
f.close()
eid += 1
else:
print('Failed to connect to simulation (V-REP remote API server). Exiting.')
exit()
def test_positive_robot_3(self):
bot = Robot()
Command("place 3,2,E").Execute(bot)
Command("MOVE").Execute(bot)
self.assertEqual(bot.IsPlaced(), True)
self.assertEqual(bot.GetPosition()[0], 4)
self.assertEqual(bot.GetPosition()[1], 2)
self.assertEqual(bot.GetPosition()[2], "E")
return
class Simulation():
def __init__(self):
self.town = Town(maxShops = 10)
self.town.render(DisplayDriver.engine)
self.robot = Robot(random.choice(list(self.town.shopDict)), town = self.town)
self.robot.render(DisplayDriver.engine)
def tick(self):
self.robot.tick()
def test_different_parameter(alpha_test, gamma_test, epsilon_test, epoch_test):
g = Maze(maze_size=maze_size, trap_number=trap_number)
r = Robot(g, alpha=alpha_test, epsilon0=epsilon_test, gamma=gamma_test)
r.set_status(learning=True)
runner = Runner(r, g)
runner.run_training(epoch_test, display_direction=True)
print("alpha: {}, gamma: {}, epsilon: {}, epoch: {}".format(
alpha_test, gamma_test, epsilon_test, epoch_test))
runner.plot_results()
def __init__(self, grid_size, discount, robot_state, beta, robot_goal,
obs_sizes, true_env):
self.human = Human(true_env, beta, discount, robot_goal, grid_size)
robot_env = np.zeros((grid_size[0], grid_size[1]))
self.robot = Robot(robot_env, robot_state, robot_goal, grid_size,
discount)
robot_action = self.robot.optimal_policy()
self.infer = Inference(grid_size, discount, robot_state, beta,
robot_goal, robot_action, obs_sizes)
def test__str__(self):
"""
verifie la methode __str__
"""
robot1 = Robot(1, 1, "robot1")
sa = "test : <Robot robot1 (1, 1)>"
so = "test : " + robot1.__str__()
self.assertEqual(sa, so)
pass
class Simulation():
def __init__(self):
self.town = Town(maxShops=10)
self.town.render(DisplayDriver.engine)
self.robot = Robot(random.choice(list(self.town.shopDict)),
town=self.town)
self.robot.render(DisplayDriver.engine)
def tick(self):
self.robot.tick()
def main():
if len(sys.argv) < 3:
print 'Usage: %s input_gait_file output_position_file' % sys.argv[0]
sys.exit(1)
gaitFile = sys.argv[1]
posFile = sys.argv[2]
strategy = TimedFileStrategy(posFile = gaitFile)
motionFunction, logInfo = strategy.getNext()
#runman = RunManager()
#runman.do_many_runs(strategy, SineModel5.typicalRanges)
#timeScale = .3
#motionFunctionScaled = scaleTime(motionFunction, timeScale)
wiiTrack = WiiTrackFastClient("localhost", 8080)
time.sleep(.5)
position,age = wiiTrack.getPosAge()
if age is None:
raise Exception('Could not get position from wiiTrack.')
robot = Robot(loud = True)
bucket = []
def foo():
savePosition(wiiTrack, bucket)
robot.run(motionFunction, runSeconds = 10, resetFirst = True,
interpBegin = 2, interpEnd = 2, extraLogInfoFn = foo)
print 'Positions:'
print len(bucket)
relTimeBucket = []
for ii, line in enumerate(bucket):
delta = line[0] - bucket[0][0]
relTime = delta.seconds + delta.microseconds/1e6
relTimeBucket.append((relTime, line[1], line[2]))
ff = open (posFile, 'w')
ff.write('# time (junk junk)x9 pos.x pos.y 0 age\n')
for ii, timePosAge in enumerate(relTimeBucket):
timeOfPosition, position, age = timePosAge
line = '%.3f' % timeOfPosition
line += ' -1 -1' * 9
line += ' %.1f %.1f %.1f' % (position[0], position[1], 0)
line += ' %f' % age
ff.write(line + '\n')
ff.close()
print 'Wrote position file:', posFile
def __init__(self,
parent=None,
instanceName=None,
instanceType = Sensation.InstanceType.SubInstance,
level=0):
print("We are in TensorFlowClassification, not Robot")
Robot.__init__(self,
parent=parent,
instanceName=instanceName,
instanceType=instanceType,
level=level)
def __init__(self,
parent=None,
instanceName=None,
instanceType = Sensation.InstanceType.Real,
level=0):
print("We are in Connection, not Robot")
Robot.__init__(self,
parent=parent,
instanceName=instanceName,
instanceType=instanceType,
level=level)
def __init__(self,omap_path,sparki):
self.omap = OccupancyGrid(omap_path)
FrontEnd.__init__(self,self.omap.width,self.omap.height)
self.sparki = sparki
self.robot = Robot()
# center robot
self.robot.x = self.omap.width*0.5
self.robot.y = self.omap.height*0.5
def __init__(self,
parent=None,
instanceName=None,
instanceType = Sensation.InstanceType.SubInstance,
level=0):
Robot.__init__(self,
parent=parent,
instanceName=instanceName,
instanceType=instanceType,
level=level)
print("We are in Hearing, not Robot")
def make_default_robot(robot_name, path_color):
robot = Robot(initial_position, cmdargs, env, path_color=path_color, name=robot_name, objective=objective);
robot.put_sensor('radar', radar);
robot.put_sensor('gps', GpsSensor(robot));
robot.put_sensor('params', {'name': robot_name});
robot.debug_info['ped_id'] = cmdargs.ped_id_to_replace;
return robot
def sluchaj_wejscie_z_gniazda(sock): # thread
parser = CompParser()
robot = Robot()
global dzialaj
while dzialaj:
odebrane_dane = sock.otrzymaj_dane(ile=20)
print odebrane_dane
x, y, przyciskPSP2Stan = parser.parsuj_klawisze(dane=odebrane_dane)
robot.reaguj(int(x), int(y), przyciskPSP2Stan)
# krotszy niz na psp ; 50razy/sek cos odczytam; ale w pesymistycznym
# przypadku tylko 25 razy na sek ;/
time.sleep(0.002)
def sluchaj_wejscie_z_gniazda(sock): # thread
parser = CompParser()
robot = Robot()
global dzialaj
while dzialaj:
odebrane_dane = sock.otrzymaj_dane(ile=20)
print odebrane_dane
x, y, przyciskPSP2Stan = parser.parsuj_klawisze(dane=odebrane_dane)
robot.reaguj(int(x), int(y), przyciskPSP2Stan)
# krotszy niz na psp ; 50razy/sek cos odczytam; ale w pesymistycznym
# przypadku tylko 25 razy na sek ;/
time.sleep(0.002)
def generate_ground_truth(motions, landmarks, worldSize):
myrobot = Robot({'landmarks':landmarks, 'worldSize':worldSize})
myrobot.set_noise({'bearing':bearing_noise, 'steering': steering_noise, 'distance': distance_noise})
Z = []
T = len(motions)
for t in range(T):
myrobot = myrobot.move(motions[t])
Z.append(myrobot.sense())
return [myrobot, Z]
def __init__(self, sparki, omap_path):
self.omap = OccupancyMap(omap_path)
FrontEnd.__init__(self, self.omap.width, self.omap.height)
self.sparki = sparki
self.robot = Robot()
# center robot
self.robot.x = self.omap.width * 0.5
self.robot.y = self.omap.height * 0.5
# zero out robot velocities
self.robot.lin_vel = 0
self.robot.ang_vel = 0
def __init__(self, omap_path, sparki):
self.omap = ObstacleMap(omap_path)
self.ogrid = OccupancyGrid()
FrontEnd.__init__(self, self.omap.width, self.omap.height)
self.sparki = sparki
self.robot = Robot()
self.rfinder = RangeFinder(self.ogrid, self.robot)
# center robot
self.robot.x = self.omap.width * 0.5
self.robot.y = self.omap.height * 0.5
class RobotTests(unittest.TestCase):
def setUp(self):
self.mega_man = Robot("Mega Man", battery=50)
def test_charge(self):
self.mega_man.charge()
self.assertEqual(self.mega_man.battery, 100)
def test_say_name(self):
self.assertEqual(
self.mega_man.say_name(),
"BEEP BOOP BEEP BOOP. I AM MEGA MAN")
self.assertEqual(self.mega_man.battery, 49)
def main():
"""
Main function
"""
try:
# Instantiate odometry. Default value will be 0,0,0
# robot = Robot(init_position=args.pos_ini)
robot = Robot()
if is_debug:
start_robot_drawer(robot.finished, robot)
else:
start_robot_logger(robot.finished, robot,
"./out/trayectoria_1.csv")
print("X value at the beginning from main X= %d" % (robot.x.value))
# 1. launch updateOdometry Process()
robot.startOdometry()
# 2. perform trajectory
path_1_odometry(robot)
# 3. wrap up and close stuff ...
# This currently unconfigure the sensors, disable the motors,
# and restore the LED to the control of the BrickPi3 firmware.
robot.stopOdometry()
except KeyboardInterrupt:
# except the program gets interrupted by Ctrl+C on the keyboard.
# THIS IS IMPORTANT if we want that motors STOP when we Ctrl+C ...
robot.stopOdometry()
def __init__(self,r_name,r_id,x_off,y_off,theta_off,capacity):
Robot.__init__(self,r_name,r_id,x_off,y_off,theta_off)
self.max_load = capacity
self.timeLastAdded = time.clock()
self.disableSideLaser = False
self.picker_pub = rospy.Publisher("picker_position",String, queue_size=10)
self.kiwi_sub = rospy.Subscriber("carrier_kiwi_transfer", String, self.kiwi_callback)
self.kiwi_pub = rospy.Publisher("picker_kiwi_transfer",String, queue_size=10)
self.picker_sub = rospy.Subscriber("picker_position", String, self.picker_callback)
self.picker_robots = ["0,0,0","0,0,0","0,0,0","0,0,0","0,0,0","0,0,0"]
def test_generate_map_obstacle_rate(self):
size_x = 5
obstacle_rate = 0.25
r = Robot()
r.set_size(size_x)
r.set_obstacle_rate(obstacle_rate)
r.generate_map()
map_mat = r.get_map()
self.assertEqual(map_mat.shape, (size_x, size_x))
spaces_count = np.count_nonzero(map_mat)
self.assertGreater(spaces_count, 0)
def test_state_to_coordinates(self):
size_x = 5
obstacle_rate = 0.25
r = Robot()
r.set_size(size_x)
r.set_obstacle_rate(obstacle_rate)
r.generate_map()
map_mat = r.get_map()
current_state = 0
for i in range(size_x):
for j in range(size_x):
if map_mat[i][j] == 0:
self.assertEqual(r.state_to_coordinates(current_state),
(i, j))
current_state += 1
class Localizer:
def __init__(self):
self.map = LandmarkMap(color='C7', marker='x')
self.robot_model = Robot(color='C7')
def measurement_callback(self, r, phi):
x, y = Robot.world_t_sensor(self.robot_model.pose, r, phi)
self.map.addLandmarks(x, y)
def odometry_callback(self, v, omega, t=1):
self.robot_model.move(v, omega, t)
def plot(self):
self.robot_model.plot()
self.map.plot()
def __init__(self, position, id, scale):
Robot.__init__(self,position,id,scale)
self.type = randint(0,1)
if self.type == 0:
taskMgr.add( self.randomWalk, 'walk')
self.destination = Point2()
self.setRandomPoint( self.destination )
else:
taskMgr.add( self.hunt, 'hunt')
self.target = None
self.time = 0
self.bulletTime = 0
def update_robot(self, unused_addr, args):
print("update robot")
self.robot.run()
score = Robot.count("Soja")
self.playerListBox.delete(0, tk.END)
#self.playerListBox.insert(tk.END, player_name + " " + str(score))
print(self.players_list)
for p in self.players_list:
self.playerListBox.insert(tk.END, p + " " + str(self.players_list[p]))
msg = osc_message_builder.OscMessageBuilder(address="/player")
msg.add_arg(player_name)
msg.add_arg(score) #
msg = msg.build()
self.to_client_client.send(msg)
if self.robot.win:
# I am the winner
# lets tel that to ohters
msg = osc_message_builder.OscMessageBuilder(address="/winner")
msg.add_arg(player_name)
msg.add_arg(score)
msg = msg.build()
#self.to_client_client.send(msg)
self.to_server_client.send(msg)
alert(text = "Vous avez gagné la partie !")
class Simulation():
def __init__(self):
self.robot = Robot([640/2,640/2])
self.robot.render(DisplayDriver.engine)
#r.setBearing(random.random()*360)
self.robot.velocity = 100
#DisplayDriver.eventManager.bind(MOUSEMOTION,mouseMoved)
DisplayDriver.engine.addTask(r.tick)
def mouseMoved(event):
pos = event.pos
self.robot.setBearing(Point(pos).getBearing(r.getPos()))
class Simulation():
def __init__(self):
self.town = Town(maxShops = 10)
self.town.render(DisplayDriver.engine)
self.robot = Robot(random.choice(list(self.town.shopDict)), town = self.town)
self.robot.render(DisplayDriver.engine)
self.consumeText = OnscreenText(pos = [Globals.RESOLUTION[0]-200,0], text = '', size = 20)
self.consumeText.render(DisplayDriver.engine)
self.distanceText = OnscreenText(pos = [Globals.RESOLUTION[0]-200,20], text = '', size = 20)
self.distanceText.render(DisplayDriver.engine)
self.contraintsText = OnscreenText(pos = [Globals.RESOLUTION[0]-200,30], text = '', size = 20)
self.contraintsText.render(DisplayDriver.engine)
def tick(self):
self.robot.tick()
self.distanceText.setText('Distance: %sm' %(int(self.robot.getDistanceTraveled())))
self.consumeText.setText('Fuel Used: %s' %(int(self.robot.getFuelUsed())))
try:
self.contraintsText.setText('Distance/Fuel: %s' %(round(self.robot.getDistanceTraveled()/self.robot.getFuelUsed(), 2)))
except ZeroDivisionError:
pass
def new(self, event=None):
if self.t:
self.t.destroy()
self.r.destroy()
self.t = Town(maxShops=15)
self.t.render(DisplayDriver.engine)
self.r = Robot(random.choice(list(self.t.shopDict)), town = self.t)
self.r.calcPath()
self.r.render(DisplayDriver.engine)
def __init__(self):
self.robot = Robot([640/2,640/2])
self.robot.render(DisplayDriver.engine)
#r.setBearing(random.random()*360)
self.robot.velocity = 100
#DisplayDriver.eventManager.bind(MOUSEMOTION,mouseMoved)
DisplayDriver.engine.addTask(r.tick)
def loadRobot(self, file):
robotLines = file.readlines()
start = None
for i,line in enumerate(robotLines):
if line.startswith('robot'):
start = i
elif line.startswith('endrobot'):
points = self.processPolygon(robotLines, start, i)
self.robot = Robot(points)
def __init__(self,
socket,
address,
parent=None,
instance=None,
is_virtualInstance=False,
is_subInstance=False,
level=0):
Robot.__init__(self,
parent=parent,
instance=instance,
is_virtualInstance=is_virtualInstance,
is_subInstance=is_subInstance,
level=level)
print("We are in SocketServer, not Robot")
self.socket=socket
self.address=address
self.name = str(address)
def __init__(self,
parent=None,
instanceName=None,
instanceType = Sensation.InstanceType.SubInstance,
level=0):
print("We are in RaspberryPiCamera, not Robot")
Robot.__init__(self,
parent=parent,
instanceName=instanceName,
instanceType=instanceType,
level=level)
# from settings
self.camera = picamera.PiCamera()
self.camera.rotation = 180
self.lastImage = None
self.running=False
self.debug_time=time.time()
def test_walking_angular_turn(self):
r = Robot("Tamara", [0, 0], 0)
r.forward_multiplicator = 1
r.sideward_multiplicator = 1
r.angular_multiplicator = 1
r.forward = 0
r.sideward = 0
r.angular = 10
self.worldService.update_robot(r, 1)
self.assertAlmostEqual(10, r.orientation)
def main22():
if len(sys.argv) > 2 and sys.argv[1] == '-filt':
filtFile = sys.argv[2]
strategy = FileStrategy(filtFile = filtFile)
motionFunction, logInfo = strategy.getNext()
elif len(sys.argv) > 2 and sys.argv[1] == '-sine':
sineModel5Params = [eval(xx) for xx in sys.argv[2].split()]
print 'Using SineModel5 with params: ', sineModel5Params
motionFunction = lambda time: SineModel5().model(time,
parameters = sineModel5Params)
else:
#filtFile = '../results/hyperneatTo20gens_101/neat_110115_175446_00014_008_filt'
filtFile = '../results/hyperneatTo20gens_101/neat_110115_175446_00004_007_filt'
strategy = FileStrategy(filtFile = filtFile)
motionFunction, logInfo = strategy.getNext()
#runman = RunManager()
#runman.do_many_runs(strategy, SineModel5.typicalRanges)
#timeScale = .3
#motionFunctionScaled = scaleTime(motionFunction, timeScale)
wiiTrack = WiiTrackFastClient("localhost", 8080)
time.sleep(.5)
position,age = wiiTrack.getPosAge()
if age is None:
raise Exception('Could not get position from wiiTrack.')
robot = Robot(loud = True)
bucket = []
def foo():
savePosition(wiiTrack, bucket)
robot.run(motionFunction, runSeconds = 8, resetFirst = False,
interpBegin = 2, interpEnd = 2, extraLogInfoFn = foo)
print bucket
def test_walking_simple_axis_left(self):
r = Robot("Tamara", [0, 0], 180)
r.forward_multiplicator = 1
r.sideward_multiplicator = 1
r.angular_multiplicator = 1
r.forward = 1
r.sideward = 0
r.angular = 0
self.worldService.update_robot(r, 1)
self.assertAlmostEqual(-1, r.xy[0])
self.assertAlmostEqual(0, r.xy[1])
def __init__(self):
self.town = Town(maxShops = 10)
self.town.render(DisplayDriver.engine)
self.robot = Robot(random.choice(list(self.town.shopDict)), town = self.town)
self.robot.render(DisplayDriver.engine)
self.consumeText = OnscreenText(pos = [Globals.RESOLUTION[0]-200,0], text = '', size = 20)
self.consumeText.render(DisplayDriver.engine)
self.distanceText = OnscreenText(pos = [Globals.RESOLUTION[0]-200,20], text = '', size = 20)
self.distanceText.render(DisplayDriver.engine)
self.contraintsText = OnscreenText(pos = [Globals.RESOLUTION[0]-200,30], text = '', size = 20)
self.contraintsText.render(DisplayDriver.engine)
class MessageParser:
"""Parses JSON messages an performs the according SwankRatsRobot action"""
def __init__(self):
self.id = 123
self.robot = Robot()
self.currentState = StateClasses.Stop()
def parse(self, jsonString):
data = json.loads(jsonString)
if data["to"] == "robot":
self.execute(data["cmd"], data["params"]["started"])
elif data["to"] == "server" and data["cmd"] == "stop":
self.currentState = StateClasses.Stop()
self.robot.set(self.currentState.getLeft(), self.currentState.getRight())
json.dumps(data)
def execute(self, key, pressed):
if pressed:
self.currentState = self.currentState.press(key)
else:
self.currentState = self.currentState.release(key)
def __init__(self,dimension = [0,0]):#requiere dimension del campo
rx = dimension[0]*random()#inicializamos posicion x
ry = dimension[1]*random()#inicializamos posicion y
self.robot = Robot(pos = [rx,ry])#posicion
self.robot.setAngle(random()*360)#colocamos un angulo aleatorio
px = dimension[0]*random()#posicion x pelota
py = dimension[1]*random()#posicion y pelota
self.pelota = Pelota(pos = [px,py])
#colocamos la porteria a la derecha por defecto
x = dimension[0]#porteria en la derecha
yini = dimension[1]/2.0-dimension[1]/6.0#se coloca a un tercio de altura
yfin = dimension[1]/2.0+dimension[1]/6.0#que llegue hasta dos tercios
self.porteria = Porteria(init=[x,yini],end=[x,yfin])
def generate(self):
self.town = Town(maxShops = 13)
self.town.render(DisplayDriver.engine)
self.robot = Robot(town = self.town, shoppingList = self.getShoppingList())
self.robot.render(DisplayDriver.engine)
self.consumeText = OnscreenText(pos = [Globals.RESOLUTION[0]-200,0], text = '', size = 20)
self.consumeText.render(DisplayDriver.engine)
self.distanceText = OnscreenText(pos = [Globals.RESOLUTION[0]-200,20], text = '', size = 20)
self.distanceText.render(DisplayDriver.engine)
self.contraintsText = OnscreenText(pos = [Globals.RESOLUTION[0]-200,30], text = '', size = 20)
self.contraintsText.render(DisplayDriver.engine)
def __init__(self):
'''Uses VPython to visualize, manipulate and simulate the Quadruped live.'''
self.bodies = []
self.cWorld = myWorld()
self.createUI(self.cWorld.world._getScene())
# terrain for future implementation
#self.myWorld = e.Heightmap(self.cWorld.world)
#self.Terrain = self.myWorld.makeWorld()
self.cRobot = Robot(self.cWorld.world, vpyode._bigSpace, 50)
self.cCtrl = ControlWindow(self.cWorld.world._getScene(), self.cRobot, self.cWorld)
self.cRobot.dropRobot()
self.dt = 1.0/const.framerate
self.refresh = 0
self.bodies.append(e.drop_object(self.cWorld.world, self.cRobot.center))
def __init__(self,propsfile): self.canvas = Tk() self.props = json.load(open(propsfile)) self.worldMap = WorldMap(propsfile) self.wg = WorldGrid(self.canvas,self.props,self.worldMap) self.wg.registerCallBack(self.processEvent) self.robot = Robot(self.props,self.worldMap) self.robot.registerSenseCallBack(self.sense) self.robot.registerMoveCallBack(self.move) self.rRow = -1 self.rCol = -1 self.randomizeRobotPosition() self.robot.sense() self.shadeSquares()
def select_uniform_cost_search(self):
self.load_environment()
self.clear_components()
self.optionDialog = DialogOption()
self.optionDialog.display_option_message("Do you want avoid cycles")
option_response = self.optionDialog.get_taken_option()
self.robot = Robot(self,self.environment,self.dimension,self.queue_dimension,"UniformCost",option_response)
if option_response:
self.labelSelectedSearch.setText("UniformCost avoiding cycles")
else:
self.labelSelectedSearch.setText("UniformCost with cycles")
self.draw_environment()
self.plainTextEditRobotStatus.appendPlainText("Ready .......")
self.pushButtonMoveRobot.setEnabled(False)
self.pushButtonLookGraph.setEnabled(True)
self.pushButtonFastSearch.setEnabled(True)
self.pushButtonNextStep.setEnabled(True)
