def __init__(self, app_data):
self.app_data = app_data
# Build GUI
super(Nucleus, self).__init__()
self.resize(1100, 600)
setters.set_uniform_margins(self, 15)
self.setWindowTitle('Nucleus 2020')
self.status = StatusBar(self)
self.set_menu()
self.set_docks()
self.desk = Desk(self.app_data, self.status, self.on_click_context)
self.setCentralWidget(self.desk)
self.show()
def __init__(self, debug=False, desk=None):
super().__init__()
_desk = desk or Desk(True)
self.inbox = _desk.inbox
self.outbox = _desk.outbox
self.result = None
def get_desk(self, deskID):
query = "SELECT deskName, languageID FROM desk WHERE (deskID = %s)"
cursor = self.dbfile.cursor()
cursor.execute(query, (deskID, ))
deskinfo = cursor.fetchone()
desk = (Desk(deskinfo[0]), deskinfo[1])
return desk
def __init__(self, master=None, player_side=False, difficult=2, ball_color='blue', rackets_color='red', width=200, height=110, ball_height=15, ball_width=15, racket_width=15, racket_height=30): self.master = master self.difficult = difficult self.player_side = player_side self.width = width self.height = height if difficult == 1: player_speed = 5 computer_speed = 3 elif difficult == 2: player_speed = 4 computer_speed = 3.5 elif difficult == 3: player_speed = 3 computer_speed = 4 else: player_speed = 4 computer_speed = 4 if player_side is None: player1_side = False player2_side = True else: player1_side = player_side player2_side = not player_side self.desk = Desk(master, width=width, height=height) self.player1 = Player(self, width=racket_width, height=racket_height, side=player1_side, speed=player_speed, color=rackets_color) self.player2 = Player(self, width=racket_width, height=racket_height, side=player2_side, speed=computer_speed, color=rackets_color) self.ball = Ball(self.desk, ball_width, ball_height, ball_color)
def __init__(self, debug=False, desk=None):
self.staff = []
#self.office = [Desk(True)]
_desk = desk or Desk(False)
self.inbox = _desk.inbox
self.outbox = _desk.outbox
self.result = None
def desk_add_page():
db = current_app.config["db"]
form = DeskEditForm()
languages = db.get_languages()
if form.validate_on_submit():
deskName = form.data["deskName"]
languageID = request.form['languageID']
db = current_app.config["db"]
desk = Desk(deskName)
deskID = db.add_desk(desk, current_user.userID, languageID)
flash("Desk added.")
return redirect(url_for("desk_page", deskID=deskID))
return render_template("desk_edit.html", form=form, languages=languages)
def get_desks(self, ID):
desks = []
query = "SELECT deskID, deskName, languageID FROM desk NATURAL JOIN userdesks WHERE (userID = %s) ORDER BY deskID"
cursor = self.dbfile.cursor()
cursor.execute(query, (ID, ))
for deskID, deskName, languageID in cursor:
if languageID is not None:
langstr = self.get_language(languageID)
else:
langstr = ""
desk = Desk(deskName)
desks.append((deskID, desk, langstr))
return desks
def desk_edit_page(deskID):
db = current_app.config["db"]
desk = db.get_desk(deskID)[0]
form = DeskEditForm()
languages = db.get_languages()
if form.validate_on_submit():
deskName = form.data["deskName"]
languageID = request.form['languageID']
desk = Desk(deskName)
db.update_desk(deskID, desk, languageID)
flash("Desk data updated.")
return redirect(url_for("desk_page", deskID=deskID))
form.deskName.data = desk.deskName
return render_template("desk_edit.html", form=form, languages=languages)
def search_desks(self, search):
desks = []
query = "SELECT * FROM desk WHERE deskName LIKE %s"
cursor = self.dbfile.cursor()
search = '%' + search + '%'
cursor.execute(query, (search, ))
for deskID, deskName, languageID in cursor:
if languageID is not None:
langstr = self.get_language(languageID)
else:
langstr = ""
desk = Desk(deskName)
desks.append((deskID, desk, langstr))
return desks
def __load_desk_dictionary(self):
"""
Load the config file and initialize the desk mapping object
:return: None
"""
# Get info for each desk
for d in CONFIG.desks:
# Initialize sensor
sensor_obj = OmronD6T(d.sensor.i2c_bus, d.sensor.i2c_address)
# Append id, pin, desk object to map
self.__desk_dict[d.id] = (sensor_obj, Desk(d.name, d.id))
# Print additional information in debug mode
if CONFIG.debug_config.enabled:
print(
f"Added Desk to DeskSensorTable: [ID]: {d.id}, [Name]: {d.name}, [Sensor Type]: {d.sensor.sensor_type}"
)
def main():
config = Config()
sensor = UltrasonicSensor(config.sensorConfig)
desk = Desk(config.deskConfig, sensor)
desk.stop()
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.bind(('', 80))
s.listen(5)
sPoller = uselect.poll()
sPoller.register(s, uselect.POLLIN)
while True:
# Poll every 10 milliseconds for a connection
res = sPoller.poll(10)
if res:
conn, addr = s.accept()
# print('Got a connection from %s' % str(addr))
statusCode, response = handle(conn)
sendResponse(statusCode, response)
else:
desk.adjust()
def refresh_desk(self):
time.sleep(2)
d = Desk(self.side, self.desk_coords)
self.position = d.get_position()
print 'refreshed'
def __init__(self):
self.staff = []
self.office = [Desk(False)]
self.log = secretary.hire( "Program", debug=True, logfile=\
("run" + datetime.now().strftime('%y%m%d') + ".log") )
def setup():
global d
print("Main starting")
d = Desk(b'\xe6\xcc\xe3W\x9aA')
print("Connected")
def __init__(self,
camera_attached=False,
useIK=True, # uses IK by default!
actionRepeat=50,
renders=False,
camera_view=0,
task_switch_camera_view=False,
maxSteps=100,
simulatedGripper=True, # 2-finger gripper
randObjPos=False,
task=0, # target number
learning_param=0,
sampling_freq = 240.0):
self.name = 'ur5GymEnv'
self.sampling_freq = sampling_freq # simulation sampling frequency
self.pix_size = 0.003125
self.obj_ids = {'fixed': [], 'rigid': [], 'deformable': []}
self.rest_poses = [-math.pi, -math.pi/2, math.pi/2, -math.pi/2, -math.pi/2, 0]
# self.agent_cams = cameras.RealSenseD415.CONFIG
self.assets_root = 'assets/'
self.simulatedGripper = simulatedGripper
self.renders = renders
self.actionRepeat = actionRepeat
self.useIK = useIK
self.maxSteps = maxSteps
self.randObjPos = randObjPos
self.task = task
self.learning_param = learning_param
self.offset = 0.15 # random object pos max offsets
self.desired_pick_height = 0.2 # desired height to reach for picking up objects
# setup pybullet sim:
if self.renders:
pybullet.connect(pybullet.GUI)
target = pybullet.getDebugVisualizerCamera()[11]
if camera_view==0 or (task_switch_camera_view and task==0):
pybullet.resetDebugVisualizerCamera(cameraDistance=0.1, cameraYaw=180,
cameraPitch=-35, cameraTargetPosition=[0.0, 0.5, 0.85]) # regular
elif camera_view==1 or (task_switch_camera_view and task==2):
pybullet.resetDebugVisualizerCamera(cameraDistance=0.2, cameraYaw=90,
cameraPitch=-10, cameraTargetPosition=[1.0, 0.0, 0.7]) # side view button side
elif camera_view==2:
pybullet.resetDebugVisualizerCamera(cameraDistance=0.2, cameraYaw=270,
cameraPitch=-10, cameraTargetPosition=[-1.0, 0.0, 0.7]) # side view slide side
else:
pybullet.connect(pybullet.DIRECT)
pybullet.setTimeStep(1./self.sampling_freq)
pybullet.setGravity(0,0,-9.8)
pybullet.setRealTimeSimulation(False)
# pybullet.setRealTimeSimulation(True)
pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_RENDERING, 0)
self.gox = pybullet.addUserDebugParameter("orientationX",-3.14, 3.14, 0)
self.goy = pybullet.addUserDebugParameter("orientationY",-3.14, 3.14, 0)
self.goz = pybullet.addUserDebugParameter("orientationZ",-3.14, 3.14, 0)
self.gow = pybullet.addUserDebugParameter("orientationW",-3.14, 3.14, 1)
pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_GUI, 0)
pybullet.setPhysicsEngineParameter(enableFileCaching=0)
# pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_WIREFRAME,1)
# floor:
self.plane = pybullet.loadURDF(PLANE_URDF_PATH, [0, 0, -0.001])
# setup desk:
self.desk = Desk()
# setup robot arm:
self.ur5 = UR5()
# object:
self.initial_obj_pos = [0.2, -0.5, 0.6] # initial object pos
self.initial_target_pos = [0.4, -0.1, 0.0] # initial drop-off position
self.obj = pybullet.loadURDF(CUBE_URDF_PATH, self.initial_obj_pos)
self.obj_ids['rigid'].append(self.obj)
# gym info:
# color_tuple = [
# gym.spaces.Box(0, 255, config['image_size'] + (3,), dtype=np.uint8)
# for config in self.ur5.agent_cams
# ]
# depth_tuple = [
# gym.spaces.Box(0.0, 20.0, config['image_size'], dtype=np.float32)
# for config in self.ur5.agent_cams
# ]
# self.observation_space = gym.spaces.Dict({
# 'color': gym.spaces.Tuple(color_tuple),
# 'depth': gym.spaces.Tuple(depth_tuple),
# })
self._action_bound = 1.0 # delta limits
action_high = np.array([self._action_bound] * self.ur5.action_dim)
self.action_space = spaces.Box(-action_high, action_high, dtype='float32')
pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_RENDERING, 1)
self.reset()
class Nucleus(QtGui.QMainWindow):
"""
Nucleus is a Sulzer software application that aims to track, schedule, and
optimize the work performed by the CAD Department at Sulzer RES La Porte.
Parameters
----------
app_data : AppData
Core application data source.
Attributes
----------
status : StatusBar
menu_view : MenuView
part_locator : PartLocator
weekend_signup : WeekendSignUp
weekend_roster : WeekendRoster
desk : Desk
"""
def __init__(self, app_data):
self.app_data = app_data
# Build GUI
super(Nucleus, self).__init__()
self.resize(1100, 600)
setters.set_uniform_margins(self, 15)
self.setWindowTitle('Nucleus 2020')
self.status = StatusBar(self)
self.set_menu()
self.set_docks()
self.desk = Desk(self.app_data, self.status, self.on_click_context)
self.setCentralWidget(self.desk)
self.show()
def set_docks(self):
"""Display ``QDockWidgets`` per user registration level."""
self.part_locator = PartLocator(Path.PART_LOC_XLSX)
self.addDockWidget(QtCore.Qt.RightDockWidgetArea,
self.part_locator.view)
if self.app_data.users.my_level is None:
# User is not registered
return
self.weekend_roster = WeekendRoster(self.app_data.users)
self.addDockWidget(QtCore.Qt.RightDockWidgetArea,
self.weekend_roster.view)
self.weekend_signup = WeekendSignUp(self.app_data.users.my_folder)
self.addDockWidget(QtCore.Qt.RightDockWidgetArea,
self.weekend_signup.view)
if self.app_data.users.my_level == 'Technician':
self.weekend_roster.view.hide()
def set_menu(self):
"""Set ``MenuBar`` state per user registration level."""
self.menu_view = MenuView(self)
if self.app_data.users.my_level is None:
# Disable certain features for non-registered members.
self.menu_view.file_menu.setEnabled(False)
self.menu_view.view_menu.setEnabled(False)
self.menu_view.admin_menu.setEnabled(False)
else:
self.menu_view.new.triggered.connect(self.on_click_new)
self.menu_view.open.triggered.connect(self.on_click_open)
self.menu_view.save.triggered.connect(self.on_click_save)
self.menu_view.complete.triggered.connect(self.on_click_complete)
self.menu_view.active_projects.triggered.connect(
lambda: ActiveProjectsDialog().exec_())
self.menu_view.upload_data.triggered.connect(self.on_click_upload)
# Visible to all users.
self.menu_view.about.triggered.connect(lambda: AboutDialog().exec_())
self.menu_view.version.triggered.connect(
lambda: startfile(Path.VERSION_DOC))
def on_click_new(self):
"""Process a request to create a new ``Job``."""
job_num, ok = QtGui.QInputDialog.getInt(self, 'New', 'Job Number:')
if ok:
job_num = str(job_num)
request = NewJobRequest(job_num, self.app_data.users.log)
try:
# An approved request initializes job files and directories.
if request.approved():
self.load_job(job_num)
except (JobNumberError, ExistingJobError, OSError, WorkspaceError,
IOError, UnknownError) as error:
ExceptionMessageBox(error).exec_()
def on_click_open(self):
"""Prompt user for job number input."""
job_num, ok = QtGui.QInputDialog.getInt(self, 'Open', 'Job Number:')
if ok:
self.process_open_job_request(str(job_num))
def process_open_job_request(self, job_num):
"""Process a request to open an existing ``Job``.
Parameters
----------
job_num : str
The 6-digit job number.
"""
try:
if len(job_num) != 6:
raise JobNumberError()
self.load_job(job_num)
except (JobNumberError, OSError, JobNotFoundError, JobInUseError,
IOError, EOFError) as error:
ExceptionMessageBox(error).exec_()
def on_click_save(self):
"""Process a request to save ``Job`` data."""
self.desk.save()
def on_click_complete(self):
"""Initiate a request to complete the active ``JobFolder``."""
try:
job_num = self.desk.active_folder
job_folder = self.desk.job_folder(job_num)
job, lock = job_folder.job_and_lock()
if self.process_complete_job_request(job_num, job, lock):
self.desk.close_folder(job_num)
except KeyError:
# If 'Home' interface is active.
self.status.showMessage('Cannot complete a job in this context.',
2000)
def process_complete_job_request(self, job_num, job=None, lock=None):
"""Process a request to remove job files from ``Nucleus``.
Parameters
----------
job_num : str
The 6-digit job number.
job : Job or None
A collection of work orders requesting completion.
lock : GateKeeper or None
Controls read and write access to `job` applicaton files.
Returns
-------
True
If `job` files were removed from ``Nucleus``.
"""
self.app_data.users.log('initiating a complete job request for %s' %
job_num)
request = CompleteJobRequest(
job_num, self.app_data.users.supervisor_email_addresses, job, lock)
try:
if not request.approved():
self.app_data.users.log(
'%s complete job request was not approved' % job_num)
return
except (JobInUseError, IOError, EOFError, ProjectsFolderRootError,
DestinationError) as error:
self.app_data.users.log(error)
ExceptionMessageBox(error).exec_()
else:
self.status.showMessage('Updating your jobs...')
self.desk.refresh_home()
# Log data to user file
self.app_data.users.log('%s completed, due by %s' %
(job_num, JobIO.job_due_date(job)))
self.app_data.users.log('%s drawing count: %d' %
(job_num, request.dwg_count))
for project in request.projects:
self.app_data.users.log('project:%s,%s' %
(request.projects[project].alias_num,
request.projects[project].owner))
self.status.showMessage('%s closed successfully.' % job_num)
return True
def is_admin(self):
"""Confirm that a user has admin credentials for a restricted action.
Returns
-------
True
If user has admin credentials.
Raises
------
PasswordError
If user enters incorrect password.
"""
password, ok = QtGui.QInputDialog.getText(
self, 'Admin', 'Password:'******'attempting to log in as admin')
if ok:
if password == 'respect':
return True
raise PasswordError()
def on_click_upload(self):
"""Process request to load work center data."""
try:
if self.is_admin():
self._intent = GetWorkCenterSource()
except PasswordError as error:
ExceptionMessageBox(error).exec_()
self.on_click_upload()
else:
self.desk.refresh_home()
def load_job(self, job_num):
"""Send a ``Job`` to `desk` and open for viewing.
Parameters
----------
job_num : str
The 6-digit job number.
Raises
------
JobNotFoundError
JobInUseError
IOError
EOFError
"""
job, lock = JobIO.job_and_lock(job_num)
self.desk.open_job_folder(job, lock)
def closeEvent(self, event):
"""Verify that `desk` does not have open ``JobFolders`` before closing
window.
Parameters
----------
event : QEvent
Window close.
"""
if self.desk.cleared:
self.app_data.users.log('logged out')
event.accept()
else:
OrphanMessageBox('Info',
['Open jobs must be closed before exiting.'],
'information').exec_()
event.ignore()
def on_click_context(self):
"""Process a context menu selection."""
action = str(self.desk.home.schedule.sender().text())
if action == 'Open':
self.process_open_job_request(
self.desk.home.schedule.selected_job_num)
elif action == 'Complete':
job_num = self.desk.home.schedule.selected_job_num
if self.desk.folder_index(job_num):
# folder_index is used to determine if the associated
# JobFolder is open. If the user already has this JobFolder
# open, route this process to the file menu action.
self.desk.activate_folder(job_num)
self.on_click_complete()
else:
self.process_complete_job_request(job_num)
elif action == 'Refresh':
self.desk.refresh_home()
def __init__(self):
d = Desk()
self.position = d.get_position()
self.side = d.side
self.desk_coords = d.desk_coords
self.desk = d
from desk import Desk
peter_game = Desk()
peter_game.shuffle()
#peter_game.print_all()
peter_game.setup_player("Peter")
peter_game.setup_player("Sally")
peter_game.setup_table()
peter_game.print_table()
print "############################# GAME START ###################################"
#peter_game.Players[0].take_coin([0,0,0,0,0,1])
peter_game.take_coin(peter_game.Players[0], [0, 2, 0, 0, 0])
#peter_game.print_table()
peter_game.take_coin(peter_game.Players[0], [2, 0, 0, 0, 0])
#peter_game.print_table()
peter_game.take_coin(peter_game.Players[0], [0, 0, 2, 0, 0])
#peter_game.print_table()
peter_game.take_coin(peter_game.Players[0], [0, 0, 0, 2, 0])
#peter_game.print_table()
peter_game.take_coin(peter_game.Players[0], [0, 0, 0, 0, 2])
peter_game.take_coin(peter_game.Players[0], [0, 0, 1, 1, 1])
peter_game.take_coin(peter_game.Players[0], [0, 1, 1, 1, 0])
peter_game.take_coin(peter_game.Players[0], [1, 1, 1, 0, 0])
print "================= take coins ==================="
peter_game.print_table()
print "================= take cards ==================="
#peter_game.print_table()
peter_game.take_card(peter_game.Players[0],
def get_move(self):
old_position = self.position
d = Desk(self.side, self.desk_coords)
position = d.get_position()
diff = position.symmetric_difference(old_position)
print '#'*10
print 'old'
print old_position
print '#'*10
print 'new'
print position
print '#'*10
print 'diff'
print diff
print '#'*10
from_move = None
to_move = None
figure = ''
if len(diff) == 2:
# Просто ход фигуры и пешка дошла до края
from_figure = None
to_figure = None
for i in diff:
if {i}.issubset(old_position):
from_move = i[0]
from_figure = i[1]
else:
to_move = i[0]
to_figure = i[1]
if to_figure != from_figure:
figure = to_figure[0]
elif len(diff) == 3:
# Срубили фигуру и взятие на проходе
fig = None
for i in diff:
if {i}.issubset(position):
to_move = i[0]
fig = i[1]
for i in diff:
if i[1] == fig and i[0] != to_move:
from_move = i[0]
elif len(diff) == 4:
# Рокировка
for i in diff:
if i[1][0] == 'k':
if {i}.issubset(old_position):
from_move = i[0]
else:
to_move = i[0]
# elif len(diff) == 0:
# return None
# else:
# print diff
# plot(d.desk)
if from_move is None:
return None
else:
step = '%s%s%s' %(from_move, to_move, figure)
return step
