def __enter__(self):
self.old_cfg = None
# Ignore all this if the input stream is not a tty.
if not self.stream.isatty():
return
try:
# import and mark whether it worked.
import termios
# save old termios settings
fd = self.stream.fileno()
self.old_cfg = termios.tcgetattr(fd)
# create new settings with canonical input and echo
# disabled, so keypresses are immediate & don't echo.
self.new_cfg = termios.tcgetattr(fd)
self.new_cfg[3] &= ~termios.ICANON
self.new_cfg[3] &= ~termios.ECHO
# Apply new settings for terminal
termios.tcsetattr(fd, termios.TCSADRAIN, self.new_cfg)
except Exception, e:
pass # Some OS's do not support termios, so ignore.
def runDebug(self, exc_info):
if flags.can_touch_runtime_system("switch console") and self._intf_tty_num != 1:
iutil.vtActivate(1)
iutil.eintr_retry_call(os.open, "/dev/console", os.O_RDWR) # reclaim stdin
iutil.eintr_ignore(os.dup2, 0, 1) # reclaim stdout
iutil.eintr_ignore(os.dup2, 0, 2) # reclaim stderr
# ^
# |
# +------ dup2 is magic, I tells ya!
# bring back the echo
import termios
si = sys.stdin.fileno()
attr = termios.tcgetattr(si)
attr[3] = attr[3] & termios.ECHO
termios.tcsetattr(si, termios.TCSADRAIN, attr)
print("\nEntering debugger...")
print("Use 'continue' command to quit the debugger and get back to " "the main window")
import pdb
pdb.post_mortem(exc_info.stack)
if flags.can_touch_runtime_system("switch console") and self._intf_tty_num != 1:
iutil.vtActivate(self._intf_tty_num)
def __exit__(self, exc_type, exception, traceback):
# If termios was avaialble, restore old settings after the
# with block
if self.old_cfg:
import termios
termios.tcsetattr(
self.stream.fileno(), termios.TCSADRAIN, self.old_cfg)
def __init__(self, port):
try:
import termios
fd = open(port)
tmp = termios.tcgetattr(fd.fileno())
termios.tcsetattr(fd.fileno(), termios.TCSADRAIN, tmp)
fd.close()
except (ImportError, IOError, termios.error):
pass
self._msg = FWRTSSMessage()
self._ser = None
self._buf = []
self._crc = crcmod.mkCrcFun(0x104c11db7, initCrc=0xFFFFFFFF, xorOut=0, rev=False)
try:
self._ser = serial.Serial(port, 115200)
self._ser.flush()
self._ser.flushInput()
self._ser.flushOutput()
self._ser.timeout = 0.2
except serial.serialutil.SerialException, e:
raise FWRTSSError(str(e))
def getch():
try:
tty.setraw(sys.stdin.fileno())
ch = sys.stdin.read(1)
finally:
termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
return ch
def getChar():
import termios, fcntl, sys, os, select
fd = sys.stdin.fileno()
oldterm = termios.tcgetattr(fd)
newattr = oldterm[:]
newattr[3] = newattr[3] & ~termios.ICANON & ~termios.ECHO
termios.tcsetattr(fd, termios.TCSANOW, newattr)
oldflags = fcntl.fcntl(fd, fcntl.F_GETFL)
fcntl.fcntl(fd, fcntl.F_SETFL, oldflags | os.O_NONBLOCK)
try:
# while 1:
r, w, e = select.select([fd], [], [])
if r:
c = sys.stdin.read(1)
print "Got character", repr(c)
if c == "q":
return
finally:
termios.tcsetattr(fd, termios.TCSAFLUSH, oldterm)
fcntl.fcntl(fd, fcntl.F_SETFL, oldflags)
return c
def setup(self):
self.old = termios.tcgetattr(self.fd)
new = termios.tcgetattr(self.fd)
new[3] = new[3] & ~termios.ICANON & ~termios.ECHO & ~termios.ISIG
new[6][termios.VMIN] = 1
new[6][termios.VTIME] = 0
termios.tcsetattr(self.fd, termios.TCSANOW, new)
def trigger_loop():
is_posix = sys.platform != 'win32'
old_count = workflow.pages_shot
if is_posix:
import select
old_settings = termios.tcgetattr(sys.stdin)
data_available = lambda: (select.select([sys.stdin], [], [], 0) ==
([sys.stdin], [], []))
read_char = lambda: sys.stdin.read(1)
else:
data_available = msvcrt.kbhit
read_char = msvcrt.getch
try:
if is_posix:
tty.setcbreak(sys.stdin.fileno())
while True:
time.sleep(0.01)
if workflow.pages_shot != old_count:
old_count = workflow.pages_shot
refresh_stats()
if not data_available():
continue
char = read_char()
if char in tuple(capture_keys) + ('r', ):
workflow.capture(retake=(char == 'r'))
refresh_stats()
elif char == 'f':
break
finally:
if is_posix:
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, old_settings)
def _posix_shell(self, chan):
oldtty = termios.tcgetattr(stdin)
try:
# tty.setraw(stdin.fileno())
# tty.setcbreak(stdin.fileno())
chan.settimeout(0.0)
while True:
r, w, e = select([chan, stdin], [], [])
if chan in r:
try:
x = chan.recv(128)
if len(x) == 0:
print "\r\n*** EOF\r\n",
break
stdout.write(x)
stdout.flush()
# print len(x), repr(x)
except socket.timeout:
pass
if stdin in r:
x = stdin.read(1)
if len(x) == 0:
break
chan.sendall(x)
finally:
termios.tcsetattr(stdin, termios.TCSADRAIN, oldtty)
def __init__(self, serialport, bps):
"""Takes the string name of the serial port
(e.g. "/dev/tty.usbserial","COM1") and a baud rate (bps) and
connects to that port at that speed and 8N1. Opens the port in
fully raw mode so you can send binary data.
"""
self.fd = os.open(serialport, os.O_RDWR | os.O_NOCTTY | os.O_NDELAY)
attrs = termios.tcgetattr(self.fd)
bps_sym = bps_to_termios_sym(bps)
# Set I/O speed.
attrs[ISPEED] = bps_sym
attrs[OSPEED] = bps_sym
# 8N1
attrs[CFLAG] &= ~termios.PARENB
attrs[CFLAG] &= ~termios.CSTOPB
attrs[CFLAG] &= ~termios.CSIZE
attrs[CFLAG] |= termios.CS8
# No flow control
attrs[CFLAG] &= ~termios.CRTSCTS
# Turn on READ & ignore contrll lines.
attrs[CFLAG] |= termios.CREAD | termios.CLOCAL
# Turn off software flow control.
attrs[IFLAG] &= ~(termios.IXON | termios.IXOFF | termios.IXANY)
# Make raw.
attrs[LFLAG] &= ~(termios.ICANON | termios.ECHO | termios.ECHOE | termios.ISIG)
attrs[OFLAG] &= ~termios.OPOST
# See http://unixwiz.net/techtips/termios-vmin-vtime.html
attrs[CC][termios.VMIN] = 0;
attrs[CC][termios.VTIME] = 20;
termios.tcsetattr(self.fd, termios.TCSANOW, attrs)
def enable_rawmode(self, fd):
"""Enable raw mode"""
if not os.isatty(fd):
return -1
# ensure cleanup upon exit/disaster
if not self.atexit_flag:
atexit.register(self.atexit)
self.atexit_flag = True
# modify the original mode
self.orig_termios = termios.tcgetattr(fd)
raw = termios.tcgetattr(fd)
# input modes: no break, no CR to NL, no parity check, no strip char, no start/stop output control
raw[_C_IFLAG] &= ~(termios.BRKINT | termios.ICRNL | termios.INPCK | termios.ISTRIP | termios.IXON)
# output modes - disable post processing
raw[_C_OFLAG] &= ~(termios.OPOST)
# control modes - set 8 bit chars
raw[_C_CFLAG] |= (termios.CS8)
# local modes - echo off, canonical off, no extended functions, no signal chars (^Z,^C)
raw[_C_LFLAG] &= ~(termios.ECHO | termios.ICANON | termios.IEXTEN | termios.ISIG)
# control chars - set return condition: min number of bytes and timer.
# We want read to return every single byte, without timeout.
raw[_C_CC][termios.VMIN] = 1
raw[_C_CC][termios.VTIME] = 0
# put terminal in raw mode after flushing
termios.tcsetattr(fd, termios.TCSAFLUSH, raw)
self.rawmode = True
return 0
def getch():
"Returns a single character"
if getch.platform is None:
try:
# Window's python?
import msvcrt
getch.platform = 'windows'
except ImportError:
# Fallback...
try:
import tty, termios
fd = sys.stdin.fileno()
old_settings = termios.tcgetattr(fd)
getch.platform = 'unix'
except termios.error:
getch.platform = 'dumb'
if getch.platform == 'windows':
import msvcrt
return msvcrt.getch()
elif getch.platform == 'unix':
import tty, termios
fd = sys.stdin.fileno()
old_settings = termios.tcgetattr(fd)
try:
tty.setraw(sys.stdin.fileno())
ch = sys.stdin.read(1)
finally:
termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
return ch
else:
return sys.stdin.read(1).strip().lower()
def set_curses_term():
termios.tcsetattr(fd, termios.TCSAFLUSH, new_term)
def set_normal_term():
termios.tcsetattr(fd, termios.TCSAFLUSH, old_term)
elif key == 'w' :
x = 5
elif key == 'd' :
x = 2
elif key == 's' :
x = 4
elif key == 'a' :
x = 3
elif (key == '\x03'):
break
pub.publish(x)
count= count + 1
print(x)
imagename = "image" + str(count) + ".jpg"
cv2.imwrite(imagename,frame)
csv_row.append(imagename)
csv_row.append(x)
csv_data.append(csv_row)
with open('record.csv', 'w') as csvFile:
writer = csv.writer(csvFile)
writer.writerows(csv_data)
csvFile.close()
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
def __exit__(self, type, value, traceback):
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, self.old_settings)
# restore sys.stdout
sys.stdout.close()
sys.stdout = sys.__stdout__
def exit_keycodes_mode(self):
log.debug("exit_keycodes_mode")
self.filtering = False
log.debug("setting mode back to %s", self._old_mode)
fcntl.ioctl(self._fd, KDSKBMODE, self._old_mode)
termios.tcsetattr(self._fd, termios.TCSANOW, self._old_settings)
def cleanup(self):
termios.tcsetattr(self.fd, termios.TCSAFLUSH, self.old)
#!/usr/bin/env python
import sys, select, tty, termios
import rospy
from std_msgs.msg import String
if __name__ == '__main__':
key_pub = rospy.Publisher('keys', String, queue_size=1)
rospy.init_node("keyboard_driver")
rate = rospy.Rate(100)
# Begin terminos
old_attr = termios.tcgetattr(sys.stdin)
tty.setcbreak(sys.stdin.fileno())
print "Publishing keystrokes. Press Ctrl-C to exit..."
while not rospy.is_shutdown():
if select.select([sys.stdin], [], [], 0)[0] == [sys.stdin]:
key_pub.publish(sys.stdin.read(1))
rate.sleep()
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, old_attr)
def cleanUp(self):
if self.unix:
import sys, tty, termios
termios.tcsetattr(self.fd, termios.TCSADRAIN, self.old_settings)
def tty_restore(self):
termios.tcsetattr(self.tty_fd, termios.TCSADRAIN,
self.tty_old_settings)
self.tty_raw_set = False
def start_connection(play_context, variables, task_uuid):
'''
Starts the persistent connection
'''
candidate_paths = [C.ANSIBLE_CONNECTION_PATH or os.path.dirname(sys.argv[0])]
candidate_paths.extend(os.environ['PATH'].split(os.pathsep))
for dirname in candidate_paths:
ansible_connection = os.path.join(dirname, 'ansible-connection')
if os.path.isfile(ansible_connection):
display.vvvv("Found ansible-connection at path {0}".format(ansible_connection))
break
else:
raise AnsibleError("Unable to find location of 'ansible-connection'. "
"Please set or check the value of ANSIBLE_CONNECTION_PATH")
env = os.environ.copy()
env.update({
# HACK; most of these paths may change during the controller's lifetime
# (eg, due to late dynamic role includes, multi-playbook execution), without a way
# to invalidate/update, ansible-connection won't always see the same plugins the controller
# can.
'ANSIBLE_BECOME_PLUGINS': become_loader.print_paths(),
'ANSIBLE_CLICONF_PLUGINS': cliconf_loader.print_paths(),
'ANSIBLE_COLLECTIONS_PATH': to_native(os.pathsep.join(AnsibleCollectionConfig.collection_paths)),
'ANSIBLE_CONNECTION_PLUGINS': connection_loader.print_paths(),
'ANSIBLE_HTTPAPI_PLUGINS': httpapi_loader.print_paths(),
'ANSIBLE_NETCONF_PLUGINS': netconf_loader.print_paths(),
'ANSIBLE_TERMINAL_PLUGINS': terminal_loader.print_paths(),
})
python = sys.executable
master, slave = pty.openpty()
p = subprocess.Popen(
[python, ansible_connection, to_text(os.getppid()), to_text(task_uuid)],
stdin=slave, stdout=subprocess.PIPE, stderr=subprocess.PIPE, env=env
)
os.close(slave)
# We need to set the pty into noncanonical mode. This ensures that we
# can receive lines longer than 4095 characters (plus newline) without
# truncating.
old = termios.tcgetattr(master)
new = termios.tcgetattr(master)
new[3] = new[3] & ~termios.ICANON
try:
termios.tcsetattr(master, termios.TCSANOW, new)
write_to_file_descriptor(master, variables)
write_to_file_descriptor(master, play_context.serialize())
(stdout, stderr) = p.communicate()
finally:
termios.tcsetattr(master, termios.TCSANOW, old)
os.close(master)
if p.returncode == 0:
result = json.loads(to_text(stdout, errors='surrogate_then_replace'))
else:
try:
result = json.loads(to_text(stderr, errors='surrogate_then_replace'))
except getattr(json.decoder, 'JSONDecodeError', ValueError):
# JSONDecodeError only available on Python 3.5+
result = {'error': to_text(stderr, errors='surrogate_then_replace')}
if 'messages' in result:
for level, message in result['messages']:
if level == 'log':
display.display(message, log_only=True)
elif level in ('debug', 'v', 'vv', 'vvv', 'vvvv', 'vvvvv', 'vvvvvv'):
getattr(display, level)(message, host=play_context.remote_addr)
else:
if hasattr(display, level):
getattr(display, level)(message)
else:
display.vvvv(message, host=play_context.remote_addr)
if 'error' in result:
if play_context.verbosity > 2:
if result.get('exception'):
msg = "The full traceback is:\n" + result['exception']
display.display(msg, color=C.COLOR_ERROR)
raise AnsibleError(result['error'])
return result['socket_path']
}
#### Importing python modules
import comware
import os
import sys
import time
import termios
#### RAW user-input module
fd = sys.stdin.fileno()
new = termios.tcgetattr(fd)
new[3] = new[3] | termios.ICANON | termios.ECHO
new[6][termios.VMIN] = 1
new[6][termios.VTIME] = 0
termios.tcsetattr(fd, termios.TCSANOW, new)
termios.tcsendbreak(fd, 0)
#### Notification for Starting
print(
('\n' * 5) +
"Starting script for deploying IRF-config and software on 5130 switches\n"
"\nPlease wait while getting the current versions and settings....")
#### Getting Current settings and versions
def SwitchInput():
sys.stdout.write("\r%d%%" % 0)
sys.stdout.flush()
#### Enable logging: flash:/logfile/logfile.log
comware.CLI(
import rospy
#import service library
from std_srvs.srv import Empty
#topic to command
thrusters_topic = "/g500/thrusters_input"
#base velocity for the teleoperation (0.5 m/s) / (0.5rad/s)
baseVelocity = 1
#Console input variables to teleop it from the console
fd = sys.stdin.fileno()
oldterm = termios.tcgetattr(fd)
newattr = termios.tcgetattr(fd)
newattr[3] = newattr[3] & ~termios.ICANON & ~termios.ECHO
termios.tcsetattr(fd, termios.TCSANOW, newattr)
oldflags = fcntl.fcntl(fd, fcntl.F_GETFL)
fcntl.fcntl(fd, fcntl.F_SETFL, oldflags | os.O_NONBLOCK)
##create the publisher
pub = rospy.Publisher(thrusters_topic, Float64MultiArray, queue_size=1)
rospy.init_node('keyboardCommand')
##wait for benchmark init service
#rospy.wait_for_service('/startBench')
#start=rospy.ServiceProxy('/startBench', Empty)
##wait for benchmark stop service
#rospy.wait_for_service('/stopBench')
#stop=rospy.ServiceProxy('/stopBench', Empty)
def __exit__(self, type, value, traceback):
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, self.old_settings)
def main():
irciot = PyLayerIRCIoT()
ircbot = PyLayerIRC()
# ircbot.bot_background_start_()
# ircbot.bot_redirect_output_('./iotBot.log')
irciot.irc_pointer = ircbot.irc_handler
irciot.user_pointer = ircbot.user_handler
irciot.ldict_file = "./ldict.json"
ircbot.irc_server = "irc-iot.nsk.ru"
ircbot.irc_port = 6667
#ircbot.irc_server = "chat.freenode.net"
#ircbot.irc_port = 6697
#ircbot.irc_ssl = True
# Warning: Please, run your own IRC server
# don't use public networks for testing!!!
ircbot.irc_channel = "#Berdsk"
ircbot.irc_debug = True
ircbot.irc_define_nick_("TestBot")
# ircbot.irc_talk_with_strangers = True
# ircbot.irc_ident = True
ircbot.start_IRC_()
# irciot.irciot_enable_blockchain_(irciot.CONST.tag_mid_ED25519)
# irciot.irciot_enable_encryption_(irciot.CONST.tag_ENC_B64_RSA)
print("Starting IRC, press any key to exit", "\r")
if os.name == "posix":
stdin_fd = sys.stdin.fileno()
old_term = termios.tcgetattr(stdin_fd)
new_attr = old_term[:]
new_attr[3] = new_attr[3] & ~termios.ICANON & ~termios.ECHO
termios.tcsetattr(stdin_fd, termios.TCSANOW, new_attr)
old_flag = fcntl.fcntl(stdin_fd, fcntl.F_GETFL)
fcntl.fcntl(stdin_fd, fcntl.F_SETFL, old_flag | os.O_NONBLOCK)
irc_vuid = "c0" # Bot itself
try:
while (ircbot.irc_run):
(irc_message, irc_wait, irc_vuid) \
= ircbot.irc_check_queue_(ircbot.CONST.irc_queue_input)
if (irc_message != ""):
print("irc_message=[\033[0;44m{}\033[0m]".format(irc_message))
if (irciot.is_irciot_(irc_message)):
irc_json = irciot.irciot_deinencap_(irc_message, irc_vuid)
if not irc_json in [None, "", "[]"]:
print(
"Datumset: [\033[0;41m" + str(irc_json) +
"\033[0m]", "\r")
sys.stdout.flush()
key_a = None
if os.name == "nt":
if msvcrt.kbhit():
key_a = True
elif os.name == "posix":
key_a, key_b, key_c = select.select([stdin_fd], [], [], 0.0001)
if key_a:
print("[Key pressed]")
break
finally:
if os.name == "posix":
termios.tcsetattr(stdin_fd, termios.TCSAFLUSH, old_term)
fcntl.fcntl(stdin_fd, fcntl.F_SETFL, old_flag)
ircbot.irc_run = False
ircbot.irc_quit_()
print("Stopping IRC, please wait for exit")
ircbot.bot_process_kill_timeout_(5)
del irciot
del ircbot
sys.exit()
def setup(self):
new = termios.tcgetattr(self.fd)
new[3] = new[3] & ~termios.ICANON & ~termios.ECHO & ~termios.ISIG
new[6][termios.VMIN] = 1
new[6][termios.VTIME] = 0
termios.tcsetattr(self.fd, termios.TCSANOW, new)
def __exit__(self, *args):
termios.tcsetattr(self.fd, termios.TCSAFLUSH, self.oldterm)
fcntl.fcntl(self.fd, fcntl.F_SETFL, self.oldflags)
def execute(self, context, args, in_opt_format=None, out_opt_format=None):
# This function is complex. There are two major variables. First,
# are we on Unix or Windows? This is effectively determined by
# pty_available, though I suppose some Unixes might not have ptys.
# Second, out_opt_format tells us whether we want to stream the
# output as lines (out_opt_format is None), or as unbuffered byte chunks
# (determined by bytearray/chunked). There is also a special hack
# x-filedescriptor/special where we pass along a file descriptor from
# the subprocess; this is used in unicode.py to directly read the output.
using_pty_out = pty_available and (out_opt_format not in (
None, 'x-unix-pipe-file-object/special'))
using_pty_in = pty_available and (in_opt_format is None) and \
context.input_is_first and hasattr(context.input, 'connect')
_logger.debug("using pty in: %s out: %s", using_pty_in, using_pty_out)
# TODO - we need to rework things so that we allocate only one pty per pipeline.
# In the very common case of exactly one command, this doesn't matter, but
# allocating two ptys will probably bite us in odd ways if someone does create
# a pipeline. Maybe have a context.request_pty() function?
if using_pty_in or using_pty_out:
# We create a pseudo-terminal to ensure that the subprocess is line-buffered.
# Yes, this is gross, but as far as I know there is no other way to
# control the buffering used by subprocesses.
(master_fd, slave_fd) = pty.openpty()
# Set the terminal to not do any processing; if you change this, you'll also
# need to update unicode.py most likely.
attrs = termios.tcgetattr(master_fd)
attrs[1] = attrs[1] & (~termios.OPOST)
termios.tcsetattr(master_fd, termios.TCSANOW, attrs)
_logger.debug("allocated pty fds %d %d", master_fd, slave_fd)
if using_pty_out:
stdout_target = slave_fd
else:
stdout_target = subprocess.PIPE
if context.input is None:
stdin_target = None
if using_pty_in:
stdin_target = slave_fd
elif in_opt_format == 'x-unix-pipe-file-object/special':
stdin_target = iter(context.input).next()
else:
stdin_target = subprocess.PIPE
_logger.debug("using stdin target: %r", stdin_target)
context.attribs['master_fd'] = master_fd
else:
_logger.debug(
"no pty available or non-chunked output, not allocating fds")
(master_fd, slave_fd) = (None, None)
stdout_target = subprocess.PIPE
if context.input is None:
stdin_target = None
elif in_opt_format == 'x-unix-pipe-file-object/special':
stdin_target = iter(context.input).next()
else:
stdin_target = subprocess.PIPE
_logger.debug("using stdin target: %r", stdin_target)
subproc_args = {
'bufsize': 0,
'stdin': stdin_target,
'stdout': stdout_target,
'stderr': subprocess.STDOUT,
'cwd': context.cwd
}
fs_encoding = sys.getfilesystemencoding()
stdin_encoding = sys.stdin.encoding
_logger.debug("recoding path to %r, args to %r", fs_encoding,
stdin_encoding)
# We need to encode_sentence arguments to the system encoding because subprocess.py won't do it for us.
if fs_encoding is not None:
args[0] = args[0].encode(fs_encoding)
if stdin_encoding is not None:
args[1:] = map(lambda x: x.encode(stdin_encoding), args[1:])
if is_windows():
subproc_args['universal_newlines'] = True
startupinfo = subprocess.STARTUPINFO()
startupinfo.dwFlags |= subprocess.STARTF_USESHOWWINDOW
import win32con
startupinfo.wShowWindow = win32con.SW_HIDE
elif is_unix():
subproc_args['close_fds'] = True
# Support freedesktop.org startup notification
# http://standards.freedesktop.org/startup-notification-spec/startup-notification-latest.txt
if context.gtk_event_time:
env = dict(os.environ)
env['DESKTOP_STARTUP_ID'] = 'hotwire%d_TIME%d' % (
os.getpid(),
context.gtk_event_time,
)
subproc_args['env'] = env
def preexec():
os.setsid()
if using_pty_out and hasattr(termios, 'TIOCSCTTY'):
# Set our controlling TTY
fcntl.ioctl(1, termios.TIOCSCTTY, '')
# We ignore SIGHUP by default, because some broken programs expect that the lifetime
# of subcommands is tied to an open window, instead of until when the toplevel
# process exits.
signal.signal(signal.SIGHUP, signal.SIG_IGN)
subproc_args['preexec_fn'] = preexec
else:
assert (False)
subproc = subprocess.Popen(args, **subproc_args)
if not subproc.pid:
if master_fd is not None:
os.close(master_fd)
if slave_fd is not None:
os.close(slave_fd)
raise ValueError('Failed to execute %s' % (args[0], ))
context.attribs['pid'] = subproc.pid
if using_pty_in or using_pty_out:
os.close(slave_fd)
context.status_notify('pid %d' % (context.attribs['pid'], ))
if in_opt_format == 'x-unix-pipe-file-object/special':
stdin_target.close()
# If we were passed a file descriptor from another SysBuiltin, close it here;
# it's now owned by the child.
elif context.input:
if using_pty_in:
stdin_stream = BareFdStreamWriter(master_fd)
else:
stdin_stream = subproc.stdin
# FIXME hack - need to rework input streaming
if context.input_is_first and hasattr(context.input, 'connect'):
context.attribs['input_connected'] = True
context.input.connect(self.__on_input, stdin_stream)
else:
MiniThreadPool.getInstance().run(self.__inputwriter,
args=(context.input,
stdin_stream))
if using_pty_out:
stdout_read = None
stdout_fd = master_fd
else:
stdout_read = subproc.stdout
stdout_fd = subproc.stdout.fileno()
if out_opt_format is None:
for line in SysBuiltin.__unbuffered_readlines(stdout_read):
yield line
elif out_opt_format == 'bytearray/chunked':
try:
for buf in SysBuiltin.__unbuffered_read_pipe(
stream=stdout_read, fd=stdout_fd):
yield buf
except OSError, e:
pass
def set_normal_term(self):
""" Resets to normal terminal.
"""
termios.tcsetattr(self.fd, termios.TCSAFLUSH, self.old_term)
def parsedemo(s):
"""
Helper to write demo files, based on minimum change from their Matlab format.
The string contains
- help text which is left justified and displayed directly to the screen
- indented text is interpretted as a command, executed, and the output sent to
screen
The argument is Matlab code as per the demo files rtXXdemo.
@note: Requires some minor changes to the demo file.
@type s: string
@param s: Demo string.
"""
rstrip = re.compile(r'''\s*%.*$''')
lines = s.split('\n')
name = __file__
print(name)
print(len(name) * '=')
if has_termios:
fd = sys.stdin.fileno()
old = termios.tcgetattr(fd)
new = termios.tcgetattr(fd)
new[3] = new[3] & ~termios.ECHO # lflags
try:
if has_termios:
termios.tcsetattr(fd, termios.TCSADRAIN, new)
text = ''
for line in lines:
if len(line) == 0:
print()
elif line[0] == '#':
## help text found, add it to the string
text += line[1:].lstrip() + '\n'
# a blank line means paragraph break
if len(line) == 1 and text:
print(textwrap.fill(text, fix_sentence_endings=True))
text = ''
print()
else:
## command encountered
# flush the remaining help text
if text:
print(textwrap.fill(text, fix_sentence_endings=True))
text = ''
cmd = line.strip()
# special case, pause prompts the user to continue
if cmd.startswith('pause'):
# prompt for continuation
sys.stderr.write('more? ')
input()
# remove the prompt from the screen
sys.stderr.write('\r \r')
continue
print()
# show the command we are about to execute
print('>>>', cmd)
# if it involves an assignment then we use exec else use eval.
# we mimic the matlab behaviour in which a trailing semicolon inhibits
# display of the result
try:
if cmd.startswith('from'):
exec(cmd)
elif '=' in cmd:
e = cmd.split('=')
exec(rstrip.sub('', cmd))
if cmd[-1] != ';':
print(eval(e[0]))
else:
result = eval(cmd.rstrip(';'))
if cmd[-1] != ';':
print(result)
except:
print("Error at line <%s>" % cmd)
traceback.print_exc()
sys.exit(1)
finally:
if has_termios:
termios.tcsetattr(fd, termios.TCSADRAIN, old)
def streamSwingTrial():
"""Runs a swing trial event and computes important bat metrics
Returns the bat metrics in an array
"""
k = KemanImu()
imu = initialize()
print "5 seconds to Calibrate. Please hold Calibration Position:"
tm.sleep(5.5) # Wait for calibration position
e_initial = k.calibrate(imu) # Obtain four initial euler parameters
#e_initial = normalizeEulerParameters(e_initial) #Normalize
initialTime = tm.time() # Time
# Initialize Storage Vectors
acceleration = k.readAcceleration(imu)
angularVelocity = k.readAngularVelocity(imu)
xinertialAccelerationVector = [0]
yinertialAccelerationVector = [0]
zinertialAccelerationVector = [0]
velocityMagnitudeVector = [0]
xAccelerationVector = [acceleration[0]]
yAccelerationVector = [acceleration[1]]
zAccelerationVector = [acceleration[2]]
xAngularVelocity = [angularVelocity[0]]
yAngularVelocity = [angularVelocity[1]]
zAngularVelocity = [angularVelocity[2]]
aimAngleVector = [0]
rollVector = [0]
rotationMatrices = [k.computeDirectionCosineMatrix(e_initial)]
elevationAngles = [0]
timeVectors = [0]
sampleTimes = [0]
calibration_angles = [0]
# Initialize useful computation variables
previousEpochTime = initialTime # t0
previousElapsedSampleTime = 0
currentElapsedSampleTime = 0
previousEulerParameters = e_initial
index = 0
try:
tty.setcbreak(sys.stdin.fileno())
# Loop for 10 seconds
input(
'press 1 to stop program\n press 2 to kill recording\n press 3 to start recording \n press 4 to record at 10 deg'
)
isSwinging = False
while (keyboard() != 'stop'):
while (keyboard() != 'kill'):
#read callibration angles
tm.sleep(.5)
if ((keyboard() != 'kill') and (keyboard() != 'stop')):
calibration_angles.append(keyboard())
# Read Angular Velocity and Acceleration
currentAngularVelocity = k.readAngularVelocity(imu)
currentAcceleration = k.readAcceleration(imu)
xAccelerationVector.append(currentAcceleration[0])
yAccelerationVector.append(currentAcceleration[1])
zAccelerationVector.append(currentAcceleration[2])
xAngularVelocity.append(currentAngularVelocity[0])
yAngularVelocity.append(currentAngularVelocity[1])
zAngularVelocity.append(currentAngularVelocity[2])
currentEpochTime = tm.time()
currentElapsedSampleTime = currentEpochTime - previousEpochTime
sampleTimes.append(currentElapsedSampleTime)
timeVectors.append(
previousElapsedSampleTime + currentElapsedSampleTime
) # Time History TODO: CHANGE NAME TO AVOID CONFUSION
timeVector = [0, currentElapsedSampleTime]
# TODO:Do we have to normalize the quaternion?
# TODO:Can we use this same solver or do we have to switch
# Solve for current rotation matrix
currentEulerParameters = k.computeEulerParameters(
previousEulerParameters, timeVector,
currentAngularVelocity)
eulerParametersNormalized = currentEulerParameters
#eulerPrametersNoramlized = normalizeEulerParameters(currentEulerParameters)
# Compute Direction Cosine Matrix
directionMatrix = k.computeDirectionCosineMatrix(
eulerParametersNormalized)
rotationMatrices.append(directionMatrix)
#print "Direction Cosine Matrix:", directionMatrix[0]
# Get Inertial Acceleration snd Velocity
xinertialAcceleration, yinertialAcceleration, zinertialAcceleration = k.computeInertialAcceleration(
imu, directionMatrix)
xinertialAccelerationVector.append(xinertialAcceleration)
yinertialAccelerationVector.append(yinertialAcceleration)
zinertialAccelerationVector.append(zinertialAcceleration)
# Stop collecting data once acceleration has reached zero again.
previousEulerParameters = currentEulerParameters
previousEpochTime = currentEpochTime
previousElapsedSampleTime += currentElapsedSampleTime # move to next step
#Calculate Yaw, pitch and roll
elevationAngle = asin(directionMatrix[0][2]) * 57.3
aimAngle = atan(
directionMatrix[0][1] / directionMatrix[0][0]) * 57.3
#roll = currentEulerParameters[3]**2 - currentEulerParameters[1]**2 \
# - currentEulerParameters[2]**2 - currentEulerParameters[3]**2
#roll = acos(roll) * 57.3
roll = atan(
directionMatrix[1][2] / directionMatrix[2][2]) * 57.3
elevationAngles.append(elevationAngle)
aimAngleVector.append(aimAngle)
rollVector.append(roll)
isSwinging = True
# Compute Velocity
if (isSwinging):
xinertialVelocity = k.computeVelocityHistory(
xinertialAccelerationVector, sampleTimes)
yinertialVelocity = k.computeVelocityHistory(
yinertialAccelerationVector, sampleTimes)
zinertialVelocity = k.computeVelocityHistory(
zinertialAccelerationVector, sampleTimes)
xpositionVector = k.computePosition(xinertialVelocity,
sampleTimes)
ypositionVector = k.computePosition(yinertialVelocity,
sampleTimes)
zpositionVector = k.computePosition(zinertialVelocity,
sampleTimes)
#TODO: FIX THIS
velocityMagnitude = k.computeVelocityMagnitude(
xinertialVelocity, yinertialVelocity, zinertialVelocity)
velocityMagnitudeVector.append(velocityMagnitude)
sweetSpotVelocityVector = k.computeSweetSpotVelocity(
[xinertialVelocity, yinertialVelocity, zinertialVelocity],
[xAngularVelocity, yAngularVelocity, zAngularVelocity])
roundEntries(yAccelerationVector)
roundEntries(zAccelerationVector)
roundEntries(xAngularVelocity)
roundEntries(yAngularVelocity)
roundEntries(zAngularVelocity)
roundEntries(elevationAngles)
roundEntries(timeVectors)
roundEntries(xinertialVelocity)
roundEntries(yinertialVelocity)
roundEntries(zinertialVelocity)
roundEntries(xinertialAccelerationVector)
roundEntries(yinertialAccelerationVector)
roundEntries(zinertialAccelerationVector)
roundEntries(aimAngleVector)
roundEntries(rollVector)
roundEntries(sweetSpotVelocityVector)
roundEntries(velocityMagnitude)
roundEntries(xpositionVector)
roundEntries(ypositionVector)
roundEntries(zpositionVector)
payload = {
"accelx": xinertialAccelerationVector,
"accely": yinertialAccelerationVector,
"accelz": yinertialAccelerationVector
}
r = requests.post(
'https://obscure-headland-45385.herokuapp.com/hips',
json=payload)
isSwinging = False
# s.connect(('192.168.1.41', port))
# transmitString = listToString(xAccelerationVector)
# transmitString = transmitString + '!'
# transmitString = transmitString + listToString(yAccelerationVector)
# transmitString = transmitString + '!'
# transmitString = transmitString + listToString(zAccelerationVector)
# transmitString = transmitString + '!'
# transmitString = transmitString + listToString(xAngularVelocity)
# transmitString = transmitString + '!'
# transmitString = transmitString + listToString(yAngularVelocity)
# transmitString = transmitString + '!'
# transmitString = transmitString + listToString(zAngularVelocity)
# transmitString = transmitString + '!'
# transmitString = transmitString + listToString(elevationAngles)
# transmitString = transmitString + '!'
# transmitString = transmitString + listToString(timeVectors)
# transmitString = transmitString + '!'
# transmitString = transmitString + listToString(xinertialVelocity)
# transmitString = transmitString + '!'
# transmitString = transmitString + listToString(yinertialVelocity)
# transmitString = transmitString + '!'
# transmitString = transmitString + listToString(zinertialVelocity)
# transmitString = transmitString + '!'
# transmitString = transmitString + listToString(xinertialAccelerationVector)
# transmitString = transmitString + '!'
# transmitString = transmitString + listToString(yinertialAccelerationVector)
# transmitString = transmitString + '!'
# transmitString = transmitString + listToString(zinertialAccelerationVector)
# transmitString = transmitString + '!'
# transmitString = transmitString + listToString(aimAngleVector)
# transmitString = transmitString + '!'
# transmitString = transmitString + listToString(rollVector)
# transmitString = transmitString + '!'
# transmitString = transmitString + listToString(sweetSpotVelocityVector)
# transmitString = transmitString + '!'
# transmitString = transmitString + listToString(velocityMagnitude)
# transmitString = transmitString + '!'
# transmitString = transmitString + listToString(xpositionVector)
# transmitString = transmitString + '!'
# transmitString = transmitString + listToString(ypositionVector)
# transmitString = transmitString + '!'
# transmitString = transmitString + listToString(zpositionVector)
# transmitString = transmitString + '!'
# transmitString = transmitString + listToString(calibration_angles)
#
# sendData(transmitString)
s.close()
finally:
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, old_settings)
def posix_shell(self):
"""
Use paramiko channel connect server interactive.
使用paramiko模块的channel，连接后端，进入交互式
"""
log_file_f, log_time_f, log = self.get_log()
old_tty = termios.tcgetattr(sys.stdin)
pre_timestamp = time.time()
data = ''
input_mode = False
try:
tty.setraw(sys.stdin.fileno())
tty.setcbreak(sys.stdin.fileno())
self.channel.settimeout(0.0)
while True:
try:
r, w, e = select.select([self.channel, sys.stdin], [], [])
flag = fcntl.fcntl(sys.stdin, fcntl.F_GETFL, 0)
fcntl.fcntl(sys.stdin.fileno(), fcntl.F_SETFL,
flag | os.O_NONBLOCK)
except Exception:
pass
if self.channel in r:
try:
x = self.channel.recv(10240)
if len(x) == 0:
break
if self.vim_flag:
self.vim_data += x
index = 0
len_x = len(x)
while index < len_x:
try:
n = os.write(sys.stdout.fileno(), x[index:])
sys.stdout.flush()
index += n
except OSError as msg:
if msg.errno == errno.EAGAIN:
continue
#sys.stdout.write(x)
#sys.stdout.flush()
now_timestamp = time.time()
log_time_f.write(
'%s %s\n' %
(round(now_timestamp - pre_timestamp, 4), len(x)))
log_time_f.flush()
log_file_f.write(x)
log_file_f.flush()
pre_timestamp = now_timestamp
log_file_f.flush()
if input_mode and not self.is_output(x):
data += x
except socket.timeout:
pass
if sys.stdin in r:
x = os.read(sys.stdin.fileno(), 4096)
input_mode = True
if str(x) in ['\r', '\n', '\r\n']:
if self.vim_flag:
match = self.ps1_pattern.search(self.vim_data)
if match:
self.vim_flag = False
data = self.deal_command(data)[0:200]
if len(data) > 0:
TtyLog(log=log,
datetime=datetime.datetime.now(),
cmd=data).save()
else:
data = self.deal_command(data)[0:200]
if len(data) > 0:
TtyLog(log=log,
datetime=datetime.datetime.now(),
cmd=data).save()
data = ''
self.vim_data = ''
input_mode = False
if len(x) == 0:
break
self.channel.send(x)
finally:
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, old_tty)
log_file_f.write('End time is %s' % datetime.datetime.now())
log_file_f.close()
log_time_f.close()
log.is_finished = True
log.end_time = datetime.datetime.now()
log.save()
KEY_PRESSED_RIGHT = True
if ch == "W":
KEY_PRESSED_UP = True
if ch == "A":
KEY_PRESSED_LEFT = True
if ch == "D":
KEY_PRESSED_RIGHT = True
if ch == " ":
KEY_PRESSED_SPACE = True
if ch == "q" or ch == "Q":
quit()
if ch == "F" or ch == "f":
KEY_PRESSED_FIRE = True
# if this sentence in the game over, graph not right
termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
if KEY_PRESSED_UP == True:
manda.moveup()
if KEY_PRESSED_LEFT == True:
manda.moveleft()
if KEY_PRESSED_SPACE == True:
if shield_counter == 300:
shield_active = 1
if KEY_PRESSED_FIRE == True:
fight.shoot_goli(manda, counter)
if refil == 1 and KEY_PRESSED_SPACE == True:
shield_counter -= 4
def mypublisher():
rospy.init_node('publisher_2', anonymous=True)
rate = rospy.Rate(10) # 10hz
my_msg.name=['base_to_oratation','base_to_left_front_wheel','base_to_left_back_wheel','base_to_right_front_wheel','base_to_right_back_wheel', 'base_to_right_arm_1', 'base_to_left_arm_1', 'joint_of_left_arm', 'joint_of_right_arm']
my_msg.position = [0,0,0,0,0,0,0,0,0]
i=0#the position of all four wheels
p=0#position of base
jr1=0#position of base_to_right_arm_1
jr2=0#position of joint_of_right_arm
jl1=0#position of base_to_left_arm_1
jl2=0#position of joint_of_left_arm
i_1=0
while not rospy.is_shutdown():
fd = sys.stdin.fileno()
old_settings = termios.tcgetattr(fd)
old_settings[3] = old_settings[3] & ~termios.ICANON & ~termios.ECHO
try :
tty.setraw( fd )
ch = sys.stdin.read( 1 )
finally :
termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
my_msg.header.seq = i_1
my_msg.header.stamp = rospy.Time.now()
#my_msg.position = [i*0.0314,0,0,0,0,0,0,0]
##my_msg.velocity = [i,i,i,i,i,i,i,i]
if ch == 'w':
i=i+1
p=p+1
my_msg.position = [p*0.3*pi,i*pi/2,i*pi/2,i*pi/2,i*pi/2,jr1*pi/20,jl1*pi/20,jl2*pi/20,jr2*pi/20]
elif ch == 's':
i=i-1
p=p-1
my_msg.position = [p*0.3*pi,i*pi/2,i*pi/2,i*pi/2,i*pi/2,jr1*pi/20,jl1*pi/20,jl2*pi/20,jr2*pi/20]
elif ch == 'k':
jr1=jr1+1
my_msg.position = [p*0.3*pi,i*pi/2,i*pi/2,i*pi/2,i*pi/2,jr1*pi/20,jl1*pi/20,jl2*pi/20,jr2*pi/20]
elif ch == 'l':
jr1=jr1-1
my_msg.position = [p*0.3*pi,i*pi/2,i*pi/2,i*pi/2,i*pi/2,jr1*pi/20,jl1*pi/20,jl2*pi/20,jr2*pi/20]
elif ch == 'h':
jl1=jl1+1
my_msg.position = [p*0.3*pi,i*pi/2,i*pi/2,i*pi/2,i*pi/2,jr1*pi/20,jl1*pi/20,jl2*pi/20,jr2*pi/20]
elif ch == 'j':
jl1=jl1-1
my_msg.position = [p*0.3*pi,i*pi/2,i*pi/2,i*pi/2,i*pi/2,jr1*pi/20,jl1*pi/20,jl2*pi/20,jr2*pi/20]
elif ch == 'y':
jl2=jl2+1
my_msg.position = [p*0.3*pi,i*pi/2,i*pi/2,i*pi/2,i*pi/2,jr1*pi/20,jl1*pi/20,jl2*pi/20,jr2*pi/20]
elif ch == 'u':
jl2=jl2-1
my_msg.position = [p*0.3*pi,i*pi/2,i*pi/2,i*pi/2,i*pi/2,jr1*pi/20,jl1*pi/20,jl2*pi/20,jr2*pi/20]
elif ch == 'o':
jr2=jr2+1
my_msg.position = [p*0.3*pi,i*pi/2,i*pi/2,i*pi/2,i*pi/2,jr1*pi/20,jl1*pi/20,jl2*pi/20,jr2*pi/20]
elif ch == 'p':
jr2=jr2-1
my_msg.position = [p*0.3*pi,i*pi/2,i*pi/2,i*pi/2,i*pi/2,jr1*pi/20,jl1*pi/20,jl2*pi/20,jr2*pi/20]
elif ch == 'q':
exit()
i_1 = i_1 + 1
rospy.loginfo(my_msg)
pub.publish(my_msg)
rate.sleep()
stop_robot();
def __exit__(self, *unused):
if self.attrs is not None:
termios.tcsetattr(sys.stdin.fileno(), termios.TCSANOW, self.attrs)
def set_normal_term(self):
'''
Resets to normal terminal. On Windows this is a no-op.
'''
termios.tcsetattr(self.fd, termios.TCSAFLUSH, self.old_term)
def deinit_tty():
termios.tcsetattr(Editor.sdev, termios.TCSANOW, Editor.org_termios)
def getKey():
tty.setraw(sys.stdin.fileno())
select.select([sys.stdin], [], [], 0)
key = sys.stdin.read(1)
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
return key
def __exit__(self, exc_type, exc_value, traceback):
termios.tcsetattr(sys.stdin.fileno(), termios.TCSAFLUSH, self.old_attr)
fcntl.fcntl(sys.stdin.fileno(), fcntl.F_SETFD, self.old_flags)
os.close(self.master)
os.waitpid(self.pid, 0)
def restore_terminal(self):
fd = sys.stdin.fileno()
if self.oldTerm:
termios.tcsetattr(fd, termios.TCSAFLUSH, self.oldTerm)
if self.oldFlags:
fcntl.fcntl(fd, fcntl.F_SETFL, self.oldFlags)
def disable_echo(fd):
old = termios.tcgetattr(fd)
new = cfmakeraw(old)
flags = (termios.TCSAFLUSH | getattr(termios, 'TCSASOFT', 0))
termios.tcsetattr(fd, flags, new)
